Intracavity ultrasonic probe and zero position judgment method thereof

Abstract

The invention provides an intracavity ultrasonic probe and a zero position judgment method thereof, the intracavity ultrasonic probe simultaneously comprises an angle detection module and a position detection module, and a first trigger piece of the angle detection module is fixedly connected with an output shaft of a motor and is driven by the motor to rotate. The first trigger piece is provided with a zero reference part, and the first detection assembly can recognize the zero reference part and obtain a first zero reference signal. A second trigger piece of the position detection module is in transmission connection with the rotating shaft through a second speed reduction transmission mechanism so as to be driven by the rotating shaft to rotate. The second detection assembly can identify the second trigger piece and obtain a second zero reference signal. By comparing the triggering time periods or the triggering time periods of the first zero reference signal and the second zero reference signal, the control unit can judge which first zero reference signal corresponds to the triggering time period and / or the triggering time period, and the motor, the rotating shaft and the sound head are in the zero position, so that the zero position can be found more accurately.

Description

Technical Field

[0001] This application relates to the field of medical devices, specifically to a zero-position determination structure for an intracavitary ultrasound probe. Background Technology

[0002] Intracavitary ultrasound probes are primarily used for ultrasonic testing within body cavities. During the examination, a built-in motor drives the acoustic head to rotate at a large angle, thus achieving a wider detection range. Typically, in some intracavitary ultrasound probes, the motor is connected to the acoustic head via a reduction gear mechanism, resulting in a motor angular velocity much greater than the acoustic head angular velocity. In traditional intracavitary ultrasound probes, the acoustic head rotation angle is relatively small, meaning the motor's rotation angle is less than 360°. In this case, an encoder mounted on the motor can accurately determine the zero position of both the motor and the acoustic head. However, with increasing demands for larger detection ranges, some scenarios require a larger acoustic head rotation angle, such as a maximum rotation angle greater than or equal to 360°. In such cases, due to the transmission ratio design, the motor rotation angle will inevitably exceed 360°, potentially even exceeding 720°. During this process, the encoder will pass through the zero position multiple times, but in reality, the motor and acoustic head are only at zero position once; otherwise, they are in non-zero positions. Therefore, in applications with large-angle rotation, accurately determining the zero position of the motor and acoustic head is a problem that needs to be solved. Summary of the Invention

[0003] This application provides an intracavitary ultrasound probe and a method for determining its zero position, thereby providing a structure and method capable of determining the zero position.

[0004] To achieve one of the above objectives, some embodiments of this application provide an intracavitary ultrasound probe, including:

[0005] A sound head, used to emit and receive ultrasonic signals;

[0006] A rotating shaft, on which the sound head is mounted;

[0007] The motor has its output shaft connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate. The maximum rotation angle of the rotating shaft in the forward and / or reverse directions is greater than or equal to 360°. The first reduction transmission mechanism is a single-stage transmission structure.

[0008] An angle detection module includes a first trigger and a first detection component for detecting the first trigger. The first trigger is fixedly connected to the output shaft of the motor and rotates under the drive of the motor. The first trigger has a zero-position reference part, and the first detection component can identify the zero-position reference part and obtain a first zero-position reference signal.

[0009] The position detection module includes a second trigger and a second detection component for detecting the second trigger. The second trigger is connected to the rotating shaft via a second reduction transmission mechanism to rotate under the drive of the rotating shaft. The second detection component can identify the second trigger and obtain a second zero-position reference signal.

[0010] The angle detection module and the position detection module are both electrically connected to the control unit.

[0011] The angular velocity of the second trigger is less than that of the first trigger. During the maximum rotational stroke of the rotating shaft in the forward and / or reverse directions, the first detection component can identify the zero-position reference part at least twice and obtain at least two corresponding first zero-position reference signals, while the second detection component only identifies the second trigger once and obtains one corresponding second zero-position reference signal. Wherein, when the triggering time of one of the at least two first zero-position reference signals falls within the triggering period of the one second zero-position reference signal, or when the triggering period of one of the at least two first zero-position reference signals overlaps with the triggering period of the one second zero-position reference signal, or when the triggering time of one of the at least two first zero-position reference signals differs from the triggering time of the one second zero-position reference signal by a preset value, or when the triggering period of one of the at least two first zero-position reference signals differs from the triggering period of the one second zero-position reference signal by a preset value, the control unit determines that the motor, the rotating shaft, and the sound head are at zero position at the triggering time or triggering period corresponding to the one first zero-position reference signal.

[0012] The intracavitary ultrasound probe according to the above embodiment includes both an angle detection module and a position detection module. The first trigger of the angle detection module is fixedly connected to the output shaft of the motor and rotates under the drive of the motor. The first trigger has a zero-position reference section, and the first detection component can identify the zero-position reference section and obtain a first zero-position reference signal. The second trigger of the position detection module is connected to the rotating shaft via a second reduction transmission mechanism to rotate under the drive of the rotating shaft. The second detection component can identify the second trigger and obtain a second zero-position reference signal. By comparing the triggering periods or triggering times of the first and second zero-position reference signals, the control unit can determine which triggering time and / or triggering period corresponds to the first zero-position reference signal, at which the motor, rotating shaft, and acoustic head are at the zero position, thereby finding the zero position more accurately. Furthermore, in this embodiment, the output shaft of the motor is connected to the rotating shaft via a first reduction transmission mechanism, which is a single-stage transmission structure. Compared to existing intracavitary ultrasound probes where the motor's output shaft is connected to the rotating shaft via a two- or more-stage reduction transmission structure, this single-stage transmission structure can reduce transmission accuracy errors in the transmission structure, thereby reducing backlash in the transmission fit and improving transmission precision.

[0013] In some embodiments, the second trigger has an arc-shaped trigger portion that extends along the rotation direction of the trigger to increase the triggering time of the second zero-position reference signal.

[0014] In some embodiments, the second reduction transmission mechanism is a gear reduction mechanism, which includes a small gear fixedly mounted on the rotating shaft and a large gear serving as the output end of the gear reduction mechanism. The second trigger is disposed on the large gear and can rotate with the large gear. The second detection component is disposed on the rotation path of the second trigger. When the second trigger moves to the detection area of ​​the second detection component, the second detection component can identify the second trigger and obtain a second zero-position reference signal.

[0015] In some embodiments, the transmission ratio of the second reduction gear is greater than or equal to 2.

[0016] In some embodiments, the position detection module is at least one of a photoelectric detection module, a magnetic signal detection module, and a force signal detection module.

[0017] In some embodiments, the angle detection module is mounted at the rear end of the motor.

[0018] In some embodiments, the degree detection module is an encoder.

[0019] In some embodiments, the first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly mounted on the output shaft of the motor, the driven pulley is fixedly mounted on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

[0020] In some embodiments, the transmission ratio of the first reduction gear is greater than or equal to 1.4.

[0021] In some embodiments, the maximum rotation angle of the rotation axis in the forward and / or reverse directions is greater than or equal to 720°.

[0022] To achieve one of the above objectives, some embodiments of this application provide an intracavitary ultrasound probe, including:

[0023] A sound head, used to emit and receive ultrasonic signals;

[0024] A rotating shaft, on which the sound head is mounted;

[0025] An electric motor is connected to the rotating shaft for driving the rotating shaft and the sound head to rotate;

[0026] An angle detection module includes a first trigger and a first detection component for detecting the first trigger. The first trigger is connected to the motor and rotates under the drive of the motor. The first trigger has a zero-position reference part, and the first detection component can identify the zero-position reference part and obtain a first zero-position reference signal.

[0027] The position detection module includes a second trigger and a second detection component for detecting the second trigger. The second trigger is connected to the motor and rotates under the drive of the motor. The second detection component can identify the second trigger and obtain a second zero-position reference signal.

[0028] The angle detection module and the position detection module are both electrically connected to the control unit.

[0029] Wherein, the angular velocity of the second trigger is less than the angular velocity of the first trigger. During the maximum rotational stroke of the rotating shaft in the forward and / or reverse directions, when the triggering time of a first zero-position reference signal falls within the triggering period of a second zero-position reference signal, or when the triggering period of a first zero-position reference signal overlaps with the triggering period of a second zero-position reference signal, or when the triggering time of a first zero-position reference signal differs from the triggering time of a second zero-position reference signal by a preset value, or when the triggering period of a first zero-position reference signal differs from the triggering period of a second zero-position reference signal by a preset value, the control unit determines that the motor, the rotating shaft, and the sound head are at zero position at the triggering time or triggering period corresponding to the first zero-position reference signal.

[0030] The intracavitary ultrasound probe according to the above embodiment includes both an angle detection module and a position detection module. The first trigger of the angle detection module is fixedly connected to the output shaft of the motor and rotates under the drive of the motor. The first trigger has a zero-position reference section, and the first detection component can identify the zero-position reference section and obtain a first zero-position reference signal. The second trigger of the position detection module is connected to the rotating shaft via a second reduction transmission mechanism to rotate under the drive of the rotating shaft. The second detection component can identify the second trigger and obtain a second zero-position reference signal. By comparing the triggering periods or trigger times of the first and second zero-position reference signals, the control unit can determine which triggering time and / or triggering period corresponds to the first zero-position reference signal at which the motor, rotating shaft, and acoustic head are at the zero position, thereby finding the zero position more accurately.

[0031] In some embodiments, during the maximum rotational stroke of the rotating shaft along the positive and / or negative directions, the first detection component can identify the zero-position reference part at least twice and obtain at least two corresponding first zero-position reference signals, while the second detection component only identifies the second trigger once and obtains one corresponding second zero-position reference signal.

[0032] In some embodiments, the maximum rotation angle of the rotation axis in the forward and / or reverse directions is greater than or equal to 360°.

[0033] In some embodiments, the second trigger has an arc-shaped trigger portion that extends along the rotation direction of the trigger to increase the triggering time of the second zero-position reference signal.

[0034] In some embodiments, the second trigger is connected to the rotating shaft via a second speed reduction transmission mechanism to rotate under the drive of the rotating shaft.

[0035] In some embodiments, the second reduction transmission mechanism is a gear reduction mechanism, which includes a small gear fixedly mounted on the rotating shaft and a large gear serving as the output end of the gear reduction mechanism. The second trigger is disposed on the large gear and can rotate with the large gear. The second detection component is disposed on the rotation path of the second trigger. When the second trigger moves to the detection area of ​​the second detection component, the second detection component can identify the second trigger and obtain a second zero-position reference signal.

[0036] In some embodiments, the transmission ratio of the second reduction gear is greater than or equal to 2.

[0037] In some embodiments, the position detection module is at least one of a photoelectric detection module, a magnetic signal detection module, and a force signal detection module.

[0038] In some embodiments, the first trigger is fixedly connected to the output shaft of the motor and rotates under the drive of the motor.

[0039] In some embodiments, the angle detection module is mounted at the rear end of the motor.

[0040] In some embodiments, the angle detection module is an encoder.

[0041] In some embodiments, the output shaft of the motor is connected to the rotating shaft via a first reduction gear mechanism to drive the rotating shaft and the head to rotate; the first reduction gear mechanism is a single-stage transmission structure.

[0042] In some embodiments, the first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly mounted on the output shaft of the motor, the driven pulley is fixedly mounted on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

[0043] In some embodiments, the transmission ratio of the first reduction gear is greater than or equal to 1.4.

[0044] Some embodiments of this application also provide an intracavitary ultrasound probe, including:

[0045] A sound head, used to emit and receive ultrasonic signals;

[0046] A rotating shaft, on which the sound head is mounted;

[0047] The motor, wherein the output shaft of the motor is connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate, and the first reduction transmission mechanism is a single-stage transmission structure.

[0048] According to the intracavitary ultrasound probe shown in the above embodiment, the output shaft of the motor is connected to the rotating shaft via a first reduction gear transmission mechanism, which is a single-stage transmission structure. Compared to existing intracavitary ultrasound probes where the motor output shaft is connected to the rotating shaft via a two-stage or more reduction gear transmission structure, this single-stage transmission structure can reduce transmission accuracy errors in the transmission structure, thereby reducing backlash in the transmission fit and improving transmission precision.

[0049] In some embodiments, the first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly mounted on the output shaft of the motor, the driven pulley is fixedly mounted on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

[0050] In some embodiments, the transmission ratio of the first reduction gear is greater than or equal to 1.4.

[0051] In some embodiments, the output torque of the motor is more than three times the static torque.

[0052] To achieve the above objectives, some embodiments of this application also provide a method for determining the zero position of an intracavitary ultrasound probe, including:

[0053] Provide an intracavitary ultrasound probe as described in any of the above;

[0054] Obtain at least one first zero-bit reference signal;

[0055] Obtain a second zero-bit reference signal;

[0056] During the maximum rotational stroke of the rotating shaft in the forward and / or reverse direction, when the triggering time of a first zero-position reference signal falls within the triggering period of a second zero-position reference signal, or when the triggering period of a first zero-position reference signal overlaps with the triggering period of a second zero-position reference signal, or when the triggering time of a first zero-position reference signal differs from the triggering time of a second zero-position reference signal by a preset value, or when the triggering period of a first zero-position reference signal differs from the triggering period of a second zero-position reference signal by a preset value, the control unit determines that the motor, the rotating shaft, and the sound head are at zero position at the triggering time or triggering period corresponding to the first zero-position reference signal.

[0057] According to the zero-position determination method shown in the above embodiment, it relies on at least one first zero-position reference signal obtained by the angle detection module and at least one second zero-position reference signal obtained by the position detection module. By comparing the triggering period and / or triggering time of the first zero-position reference signal and the second zero-position reference signal, the control unit can determine which first zero-position reference signal corresponds to which triggering time or triggering period the motor, rotating shaft and sound head are at zero position, so as to find the zero position more accurately. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the internal structure of an intracavitary ultrasound probe in some embodiments of this application;

[0059] Figure 2 This is a schematic diagram of the drive structure between the motor and the rotating shaft in some embodiments of this application. In this case, the position detection module is installed at the rear end of the motor.

[0060] Figure 3 This is a schematic diagram of the drive structure between the motor and the rotating shaft in some embodiments of this application. In this case, the position detection module is installed at the rear end of the rotating shaft.

[0061] Figure 4 This is a schematic diagram of the structure in some embodiments of this application, showing the second trigger element disposed on the large gear of the second reduction transmission mechanism;

[0062] Figure 5 This is a partial enlarged view of the drive structure between the motor and the rotating shaft in some embodiments of this application. In this case, the position detection module is installed at the rear end of the motor.

[0063] Figure 6 This is a schematic diagram of the housing of an intracavitary ultrasound probe in some embodiments of this application. Detailed Implementation

[0064] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0065] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0066] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0067] During the use of intracavitary ultrasonic probes, the probe needs to rotate a certain angle along its axis. Currently, the rotation angle of the probe is typically less than 360°. Therefore, during the motor-driven rotation of the probe, the encoder only passes through the zero position once, which can be considered the zero position of the motor and the probe. However, as the required probe rotation angle increases, for example, when the required angle is greater than or equal to 360°, the encoder will pass through the zero position multiple times during the motor-driven rotation, making it difficult to determine the current zero position of the motor and probe using the encoder alone. To solve this problem, this application proposes a combination of the detection signal from the angle detection module and the detection signal from the position detection module to identify the true zero position in the angle detection module, thereby improving the zero-position detection of the electrodes and the probe.

[0068] Please refer to Figure 1 In some embodiments of this application, the intracavitary ultrasound probe includes a sound head 100, a rotating shaft 200, a motor 300, an angle detection module 400, a position detection module 500, and a control unit (not shown in the figure). Of course, in other embodiments, the intracavitary ultrasound probe may also include other related components based on other functional requirements, such as a housing 600 (e.g., Figure 6 (as shown in the figure), these structures can be referenced from existing intracavitary ultrasound probes.

[0069] The acoustic probe 100, used to emit and receive ultrasonic signals, is mounted on the rotating shaft 200. The motor 300 is connected to the rotating shaft 200 to drive both the shaft and the acoustic probe 100 to rotate. This connection is capable of transmitting both motion and force. The connection between the motor 300 and the rotating shaft 200 can be, but is not limited to, gear transmission, pulley transmission, or rope transmission. For specific examples of the connection between the motor 300 and the rotating shaft 200, refer to existing intracavitary ultrasonic probes.

[0070] The angle detection module 400 is used to prevent a target object (such as a motor 300, rotating shaft 200, sound head 100, or other components) from colliding at its maximum rotation angle. For example, it prevents collisions by detecting the rotation angle of the target object (such as a motor 300, rotating shaft 200, sound head 100, or other components). The angle detection module 400 may employ, for example, but is not limited to, components such as an encoder. The angle detection module 400 may include a first trigger 410 and a first detection component 420 for detecting the first trigger 410. In some embodiments, the first trigger 410 is drive-connected to the motor 300 and rotates under the drive of the motor 300. The first trigger 410 may rotate synchronously with the output shaft of the motor 300, for example, by being directly connected to the output shaft of the motor 300. Alternatively, in some embodiments, the first trigger 410 can also be connected to the output shaft of the motor 300 via a transmission mechanism. In this case, the angular velocity of the first trigger 410 can be less than the angular velocity of the output shaft of the motor 300. During the movement of the first trigger 410, the first trigger 410 can trigger the first detection component 420 to generate different signals. Based on these different signals, the position of the first trigger 410 can be determined, and thus the rotation angle of the first trigger 410 can be determined. Based on the angular velocity relationship between the first trigger 410 and the target object (such as the motor 300, the rotating shaft 200, the sound head 100, or other components), the rotation angle and position of the corresponding target object can be obtained. For example, when the angle detection module 400 is an encoder, the first trigger 410 may include a code disk, and the first detection component 420 may include a light emitting unit and a light receiving unit. When the code disk rotates, different signals can be generated on the light receiving unit. Based on these signals, the position and rotation angle of the code disk can be determined.

[0071] The first trigger 410 has a zero-position reference section (such as a zero-position optical aperture on a code disk or other forms of structure). When the rotation angle of the first trigger 410 is less than 360°, if the zero-position reference section triggers the first detection component 420, the first trigger 410 can be identified as being in the zero position. However, as mentioned above, since the first trigger 410 is directly or indirectly driven by the motor 300, when the rotation angle of the output shaft of the motor 300 is large, the rotation angle of the first trigger 410 may be greater than or equal to 360°. During this rotation, the zero-position reference section will enter the detection area of ​​the first detection component 420 multiple times, thereby triggering the first detection component 420 multiple times. However, not every trigger corresponds to the zero position. Therefore, in some embodiments of this application, during the rotation of the first trigger 410 in the same direction, regardless of how many times the zero-position reference section triggers the first detection component 420, the signal obtained from each trigger of the first detection component 420 by the zero-position reference section is called the first zero-position reference signal.

[0072] The position detection module 500 provides a reference for assisting in determining the zero position. The angle detection module 400 is used to acquire the rotation angle of the motor 300, rotating shaft 200, sound head 100, or other target objects. The position detection module 500 differs from the angle detection module 400; it is primarily used to acquire specific position signals to aid in determining the zero position. In some embodiments, the position detection module 500 may employ at least one of a photoelectric detection module, a magnetic signal detection module, and a force signal detection module.

[0073] The position detection module 500 can be connected to the rotating shaft 200 or other components driven by the motor 300, or it can be connected to the motor 300 via an independent transmission mechanism. The position detection module 500 includes a second trigger element 510 (such as a stop that can trigger a photoelectric switch or a trigger element with a notch) and a second detection component 520 (such as a photoelectric switch) for detecting the second trigger element 510. The second trigger element 510 is connected to the motor 300 and rotates under the drive of the motor 300. When the second trigger element 510 triggers the second detection component 520, the second detection component 520 receives a corresponding detection signal, which is called the second zero-position reference signal.

[0074] Both the angle detection module 400 and the position detection module 500 are electrically connected to the control unit to send the obtained detection signals to the control unit. The first trigger 410 and the second trigger 510 are ultimately driven by the motor 300. Therefore, by setting the transmission ratio of the first trigger 410 relative to the motor 300, and the transmission ratio of the second trigger 510 to the motor 300, the angular velocity of the second trigger 510 can be made less than that of the first trigger 410. That is, when the first trigger 410 rotates in the same direction, the rotation angle of the second trigger 510 is less than that of the first trigger 410. For example, in some embodiments, by setting the transmission ratio, when the first trigger 410 rotates to its maximum angle in the same direction, the second trigger 510 only triggers the second zero-position reference signal once during this process.

[0075] By setting the transmission ratio, the angle detection module 400 determines that during the maximum rotational stroke of the motor, rotating shaft, or sound head in the forward (e.g., clockwise) and / or reverse (e.g., counterclockwise) direction, if the triggering time of a first zero-position reference signal falls within the triggering period of a second zero-position reference signal, or if the triggering period of a first zero-position reference signal overlaps with the triggering period of a second zero-position reference signal, or if the triggering time of a first zero-position reference signal differs from the triggering time of a second zero-position reference signal by a preset value, or if the triggering period of a first zero-position reference signal differs from the triggering period of a second zero-position reference signal by a preset value, the control unit determines that the motor 300, rotating shaft 200, and sound head 100 are at zero position at the triggering time or triggering period corresponding to the first zero-position reference signal. That is, in these embodiments, by adding a second zero-position reference signal, and by designing the transmission ratio so that the triggering time or triggering period of the second zero-position reference signal overlaps or differs from that of a first zero-position reference signal by a preset value, the true zero position can be filtered out from one or more first zero-position reference signals. In this way, even if the first trigger 410 triggers the first detection component 420 multiple times, the zero position can still be accurately determined.

[0076] The triggering period refers to the time during which the first trigger 410 and the second trigger 510 respectively trigger the first detection component 420 and the second detection component 520. The duration of this triggering period can be short or long. When the triggering period is very short, it can be considered a specific point in time, such as 0.1 seconds, 1 second, or other values. The duration of the triggering periods for the first and second zero-position reference signals is related to the structural design of the first and second triggers. For example, in some embodiments, the second trigger can be designed to have a certain length, thus making the triggering period of the second zero-position reference signal longer than that of the first zero-position reference signal. The triggering moment is the starting point of the triggering period, that is, the moment when the first and second triggers are just triggered. For example, in some embodiments, when the triggering period of the first and / or second zero-position reference signals is x seconds, then the triggering moment of the first and / or second zero-position reference signals is the first second of being triggered.

[0077] The preset value can be a precise value, such as a difference of A1 seconds, or it can be a time interval, such as an absolute difference less than or equal to A2 seconds. When the judgment condition is set to a time interval, the requirements for the structural assembly and component manufacturing precision of the transmission mechanism can be reduced. Even if there are slight errors in the transmission ratio structure design and assembly, as long as they fall within this time interval, it will not affect the judgment result.

[0078] Furthermore, in some embodiments, the motor 300 drives the rotating shaft 200 to rotate, thereby driving the sound head 100 to rotate. During the maximum rotational stroke of the rotating shaft 200 in the forward and / or reverse directions, the first detection component 420 can identify the first zero-position reference signal at least twice, while the second detection component 520 can only identify the second zero-position reference signal once.

[0079] Furthermore, in some embodiments, the maximum rotation angle of the rotating shaft 200 in the forward and / or reverse directions is greater than or equal to 360°. That is, the maximum rotation angle of the sound head 100 about the axial direction of the rotating shaft 200 is greater than or equal to 360°. When the maximum rotation angle of the rotating shaft 200 in the forward and / or reverse directions is greater than or equal to 360°, due to the design of the reduction transmission mechanism between the motor 300 and the rotating shaft 200, the rotation angle of the output shaft of the motor 300 will usually be greater than 360°, or even reach more than 720°. In this case, it is even more necessary to use a second zero-position reference signal to assist in determining the zero position.

[0080] Furthermore, to reduce the requirements for the structural assembly and component manufacturing precision of the transmission mechanism, in some embodiments, the triggering period of the second zero-position reference signal is a relatively long time period. Therefore, as long as the first zero-position reference signal is obtained within this time period, it can be considered that the position is zero. Based on this idea, please refer to... Figure 4 and 5 In some embodiments, the second trigger 510 has an arc-shaped trigger portion 511 disposed along its rotation direction to increase the duration of the triggering period of the second zero-position reference signal. Figure 4 In the illustrated embodiment, the arc-shaped trigger part 511 is an arc-shaped stop, but in other embodiments, the arc-shaped trigger part 511 can also be an arc-shaped notch, as long as it can trigger the second detection component 520.

[0081] Further, please refer to Figure 1 , 2 In some embodiments, the angle detection module 400 is connected to the motor 300, and the output shaft of the motor 300 is connected to the rotating shaft 200 through the first reduction transmission mechanism 700 to drive the rotating shaft 200 and the head 100 to rotate, thereby increasing the speed and torque.

[0082] Based on this, in order to utilize the existing first reduction transmission mechanism 700 to achieve the angular velocity relationship between the second trigger 510 and the first trigger 410, in some embodiments, the second trigger 510 is connected to the rotating shaft 200 via the second reduction transmission mechanism 800, so that it rotates under the drive of the rotating shaft 200. Through the deceleration effect of the first reduction transmission mechanism 700 and the second reduction transmission mechanism 800, the angular velocity of the second trigger 510 is made less than that of the first trigger 410, and when the first trigger 410 rotates to its maximum angle in the same direction, the second trigger 510 only triggers the second zero-position reference signal once. In this embodiment, the existing structure of the first reduction transmission mechanism 700 can be fully utilized to achieve the deceleration purpose of the second trigger 510, making the entire structure more compact and simplified, which is beneficial for miniaturization of the overall size.

[0083] Furthermore, in some embodiments, the transmission ratio of the first reduction gear 700 is greater than or equal to 1.4. In some embodiments, the transmission ratio of the second reduction gear 800 is greater than or equal to 2.

[0084] Of course, in other embodiments, the second trigger 510 may not be connected to the rotating shaft 200, but may be connected to the output end of the motor 300 through a separately provided second reduction transmission structure, as long as the aforementioned angular velocity relationship between the second trigger 510 and the second trigger 510 can be satisfied.

[0085] Furthermore, the first reduction transmission mechanism 700 and / or the second reduction transmission mechanism 800 may adopt, but are not limited to, a single-stage transmission structure, a two-stage transmission structure, and more levels of transmission structure. The transmission method of the first reduction transmission mechanism 700 and / or the second reduction transmission mechanism 800 may adopt, but is not limited to, gear meshing transmission, pulley transmission, rope transmission, or other methods.

[0086] Further, please refer to Figure 5 In some embodiments, the first reduction transmission mechanism 700 is a pulley transmission mechanism, which includes a driving pulley 710, a driven pulley 720 and a transmission belt 730. The driving pulley 710 is fixedly mounted on the output shaft of the motor 300, the driven pulley 720 is fixedly mounted on the rotating shaft 200, and the transmission belt 730 is sleeved on the driving pulley 710 and the driven pulley 720.

[0087] Typically, in gear reduction transmission mechanisms using meshing engagement, the backlash between teeth can easily lead to backlash, which in turn causes inaccurate control. Therefore, please refer to [further details needed]. Figure 5 ,exist Figure 5In the illustrated embodiment, the first reduction transmission mechanism 700 is a single-stage transmission structure. Compared to existing intracavitary ultrasonic probes where the output shaft of the motor 300 is connected to the rotating shaft 200 via a two- or more-stage reduction transmission structure, this single-stage transmission structure reduces transmission accuracy errors in the transmission structure, thereby reducing backlash in the transmission engagement and improving transmission precision. Of course, besides... Figure 5 In addition to the single-stage reduction belt pulley transmission mechanism shown, the first reduction transmission mechanism 700 can also be a single-stage transmission gear meshing structure, etc.

[0088] In some further embodiments, based on the single-stage transmission structure, in order to increase the torque acting on the rotating shaft 200, the output torque of the motor 300 can be more than three times the static torque.

[0089] Further, please refer to Figure 4 and 5 In some embodiments, the second reduction transmission mechanism 800 is a gear reduction mechanism, which includes a small gear 810 fixedly mounted on the rotating shaft 200 and a large gear 820 serving as the output end of the gear reduction mechanism. The second trigger member 510 is disposed on the large gear 820 and can rotate with the large gear 820. The second detection component 520 is disposed on the movement path of the second trigger member 510. When the second trigger member 510 moves to the detection area of ​​the second detection component 520, it triggers the second detection component 520 to generate a second zero-position reference signal. In this embodiment, the second reduction transmission mechanism 800 can reduce the speed of the second trigger member 510 to achieve the desired angular velocity relationship between the second trigger member 510 and the first trigger member 410.

[0090] Further, please refer to Figure 2 and 5 In some embodiments, the position detection module 500 is mounted at the rear end of the motor 300. Alternatively, the position detection module 500 can be mounted not only at the rear end of the motor 300, but also at the front end of the motor 300 (i.e., the end from which its output shaft extends). Or, in some embodiments, please refer to... Figure 3 The position detection module 500 can also be mounted on the rotating shaft 200. Of course, the position detection module 500 can be fixed to the rotating shaft 200 to form a direct connection, or it can be connected to the shaft via a speed reduction transmission mechanism.

[0091] In some embodiments, the first trigger 410 of the position detection module 500 can be connected to the output shaft of the motor 300 via a reduction gear mechanism, thereby reducing the angular velocity of the first trigger 410. However, the meshing structure in the reduction gear mechanism is prone to backlash, which can easily lead to incorrect detection by the position detection module 500. Therefore, please refer to... Figure 2 and 5In some embodiments, the first trigger 410 is fixedly connected to the output shaft of the motor 300, forming a direct connection. In this structure, the direct connection between the first trigger 410 and the output shaft of the motor 300 eliminates the backlash problem associated with a speed reduction transmission mechanism.

[0092] On the other hand, some embodiments of this application provide a method for determining the zero position of an intracavitary ultrasound probe, including:

[0093] Provide an intracavitary ultrasound probe as described above;

[0094] Obtain at least one first zero-bit reference signal;

[0095] Acquire at least one second zero-bit reference signal;

[0096] During the maximum rotational stroke of the rotating shaft 200 in the forward and / or reverse directions, when the triggering time of a first zero-position reference signal falls within the triggering period of a second zero-position reference signal, or when the triggering period of a first zero-position reference signal overlaps with the triggering period of a second zero-position reference signal, or when the triggering time of a first zero-position reference signal differs from the triggering time of a second zero-position reference signal by a preset value, or when the triggering period of a first zero-position reference signal differs from the triggering period of a second zero-position reference signal by a preset value, the control unit determines that the motor 300, the rotating shaft 200, and the sound head 100 are at zero position at the triggering time or triggering period corresponding to the first zero-position reference signal.

[0097] According to the zero-position determination method shown in the above embodiment, it relies on at least one first zero-position reference signal acquired by the angle detection module 400 and at least one second zero-position reference signal acquired by the position detection module 500. By comparing the triggering period and / or triggering time of the first zero-position reference signal and the second zero-position reference signal, the control unit can determine which first zero-position reference signal corresponds to which triggering time or triggering period at which the motor 300, rotating shaft 200, and sound head 100 are at the zero position. Thus, the zero position can be determined more accurately.

[0098] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. An intracavitary ultrasound probe, characterized in that, include: A sound head, used to emit and receive ultrasonic signals; A rotating shaft, on which the sound head is mounted; The motor has its output shaft connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate. The maximum rotation angle of the rotating shaft in the forward and / or reverse directions is greater than or equal to 360°. The first reduction transmission mechanism is a single-stage transmission structure. An angle detection module, the angle detection module includes a first trigger and a first detection component for detecting the first trigger, the first trigger is fixedly connected to the output shaft of the motor and rotates under the drive of the motor; The first trigger has a zero-position reference section, and the first detection component is able to identify the zero-position reference section and obtain a first zero-position reference signal; The position detection module includes a second trigger and a second detection component for detecting the second trigger. The second trigger is connected to the rotating shaft via a second reduction transmission mechanism to rotate under the drive of the rotating shaft. The second detection component can identify the second trigger and obtain a second zero-position reference signal. The angle detection module and the position detection module are both electrically connected to the control unit. The angular velocity of the second trigger is less than that of the first trigger. During the maximum rotational stroke of the rotating shaft in the forward and / or reverse directions, the first detection component can identify the zero-position reference part at least twice and obtain at least two corresponding first zero-position reference signals, while the second detection component only identifies the second trigger once and obtains one corresponding second zero-position reference signal. Wherein, when the triggering time of one of the at least two first zero-position reference signals falls within the triggering period of the one second zero-position reference signal, or when the triggering period of one of the at least two first zero-position reference signals overlaps with the triggering period of the one second zero-position reference signal, or when the triggering time of one of the at least two first zero-position reference signals differs from the triggering time of the one second zero-position reference signal by a preset value, or when the triggering period of one of the at least two first zero-position reference signals differs from the triggering period of the one second zero-position reference signal by a preset value, the control unit determines that the motor, the rotating shaft, and the sound head are at zero position at the triggering time or triggering period corresponding to the one first zero-position reference signal.

2. The intracavitary ultrasound probe as described in claim 1, characterized in that, The second trigger has an arc-shaped trigger portion that extends along the rotation direction of the trigger to increase the trigger time of the second zero-position reference signal.

3. The intracavitary ultrasound probe according to any one of claims 1-2, characterized in that, The second reduction transmission mechanism is a gear reduction mechanism, which includes a small gear fixedly mounted on the rotating shaft and a large gear serving as the output end of the gear reduction mechanism. The second trigger is located on the large gear and can rotate with the large gear. The second detection component is located on the rotation path of the second trigger. When the second trigger moves to the detection area of ​​the second detection component, the second detection component can identify the second trigger and obtain a second zero-position reference signal.

4. The intracavitary ultrasound probe according to any one of claims 1-3, characterized in that, The transmission ratio of the second reduction transmission mechanism is greater than or equal to 2.

5. The intracavitary ultrasound probe according to any one of claims 1-4, characterized in that, The position detection module is at least one of a photoelectric detection module, a magnetic signal detection module, and a force signal detection module.

6. The intracavitary ultrasound probe according to any one of claims 1-5, characterized in that, The angle detection module is installed at the rear end of the motor.

7. The intracavitary ultrasound probe according to any one of claims 1-6, characterized in that, The degree detection module is an encoder.

8. The intracavitary ultrasound probe according to any one of claims 1-7, characterized in that, The first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly installed on the output shaft of the motor, the driven pulley is fixedly installed on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

9. The intracavitary ultrasound probe according to any one of claims 1-8, characterized in that, The transmission ratio of the first speed reduction transmission mechanism is greater than or equal to 1.

4.

10. The intracavitary ultrasound probe according to any one of claims 1-9, characterized in that, The maximum rotation angle of the rotating shaft in the forward and / or reverse directions is greater than or equal to 720°.

11. An intracavitary ultrasound probe, characterized in that, include: A sound head, used to emit and receive ultrasonic signals; A rotating shaft, on which the sound head is mounted; An electric motor is connected to the rotating shaft for driving the rotating shaft and the sound head to rotate; An angle detection module, the angle detection module includes a first trigger and a first detection component for detecting the first trigger, the first trigger is connected to the motor and rotates under the drive of the motor; The first trigger has a zero-position reference section, and the first detection component is able to identify the zero-position reference section and obtain a first zero-position reference signal; The position detection module includes a second trigger and a second detection component for detecting the second trigger. The second trigger is connected to the motor and rotates under the drive of the motor. The second detection component can identify the second trigger and obtain a second zero-position reference signal. The angle detection module and the position detection module are both electrically connected to the control unit. Wherein, the angular velocity of the second trigger is less than the angular velocity of the first trigger. During the maximum rotational stroke of the rotating shaft in the forward and / or reverse directions, when the triggering time of a first zero-position reference signal falls within the triggering period of a second zero-position reference signal, or when the triggering period of a first zero-position reference signal overlaps with the triggering period of a second zero-position reference signal, or when the triggering time of a first zero-position reference signal differs from the triggering time of a second zero-position reference signal by a preset value, or when the triggering period of a first zero-position reference signal differs from the triggering period of a second zero-position reference signal by a preset value, the control unit determines that the motor, the rotating shaft, and the sound head are at zero position at the triggering time or triggering period corresponding to the first zero-position reference signal.

12. The intracavitary ultrasound probe as described in claim 11, characterized in that, During the maximum rotational stroke of the rotating shaft in the forward and / or reverse direction, the first detection component can identify the zero-position reference part at least twice and obtain at least two corresponding first zero-position reference signals, while the second detection component only identifies the second trigger once and obtains one corresponding second zero-position reference signal.

13. The intracavitary ultrasound probe as described in claim 11 or 12, characterized in that, The maximum rotation angle of the rotating shaft in the forward and / or reverse directions is greater than or equal to 360°.

14. The intracavitary ultrasound probe according to any one of claims 11-13, characterized in that, The second trigger has an arc-shaped trigger portion that extends along the rotation direction of the trigger to increase the trigger time of the second zero-position reference signal.

15. The intracavitary ultrasound probe according to any one of claims 11-14, characterized in that, The second trigger is connected to the rotating shaft via a second speed reduction transmission mechanism, so that it rotates under the drive of the rotating shaft.

16. The intracavitary ultrasound probe as described in claim 15, characterized in that, The second reduction transmission mechanism is a gear reduction mechanism, which includes a small gear fixedly mounted on the rotating shaft and a large gear serving as the output end of the gear reduction mechanism. The second trigger is located on the large gear and can rotate with the large gear. The second detection component is located on the rotation path of the second trigger. When the second trigger moves to the detection area of ​​the second detection component, the second detection component can identify the second trigger and obtain a second zero-position reference signal.

17. The intracavitary ultrasound probe as described in claim 15 or 16, characterized in that, The transmission ratio of the second reduction transmission mechanism is greater than or equal to 2.

18. The intracavitary ultrasound probe according to any one of claims 11-17, characterized in that, The position detection module is at least one of a photoelectric detection module, a magnetic signal detection module, and a force signal detection module.

19. The intracavitary ultrasound probe according to any one of claims 11-14, characterized in that, The first trigger is fixedly connected to the output shaft of the motor and rotates under the drive of the motor.

20. The intracavitary ultrasound probe as described in claim 19, characterized in that, The angle detection module is installed at the rear end of the motor.

21. The intracavitary ultrasound probe as described in claim 19 or 20, characterized in that, The angle detection module is an encoder.

22. The intracavitary ultrasound probe according to any one of claims 11-14, characterized in that, The output shaft of the motor is connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate; the first reduction transmission mechanism is a single-stage transmission structure.

23. The intracavitary ultrasound probe as described in claim 22, characterized in that, The first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly installed on the output shaft of the motor, the driven pulley is fixedly installed on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

24. The intracavitary ultrasound probe as described in claim 22 or 23, characterized in that, The transmission ratio of the first speed reduction transmission mechanism is greater than or equal to 1.

4.

25. An intracavitary ultrasound probe, characterized in that, include: A sound head, used to emit and receive ultrasonic signals; A rotating shaft, on which the sound head is mounted; The motor, wherein the output shaft of the motor is connected to the rotating shaft via a first reduction transmission mechanism to drive the rotating shaft and the sound head to rotate, and the first reduction transmission mechanism is a single-stage transmission structure.

26. The intracavitary ultrasound probe as described in claim 25, characterized in that, The first speed reduction transmission mechanism is a pulley transmission mechanism, which includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is fixedly installed on the output shaft of the motor, the driven pulley is fixedly installed on the rotating shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley.

27. The intracavitary ultrasound probe as described in claim 25 or 26, characterized in that, The transmission ratio of the first speed reduction transmission mechanism is greater than or equal to 1.

4.

28. The intracavitary ultrasound probe according to any one of claims 25-27, characterized in that, The output torque of the motor is more than three times the static torque.

29. A method for determining the zero position of an intracavitary ultrasound probe, characterized in that, include: Provide an intracavitary ultrasound probe as described in any one of claims 1-24; Obtain at least one first zero-bit reference signal; Obtain a second zero-bit reference signal; During the maximum rotational stroke of the rotating shaft in the forward and / or reverse direction, when the triggering time of a first zero-position reference signal falls within the triggering period of a second zero-position reference signal, or when the triggering period of a first zero-position reference signal overlaps with the triggering period of a second zero-position reference signal, or when the triggering time of a first zero-position reference signal differs from the triggering time of a second zero-position reference signal by a preset value, or when the triggering period of a first zero-position reference signal differs from the triggering period of a second zero-position reference signal by a preset value, the control unit determines that the motor, the rotating shaft, and the sound head are at zero position at the triggering time or triggering period corresponding to the first zero-position reference signal.

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