Driver control method and device and computer equipment

Abstract

The invention relates to a driver control method and device and computer equipment. The method is applied to an ultrasonic endoscope, the ultrasonic endoscope comprises a driver, and the method comprises the steps that motion parameters of the driver are obtained; under the condition that the motion parameters meet preset conditions, the motion direction of the driver is controlled to be switched from the first motion direction to the second motion direction; the first movement direction is opposite to the second movement direction. By adopting the method, the phenomenon that the shape of the bourdon tube connected with the driver does not conform to the expectation due to the fact that the driver always moves in the fixed direction can be avoided, so that the image distortion phenomenon caused by the phenomenon that the shape of the bourdon tube does not conform to the expectation can be avoided, and the imaging quality of the ultrasonic endoscope is remarkably improved.

Description

Technical Field

[0001] This application relates to the field of motion control technology, and in particular to a driver control method, apparatus, and computer device. Background Technology

[0002] With the rapid development of medical and electronic technologies, endoscopic ultrasound (EUS) has emerged, enabling high-resolution imaging of the digestive tract wall and surrounding organs. EUS works by a driver connected to an ultrasound probe via a thin spring tube, controlling the probe to perform a 360° circumferential scan to generate real-time ultrasound images.

[0003] Currently, most commercially available ultrasound transducers rotate the probe at a fixed speed and in a fixed direction, achieving a 360° circumferential scan by driving the rotation of a slender spring tube. However, during rotation, the slender spring tube is susceptible to unexpected morphological changes such as knotting or tangling. These unexpected morphological changes can lead to distortion in the ultrasound images, severely impacting the accuracy of the doctor's diagnosis. Summary of the Invention

[0004] Therefore, it is necessary to provide a driver control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the imaging quality of ultrasound endoscopes in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a actuator control method applied to an ultrasound endoscope, the ultrasound endoscope including an actuator, the method comprising:

[0006] Obtain the motion parameters of the driver;

[0007] When the motion parameters meet the preset conditions, the motion direction of the control driver is switched from the first motion direction to the second motion direction; the first motion direction is opposite to the second motion direction.

[0008] Secondly, this application also provides a driver control device, which is applied to an ultrasonic endoscope. The ultrasonic endoscope includes a driver, and the device includes:

[0009] The acquisition module is used to acquire the motion parameters of the driver;

[0010] The control module is used to control the motion direction of the driver to switch from a first motion direction to a second motion direction when the motion parameters meet preset conditions; the first motion direction is opposite to the second motion direction.

[0011] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement some or all of the steps described in any method of the first aspect of the embodiments of this application.

[0012] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements some or all of the steps described in any method of the first aspect of the embodiments of this application.

[0013] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements some or all of the steps described in any method of the first aspect of the embodiments of this application.

[0014] The aforementioned actuator control method, apparatus, computer device, computer-readable storage medium, and computer program product acquire motion parameters of the actuator included in an ultrasound endoscope; when the motion parameters meet preset conditions, the motion direction of the actuator is controlled to switch from a first motion direction to a second motion direction; the first motion direction is opposite to the second motion direction. Using the actuator control method provided in this application embodiment, the actuator can be reversed when the motion parameters meet preset conditions, thereby preventing the actuator from continuously moving in a fixed direction, which could lead to unexpected morphological changes in the connected Bourdon tube. Furthermore, this avoids image distortion caused by morphological changes in the Bourdon tube, significantly improving the imaging quality of the ultrasound endoscope. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a diagram illustrating the application environment of the driver control method in one embodiment;

[0017] Figure 2 This is a flowchart illustrating a driver control method in one embodiment;

[0018] Figure 3 This is a structural block diagram of the driver control device in one embodiment;

[0019] Figure 4This is a structural block diagram of the driver control device in another embodiment;

[0020] Figure 5 This is an internal structural diagram of a computer device in one embodiment;

[0021] Figure 6 This is a diagram of the internal structure of a computer device in another embodiment. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0023] The driver control method provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown is illustrated. The ultrasound probe includes a controller 102, a driver 104, a Bourdon tube 106, and an ultrasound probe 108. The controller 102 is connected to the driver 104, and the two ends of the Bourdon tube 106 are connected to the driver 104 and the ultrasound probe 108, respectively. The controller 102 can acquire the motion parameters of the driver and, when the motion parameters meet preset conditions, control the driver's motion direction to switch from a first motion direction to a second motion direction.

[0024] In one exemplary embodiment, such as Figure 2 As shown, a driver control method is provided, which is applied to... Figure 1 Taking an endoscopic ultrasound as an example, the method includes steps 202 to 204, where the endoscopic ultrasound includes a actuator.

[0025] Step 202: Obtain the motion parameters of the driver.

[0026] Ultrasound endoscope, in particular, is a medical device that combines endoscopic and ultrasound technologies. Besides the actuator, an ultrasound endoscope also includes a Bourdon tube and an ultrasound probe.

[0027] A Bourdon tube is a slender component in an ultrasonic endoscope used to connect the actuator and the ultrasonic probe. The Bourdon tube possesses a certain degree of flexibility and torsional resistance, enabling it to transmit the motion power from the actuator to the ultrasonic probe, allowing the probe to rotate 360° according to the actuator's motion parameters. In simpler terms, the flexibility of the Bourdon tube facilitates its movement in various environments, while its torsional resistance helps prevent unintended morphological changes during movement.

[0028] An ultrasound probe is a component in an ultrasound endoscope used to transmit and receive reflected ultrasound signals. The ultrasound signals received by the probe are processed by the terminal to generate real-time ultrasound images.

[0029] Optionally, the Bourdon tube and the ultrasonic probe can be housed within a sheath. The sheath serves to accommodate and support the rotation of the Bourdon tube and the ultrasonic probe within it.

[0030] Optionally, the ultrasound probe can be connected to the terminal via a high-speed data interface to transmit the acquired ultrasound image data (hereinafter referred to as initial image data and / or actual image data) to the terminal, enabling the terminal to perform imaging based on the ultrasound image data and obtain an ultrasound image corresponding to the ultrasound image data. Optionally, the terminal can be, but is not limited to, various personal computers, laptops, smartphones, and tablets.

[0031] A actuator is a component in an ultrasonic endoscope used to drive the rotational movement of the ultrasonic probe. Optionally, the actuator can be composed of a motor.

[0032] Motion parameters are parameters used to characterize the motion state of a actuator.

[0033] Optionally, motion parameters may include motion direction, motion torque, motion speed, motion duration, and other parameters related to the motion state of the actuator.

[0034] The direction of motion refers to the direction of rotation of the driver, which includes clockwise and counterclockwise motion.

[0035] Motion torque refers to the rotational force output by the driver, which is used to overcome the resistance encountered by the ultrasonic probe during rotation.

[0036] Motion speed refers to the rotational speed of the ultrasound probe, which directly affects the quality and imaging efficiency of the ultrasound image. Since the actuator moves in a 360° rotation, the actuator's motion speed refers to its angular velocity during the motion.

[0037] Motion duration refers to the time during which the ultrasound probe rotates continuously in a specific direction, used to ensure complete coverage of the examination area.

[0038] Optionally, the drive control method can be applied to Figure 1 The controller 102 of the ultrasound endoscope. Optionally, the controller 102 may be a microcontroller unit (MCU).

[0039] Step 204: When the motion parameters meet the preset conditions, the motion direction of the control driver is switched from the first motion direction to the second motion direction; the first motion direction is opposite to the second motion direction.

[0040] Since motion parameters can include multiple different parameters, the preset conditions can include various different conditions, and it is considered that the preset conditions are met as long as one of the conditions is met.

[0041] The first direction of motion refers to the direction of motion of the actuator at the current time point. Correspondingly, the second direction of motion refers to the direction of motion that the actuator will enter at the next time point.

[0042] Step 204 can be understood as follows: when the motion parameters at the current time node meet the preset conditions, the motion direction of the driver is switched from the first motion direction to the second motion direction so that the driver moves along the second motion direction at the next time node.

[0043] The first direction of motion is opposite to the second direction of motion. Therefore, if the first direction of motion is clockwise, the second direction of motion is counterclockwise, and if the first direction of motion is counterclockwise, the second direction of motion is clockwise.

[0044] It should be noted that the first and second motion directions are relative to a specific point in time, not necessarily a fixed direction. Specifically, the motion direction at the current point in time is the first motion direction, and the motion direction the actuator will enter at the next point in time, provided the motion parameters meet preset conditions, is the second motion direction. In simpler terms, the second motion direction entered by the actuator after reversing direction at the next point in time will become the first motion direction at that next point in time. That is to say, the actuator is not limited to switching between two fixed motion directions. During its 360° rotation, the actuator can continuously switch between clockwise and counterclockwise motion directions; it can switch from clockwise to counterclockwise and vice versa.

[0045] For example, suppose there are a first time node, a second time node, and a third time node, where the second time node is the next time node after the first time node, and the third time node is the next time node after the second time node. Assume the driver's movement direction at the first time node is clockwise, at the second time node it is counterclockwise, and at the third time node it is clockwise. Then, for the driver at the first time node, the first movement direction is clockwise and the second movement direction is counterclockwise; for the driver at the second time node, the first movement direction is counterclockwise and the second movement direction is clockwise; and for the driver at the third time node, the first movement direction is clockwise.

[0046] In the aforementioned actuator control method, motion parameters of the actuator included in the ultrasound endoscope are acquired; when the motion parameters meet preset conditions, the motion direction of the actuator is controlled to switch from a first motion direction to a second motion direction; the first motion direction is opposite to the second motion direction. By employing the actuator control method provided in this application embodiment, the actuator can be reversed when the motion parameters meet preset conditions. This avoids the actuator from continuously moving in a fixed direction, which could lead to unexpected morphological changes in the connected Bourdon tube. Consequently, it avoids image distortion caused by morphological changes in the Bourdon tube, significantly improving the imaging quality of the ultrasound endoscope.

[0047] The phenomenon of Bourdon tube changing shape can include knotting, tangling, twisting, or other phenomena that prevent the Bourdon tube from returning to its original shape.

[0048] In one exemplary embodiment, the motion parameters include motion direction, motion torque, and motion speed; the preset conditions include at least one of the following:

[0049] The duration of maintaining the direction of motion is greater than or equal to the first preset time;

[0050] The number of revolutions in the direction of motion is greater than or equal to the preset number of revolutions;

[0051] The motion torque is greater than or equal to the first preset torque;

[0052] The decrease in motion speed is greater than or equal to the first preset range.

[0053] The duration of the motion direction maintenance refers to the duration of continuous motion of the actuator along the first motion direction.

[0054] The starting time node is when the driver begins to move in the first direction of motion, and the ending time node is when the driver switches to the second direction of motion, which is opposite to the first direction of motion. The time length between the starting time node and the ending time node is the duration of the motion direction.

[0055] Optionally, the first preset time can be 30 seconds, 1 minute, 90 seconds, or other durations.

[0056] The number of revolutions in the direction of motion refers to the number of complete rotations completed by the driver when it moves continuously in the first direction of motion.

[0057] Taking the position where the driver begins to move along the first direction of motion as the starting position, while keeping the first direction of motion unchanged, each time the driver passes through this starting position, it is considered that the driver has completed a complete number of rotations. That is to say, each time the driver rotates 360°, it is considered that the driver has completed a complete number of rotations.

[0058] Optionally, the preset number of laps can be 3 laps, 4 laps, 5 laps, or other numbers of laps.

[0059] As is easily understood, after each change of motion direction by the actuator, the duration of motion and the number of revolutions need to be reset to zero and the counting restarted. For example, when the actuator changes from the first motion direction to the second motion direction, the duration of motion and the number of revolutions in the second motion direction will be reset and the counting restarted.

[0060] Optionally, the first preset torque can be 5 N·m, 10 N·m, 15 N·m or other values.

[0061] The rate of decrease in motion speed refers to the degree of speed reduction of the actuator when it moves continuously along the first direction of motion.

[0062] Optionally, the decrease in motion speed can refer to the deviation between the current motion speed and the target speed at the current time point when the driver moves continuously along the first motion direction.

[0063] Optionally, the decrease in speed can be expressed as a percentage.

[0064] Optionally, the first preset amplitude can be 2%, 5%, 8%, or other sizes.

[0065] When the duration of motion in a certain direction is greater than or equal to a preset value, and when the number of revolutions in the motion direction is greater than or equal to a preset number of revolutions, both of these situations indicate that the actuator has been moving along a fixed direction for a relatively long period of time. Both of these situations carry the risk of unexpected morphological changes in the Bourdon tube.

[0066] If the motion torque is greater than or equal to the first preset torque, it indicates that the actuator encounters significant or uneven resistance during its movement along the first motion direction; if the decrease in motion speed is greater than or equal to the first preset magnitude, it indicates that the stability of the actuator's motion state is low during its movement along the first motion direction. In both of these cases, if the actuator continues to move along a fixed direction, there is a risk that the Bourdon tube will undergo unexpected morphological changes.

[0067] In this embodiment, the motion parameters include motion direction, motion torque, and motion speed. Therefore, if at least one of the following conditions is met, the motion parameters are considered to meet the preset conditions: the duration of the motion direction is greater than or equal to a first preset time, the number of motion revolutions in the motion direction is greater than or equal to a preset number of revolutions, the motion torque is greater than or equal to a first preset torque, and the decrease in motion speed is greater than or equal to a first preset magnitude. Thus, the motion direction of the actuator can be switched from the first motion direction to the second motion direction in a timely manner, avoiding the phenomenon that the actuator moves along a fixed direction and causes the connected Bourdon tube to undergo unexpected morphological changes. Furthermore, it can avoid image distortion caused by unexpected morphological changes of the Bourdon tube, significantly improving the imaging quality of the ultrasound endoscope.

[0068] In an exemplary embodiment, the target speed is the speed at which the driver moves along the first direction of motion for a second preset time.

[0069] In another exemplary embodiment, the target speed is the speed at which the driver moves along the first direction of motion for a second preset time; the rate of change of the driver's speed within the preset time range is less than or equal to a preset rate of change; the preset time range is within a third preset time after the second preset time of motion along the first direction of motion, and the third preset time is less than the second preset time.

[0070] The second preset time can be 5 seconds, 8 seconds, 10 seconds or other time lengths.

[0071] Optionally, the third preset time can be 3 seconds, 4 seconds, 5 seconds or other time lengths.

[0072] Optionally, the preset change rate can be 0.5%, 1%, 1.5%, or other change rates.

[0073] For example, assuming the second preset time is 10 seconds, the driver can be considered to be moving at a stable speed after moving along the first direction of motion for 10 seconds; further, assuming the third preset time is 3 seconds and the preset change rate is 1%, the driver can be considered to be moving at a stable speed if the change rate of the driver's motion speed is less than 1% within 3 seconds after 10 seconds.

[0074] In this embodiment, the target speed is the speed at which the driver moves along the first direction of motion for a second preset time. Therefore, the target speed can be understood as the stable speed of the driver moving along the first direction of motion, or as the speed at which the driver moves along the first direction of motion in a stable motion state.

[0075] During the 360° rotation of the actuator, if the actuator's speed is unstable, the Bourdon tube's motion may become unstable due to speed fluctuations. Similarly, if the actuator's torque is unstable, the Bourdon tube's motion may become unstable due to vibrations, impacts, and other phenomena caused by sudden torque changes. Understandably, unstable Bourdon tube motion will prevent it from moving along the user-expected path, potentially leading to shape changes. Therefore, to avoid shape changes in the Bourdon tube, when the actuator's motion direction maintenance time is less than a first preset time, and / or the number of rotations in the motion direction is less than a preset number, the actuator's speed should be maintained at the target speed as much as possible.

[0076] Based on this, in an exemplary embodiment, the above method further includes:

[0077] If the motion torque is less than the second preset torque or the decrease in motion speed is less than the second preset amplitude, the motion torque of the driver along the first motion direction is increased to maintain the motion speed of the driver at the target speed; the second preset torque is less than the first preset torque; the second preset amplitude is less than the first preset amplitude;

[0078] When the motion torque is greater than or equal to the second preset torque and less than the first preset torque, or when the decrease in motion speed is greater than or equal to the second preset magnitude and less than the first preset magnitude, the motion speed and motion torque of the driver along the first motion direction are increased so that the motion speed of the driver is maintained at the target speed.

[0079] If the motion torque is less than the second preset torque or the decrease in motion speed is less than the second preset amplitude, it indicates that the driver encountered a slight resistance or the motion state of the driver was slightly unstable during the motion along the first motion direction. Therefore, in order to avoid the decrease in the motion speed of the driver causing the motion state of the spring tube to change and resulting in an unexpected shape change, the motion torque of the driver along the first motion direction is increased to keep the motion speed of the driver at the target speed.

[0080] If the motion torque is greater than or equal to the second preset torque and less than the first preset torque, or if the decrease in motion speed is greater than or equal to the second preset magnitude and less than the first preset magnitude, it indicates that the actuator has encountered significant resistance or that the actuator's motion state is in a severely unstable state during its motion along the first motion direction. Therefore, in order to avoid the decrease in the actuator's motion speed causing a change in the motion state of the spring tube and resulting in an unexpected morphological change, it is necessary to increase the actuator's motion speed more quickly or enable the actuator to overcome significant resistance. Based on this, the actuator's motion speed and motion torque along the first motion direction are increased to maintain the actuator's motion speed at the target speed.

[0081] Optionally, the second preset torque can be 5 N•m, 10 N•m, 15 N•m, or other values. It is only necessary to ensure that the second preset torque is less than the first preset torque.

[0082] Optionally, the second preset amplitude can be 2%, 5%, 8%, or other values. It is only necessary to ensure that the second preset amplitude is less than the first preset amplitude.

[0083] If increasing the torque of the driver in the first direction of motion, or increasing the speed and torque of the driver in the first direction of motion, fails to maintain the speed of the driver at the target speed, then it is necessary to switch the direction of motion of the driver from the first direction of motion to the second direction of motion.

[0084] In this embodiment, based on the actuator's motion torque and / or motion speed, the actuator's motion torque along the first motion direction is increased, or the actuator's motion speed and motion torque along the first motion direction are increased, so that the actuator's motion speed is maintained at the target speed. This ensures that the actuator's motion state is stable and avoids the actuator encountering large resistance or the actuator's motion state being unstable, which would cause the motion state of the Bourdon tube connected to the actuator to also be unstable. Based on this, not only can the image distortion caused by the Bourdon tube undergoing unexpected morphological changes be avoided, but the ultrasonic probe connected to the Bourdon tube can also be stably imaged, significantly improving the imaging quality of the ultrasonic endoscope.

[0085] During the 360° rotation of the actuator, the actuator may be affected by the resistance from the surrounding environment. As a result, the motion state of the Bourdon tube may become unstable due to vibration, impact and other phenomena caused by sudden torque changes. For example, if the resistance of the actuator increases, there is a possibility that the speed of the actuator will decrease. Therefore, in order to ensure that the speed of the actuator can be stably maintained at the target speed when no reversal is required, so as to avoid the Bourdon tube from changing shape, it is also necessary to ensure that the torque of the actuator is sufficient to overcome the resistance encountered during the motion.

[0086] Based on this, in an exemplary embodiment, the ultrasound endoscope further includes a Bourdon tube and an ultrasound probe, with the actuator connected to the ultrasound probe via the Bourdon tube; the motion parameter also includes motion duration; the above method further includes:

[0087] Based on the initial image data, an initial image matrix is ​​generated. The initial image data is the image data acquired by the ultrasonic probe when the driver starts moving along the first motion direction.

[0088] Based on real-time image data, an actual image matrix is ​​generated. The real-time image data is the image data collected by the ultrasonic probe when the driver moves along the first motion direction for a first motion duration.

[0089] The theoretical image matrix is ​​determined based on the initial image matrix, the target velocity, and the duration of the first motion.

[0090] When the theoretical image matrix and the actual image matrix meet the preset matching conditions, the motion torque of the driver moving along the first motion direction is increased.

[0091] The initial image matrix contains the same number of elements as the ultrasound image corresponding to the initial image data. The number of rows and columns of the initial image matrix are also the same as the number of rows and columns of pixels in the ultrasound image corresponding to the initial image data, respectively. This can be understood as each element in the initial image matrix corresponding to each pixel in the ultrasound image corresponding to the initial image data.

[0092] For example, if the size of the ultrasound image corresponding to the initial image data is m*n, then the size of the initial image matrix is ​​also m*n, that is, the initial image matrix includes m*n elements.

[0093] The values ​​of each element in the initial image matrix are the gray values ​​of each pixel in the ultrasound image corresponding to the initial image data.

[0094] Since the size of the ultrasound image obtained through the ultrasound probe does not change, that is, the size of the ultrasound image corresponding to the initial image data is the same as the size of the ultrasound image corresponding to the actual image data. Therefore, the initial image matrix and the actual image matrix have the same size.

[0095] Corresponding to the initial image matrix, each element in the actual image matrix corresponds one-to-one with each pixel in the ultrasound image corresponding to the actual image data. The value of each element in the actual image matrix is ​​the grayscale value of the corresponding pixel in the ultrasound image corresponding to the actual image data.

[0096] The first motion duration refers to the duration of continuous motion of the actuator along the first motion direction.

[0097] The theoretical image matrix refers to the image matrix obtained by rotating the initial image matrix according to the theoretical motion angle of the actuator. In other words, it is the image matrix corresponding to the image data that the ultrasonic probe moving along the target velocity would theoretically acquire during the first motion duration. The theoretical image matrix can be understood as the image matrix corresponding to the ideal image data acquired by the ultrasonic probe under ideal conditions (for example, ideal conditions can refer to constant resistance in the environment, constant mechanical precision of the actuator, etc.).

[0098] Since the motion environment of an ultrasonic probe is not ideal, the 360° rotation of the actuator may be affected by resistance from the environment, which may cause a certain difference between the actual motion of the actuator and the theoretical motion. Therefore, when subjected to external resistance or when the external resistance changes, there may also be a certain difference between the actual image matrix and the theoretical image matrix.

[0099] In an exemplary embodiment, determining the theoretical image matrix based on the initial image matrix, the target velocity, and the first motion duration includes:

[0100] The theoretical motion angle is determined based on the target speed and the duration of the first motion.

[0101] The theoretical image matrix is ​​determined based on the initial image matrix and the theoretical motion angle.

[0102] Since the target speed and the first motion duration are both known values, the theoretical motion angle that the actuator, which moves at the target speed, should theoretically rotate through after the first motion duration can be determined based on the target speed and the first motion duration.

[0103] Since the ultrasound probe, connected to the driver via a Bourdon tube, also rotates through the theoretical motion angle as the driver rotates, the ultrasound image corresponding to the theoretically acquired image data will undergo an angular change relative to the ultrasound image corresponding to the initial image data after the first motion duration. Based on this, the theoretical image matrix can be determined by rotating the values ​​of each element in the initial image matrix according to the theoretical motion angle, updating the values ​​of each element.

[0104] In another exemplary embodiment, determining the theoretical image matrix based on the initial image matrix and the theoretical motion angle includes:

[0105] Based on the theoretical motion angle and rotation matrix, the values ​​of each element in the initial image matrix are updated to determine the theoretical image matrix.

[0106] For example, assuming the size of the ultrasound image is m*n, each pixel on the ultrasound image corresponding to the initial image data is represented as a. ij Let i = 1, ..., m, j = 1, ..., n, and denote the initial image matrix as A, and the coordinates of each element in the initial image matrix as... The coordinates of each element in the theoretical image matrix are represented as follows: Let the target velocity be represented as V0, the first motion duration as T, the theoretical motion angle as θ, the theoretical image matrix as B, and each pixel on the ultrasound image corresponding to the theoretical image data as b. ij The actual image matrix is ​​represented as B', and each pixel on the ultrasound image corresponding to the actual image data is represented as b'. ij Then the initial image matrix can be represented as:

[0107] (1)

[0108] In an easy-to-understand way, a ij The value is the grayscale value of the coordinate point (x, y) in the ultrasound image corresponding to the initial image matrix. For example, a mn The value represents the grayscale value of the pixel located in the m-th row and n-th column of the ultrasound image. The rotation matrix is ​​represented as... Since the positions of each element in the theoretical image matrix are obtained by updating the values ​​of each element in the initial image matrix using theoretical motion angles and rotation matrices, the positions of each element in the theoretical image matrix can be represented by the following formula:

[0109] (2)

[0110] Expanding the values ​​of each element in the theoretical image matrix, we obtain x' = x*cosθ - y*sinθ and y' = x*sinθ + y*cosθ. It can be seen that the coordinates of each element in the theoretical image matrix in the corresponding ultrasound image of the theoretical image data are determined by the coordinates of each element in the initial image matrix in the corresponding ultrasound image of the initial image data, and the theoretical motion angle. Since the target velocity and the duration of the first motion are known values, the theoretical motion angle can be expressed by the following formula:

[0111] (3)

[0112] Substituting (3) into (2), we can obtain the coordinates of each element in the theoretical image matrix in the corresponding ultrasound image. Based on the coordinates of each element in the theoretical image matrix, the theoretical image matrix can be expressed as:

[0113] (4)

[0114] In an easy-to-understand way, b ij The value is the gray value of the coordinate point (x', y') in the ultrasound image corresponding to the theoretical image matrix. Correspondingly, when the driver moves along the first motion direction for the first motion duration, the corresponding actual image matrix can be represented as:

[0115] (5)

[0116] In an easy-to-understand way, b' ij The value is the gray value of the coordinate point (x'', y'') in the ultrasound image corresponding to the actual image matrix. Based on this, and based on (4) and (5), it can be determined whether the theoretical image matrix and the actual image matrix meet the preset matching conditions.

[0117] In this embodiment, the theoretical image matrix is ​​matched with the actual image matrix. By determining whether the theoretical and actual image matrices meet preset matching conditions, it is determined whether the ultrasound image corresponding to the actual image matrix exhibits image distortion, thus determining whether the actuator commutation control is necessary. It can be seen that since the ultrasound image corresponding to the actual image matrix is ​​real-time, matching the actual and theoretical image matrices through an image recognition mechanism can obtain real-time and accurate feedback results. Therefore, it not only ensures the accuracy of actuator commutation but also significantly improves the imaging quality of the ultrasound endoscope.

[0118] In one exemplary embodiment, the method further includes:

[0119] Determine the theoretical trace of the theoretical image matrix;

[0120] Determine the theoretical rank of the theoretical image matrix;

[0121] Determine the theoretical eigenvalues ​​and theoretical characteristic polynomials of the theoretical image matrix;

[0122] Determine the actual trace of the actual image matrix;

[0123] Determine the actual rank of the actual image matrix;

[0124] Determine the actual eigenvalues ​​and the actual characteristic polynomial of the actual image matrix;

[0125] The above-mentioned method, which increases the motion torque of the driver moving along the first motion direction when the preset matching conditions are met between the theoretical image matrix and the actual image matrix, includes:

[0126] When the theoretical trace differs from the actual trace, the theoretical rank differs from the actual rank, the theoretical eigenvalue differs from the actual eigenvalue, or the theoretical characteristic polynomial differs from the actual characteristic polynomial, the motion torque of the driver moving along the first motion direction is increased.

[0127] Among these four cases, the theoretical trace is different from the actual trace, the theoretical rank is different from the actual rank, the theoretical eigenvalue is different from the actual eigenvalue, and the theoretical characteristic polynomial is different from the actual characteristic polynomial. Only one of these four cases needs to be satisfied to increase the motion torque of the driver moving along the first motion direction.

[0128] The trace of a matrix is ​​the sum of the elements located on the main diagonal of a square matrix. The trace of a matrix can characterize the distribution of gray values ​​in the corresponding ultrasound image along the main diagonal.

[0129] The rank of a matrix is ​​the maximum number of linearly independent row or column vectors in the matrix. The rank of a matrix can characterize the complexity or information content of the corresponding ultrasound image.

[0130] Eigenvalues ​​of a matrix are scalars that satisfy the matrix's characteristic equation. The eigenvalues ​​of a matrix characterize the principal components of the corresponding ultrasound image.

[0131] The characteristic polynomial of a matrix is ​​the polynomial form of the matrix's characteristic equation. The characteristic polynomial of a matrix can characterize the feature structure of the corresponding ultrasound image.

[0132] Alternatively, the eigenvalues ​​and characteristic polynomials of a matrix can be obtained in the same way.

[0133] In an exemplary embodiment, determining the theoretical trace of the theoretical image matrix as described above includes:

[0134] The theoretical trace is obtained by determining the sum among multiple diagonal elements of the theoretical image matrix;

[0135] The above determination of the actual trace of the actual image matrix includes:

[0136] The actual trace is obtained by determining the sum of multiple diagonal elements of the actual image matrix.

[0137] In this context, diagonal elements refer to elements located on the main diagonal. The main diagonal is the line running from the top left corner to the bottom right corner of the matrix.

[0138] For example, based on (4), the theoretical trace of the theoretical image matrix = b 11 +b 22 +…+b mn Similarly, based on (5), the actual trace of the actual image matrix = b' 11 +b' 22 +…+b' mn Based on this, by comparing the sums of multiple diagonal elements of the two image matrices, it can be determined whether the theoretical trace and the actual trace are the same.

[0139] In an exemplary embodiment, determining the theoretical rank of the theoretical image matrix as described above includes:

[0140] The theoretical row echelon matrix corresponding to the theoretical image matrix is ​​determined using Gaussian elimination.

[0141] The number of non-zero rows in the theoretical row echelon matrix is ​​determined as the theoretical rank;

[0142] Determining the actual rank of the actual image matrix includes:

[0143] The actual row echelon matrix corresponding to the actual image matrix is ​​determined using Gaussian elimination.

[0144] The number of non-zero rows in the actual row echelon matrix is ​​determined as the actual rank.

[0145] Among them, using Gaussian elimination to determine the row echelon matrix corresponding to different image matrices means transforming different image matrices into row echelon matrices by transforming the coefficients of each row, and then counting the number of non-zero rows in different row echelon matrices, and determining the number as the rank of different image matrices.

[0146] For example, the first hypothesis matrix can be represented as C, and can be expressed as:

[0147] (6)

[0148] Based on the idea of ​​Gaussian elimination, the second hypothesis matrix C' is obtained by subtracting the product of the first row elements and 2 from the values ​​of the second row elements in the first hypothesis matrix. The second hypothesis matrix can then be represented as:

[0149] (7)

[0150] Furthermore, subtracting the values ​​of the first row from the values ​​of the third row yields the third hypothesis matrix C'', which is then expressed as:

[0151] (8)

[0152] Based on (8), it can be seen that the third hypothesis matrix, which is now presented as a row echelon matrix, has two non-zero rows, namely the first row and the third row. Therefore, the rank of the first hypothesis matrix is ​​determined to be 2. It is easy to understand that, based on the same idea of ​​Gaussian elimination, the theoretical rank corresponding to the theoretical image matrix and the actual rank corresponding to the actual image matrix can be determined respectively.

[0153] In an exemplary embodiment, determining the theoretical eigenvalues ​​and theoretical characteristic polynomial of the theoretical image matrix includes:

[0154] Establish the characteristic equation of the theoretical image matrix;

[0155] Based on the characteristic equation of the theoretical image matrix, the theoretical eigenvalues ​​and theoretical characteristic polynomial of the theoretical image matrix are determined.

[0156] The above determination of the actual eigenvalues ​​and actual characteristic polynomial of the actual image matrix includes:

[0157] Establish the characteristic equation of the actual image matrix;

[0158] Based on the characteristic equation of the actual image matrix, the actual eigenvalues ​​and actual characteristic polynomials of the theoretical image matrix are determined.

[0159] Here, the theoretical eigenvalues ​​of the theoretical image matrix are denoted as λ, the actual eigenvalues ​​of the actual image matrix are denoted as λ', and the n*n identity matrix (i.e., a matrix with 1s on the diagonal and 0s elsewhere) is denoted as E. Then, the characteristic equation of the theoretical image matrix is ​​expressed as:

[0160] (9)

[0161] Based on linear algebra, it's easy to understand that `det(λE-B)` means calculating the determinant of the matrix `λE-B`. This determinant is a polynomial in λ, and the root of this polynomial is λ. Correspondingly, the characteristic equation of the actual image matrix is ​​expressed as:

[0162] (10)

[0163] Based on the easily understandable content of linear algebra, after calculating the determinant corresponding to (9), expanding the determinant corresponding to the theoretical image matrix yields the characteristic polynomial of the theoretical image matrix. Solving this characteristic polynomial yields the theoretical eigenvalues. Similarly, after calculating the determinant corresponding to (10), expanding the determinant corresponding to the actual image matrix yields the characteristic polynomial of the actual image matrix. Solving this characteristic polynomial yields the actual eigenvalues.

[0164] Optionally, in the process of expanding the determinant corresponding to different image matrices, a specific row or column of the image matrix can be selected for expansion. For example, taking the theoretical image matrix as an example, expanding the i-th row of the theoretical image matrix yields the following expansion result:

[0165] Expanding the i-th row of the theoretical image matrix yields the following result:

[0166] (11)

[0167] Similarly, expanding the j-th row of the theoretical image matrix yields the following expansion result:

[0168] (12)

[0169] In (11) and (12), M mn Let λ represent the submatrix after removing the element in the m-th row and n-th column from the theoretical image matrix. Based on this, by recursively calculating row by row and column by column, λ can be obtained, that is, the theoretical eigenvalues ​​of the theoretical image matrix can be obtained. The expansion of λE-B is the theoretical characteristic polynomial of the theoretical image matrix. Based on the same idea, the actual eigenvalues ​​and actual characteristic polynomials of the actual image matrix can be obtained in the same way, so they will not be elaborated here.

[0170] When the theoretical trace and the actual trace are the same, the theoretical rank and the actual rank are the same, the theoretical eigenvalues ​​and the actual eigenvalues ​​are the same, and the theoretical characteristic polynomials and the actual characteristic polynomials are the same, the theoretical image matrix and the actual image matrix are similar matrices. This indicates that there is no image distortion between the ultrasound image corresponding to the theoretical image matrix and the ultrasound image corresponding to the actual image matrix. In other words, the movement of the ultrasound probe connected to the driver is not affected by resistance. Therefore, there is no need to adjust the driving torque and speed at this time.

[0171] If the matching results between the theoretical trace and the actual trace, between the theoretical rank and the actual rank, between the theoretical eigenvalue and the actual eigenvalue, and between the theoretical characteristic polynomial and the actual characteristic polynomial are different, it indicates that the theoretical image matrix and the actual image matrix are not similar matrices. This means that there is an image distortion phenomenon between the ultrasound image corresponding to the theoretical image matrix and the ultrasound image corresponding to the actual image matrix. In other words, the movement process of the ultrasound probe connected to the driver is affected by resistance. Therefore, it is necessary to increase the motion torque of the driver moving along the first motion direction.

[0172] In an exemplary embodiment, the above-mentioned method of increasing the motion torque of the driver moving along the first motion direction when the theoretical image matrix and the actual image matrix meet a preset matching condition includes:

[0173] When the theoretical trace differs from the actual trace, the theoretical rank differs from the actual rank, the theoretical eigenvalue differs from the actual eigenvalue, or the theoretical characteristic polynomial differs from the actual characteristic polynomial, the motion torque and motion speed of the driver moving along the first motion direction are increased.

[0174] The application process of the above-mentioned actuator control method is illustrated below with a detailed embodiment. The method is applied to an ultrasound endoscope, which includes an actuator, a Bourdon tube, and an ultrasound probe. The actuator is connected to the ultrasound probe through the Bourdon tube. The specific application process is as follows:

[0175] (1) Obtain the motion parameters of the driver; the motion parameters include motion direction, motion torque, motion speed and motion duration.

[0176] (2) When the motion parameters have not yet met the preset conditions:

[0177] ① When the motion torque is less than the second preset torque or the decrease in motion speed is less than the second preset amplitude, increase the motion torque of the driver along the first motion direction so that the motion speed of the driver is maintained at the target speed; the second preset torque is less than the first preset torque; the second preset amplitude is less than the first preset amplitude.

[0178] ② When the motion torque is greater than or equal to the second preset torque and less than the first preset torque, or when the decrease in motion speed is greater than or equal to the second preset magnitude and less than the first preset magnitude, the motion speed and motion torque of the driver along the first motion direction are increased so that the motion speed of the driver is maintained at the target speed.

[0179] ③ Based on the initial image data, an initial image matrix is ​​generated. The initial image data is the image data acquired by the ultrasonic probe when the driver starts moving along the first motion direction.

[0180] Based on real-time image data, an actual image matrix is ​​generated. The real-time image data is the image data collected by the ultrasonic probe when the driver moves along the first motion direction for a first motion duration.

[0181] The theoretical image matrix is ​​determined based on the initial image matrix, the target velocity, and the duration of the first motion.

[0182] The theoretical trace is obtained by determining the sum among multiple diagonal elements of the theoretical image matrix;

[0183] The theoretical row echelon matrix corresponding to the theoretical image matrix is ​​determined using Gaussian elimination; the number of non-zero rows in the theoretical row echelon matrix is ​​determined as the theoretical rank.

[0184] Establish the characteristic equation of the theoretical image matrix; based on the characteristic equation of the theoretical image matrix, determine the theoretical eigenvalues ​​and theoretical characteristic polynomial of the theoretical image matrix;

[0185] The actual trace is obtained by determining the sum between multiple diagonal elements of the actual image matrix;

[0186] The actual row echelon matrix corresponding to the actual image matrix is ​​determined using Gaussian elimination; the number of non-zero rows in the actual row echelon matrix is ​​determined as the actual rank.

[0187] Based on the characteristic equation of the actual image matrix, determine the actual eigenvalues ​​and actual characteristic polynomial of the theoretical image matrix;

[0188] When the theoretical trace differs from the actual trace, the theoretical rank differs from the actual rank, the theoretical eigenvalue differs from the actual eigenvalue, or the theoretical characteristic polynomial differs from the actual characteristic polynomial, the motion torque of the actuator moving along the first motion direction is increased.

[0189] (3) When the motion parameters meet the preset conditions:

[0190] When the motion parameters meet at least one of the following conditions: the duration of motion direction is greater than or equal to a first preset time, the number of motion revolutions in the motion direction is greater than or equal to a preset number of revolutions, the motion torque is greater than or equal to a first preset torque, and the decrease in motion speed is greater than or equal to a first preset magnitude, the motion direction of the control driver is switched from the first motion direction to the second motion direction; the first motion direction is opposite to the second motion direction.

[0191] In this embodiment, when the motion parameters do not yet meet the preset conditions, it is possible to determine whether it is necessary to increase the motion torque of the driver along the first motion direction, or whether it is necessary to increase the motion speed and motion torque of the driver along the first motion direction, based on the motion torque and motion speed in the motion parameters of the driver. Simultaneously, it is also possible to determine whether it is necessary to increase the motion torque of the driver along the first motion direction based on the matching results between the theoretical image matrix and the actual image matrix. Based on this, even when the motion parameters do not meet the preset conditions, it is possible to ensure that the motion speed of the driver is maintained at the target speed, and that the motion torque is sufficient to overcome the resistance effect on the driver. Therefore, it is possible to ensure that the motion state of the driver is as stable as possible before the driver reverses direction, and further, it is possible to ensure that the Bourdon tube is in a stable motion state before the driver reverses direction to avoid morphological changes. Only when the motion parameters meet the preset conditions is the motion direction of the driver controlled to switch from the first motion direction to the second motion direction. It can be seen that this embodiment can avoid image distortion caused by morphological changes of the Bourdon tube, significantly improving the imaging quality of the ultrasound endoscope.

[0192] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0193] Based on the same inventive concept, this application also provides a driver control device for implementing the driver control method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more driver control device embodiments provided below can be found in the limitations of the driver control method described above, and will not be repeated here.

[0194] In one exemplary embodiment, such as Figure 3 As shown, a driver control device is provided, which is applied to an ultrasound endoscope. The ultrasound endoscope includes a driver, and the device includes: an acquisition module 302 and a control module 304, wherein:

[0195] The acquisition module 302 is used to acquire the motion parameters of the driver.

[0196] The control module 304 is used to control the motion direction of the driver to switch from a first motion direction to a second motion direction when the motion parameters meet preset conditions; the first motion direction is opposite to the second motion direction.

[0197] In one exemplary embodiment, such as Figure 4 As shown, the above-mentioned device also includes a maintenance module 306, which is used to increase the motion torque of the driver along the first motion direction when the motion torque is less than the second preset torque or the decrease in motion speed is less than the second preset amplitude, so as to maintain the motion speed of the driver at the target speed; the second preset torque is less than the first preset torque; the second preset amplitude is less than the first preset amplitude; when the motion torque is greater than or equal to the second preset torque and less than the first preset torque, or the decrease in motion speed is greater than or equal to the second preset amplitude and less than the first preset amplitude, the device increases the motion speed and motion torque of the driver along the first motion direction so as to maintain the motion speed of the driver at the target speed.

[0198] In one exemplary embodiment, the ultrasound endoscope further includes a Bourdon tube and an ultrasound probe, with the actuator connected to the ultrasound probe via the Bourdon tube; motion parameters also include motion duration; such as Figure 4 As shown, the above-mentioned device also includes a matching module 308, which is used to generate an initial image matrix based on initial image data, wherein the initial image data is the image data collected by the ultrasonic probe when the driver starts to move along the first motion direction; generate an actual image matrix based on real-time image data, wherein the real-time image data is the image data collected by the ultrasonic probe when the driver moves along the first motion direction for a first motion duration; determine a theoretical image matrix based on the initial image matrix, the target speed and the first motion duration; and increase the motion torque of the driver moving along the first motion direction when the theoretical image matrix and the actual image matrix meet the preset matching conditions.

[0199] In one exemplary embodiment, such as Figure 4 As shown, the above-mentioned device further includes a determining module 310, which is used to determine the theoretical trace of the theoretical image matrix; determine the theoretical rank of the theoretical image matrix; determine the theoretical eigenvalues ​​and theoretical characteristic polynomials of the theoretical image matrix; determine the actual trace of the actual image matrix; determine the actual rank of the actual image matrix; determine the actual eigenvalues ​​and actual characteristic polynomials of the actual image matrix; the matching module 308 is also specifically used to increase the motion torque of the driver moving along the first motion direction when the theoretical trace and the actual trace are different, the theoretical rank and the actual rank are different, the theoretical eigenvalues ​​and the actual eigenvalues ​​are different, or the theoretical characteristic polynomials and the actual characteristic polynomials are different.

[0200] In an exemplary embodiment, the determining module 310 is specifically used to determine the sum between multiple diagonal elements of the theoretical image matrix to obtain the theoretical trace; the determining module 310 is specifically used to determine the sum between multiple diagonal elements of the actual image matrix to obtain the actual trace.

[0201] In an exemplary embodiment, the determining module 310 is specifically used to determine the theoretical row echelon matrix corresponding to the theoretical image matrix using Gaussian elimination; and to determine the number of non-zero rows in the theoretical row echelon matrix as the theoretical rank. The determining module 310 is specifically used to determine the actual row echelon matrix corresponding to the actual image matrix using Gaussian elimination; and to determine the number of non-zero rows in the actual row echelon matrix as the actual rank.

[0202] In an exemplary embodiment, the determining module 310 is specifically used to establish the characteristic equation of the theoretical image matrix; and based on the characteristic equation of the theoretical image matrix, to determine the theoretical eigenvalues ​​and theoretical characteristic polynomials of the theoretical image matrix; the determining module 310 is specifically used to establish the characteristic equation of the actual image matrix; and based on the characteristic equation of the actual image matrix, to determine the actual eigenvalues ​​and actual characteristic polynomials of the theoretical image matrix.

[0203] Each module in the aforementioned driver control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0204] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores motion parameter data of the drive. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a drive control method.

[0205] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a driver control method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0206] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0207] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0208] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above-described method embodiments.

[0209] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0210] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0211] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0212] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0213] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A driver control method, characterized in that, The method is applied to an endoscopic ultrasound system, the endoscopic ultrasound system including a actuator, and the method includes: Obtain the motion parameters of the driver; When the motion parameters meet the preset conditions, the motion direction of the driver is controlled to switch from the first motion direction to the second motion direction; the first motion direction is opposite to the second motion direction.

2. The method according to claim 1, characterized in that, The motion parameters include motion direction, motion torque, and motion speed; the preset conditions include at least one of the following: The duration of the motion direction is greater than or equal to the first preset time; The number of revolutions in the direction of motion is greater than or equal to the preset number of revolutions; The motion torque is greater than or equal to the first preset torque; The decrease in the speed of movement is greater than or equal to a first preset range.

3. The method according to claim 2, characterized in that, The method further includes: If the motion torque is less than the second preset torque or the decrease in motion speed is less than the second preset amplitude, the motion torque of the driver along the first motion direction is increased to maintain the motion speed of the driver at the target speed; the second preset torque is less than the first preset torque; the second preset amplitude is less than the first preset amplitude; When the motion torque is greater than or equal to the second preset torque and less than the first preset torque, or when the decrease in motion speed is greater than or equal to the second preset magnitude and less than the first preset magnitude, the motion speed and motion torque of the driver along the first motion direction are increased so that the motion speed of the driver is maintained at the target speed.

4. The method according to claim 3, characterized in that, The ultrasound endoscope further includes a Bourdon tube and an ultrasound probe, and the actuator is connected to the ultrasound probe via the Bourdon tube; the motion parameters also include motion duration; the method further includes: Based on the initial image data, an initial image matrix is ​​generated, wherein the initial image data is the image data acquired by the ultrasonic probe when the driver starts moving along the first motion direction; Based on real-time image data, an actual image matrix is ​​generated, wherein the real-time image data is the image data collected by the ultrasonic probe when the driver moves along the first motion direction for a first motion duration; Based on the initial image matrix, the target velocity, and the first motion duration, a theoretical image matrix is ​​determined; When a preset matching condition is met between the theoretical image matrix and the actual image matrix, the motion torque of the driver moving along the first motion direction is increased.

5. The method according to claim 4, characterized in that, The method further includes: Determine the theoretical trace of the theoretical image matrix; Determine the theoretical rank of the theoretical image matrix; Determine the theoretical eigenvalues ​​and theoretical characteristic polynomial of the theoretical image matrix; Determine the actual trace of the actual image matrix; Determine the actual rank of the actual image matrix; Determine the actual eigenvalues ​​and actual characteristic polynomial of the actual image matrix; When a preset matching condition is met between the theoretical image matrix and the actual image matrix, increasing the motion torque of the driver moving along the first motion direction includes: If the theoretical trace differs from the actual trace, the theoretical rank differs from the actual rank, the theoretical eigenvalue differs from the actual eigenvalue, or the theoretical characteristic polynomial differs from the actual characteristic polynomial, the motion torque of the driver moving along the first motion direction is increased.

6. The method according to claim 5, characterized in that, Determining the theoretical trace of the theoretical image matrix includes: The theoretical trace is obtained by determining the sum among multiple diagonal elements of the theoretical image matrix; Determining the actual trace of the actual image matrix includes: The actual trace is obtained by determining the sum among multiple diagonal elements of the actual image matrix.

7. The method according to claim 5, characterized in that, Determining the theoretical rank of the theoretical image matrix includes: The theoretical row echelon matrix corresponding to the theoretical image matrix is ​​determined using Gaussian elimination. The number of non-zero rows in the theoretical row echelon matrix is ​​determined as the theoretical rank; Determining the actual rank of the actual image matrix includes: The actual row echelon matrix corresponding to the actual image matrix is ​​determined using Gaussian elimination. The number of non-zero rows in the actual row echelon matrix is ​​determined as the actual rank.

8. The method according to claim 5, characterized in that, Determining the theoretical eigenvalues ​​and theoretical characteristic polynomial of the theoretical image matrix includes: Establish the characteristic equation of the theoretical image matrix; Based on the characteristic equation of the theoretical image matrix, the theoretical eigenvalues ​​and theoretical characteristic polynomial of the theoretical image matrix are determined. Determining the actual eigenvalues ​​and actual characteristic polynomial of the actual image matrix includes: Establish the characteristic equation of the actual image matrix; Based on the characteristic equation of the actual image matrix, the actual eigenvalues ​​and actual characteristic polynomial of the theoretical image matrix are determined.

9. A driver control device, characterized in that, The device is used in an ultrasound endoscope, the ultrasound endoscope including a actuator, and the device includes: The acquisition module is used to acquire the motion parameters of the driver; The control module is used to control the motion direction of the driver to switch from a first motion direction to a second motion direction when the motion parameters meet preset conditions; the first motion direction is opposite to the second motion direction.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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