Dynamic impedance compensation method and device for ultrasonic endoscope motor

Abstract

The invention provides a dynamic impedance compensation method and device for an ultrasonic endoscope motor, and the method and device are applied to electronic equipment in an ultrasonic endoscope, and the ultrasonic endoscope comprises the electronic equipment, a probe, an ultrasonic motor used for driving the probe to move, and a data collection assembly. The method comprises the steps that under the condition that a probe stretches into a detected object, the probe is controlled to acquire an ultrasonic signal sequence in the detected object, and a data acquisition assembly is controlled to acquire a working voltage value and a working current value of an ultrasonic motor; determining that the impedance of the ultrasonic motor exceeds a preset impedance range based on the working voltage value and the working current value; determining a load type according to a signal fluctuation condition of the ultrasonic signal sequence; determining an impedance adjustment coefficient based on the load type; determining a new working parameter by using an offset between the impedance and a preset impedance range and an impedance adjustment coefficient; and controlling the ultrasonic motor to drive the probe to move according to the new working parameters to realize impedance compensation of the ultrasonic motor. The reliability of the ultrasonic endoscope can be improved.

Description

Technical Field

[0001] This application belongs to the field of medical devices, specifically relating to a dynamic impedance compensation method and device for an ultrasonic endoscope motor. Background Technology

[0002] In an endoscopic ultrasound system, the ultrasound motor is used to drive the probe to move and rotate in the trachea, bronchi, and other parts of the digestive tract and lungs to complete the ultrasound examination.

[0003] However, ultrasonic motors face complex operating conditions during operation. For example, when the probe moves to different positions in the detection area, the load may change, causing fluctuations in the motor impedance. This makes the impedance of the ultrasonic motor unstable, affecting its operating accuracy and leading to problems such as inaccurate probe positioning, thus reducing the reliability of the ultrasonic endoscope. Summary of the Invention

[0004] This application provides a method and apparatus for dynamic impedance compensation of an ultrasonic endoscope motor. By compensating for the impedance of the ultrasonic motor in the ultrasonic endoscope, the reliability of the ultrasonic endoscope can be improved.

[0005] This application provides a dynamic impedance compensation method for an ultrasonic endoscope motor, applied to an electronic device in an ultrasonic endoscope. The ultrasonic endoscope includes an electronic device, a probe communicatively connected to the electronic device, an ultrasonic motor for driving the probe's movement, and a data acquisition component. The method includes: with the probe inserted into the body of the object being examined, controlling the probe to acquire an ultrasonic signal sequence within the object being examined and controlling the data acquisition component to acquire the operating voltage and operating current values ​​of the ultrasonic motor; determining, based on the operating voltage and operating current values, that the impedance of the ultrasonic motor exceeds a preset impedance range; determining the load type based on the signal fluctuation of the ultrasonic signal sequence; determining the impedance adjustment coefficient of the ultrasonic motor based on the load type; determining new operating parameters of the ultrasonic motor using the offset between the impedance and the preset impedance range and the impedance adjustment coefficient; and controlling the ultrasonic motor to drive the probe movement according to the new operating parameters to achieve impedance compensation of the ultrasonic motor.

[0006] In one possible embodiment, determining the impedance adjustment coefficient of the ultrasonic motor based on the load type includes: determining the impedance change rate of the ultrasonic motor based on the difference between the impedance and the historical impedance of the ultrasonic motor, wherein the historical impedance is the impedance determined using the operating voltage and operating current values ​​of the ultrasonic motor at a historical time; obtaining a first correspondence between a number of preset load types and a number of first impedance adjustment coefficients, and a second correspondence between a number of preset impedance change rates and a number of second impedance adjustment coefficients; querying the first correspondence and selecting the first impedance adjustment coefficient corresponding to the preset load type that matches the load type as a first candidate impedance adjustment coefficient; querying the second correspondence and selecting the second impedance adjustment coefficient corresponding to the preset impedance change rate that matches the impedance change rate as a second candidate impedance adjustment coefficient; and determining the impedance adjustment coefficient of the ultrasonic motor based on the first candidate impedance adjustment coefficient and the second candidate impedance adjustment coefficient.

[0007] In one possible embodiment, determining the impedance adjustment coefficient of the ultrasonic motor based on a first candidate impedance adjustment coefficient and a second candidate impedance adjustment coefficient includes: determining whether the absolute value of the impedance change rate exceeds a preset impedance change rate; in response to the impedance change rate not exceeding the preset impedance change rate, using the first candidate impedance adjustment coefficient as the impedance adjustment coefficient of the ultrasonic motor; in response to the impedance change rate exceeding the preset impedance change rate and the impedance being less than the intermediate value in a preset impedance range, using the second candidate impedance adjustment coefficient as the impedance adjustment coefficient of the ultrasonic motor, wherein the second candidate impedance adjustment coefficient is less than the first candidate impedance adjustment coefficient.

[0008] In one possible embodiment, the method further includes: detecting that the probe has been inserted into the lower digestive tract of the object being tested; obtaining a first correspondence corresponding to the lower digestive tract, wherein the preset load type in the first correspondence corresponding to the lower digestive tract includes frictional load, elastic load and rigid abrupt load, wherein the first impedance adjustment coefficient corresponding to the frictional load in the first correspondence corresponding to the lower digestive tract is greater than the first impedance adjustment coefficient corresponding to the elastic load, and the first impedance adjustment coefficient corresponding to the elastic load is greater than the first impedance adjustment coefficient corresponding to the rigid abrupt load, wherein the magnitude of the new operating parameter is related to the impedance adjustment coefficient of the ultrasonic motor.

[0009] In one possible embodiment, determining the load type based on the signal fluctuation of the ultrasound signal sequence includes: extracting features from the ultrasound signal sequence to obtain at least one of the following parameters: amplitude fluctuation range, frequency, period, intensity, time-domain pulse width, and impedance mutation amount; confirming the load type as a frictional load in response to the frequency being equal to a preset intestinal peristalsis frequency, the amplitude fluctuation range being within a preset small amplitude fluctuation range, and the period being greater than or equal to a preset number of periods; determining the load type as an elastic load in response to the intensity being greater than a first preset intensity and the time-domain pulse width being less than a preset narrow pulse width; and determining the load type as a rigid mutation load in response to the intensity being greater than a second preset intensity and the impedance mutation amount being greater than a preset mutation amount, wherein the second preset intensity is greater than the first preset intensity.

[0010] In one possible embodiment, the impedance adjustment coefficient includes a power adjustment coefficient and a voltage adjustment coefficient, and the new operating parameters include a new driving power and a new driving voltage. The new operating parameters of the ultrasonic motor are determined using the offset between the impedance and a preset impedance range and the impedance adjustment coefficient, including: obtaining a first product between the power adjustment coefficient and the offset, and a second product between the voltage adjustment coefficient and the offset; using the sum of the first product and the current driving frequency of the ultrasonic motor as the new driving power, and using the sum of the second product and the current driving voltage of the ultrasonic motor as the new driving voltage.

[0011] In one possible embodiment, controlling the ultrasonic motor to drive the probe according to new operating parameters includes: determining the impedance change rate of the ultrasonic motor based on the difference between the impedance and the historical impedance, wherein the historical impedance is the impedance determined using the operating voltage and current values ​​of the ultrasonic motor at a historical time; determining the execution status of the new driving power and new driving voltage based on the impedance change rate and the load type, wherein the execution status includes the sequence of controlling the ultrasonic motor to operate according to the new driving voltage and the new driving power; and controlling the ultrasonic motor to drive the probe according to the new operating parameters based on the execution status.

[0012] In one possible embodiment, the ultrasound endoscope includes a display screen, and the method further includes: displaying selectable examination sites on the display screen, wherein each examination site is provided with a dedicated standard impedance range; and using the standard impedance range corresponding to the selected examination site as a preset impedance range.

[0013] In one possible embodiment, the method further includes: acquiring the impedance of the ultrasonic motor at several moments in response to the probe having moved outside the body of the object being tested; determining the impedance change curve based on each impedance; and recording the impedance change curve and the load type corresponding to each impedance.

[0014] This application also provides a dynamic impedance compensation device for an ultrasonic endoscope motor, applied to an electronic device in an ultrasonic endoscope. The ultrasonic endoscope includes an electronic device and a probe, an ultrasonic motor for driving the probe movement, and a data acquisition component, all of which are communicatively connected to the electronic device. The dynamic impedance compensation device includes: a data acquisition unit, an impedance confirmation unit, a load type confirmation unit, an adjustment coefficient confirmation unit, a working parameter confirmation unit, and an ultrasonic motor control unit. The data acquisition unit is used to control the probe to acquire the ultrasonic signal sequence within the object being examined, and to control the data acquisition component to acquire the working voltage and current values ​​of the ultrasonic motor, when the probe has been inserted into the object being examined. The impedance confirmation unit is used to determine whether the impedance of the ultrasonic motor exceeds a preset impedance range based on the working voltage and current values. The load type confirmation unit is used to determine the load type based on the signal fluctuation of the ultrasonic signal sequence. The adjustment coefficient confirmation unit is used to determine the impedance adjustment coefficient of the ultrasonic motor based on the load type. The working parameter confirmation unit is used to determine the new working parameters of the ultrasonic motor using the offset between the impedance and the preset impedance range and the impedance adjustment coefficient. The ultrasonic motor control unit is used to control the ultrasonic motor to drive the probe movement according to the new working parameters to achieve impedance compensation of the ultrasonic motor.

[0015] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement any of the above-described methods for dynamic impedance compensation of an ultrasonic endoscope motor.

[0016] This application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for dynamic impedance compensation of an ultrasonic endoscope motor.

[0017] This application also provides a computer program product, including a computer program that, when executed by a processor, implements any of the above-described methods for dynamic impedance compensation of an ultrasonic endoscope motor.

[0018] In the dynamic impedance compensation method and device for ultrasonic endoscope motors provided in this application, when the probe has been inserted into the body of the object being examined, the electronic equipment determines that the impedance of the ultrasonic motor exceeds the preset impedance range based on the working voltage and current values ​​of the ultrasonic motor. If the impedance of the ultrasonic motor is not compensated, it may lead to inaccurate probe positioning. In this solution, the load type can be determined according to the fluctuation of the ultrasonic signal sequence. Each load type can be set with a dedicated impedance adjustment coefficient. Thus, the new driving frequency and new driving voltage of the ultrasonic motor can be determined according to the load of the probe, realizing dynamic impedance compensation of the ultrasonic motor, thereby ensuring the accuracy of probe positioning and improving the reliability of the ultrasonic endoscope. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is one of the flowcharts illustrating a dynamic impedance compensation method for an ultrasonic endoscope motor provided in this application embodiment;

[0021] Figure 2 This is a schematic diagram of the structure of an ultrasonic endoscope provided in an embodiment of this application;

[0022] Figure 3 This is a second schematic flowchart of a dynamic impedance compensation method for an ultrasonic endoscope motor provided in an embodiment of this application;

[0023] Figure 4 This is one of the functional unit block diagrams of a dynamic impedance compensation device provided in the embodiments of this application;

[0024] Figure 5 This is the second functional unit block diagram of a dynamic impedance compensation device provided in the embodiments of this application;

[0025] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0026] Figure label:

[0027] Ultrasonic endoscope 1000; electronic device 10; probe 20; ultrasonic motor 30; data acquisition component 40; display screen 50; dynamic impedance compensation device 500; data acquisition unit 501; impedance confirmation unit 502; load type confirmation unit 503; adjustment coefficient confirmation unit 504; working parameter confirmation unit 505; ultrasonic motor control unit 506; processing module 512; communication module 511; storage module 513; processor 610; communication interface 620; memory 630; communication bus 640. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0029] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0030] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0031] Please see Figure 1 , Figure 1 This is one of the flowcharts illustrating a dynamic impedance compensation method for an ultrasonic endoscope motor provided in this application embodiment. The dynamic impedance compensation method for an ultrasonic endoscope motor is applied to, for example... Figure 2 The ultrasonic endoscope 1000 shown includes an electronic device 10, a probe 20, an ultrasonic motor 30 for driving the probe movement, and a data acquisition assembly 40, all of which are communicatively connected to the electronic device 10.

[0032] The ultrasonic motor 30 can be integrated inside the probe 20 or located outside the probe 20. The probe 20 may contain ultrasonic components (not shown), such as an ultrasonic transmitter and receiver. The probe 20 may also contain optical acquisition components for the endoscope (not shown), such as optical imaging elements (e.g., miniature cameras, optical lenses) for acquiring visual images of the detection area. The data acquisition component 40 may include, but is not limited to, an MDU (Manual Drive Unit) or a current and voltage acquisition component. The MDU can monitor the status of the ultrasonic motor 30; for example, it can integrate current and voltage sensors to acquire the operating voltage and current values ​​of the ultrasonic motor 30. The MDU can then transmit the acquired operating voltage and current values ​​of the ultrasonic motor 30 to the electronic device 10.

[0033] The electronic device 10 can be the main unit in the ultrasonic endoscope 1000. The main unit can be used to receive the raw echo signal transmitted from the probe 20, perform filtering, amplification, and imaging algorithm processing, and convert it into an observable ultrasonic image. The main unit is also used to send commands to the MDU driver to control the speed and direction of the ultrasonic motor to drive the probe scanning; it can also be used to adjust parameters such as the transmission frequency and operating voltage of the ultrasonic probe.

[0034] Optionally, the ultrasound endoscope 1000 may also include a display screen 50. The display screen 50 may display ultrasound images and endoscopic images acquired by the ultrasound endoscope 1000, as well as data such as selectable examination sites for the object being examined.

[0035] Optionally, the electronic equipment 10 and other components in the ultrasonic endoscope 1000 can be placed on a trolley (not shown) with casters for easy movement.

[0036] In one possible embodiment, the dynamic impedance compensation method for an ultrasonic endoscope motor may include the following steps:

[0037] S101, when the probe has been inserted into the body of the object being tested, control the probe to acquire the ultrasonic signal sequence inside the object being tested and control the data acquisition component to acquire the working voltage and working current values ​​of the ultrasonic motor.

[0038] The electronic device can generate ultrasound images and / or endoscopic images based on the ultrasound and / or optical signal sequences fed back by the probe, and determine whether the probe has been inserted into the body of the object being examined based on the ultrasound and / or endoscopic images. Alternatively, it can receive control commands input by the user, and upon receiving such control commands, determine that the probe has been inserted into the body of the object being examined.

[0039] Optionally, upon detecting that the probe has been inserted into the area of ​​the object to be tested, the probe can be controlled to acquire an ultrasound signal sequence within the object, and the data acquisition component can be controlled to acquire the operating voltage and current values ​​of the ultrasound motor. For example, if the area to be tested is the lower digestive tract, and the probe has been detected to be inserted into the lower digestive tract, the probe can be controlled to acquire an ultrasound signal sequence within the object, and the data acquisition component can be controlled to acquire the operating voltage and current values ​​of the ultrasound motor.

[0040] Among them, the data acquisition component can be controlled to acquire the working voltage and current values ​​of the ultrasonic motor in real time, and the acquisition frequency can be 10kHz.

[0041] S102, based on the working voltage and working current values, determines that the impedance of the ultrasonic motor exceeds the preset impedance range.

[0042] Impedance is calculated as Z = U / I, where Z is impedance, U is voltage, and I is current. Specific standard impedance ranges can be set for different parts of the object being tested. The preset impedance range can be selected from the standard impedance range corresponding to the location of the probe.

[0043] The impedance of the ultrasonic motor exceeding the preset impedance range can be due to the impedance being greater than the maximum impedance within the preset impedance range or less than the minimum impedance within the preset impedance range. Optionally, if it is determined that the impedance of the ultrasonic motor does not exceed the preset impedance range, then it can be determined that there is no need to perform impedance compensation on the ultrasonic motor and S101 can continue to be executed.

[0044] S103, determine the load type based on the signal fluctuation of the ultrasound signal sequence.

[0045] The signal fluctuations in an ultrasound signal sequence can include, but are not limited to, amplitude and intensity data. Considering that the intensity and amplitude of the ultrasound signal returned by the probe may differ when the probe is in contact with different loads, this method can determine the type of load the probe is in contact with by analyzing the amplitude and intensity data of the ultrasound signal sequence.

[0046] S104, Based on the load type, determine the impedance adjustment coefficient of the ultrasonic motor.

[0047] Impedance adjustment factors can include, but are not limited to, impedance adjustment ratios. The impedance of the ultrasound motor may differ depending on the load the probe encounters. For example, when the lower digestive tract is the examination site, the ultrasound motor needs to drive the probe to rotate and scan along the rectal wall, where the load is primarily frictional resistance. The load type can include frictional loads. However, when the probe contacts a polyp, the load type is an elastic load. In cases of frictional loads, the ultrasound motor's impedance compensation needs a rapid response, while in cases of elastic loads, overshoot prevention is required during impedance compensation. Therefore, the impedance adjustment ratio is larger in cases of frictional loads and smaller in cases of elastic loads.

[0048] S105, using the offset between the impedance and the preset impedance range and the impedance adjustment coefficient, determines the new operating parameters of the ultrasonic motor.

[0049] The offset between the impedance and the preset impedance range can be the difference between the impedance and the center of the preset impedance range, or it can be the difference between the impedance and the closest impedance value in the preset impedance range. The new operating parameters of the ultrasonic motor can be determined using the offset between the impedance and the preset impedance range, along with the impedance adjustment coefficient: obtain the product of the offset and the impedance adjustment coefficient, and determine the new operating parameters of the ultrasonic motor based on this product and the current operating parameters of the ultrasonic motor.

[0050] S106 controls the ultrasonic motor to drive the probe movement according to the new operating parameters in order to achieve impedance compensation of the ultrasonic motor.

[0051] The electronic device can convert the new operating parameters into control commands that the ultrasonic motor can recognize, and then send the control commands to the ultrasonic motor. Alternatively, the electronic device can send the new operating parameters to the MDU driver, which will then convert the new operating parameters into control commands that the ultrasonic motor can recognize, and then send the control commands to the ultrasonic motor.

[0052] In the above scheme, when the probe has been inserted into the body of the object being tested, the electronic device determines that the impedance of the ultrasonic motor exceeds the preset impedance range based on the working voltage and current values ​​of the ultrasonic motor. If the impedance of the ultrasonic motor is not compensated, it may lead to inaccurate probe positioning. In this scheme, the load type can be determined according to the fluctuation of the ultrasonic signal sequence. Each load type can be set with a dedicated impedance adjustment coefficient. Thus, the new driving frequency and new driving voltage of the ultrasonic motor can be determined according to the load of the probe, realizing dynamic compensation of the impedance of the ultrasonic motor, thereby ensuring the accuracy of probe positioning and improving the reliability of the ultrasonic endoscope.

[0053] In one possible embodiment, the ultrasound endoscope includes a display screen, and the method further includes;

[0054] The display screen shows selectable inspection locations. Each inspection location has its own standard impedance range. The standard impedance range corresponding to the selected inspection location is used as the preset impedance range.

[0055] For example, selectable examination sites may include the lower digestive tract, upper digestive tract, pancreas, bile duct, respiratory tract, etc. Taking the lower digestive tract as an example, the standard impedance range is [22Ω, 26Ω]. If the selected examination site is the lower digestive tract, the standard impedance range [22Ω, 26Ω] specific to the lower digestive tract is used as the preset impedance range.

[0056] In the above scheme, by setting a specific standard impedance range for different parts of the object to be examined, and adjusting the impedance of the ultrasonic motor using the specific standard impedance range, the impedance stability of the ultrasonic motor can be ensured.

[0057] In one possible embodiment, the load type may include frictional load, elastic load, and rigid abrupt change load. Frictional load can be considered as the probe contacting the intestinal wall, elastic load as the probe contacting a polyp, and rigid abrupt change load as the probe experiencing mechanical jamming. For example, mechanical jamming may occur when the probe contacts a rigid structure inside the object being examined, such as stones, calcified tissue, or metal implants (e.g., stents). Alternatively, the probe may be jammed by a narrow section of the lumen or by foreign objects: such as severe intestinal stenosis or excessively large polyps preventing probe advancement. Mechanical jamming may also occur when the probe collides with other instruments: such as biopsy forceps or guidewires during examination.

[0058] S103 above may include the following steps: extracting features from the ultrasound signal sequence to obtain at least one of the following parameters: amplitude fluctuation range, frequency, period, intensity, time-domain pulse width, and impedance abrupt change. Amplitude can be considered as the maximum distance between the peak value and the baseline in the low-frequency fluctuation of the echo signal, and can be used to characterize the magnitude of the signal fluctuation. Amplitude fluctuation range can be the range of each amplitude value in the ultrasound signal sequence. Frequency can be considered as the number of periodic repetitions of the low-frequency fluctuation of the ultrasound signal sequence per unit time, i.e., the frequency of the fluctuation. The frequency value is equal to the reciprocal of the period. Intensity can be the logarithmic ratio of the ultrasound signal's sound pressure to the reference sound pressure, characterizing the relative strength of the echo signal energy. Time-domain pulse width can be the duration of the ultrasound signal in the time domain, that is, the time interval between the rising edge reaching 10% of the peak value and the falling edge returning to 10% of the peak value. Impedance abrupt change can be the abrupt change rate; for example, impedance abrupt change can be the ratio between the change in impedance before and after the probe contacts the load and the impedance before release.

[0059] One method to obtain the time-domain pulse width is to perform time-domain waveform analysis on the ultrasound signal sequence, mark the pulse peaks, then determine the 10% peak point of the pulse rising edge and the 10% peak point of the pulse falling edge, and measure the time difference between the two points as the time-domain pulse width.

[0060] Optionally, in response to a frequency equal to a preset intestinal peristalsis frequency, an amplitude fluctuation range within a preset small amplitude fluctuation range, and a period greater than or equal to a preset number of periods, the load type is confirmed as a frictional load. For example, the preset intestinal peristalsis frequency can be 0.2Hz, the preset small amplitude fluctuation range can be 0.1V to 1V, and the preset number of periods can be greater than or equal to one period. That is, within the preset number of periods, if the frequency equals the preset intestinal peristalsis frequency and the amplitude fluctuation range is within the preset small amplitude fluctuation range, the load type is confirmed as a frictional load. In other words, if the ultrasound signal sequence exhibits continuous low-frequency fluctuations and the frequency is consistent with the intestinal peristalsis frequency, it is determined to be a frictional load.

[0061] If the intensity is greater than a first preset intensity and the time-domain pulse width is less than a preset narrow pulse width, the load type is determined to be an elastic load. The first preset intensity can be 50dB, the preset narrow pulse width can be 10μs, and the pulse frequency can also be consistent with the elastic vibration frequency of the polyp. That is, if the ultrasound signal sequence presents a pulsed high-frequency peak (the ultrasound signal sequence is greater than 50dB and is a time-domain narrow pulse), then it is determined to be an elastic load.

[0062] In response to an echo intensity greater than a second preset intensity and an impedance abrupt change greater than a preset abrupt change, the load type is determined to be a rigid abrupt load, where the second preset intensity is greater than the first preset intensity. The second preset intensity can be 80 dB, and the preset abrupt change can be the impedance abrupt change rate, specifically 50%. That is, if the echo intensity is greater than 80 dB and the impedance abrupt change rate is greater than 50%, the load type can be determined to be a rigid abrupt load. Alternatively, the abrupt change synchronicity can be further determined. If the time difference between the signal intensity abrupt change and the impedance abrupt change is less than a preset time difference, and the intensity is greater than the second preset intensity and the impedance abrupt change is greater than the preset abrupt change, the load type is determined to be a rigid abrupt load. In other words, if the ultrasound signal sequence shows a sudden increase in intensity followed by a sustained high intensity and a sudden impedance change, it is determined to be a rigid abrupt load.

[0063] In one possible embodiment, the above-described S104 may include, for example: Figure 3 The following steps are shown:

[0064] S201, Based on the difference between the impedance and the historical impedance of the ultrasonic motor, determine the impedance change rate of the ultrasonic motor.

[0065] Historical impedance is the impedance determined using the operating voltage and current values ​​of the ultrasonic motor at a historical moment. For example, historical impedance can be the impedance determined using the operating voltage and current values ​​used to determine the historical operating parameters, or the impedance determined using the operating voltage and current values ​​acquired at the historical moment closest to the acquisition time used to obtain the operating current and voltage values ​​for that impedance.

[0066] For example, the new operating parameters of the ultrasonic motor were determined at times a, b, and c. Since time c is the closest to the time when the data acquisition component in S101 acquires the operating voltage and current values ​​of the ultrasonic motor, the impedance obtained from the operating current and voltage values ​​acquired when the new operating parameters were determined at time c can be used as the historical impedance.

[0067] Alternatively, if the operating current and operating voltage values ​​at times x, v, and n have been collected over a period of time, and it is determined that each impedance at times x, v, and n is within the preset impedance range, and time n is the closest time to the time when the data acquisition component in S101 acquires the operating voltage and operating current values ​​of the ultrasonic motor, the impedance determined by the operating current and operating voltage values ​​collected at time n can be used as the historical impedance.

[0068] S202, obtain a first correspondence between a number of preset load types and a number of first impedance adjustment coefficients, and a second correspondence between a number of preset impedance change rates and a number of second impedance adjustment coefficients.

[0069] In one possible embodiment, the method may further include the following steps:

[0070] The probe has been detected to have entered the lower digestive tract of the object being tested; the first correspondence corresponding to the lower digestive tract is obtained. The preset load types in the first correspondence corresponding to the lower digestive tract include friction load, elastic load and rigid sudden change load. Among them, the first impedance adjustment coefficient corresponding to friction load in the first correspondence corresponding to the lower digestive tract is greater than the first impedance adjustment coefficient corresponding to elastic load, and the first impedance adjustment coefficient corresponding to elastic load is greater than the first impedance adjustment coefficient corresponding to rigid sudden change load. The magnitude of the new working parameters is related to the impedance adjustment coefficient of the ultrasonic motor.

[0071] For example, when the impedance of the ultrasonic motor is greater than the maximum value in the preset impedance range, the larger the impedance adjustment coefficient, the smaller the new operating parameter. Similarly, when the impedance of the ultrasonic motor is less than the minimum value in the preset impedance range, the smaller the impedance adjustment coefficient, the larger the new operating parameter.

[0072] The second impedance adjustment coefficient is negatively correlated with the preset impedance change rate. For example, the greater the preset impedance change rate, the smaller the second impedance adjustment coefficient.

[0073] S203, query the first correspondence relationship, and take the first impedance adjustment coefficient corresponding to the preset load type that matches the load type as the first candidate impedance adjustment coefficient.

[0074] S204, query the second correspondence relationship, and take the second impedance adjustment coefficient corresponding to the preset impedance change rate that matches the impedance change rate as the second candidate impedance adjustment coefficient.

[0075] Optionally, the preset impedance change rate with the smallest difference from the impedance change rate is taken as the target impedance change rate, and the second impedance adjustment coefficient corresponding to the target impedance change rate is taken as the second candidate impedance adjustment coefficient.

[0076] S205, Based on the first candidate impedance adjustment coefficient and the second candidate impedance adjustment coefficient, determine the impedance adjustment coefficient of the ultrasonic motor.

[0077] Optionally, one of the first candidate impedance adjustment coefficient and the second candidate impedance adjustment coefficient can be used as the impedance adjustment coefficient of the ultrasonic motor, or the first candidate impedance adjustment coefficient and the second candidate impedance adjustment coefficient can be weighted and fused to obtain the impedance adjustment coefficient of the ultrasonic motor. The weights of the first candidate impedance adjustment coefficient and the second candidate impedance adjustment coefficient in the weighted fusion can be preset; for example, different weights can be assigned to the first candidate impedance adjustment coefficient and the second candidate impedance adjustment coefficient for different detection locations within the detection object.

[0078] In the above scheme, by using multiple methods to determine at least two sets of candidate impedance adjustment coefficients, and based on at least two sets of candidate impedance adjustment coefficients, the final impedance adjustment coefficient can be determined more accurately, thereby making the impedance of the ultrasonic motor after impedance compensation more stable, and thus making the ultrasonic endoscope more reliable.

[0079] In one possible embodiment, S205 above may include the following steps:

[0080] Determine whether the absolute value of the impedance change rate exceeds the preset impedance change rate. The preset impedance change rate can be 5 Ω / s. An impedance change rate exceeding the preset impedance change rate indicates a large impedance change in the ultrasonic motor, which may be due to over-compensation of impedance.

[0081] In response to the impedance change rate not exceeding the preset impedance change rate, a first candidate impedance adjustment coefficient is used as the impedance adjustment coefficient of the ultrasonic motor. In response to the impedance change rate exceeding the preset impedance change rate and the impedance being less than the median value in the preset impedance range, a second candidate impedance adjustment coefficient is used as the impedance adjustment coefficient of the ultrasonic motor, wherein the second candidate impedance adjustment coefficient is less than the first candidate impedance adjustment coefficient.

[0082] In one possible embodiment, if the impedance change rate exceeds a preset impedance change rate and the impedance is greater than the midpoint of a preset impedance range, a second candidate impedance adjustment coefficient is used as the impedance adjustment coefficient for the ultrasonic motor. In this case, the second candidate impedance adjustment coefficient can be greater than the first candidate impedance adjustment coefficient.

[0083] For example, if the absolute value of the impedance change rate exceeds the preset impedance change rate, and the impedance of the ultrasonic motor is 22.01Ω, the preset impedance range is [22Ω, 26Ω], and the median value is 24Ω, then the median value can be corrected using the correction parameter corresponding to the load type. For example, if the load type is an elastic load and the correction parameter corresponding to the elastic load is 0.2Ω, then the corrected median value is 24.2Ω. Obviously, 22.01Ω is less than 24.2Ω. Therefore, the second candidate impedance adjustment coefficient is determined as the impedance adjustment coefficient of the ultrasonic motor, and the second candidate impedance adjustment coefficient is less than the first candidate impedance adjustment coefficient.

[0084] In the above scheme, by judging whether the impedance change rate is large, it is determined whether the impedance compensation has been over-compensated. If it has, a candidate impedance adjustment coefficient that can make the impedance compensation smaller is selected for impedance compensation, thereby reducing the impedance compensation amplitude and improving the stability of the ultrasound endoscope.

[0085] In one possible embodiment, the impedance adjustment factor includes a power adjustment factor and a voltage adjustment factor, and the new operating parameters include a new drive power and a new drive voltage.

[0086] For example, in the first correspondence corresponding to the lower digestive tract, the power adjustment coefficient for the frictional load is 0.5kHz / Ω and the voltage adjustment coefficient is 1.5V / Ω, the power adjustment coefficient for the elastic load is 0.3kHz / Ω and the voltage adjustment coefficient is 1.2V / Ω, and the power adjustment coefficient for the rigid abrupt load is 0.1kHz / Ω and the voltage adjustment coefficient is 1.0V / Ω.

[0087] In the second correspondence between several preset impedance change rates and several second impedance adjustment coefficients, the preset impedance change rates can be divided into three levels, for example: less than 2Ω / s, indicating slow impedance fluctuation; 2Ω / s to 5Ω / s, indicating moderate impedance fluctuation; and greater than 5Ω / s, indicating a sudden change in impedance. Here, 5Ω / s is the aforementioned preset impedance sudden change rate. Optionally, in the case of greater than 5Ω / s, the power adjustment coefficient is 0.1kHz / Ω, and the voltage adjustment coefficient is 1.0V / Ω.

[0088] In this case, S105 may include the following steps:

[0089] Obtain the first product between the power adjustment coefficient and the offset, and the second product between the voltage adjustment coefficient and the offset;

[0090] The sum of the first product and the current driving frequency of the ultrasonic motor is used as the new driving power, and the sum of the second product and the current driving voltage of the ultrasonic motor is used as the new driving voltage.

[0091] The offset between the impedance and the preset impedance range can be the difference between the impedance and the center point within the preset impedance range. Optionally, the intermediate value can be corrected using a correction parameter corresponding to the load type, and the difference between the impedance and the corrected intermediate value can be used as the offset. The current driving frequency can be the driving frequency in the latest operating parameters of the ultrasonic motor output by the electronic device during the detection of the object, and the current driving voltage can be the driving voltage in the latest operating parameters of the ultrasonic motor output by the electronic device during the detection of the object.

[0092] For example, the impedance of the ultrasonic motor determined at 1.6s is 22.01Ω, with a preset impedance range of [22Ω, 26Ω] and an intermediate value of 24Ω. This intermediate value can be corrected using the correction parameter corresponding to the load type. For instance, if the load type is an elastic load and the correction parameter for an elastic load is 0.2Ω, the corrected intermediate value is 24.2Ω, and the offset is determined to be 24.2Ω - 22.01Ω = 2.19Ω. If the historical impedance is determined by the working current and voltage values ​​collected at 1.5s, specifically 26.03Ω, the impedance change rate is (22.01Ω - 26.03Ω) / (1.6 - 1.5) ≈ -40.2Ω / s. The second candidate impedance adjustment coefficient is 0.1kHz / Ω, and the voltage adjustment coefficient is 1.0V / Ω. Because the absolute value of the impedance change rate exceeds 5Ω / s, the second candidate impedance adjustment coefficient is selected as the impedance adjustment coefficient for the ultrasonic motor. The new drive voltage and new drive current are determined by the working voltage and current values ​​collected over 1.5 seconds based on the current drive frequency and current drive voltage. For example, if the current drive frequency is 24.45kHz and the current drive voltage is 32.8V, then the new drive power is 24.45 + 0.1 * 2.19 ≈ 24.67kHz and the new drive voltage is 32.8 + 1.0 * 2.19 ≈ 34.99V.

[0093] In one possible embodiment, the above S106 may include the following steps:

[0094] The impedance change rate of the ultrasonic motor is determined based on the difference between the impedance and the historical impedance. As mentioned above, the historical impedance is the impedance obtained using the operating voltage and current values ​​of the ultrasonic motor at a historical time. Based on the impedance change rate and load type, the execution status of the new drive power and new drive voltage is determined. The execution status includes controlling the ultrasonic motor to operate according to the new drive voltage and the new drive power in a specific order. Based on the execution status, the ultrasonic motor is controlled to drive the probe movement according to the new operating parameters.

[0095] For example, the adjustment sequence of the new driving voltage and the new driving power can be: first, control the ultrasonic voltage to operate according to the new driving power, and then control the ultrasonic motor to operate according to the new driving voltage. Alternatively, prioritize controlling the ultrasonic motor to operate according to the new driving voltage, and then control the ultrasonic motor to operate according to the new driving power.

[0096] The method for determining the execution of the new driving power and new driving voltage based on the impedance change rate and load type can be as follows: The execution of the new driving power and new driving voltage is determined based on one or both of the impedance change rate and load type. For example, if the load type is not a rigid stop, the execution is determined by first controlling the ultrasonic voltage to operate according to the new driving power, and then controlling the ultrasonic motor to operate according to the new driving voltage. If the load type is a rigid stop, the execution is determined by first controlling the ultrasonic motor to operate according to the new driving voltage, and then controlling the ultrasonic motor to operate according to the new driving power.

[0097] In the above scheme, the adjustment sequence of the driving voltage and driving power of the ultrasonic motor is dynamically determined by the impedance change rate and load type of the ultrasonic motor. Compared with the synchronous adjustment of driving voltage and driving power, this can reduce the coupling interference caused by the synchronous adjustment of two parameters and improve the stability of the ultrasonic endoscope.

[0098] In one possible embodiment, the method further includes:

[0099] In response to the probe moving outside the object being tested, the impedance of the ultrasonic motor is acquired at several time points. Based on each impedance, an impedance change curve is determined. The impedance change curve and the corresponding load type for each impedance are recorded.

[0100] Impedance variation curves can characterize the impedance values ​​of an ultrasonic motor at different times. The impedance variation curves and the corresponding load types for each impedance can be used for aging analysis of the ultrasonic motor. The method can also record the power and voltage adjustment logs of the ultrasonic motor, for example, by statistically analyzing the optimal values ​​of the impedance adjustment coefficients under different load types. Furthermore, the method can record abnormal operating condition handling records for optimizing subsequent protection strategies. These abnormal operating condition handling records can be records of drive power and drive voltage handling under a rigid jamming load type.

[0101] To better understand the dynamic impedance compensation method for the ultrasonic endoscope motor provided in this application, please refer to the following embodiments. It is worth noting that the values ​​in the following embodiments are only examples.

[0102] Software modules can be set in electronic devices: impedance monitoring module, compensation control module, and impedance adjustment module.

[0103] Impedance monitoring module: Real-time acquisition of the ultrasonic motor's operating voltage and current values, and calculation of the ultrasonic motor's real-time impedance value. The acquisition frequency is 10kHz, and the impedance is calculated using the formula Z=U / I, where Z is the impedance, U is the voltage, and I is the current.

[0104] Compensation control module: Pre-stores the standard impedance range of the ultrasonic motor under different working conditions (such as different inspection locations, temperature ranges, and the degree of aging corresponding to the usage time of the ultrasonic motor). Compares the real-time impedance obtained by the impedance monitoring module with the standard impedance range of the corresponding working condition. When the real-time impedance exceeds the standard range, the impedance offset is calculated. The formula for calculating the impedance offset ΔZ is: ΔZ = Z_standard - Z_real-time (Z_standard is the median value of the standard impedance range under the corresponding working condition).

[0105] Impedance Adjustment Module: Based on the impedance offset calculated by the compensation control module, the driving frequency and driving voltage of the ultrasonic motor are adjusted to achieve impedance compensation. The adjustment relationship is as follows: When ΔZ is positive, the driving frequency f = f0 + k1 × ΔZ (f0 is the current driving frequency, k1 is the frequency adjustment coefficient) is increased, and the driving voltage U = U0 + k2 × ΔZ (U0 is the current driving voltage, k2 is the voltage adjustment coefficient); when ΔZ is negative, the driving frequency and voltage are decreased, and the adjustment formula is similar.

[0106] Specifically, it may include the following steps:

[0107] Step 1: Initial parameter settings: When the device is started, the compensation control module calls the corresponding standard impedance range [Z1,Z2] according to the examination site (bronchial submucosal lesion), with a reference frequency f0=20kHz and a reference voltage U0=30V.

[0108] Step 2: Real-time Impedance Monitoring: The probe enters the bronchus of the object being tested, and the impedance monitoring module starts working. At time t1, the voltage U1=32V and the current I1=1.6A of the ultrasonic motor are collected. The real-time impedance Z1=32 / 1.6=20Ω is calculated. Based on the above method, the frequency adjustment coefficient k1=0.5kHz / Ω and the voltage adjustment coefficient k2=2V / Ω are determined.

[0109] Step 3: Impedance comparison and impedance offset calculation: The compensation control module compares Z1=20Ω with the standard impedance range [Z1,Z2]. Assuming the midpoint of the standard impedance range Z_standard=18Ω, the calculation is ΔZ=18-20=-2Ω.

[0110] Step 4: Impedance adjustment: Based on ΔZ=-2Ω, the impedance adjustment module adjusts the driving frequency f=20+0.5×(-2)=19kHz and the driving voltage U=30+2×(-2)=26V.

[0111] Step 5: Continuous monitoring and compensation: At time t2, the impedance monitoring module collects voltage U2=26V and current I2=1.3A, and calculates the real-time impedance Z2=26 / 1.3=20Ω, which is still outside the standard range. The compensation control module calculates ΔZ=18-20=-2Ω, and the impedance adjustment module continues to adjust until the real-time impedance is within the standard range.

[0112] Step Six: Inspection Completed: Inspection complete, equipment stops running, and all modules are reset.

[0113] In one possible embodiment, considering that using a fixed standard impedance range for different examination sites may not be sufficient to cover the dynamic load fluctuations of the lower digestive tract, the method may further include the following steps:

[0114] First, after the endoscopic ultrasound is started, the doctor sets the examination mode to rectal protrusion lesion examination. The compensation control module automatically loads: 1. Basic parameters; 2. Adaptive coefficient configuration; 3. Load compensation library; 4. Temperature compensation correction. The basic parameters include the standard impedance range [22Ω, 26Ω], the standard intermediate value Z_standard = 24Ω (phase 0°), the reference frequency f0 = 25kHz, and the reference voltage U0 = 35V. The resonant frequency of ultrasound in the lower digestive tract is mostly 24 to 26kHz, and the 35V drive voltage balances output torque and heat dissipation. The adaptive coefficient configuration can be a tiered threshold for the rate of change of load impedance (less than 2Ω / s; 2Ω / s to 5Ω / s; greater than 5Ω / s) and the corresponding impedance adjustment coefficient. By adapting the corresponding impedance adjustment coefficient according to the tiers, the response speed and stability can be balanced. The load compensation library pre-stores the impedance adjustment coefficients and impedance compensation curves corresponding to the frictional load, elastic load, and rigid load of the examination site. The impedance compensation curve is used to correct the Z_standard. Frictional loads require rapid response, elastic loads require overshoot prevention, and rigid, abrupt loads require strong protection. Differentiated parameters are adapted to the physical characteristics of the load. Temperature compensation correction can be achieved by increasing the Z_standard by 0.5Ω for every 1℃ increase and decreasing the Z_standard by 0.5Ω for every 1℃ decrease when the ambient temperature deviates from 37℃. This allows for dynamic adjustment of the Z_standard, thereby better covering the dynamic load fluctuations of the lower digestive tract.

[0115] After the probe is inserted into the lower digestive tract, the processor can also perform the following steps:

[0116] The impedance monitoring module in the electronic device acquires the operating current (I), operating voltage (U), and phase difference (Φ) of the ultrasonic motor in the data acquisition component at a frequency of 10kHz. After receiving the ultrasonic signal sequence, the electronic device determines the load type based on the signal fluctuations. As mentioned above, the load types include frictional loads, elastic loads, and rigid abrupt change loads.

[0117] At time t1 (0.2s), the operating voltage (U1) is 38V, the operating current (A1) is 1.5A, and the phase difference is...

[0118] (Φ1) is +8°, ​​and the calculated impedance (Z1) is 24Ω. The load type is determined to be a friction load by the ultrasonic sequence signal. The impedance is within the preset impedance range. Therefore, impedance compensation is not required. The working current and working voltage of the ultrasonic motor will continue to be monitored.

[0119] At time t2 (1.5s), the operating voltage (U2) is 38V, the operating current (A2) is 1.46A, and the phase difference is...

[0120] With Φ2 set to +12°, the calculated impedance (Z2) is approximately 26.03Ω. The load type is determined to be an elastic load based on the ultrasonic signal sequence, and the impedance change rate is (26.03-24) / (1.5-0.2)≈1.56Ω / s. Since 26.03Ω > 26Ω, the impedance exceeds the preset impedance range, requiring impedance compensation. Alternatively, the need for impedance compensation can be determined by considering the phase of the ultrasonic signal sequence. For example, if 26.03Ω > 26Ω, the impedance exceeds the preset impedance range, but the phase is normal, impedance compensation is still required.

[0121] Among them, the load compensation curve is called to correct the Z_ standard. For example, the correction parameter for elastic load is 0.2Ω, Z_correction = 24Ω + 0.2Ω, ΔZ = 24.2 - 26.03 ≈ -1.83Ω.

[0122] As mentioned above, the impedance change rate is 1.56Ω / s (slow fluctuation). The first candidate impedance adjustment coefficient is used to determine the impedance adjustment factor for the ultrasonic motor, specifically a power adjustment factor of 0.3kHz / Ω and a voltage adjustment factor of 1.2V / Ω. Furthermore, based on the impedance change rate and load type, the execution of the new drive power and new drive voltage is determined to be frequency-priority followed by voltage-following.

[0123] The new driving frequency f = 25 + 0.3 * (-1.83) ≈ 24.45 kHz, and the new driving voltage U is 35 + 1.2 * (-1.83) ≈ 32.8 V. It can be seen that the driving frequency approaches the resonant point, reducing the impedance, while the elastic load has a low voltage coefficient, preventing polyp damage.

[0124] At time t3 (1.6s, elastic load stabilized):

[0125] With an operating voltage (U3) of 32.8V, an operating current (A3) of 1.49A, and a phase difference (Φ3) of +6°, the calculated impedance (Z3) is approximately 22.01Ω (close to the lower limit of 22Ω). The impedance change rate is approximately -40.2Ω / s (a sudden negative change due to over-adjustment). This triggers adaptive coefficient switching; in this sudden change scenario, k1 drops to 0.1kHz / Ω, and k2 drops to 1.0V / Ω.

[0126] Compensation calculation: ΔZ = 24.2 - 22.01 ≈ 2.19Ω, new driving power f = 24.45 + 0.1 × 2.19 ≈ 24.67kHz, new driving voltage U = 32.8 + 1.0 × 2.19 ≈ 34.99V.

[0127] At time t4 (1.7s), Z4 = 23.8Ω, Φ4 = +3°, the load type is still elastic, and the impedance change rate is 17.9Ω / s (moderate fluctuation). k1 increases to 0.2kHz / Ω, k2 increases to 1.1V / Ω, and after fine adjustment, Z5 = 24.1Ω, and adjustment is stopped.

[0128] The method may also include abnormal operating condition handling (rigid sudden load adaptation):

[0129] At time t5 (3.0s), the operating voltage (U5) is 40V, the operating current (A5) is 1.43A, Z5≈27.97Ω (near the upper limit of 28Ω), and the phase (Φ5) is +18° (beyond the phase threshold). Load identification: The echo spikes to a high amplitude of 85dB, indicating a rigid abrupt load (probe stuck at the polyp stalk). Impedance change rate = (27.97-24.1) / (3.0-1.7)≈ 3.05Ω / s (moderate fluctuation, but the load type is a rigid abrupt load).

[0130] The impedance adjustment coefficients corresponding to the rigid abrupt load are applied: k1 = 0.1 kHz / Ω, k2 = 1.0 V / Ω.

[0131] Voltage priority adjustment: U=34.99+1.0×(24-27.97)≈31.02V (rapid voltage reduction to prevent motor overload); frequency delay adjustment: to avoid abrupt frequency changes that aggravate vibration, only fine-tuning to 24.6kHz.

[0132] Second judgment: After 100ms, Z6=27.5Ω (still exceeding), triggering rigid load protection: the ultrasonic motor reverses by 0.3mm (reduced compared to the elastic load retraction), and at the same time, a "blocking risk" warning is displayed.

[0133] Optionally, if the impedance of the ultrasonic motor is detected to be less than 20Ω or greater than 28Ω, a shutdown protection mechanism can be triggered. An impedance less than 20Ω may also indicate a winding short circuit, while an impedance greater than 28Ω may indicate mechanical jamming.

[0134] The following describes a dynamic impedance compensation device provided in this application. The dynamic impedance compensation device described below corresponds to the method of the dynamic impedance compensation device described above.

[0135] This application also provides a dynamic impedance compensation device 500 for an ultrasonic endoscope motor, applied to electronic devices in an ultrasonic endoscope. The ultrasonic endoscope includes electronic devices, a probe, an ultrasonic motor for driving the probe movement, and a data acquisition component, all of which are communicatively connected to the electronic devices. Please refer to [link to relevant documentation]. Figure 4 The dynamic impedance compensation device 500 includes: a data acquisition unit 501, an impedance confirmation unit 502, a load type confirmation unit 503, an adjustment coefficient confirmation unit 504, a working parameter confirmation unit 505, and an ultrasonic motor control unit 506. The data acquisition unit 501, when the probe is inserted into the object being tested, controls the probe to acquire the ultrasonic signal sequence within the object and controls the data acquisition component to acquire the working voltage and current values ​​of the ultrasonic motor. The impedance confirmation unit 502, based on the working voltage and current values, determines if the impedance of the ultrasonic motor exceeds a preset impedance range. The load type confirmation unit 503, based on the signal fluctuation of the ultrasonic signal sequence, determines the load type. The adjustment coefficient confirmation unit 504, based on the load type, determines the impedance adjustment coefficient of the ultrasonic motor. The working parameter confirmation unit 505, using the offset between the impedance and the preset impedance range, and the impedance adjustment coefficient, determines the new working parameters of the ultrasonic motor. The ultrasonic motor control unit 506, controlling the ultrasonic motor to drive the probe movement according to the new working parameters to achieve impedance compensation of the ultrasonic motor.

[0136] In one possible embodiment, the adjustment coefficient confirmation unit 504 determines the impedance adjustment coefficient of the ultrasonic motor based on the load type, including: determining the impedance change rate of the ultrasonic motor based on the difference between the impedance and the historical impedance of the ultrasonic motor, wherein the historical impedance is the impedance determined using the operating voltage and operating current values ​​of the ultrasonic motor at a historical time; acquiring a first correspondence between a number of preset load types and a number of first impedance adjustment coefficients, and a second correspondence between a number of preset impedance change rates and a number of second impedance adjustment coefficients; querying the first correspondence and selecting the first impedance adjustment coefficient corresponding to the preset load type that matches the load type as a first candidate impedance adjustment coefficient; querying the second correspondence and selecting the second impedance adjustment coefficient corresponding to the preset impedance change rate that matches the impedance change rate as a second candidate impedance adjustment coefficient; and determining the impedance adjustment coefficient of the ultrasonic motor based on the first candidate impedance adjustment coefficient and the second candidate impedance adjustment coefficient.

[0137] In one possible embodiment, the adjustment coefficient confirmation unit 504 determines the impedance adjustment coefficient of the ultrasonic motor based on a first candidate impedance adjustment coefficient and a second candidate impedance adjustment coefficient, including: determining whether the absolute value of the impedance change rate exceeds a preset impedance change rate; in response to the impedance change rate not exceeding the preset impedance change rate, using the first candidate impedance adjustment coefficient as the impedance adjustment coefficient of the ultrasonic motor; in response to the impedance change rate exceeding the preset impedance change rate and the impedance being less than the middle value in a preset impedance range, using the second candidate impedance adjustment coefficient as the impedance adjustment coefficient of the ultrasonic motor, wherein the second candidate impedance adjustment coefficient is less than the first candidate impedance adjustment coefficient.

[0138] In one possible embodiment, the adjustment coefficient confirmation unit 504 is further configured to: detect that the probe has been inserted into the lower digestive tract of the object being tested; obtain a first correspondence corresponding to the lower digestive tract, wherein the preset load type in the first correspondence corresponding to the lower digestive tract includes friction load, elastic load and rigid sudden change load, wherein the first impedance adjustment coefficient corresponding to the friction load in the first correspondence corresponding to the lower digestive tract is greater than the first impedance adjustment coefficient corresponding to the elastic load, and the first impedance adjustment coefficient corresponding to the elastic load is greater than the first impedance adjustment coefficient corresponding to the rigid sudden change load, wherein the magnitude of the new working parameter is related to the impedance adjustment coefficient of the ultrasonic motor.

[0139] In one possible embodiment, the load type confirmation unit 503 determines the load type based on the signal fluctuation of the ultrasound signal sequence, including: extracting features from the ultrasound signal sequence to obtain at least one of the following parameters: amplitude fluctuation range, frequency, period, intensity, time-domain pulse width, and impedance mutation amount; confirming the load type as a frictional load in response to the frequency being equal to a preset intestinal peristalsis frequency, the amplitude fluctuation range being within a preset small amplitude fluctuation range, and the period being greater than or equal to a preset number of periods; confirming the load type as an elastic load in response to the intensity being greater than a first preset intensity and the time-domain pulse width being less than a preset narrow pulse width; and confirming the load type as a rigid mutation load in response to the intensity being greater than a second preset intensity and the impedance mutation amount being greater than a preset mutation amount, wherein the second preset intensity is greater than the first preset intensity.

[0140] In one possible embodiment, the impedance adjustment coefficient includes a power adjustment coefficient and a voltage adjustment coefficient, and the new operating parameters include a new driving power and a new driving voltage. The operating parameter confirmation unit 505 determines the new operating parameters of the ultrasonic motor using the offset between the impedance and a preset impedance range and the impedance adjustment coefficient, including: obtaining a first product between the power adjustment coefficient and the offset, and a second product between the voltage adjustment coefficient and the offset; using the sum of the first product and the current driving frequency of the ultrasonic motor as the new driving power, and using the sum of the second product and the current driving voltage of the ultrasonic motor as the new driving voltage.

[0141] In one possible embodiment, the ultrasonic motor control unit 506 controls the ultrasonic motor to drive the probe movement according to the new operating parameters, including: determining the impedance change rate of the ultrasonic motor based on the difference between the impedance and the historical impedance, wherein the historical impedance is the impedance determined using the operating voltage and operating current values ​​of the ultrasonic motor at a historical time; determining the execution status of the new driving power and the new driving voltage based on the impedance change rate and the load type, wherein the execution status includes the sequence of controlling the ultrasonic motor to operate according to the new driving voltage and the new driving power; and controlling the ultrasonic motor to drive the probe movement according to the new operating parameters based on the execution status.

[0142] In one possible embodiment, the ultrasound endoscope includes a display screen, and the dynamic impedance compensation device 500 further includes a display unit (not shown), which is used to: display selectable examination sites on the display screen, wherein each examination site is provided with a dedicated standard impedance range; and use the standard impedance range corresponding to the selected examination site as a preset impedance range.

[0143] In one possible embodiment, the dynamic impedance compensation device 500 further includes a data processing unit (not shown), which is used to: acquire the impedance of the ultrasonic motor at several moments in response to the probe being moved outside the object being tested; determine the impedance change curve based on each impedance; and record the impedance change curve and the load type corresponding to each impedance.

[0144] It is understood that since the method embodiments and the device embodiments are different presentations of the same technical concept, the content of the method embodiment section in this application should be adapted to the device embodiment section in a synchronous manner, and will not be repeated here.

[0145] In the case of using integrated units, please refer to Figure 5 , Figure 5 This is the second functional unit block diagram of a dynamic impedance compensation device provided in this application embodiment. The dynamic impedance compensation device is applied to electronic equipment in an ultrasonic endoscope. The ultrasonic endoscope includes electronic equipment, a probe communicatively connected to the electronic equipment, an ultrasonic motor for driving the probe's movement, and a data acquisition component. Figure 5 In this document, the dynamic impedance compensation device 500 includes a processing module 512 and a communication module 511. The processing module 512 controls and manages the operation of the dynamic impedance compensation device 500, for example, executing steps of the data acquisition unit, impedance verification unit, load type verification unit, adjustment coefficient verification unit, operating parameter verification unit, and ultrasonic motor control unit, and / or other processes of the technology described herein. The communication module 511 is used for interaction between the dynamic impedance compensation device 500 and other devices. Figure 5 As shown, the dynamic impedance compensation device 500 may also include a storage module 513, which is used to store the program code and data of the dynamic impedance compensation device 500.

[0146] The processing module 512 can be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 511 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 513 can be a memory.

[0147] All relevant content for each scenario involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here. The above-mentioned dynamic impedance compensation device 500 can execute the above-mentioned dynamic impedance compensation method for the ultrasonic endoscope motor.

[0148] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device may include a processor 610, a communications interface 620, a memory 630, and a communication bus 640. The processor 610, communications interface 620, and memory 630 communicate with each other via the communication bus 640. The processor 610 can call logic instructions from the memory 630 to execute the aforementioned dynamic impedance compensation method for the ultrasonic endoscope motor. The electronic device can be the electronic device within the aforementioned ultrasonic endoscope, specifically the host device within the ultrasonic endoscope.

[0149] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0150] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the dynamic impedance compensation method for the ultrasonic endoscope motor provided in the above embodiments.

[0151] This application also provides a computer program product, including a computer program that, when executed by a processor, implements a dynamic impedance compensation method for an ultrasonic endoscope motor as described above.

[0152] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0153] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes an electronic device.

[0154] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0155] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0156] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0157] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0158] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0159] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0160] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0161] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0162] If the technical solution of this application involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, with clear signs / information informing users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

Claims

1. A dynamic impedance compensation method for an ultrasonic endoscope motor, characterized by, The electronic device is applied to an ultrasonic endoscope, and the ultrasonic endoscope comprises the electronic device, a probe connected with the electronic device in communication, an ultrasonic motor for driving the probe to move, and a data acquisition assembly; the method comprises the following steps: In the case that the probe has been inserted into a detection object, the probe is controlled to acquire a sequence of ultrasonic signals in the detection object, and the data acquisition assembly is controlled to acquire a working voltage value and a working current value of the ultrasonic motor; Based on the working voltage value and the working current value, it is determined that the impedance of the ultrasonic motor exceeds a preset impedance range; According to the signal fluctuation of the sequence of ultrasonic signals, the load type is determined; Based on the load type, the impedance adjustment coefficient of the ultrasonic motor is determined; The offset between the impedance and the preset impedance range and the impedance adjustment coefficient are used to determine the new working parameters of the ultrasonic motor; The ultrasonic motor is controlled to drive the probe to move according to the new working parameters to realize impedance compensation of the ultrasonic motor.

2. The method of claim 1, wherein, The method further comprises the following steps: Based on the difference between the impedance and the historical impedance of the ultrasonic motor, the impedance change rate of the ultrasonic motor is determined, and the historical impedance is an impedance determined by using the working voltage value and the working current value of the ultrasonic motor at a historical moment; A first correspondence relationship between a plurality of preset load types and a plurality of first impedance adjustment coefficients is acquired, and a second correspondence relationship between a plurality of preset impedance change rates and a plurality of second impedance adjustment coefficients is acquired; The first correspondence relationship is queried, and the first impedance adjustment coefficient corresponding to the preset load type matched with the load type is taken as a first candidate impedance adjustment coefficient; The second correspondence relationship is queried, and the second impedance adjustment coefficient corresponding to the preset impedance change rate matched with the impedance change rate is taken as a second candidate impedance adjustment coefficient; Based on the first candidate impedance adjustment coefficient and the second candidate impedance adjustment coefficient, the impedance adjustment coefficient of the ultrasonic motor is determined.

3. The method of claim 2, wherein, The method further comprises the following steps: It is determined whether the absolute value of the impedance change rate exceeds a preset impedance sudden change rate; In response to the impedance change rate not exceeding the preset impedance sudden change rate, the first candidate impedance adjustment coefficient is taken as the impedance adjustment coefficient of the ultrasonic motor; In response to the impedance change rate having exceeded the preset impedance sudden change rate and the impedance being less than the middle value in the preset impedance range, the second candidate impedance adjustment coefficient is taken as the impedance adjustment coefficient of the ultrasonic motor, wherein the second candidate impedance adjustment coefficient is less than the first candidate impedance adjustment coefficient.

4. The method of claim 2, wherein, The method further comprises the following steps: It is detected that the probe has been inserted into the lower digestive tract of the detection object; Obtaining a first corresponding relationship corresponding to the lower digestive tract, the first corresponding relationship corresponding to the lower digestive tract including a friction load, an elastic load, and a rigid mutation load, wherein the first impedance adjustment coefficient corresponding to the friction load in the first corresponding relationship corresponding to the lower digestive tract is greater than the first impedance adjustment coefficient corresponding to the elastic load, and the first impedance adjustment coefficient corresponding to the elastic load is greater than the first impedance adjustment coefficient corresponding to the rigid mutation load, wherein the size of the new working parameter is related to the impedance adjustment coefficient of the ultrasonic motor.

5. The method of claim 4, wherein, The determination of the load type according to the signal fluctuation of the ultrasonic signal sequence includes: Feature extraction is performed on the ultrasonic signal sequence to obtain at least one of the following parameters: amplitude fluctuation range, frequency, period, intensity, time domain pulse width, and impedance mutation amount. In response to the frequency being equal to a preset intestinal peristalsis frequency, the amplitude fluctuation range being within a preset small amplitude fluctuation range, and the period being greater than or equal to a preset period number, the load type is determined to be the friction load. In response to the intensity being greater than a first preset intensity and the time domain pulse width being less than a preset narrow pulse width, the load type is determined to be the elastic load. In response to the intensity being greater than a second preset intensity and the impedance mutation amount being greater than a preset mutation amount, the load type is determined to be the rigid mutation load, and the second preset intensity is greater than the first preset intensity.

6. The method according to any one of claims 1 to 5, characterized in that, The impedance adjustment coefficient includes a power adjustment coefficient and a voltage adjustment coefficient, and the new working parameter includes a new driving power and a new driving voltage. The determination of the new working parameter of the ultrasonic motor by using the offset between the impedance and the preset impedance range and the impedance adjustment coefficient includes: Obtaining a first product between the power adjustment coefficient and the offset and a second product between the voltage adjustment coefficient and the offset. The sum of the first product and the current driving frequency of the ultrasonic motor is taken as the new driving power, and the sum of the second product and the current driving voltage of the ultrasonic motor is taken as the new driving voltage.

7. The method of claim 6, wherein, The control of the ultrasonic motor to drive the probe to move according to the new working parameter includes: Determining the impedance change rate of the ultrasonic motor based on the difference between the impedance and a historical impedance, wherein the historical impedance is an impedance determined by using the working voltage value and the working current value of the ultrasonic motor at a historical time; Determining the execution of the new driving power and the new driving voltage based on the impedance change rate and the load type, wherein the execution includes the order of controlling the ultrasonic motor to work according to the new driving voltage and according to the new driving power; Controlling the ultrasonic motor to drive the probe to move according to the new working parameter according to the execution.

8. The method according to any one of claims 1 to 5, characterized in that, The ultrasonic endoscope includes a display screen, and the method further includes: Displaying selectable examination sites on the display screen, wherein each examination site is provided with an exclusive standard impedance range; Taking the standard impedance range corresponding to the selected examination site as the preset impedance range.

9. The method according to any one of claims 1 to 5, characterized in that, The method further includes: In response to the probe having moved to outside of the detection object, impedances of the ultrasonic motor at several time points are acquired; Based on the impedances, an impedance change curve is determined; The impedance change curve and the load type corresponding to each impedance are recorded.

10. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, The processor implements the dynamic impedance compensation method of the ultrasonic endoscope motor according to any one of claims 1-9 when executing the computer program.

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