Handle control device, control method, and intravascular ultrasound control system

Abstract

The present disclosure provides a handle control device, a control method and an intravascular ultrasound control system, the handle control device comprising a motion control module, a trigger control module and an ultrasound pulse transceiver module; a motor control unit is used for starting the motion of the walking motor in response to the occurrence of a first trigger operation, and a walking motor encoder reading unit is used for obtaining the pulse number within a first preset time period; a first processing unit is used for obtaining a first processing result; the motor control unit is used for adjusting the first duty cycle of the first PWM signal; the trigger control module is used for rotating the motor encoder reading unit in response to the occurrence of a second trigger operation, and a second processing unit is used for obtaining a second processing result; and the motor control unit is used for adjusting the second duty cycle of the second PWM signal. In the present disclosure, timely and accurate adjustment control of the motion speed of the walking motor and the rotating motor is realized, and an ultrasound image of the actual position can be generated.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, and in particular to a handle control device, control method and intravascular ultrasound control system. Background Technology

[0002] Intravascular ultrasound (IVUS) is a crucial diagnostic tool for coronary intervention. It uses an ultrasound transducer mounted at the tip of the catheter to perform a 360-degree circumferential scan of the vessel wall, acquiring cross-sectional images of the blood vessel. An IVUS system typically consists of three parts: the main unit, the catheter, and the Catheter Drive Unit (CDU). The CDU is responsible for key functions such as motor drive, ultrasound transceiver control, signal amplification, and communication with the main unit.

[0003] Currently, IVUS systems typically use microcontrollers (MCUs) as the main control chip for their handle control devices, in conjunction with multiple discrete functional modules. However, this approach suffers from limitations in real-time performance, low flexibility, high cost, and poor adaptability. Summary of the Invention

[0004] The technical problem to be solved by this disclosure is to overcome the shortcomings of existing IVUS systems, such as limited real-time performance, low flexibility, high cost, poor adaptability, and poor coordination efficiency, which cannot meet actual needs. The purpose is to provide a handpiece control device, control method, and intravascular ultrasound control system.

[0005] This disclosure solves the above-mentioned technical problems through the following technical solution:

[0006] In a first aspect, this disclosure provides a handle control device disposed in an intravascular ultrasound control system. The handle control device includes a motion control module, a trigger control module, and an ultrasound pulse transceiver module. The intravascular ultrasound control system includes a walking motor and a rotating motor.

[0007] The motion control module includes a motor control unit, a first processing unit, a walking motor encoder reading unit, a second processing unit, and a rotary motor encoder reading unit. The walking motor, the walking motor encoder reading unit, the first processing unit, and the motor control unit are sequentially and communicatively connected. The rotary motor, the rotary motor encoder reading unit, the second processing unit, and the motor control unit are sequentially and communicatively connected.

[0008] The ultrasonic pulse transceiver module includes an ultrasonic pulse generation unit, and the rotary motor encoder reading unit is communicatively connected to the ultrasonic pulse generation unit.

[0009] The trigger control module is used to respond to the occurrence of the first trigger operation by sending a first PWM (pulse width modulation) signal to trigger the walking motor to start moving. The walking motor encoder reading unit is used to read the pulses of the walking code disk to obtain the number of pulses within a first preset time period and send it to the first processing unit.

[0010] The first processing unit is used to process the number of pulses in the first preset time period using a first processing algorithm to obtain a first processing result and output it to the motor control unit. The motor control unit is used to generate a first motor drive signal based on the first processing result and adjust the first duty cycle of the first PWM signal according to the first motor drive signal to control the uniformity of the movement speed of the walking motor.

[0011] The trigger control module is used to respond to the occurrence of a second trigger operation by issuing a second PWM signal based on the input image frame rate parameters to trigger the rotary motor to start rotating. The rotary motor encoder reading unit is used to read the pulses of the rotating code disk to obtain the number of pulses within a second preset time period and send it to the second processing unit.

[0012] The second processing unit is used to process the number of pulses in the second preset time period using a second processing algorithm to obtain a second processing result and output it to the motor control unit. The motor control unit is also used to generate a second motor drive signal based on the second processing result and adjust the second duty cycle of the second PWM signal according to the second motor drive signal to control the uniformity of the rotation speed of the rotary motor.

[0013] The rotary motor encoder reading unit is also used to send a single pulse to the ultrasound pulse generation unit every time the rotary code disk rotates by a preset angle. The ultrasound pulse generation unit is used to drive the ultrasound transducer to emit ultrasound waves based on the single pulse and feed them back to the host module in the intravascular ultrasound control system, so that the host module can synthesize and process the ultrasound image of the target location.

[0014] Optionally, the motion control module is an FPGA (Field Programmable Gate Array) chip;

[0015] And / or,

[0016] The motor control unit is a servo motor control unit with configurable motor control parameters.

[0017] Optionally, the handle control device further includes an electronic tag identification module and a variable clock generator with communication connection;

[0018] The electronic tag identification module is used to read the electronic tag information of the actual catheter and send it to the variable clock generator;

[0019] The variable clock generator is used to receive the electronic tag information and adjust the ultrasonic pulse transmission frequency based on the catheter information in the electronic tag information to generate the clock required for the ultrasonic pulse.

[0020] or,

[0021] The variable clock generator is used to receive frequency adjustment commands and adjust the ultrasonic pulse transmission frequency based on the frequency adjustment commands to generate the clock required for ultrasonic pulses.

[0022] Optionally, both the first processing unit and the second processing unit are PID (proportional-integral-derivative) control units;

[0023] The first processing algorithm is a first PID control algorithm, the second processing algorithm is a second PID control algorithm, and the preset correlation parameters in the first PID control algorithm and the second PID control algorithm are matched and set with the walking motor and the rotating motor.

[0024] Optionally, the handle control device includes a first interaction unit that is communicatively connected to the motor control unit. The first interaction unit is used to trigger the motor control unit to emit the first PWM signal based on a first external operation.

[0025] Optionally, the handle control device includes a second interaction unit that is communicatively connected to the motor control unit. The second interaction unit is used to generate a start pulse for the rotary motor to start rotating based on a second external operation.

[0026] The trigger control module is used to calculate the corresponding rotation speed based on the image frame rate parameters sent by the host module, and generate the second PWM signal based on the rotation speed to drive the rotary motor to rotate.

[0027] Optionally, the first interaction unit and / or the second interaction unit may include physical buttons, touch buttons, or voice interaction units.

[0028] Optionally, the handle control device further includes a master clock generator and a power-on timing management module;

[0029] The master clock generator is used to generate the required clock;

[0030] The power-on timing management module is used to control the power-on timing between different modules in the handle control device;

[0031] And / or,

[0032] The ultrasonic pulse transceiver module also includes a time gain control unit and a programmable gain amplifier;

[0033] The time gain control unit is used to adjust the gain curve according to the echo depth;

[0034] The programmable gain amplifier is used to configure the gain parameters of the preamplifier;

[0035] And / or,

[0036] The handle control device also includes a display module;

[0037] And / or,

[0038] The trigger control module includes a UART (Universal Asynchronous Receiver / Transmitter) module.

[0039] A second aspect of this disclosure provides a control method for a handle control device, the control method being implemented based on the handle control device as provided in the first aspect;

[0040] The control method includes:

[0041] In response to the occurrence of the first trigger operation, a first PWM signal is sent to trigger the walking motor to start moving. The pulse of the walking code disk is read by the walking motor encoder reading unit to obtain the number of pulses within the first preset time period.

[0042] The first processing unit processes the number of pulses within a first preset time period using a first processing algorithm to obtain a first processing result, which is then output to the motor control unit. The motor control unit adjusts the first duty cycle of the first PWM signal based on the first processing result to control the uniformity of the movement speed of the walking motor.

[0043] In response to the occurrence of the second trigger operation, the trigger control module sends a second PWM signal based on the input image frame rate parameters to trigger the rotary motor to start rotating. The rotary motor encoder reading unit reads the pulses of the rotary code disk to obtain the number of pulses within the second preset time period.

[0044] The second processing unit processes the number of pulses within the second preset time period using a second processing algorithm to obtain a second processing result, which is then output to the motor control unit. The motor control unit adjusts the second duty cycle of the second PWM signal based on the second processing result to control the uniformity of the rotation speed of the rotary motor.

[0045] For each preset angle rotated by the rotary code disk, the rotary motor encoder reading unit sends a single pulse to the ultrasound pulse generation unit, which drives the ultrasound transducer at the corresponding position to emit ultrasound waves and feeds them back to the host module in the intravascular ultrasound control system, so that the host module can synthesize and process the ultrasound image of the target location.

[0046] A third aspect of this disclosure provides an intravascular ultrasound control system, the intravascular ultrasound control system including a handle control device as provided in the second aspect.

[0047] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this disclosure.

[0048] The positive and progressive effects of this disclosure are as follows:

[0049] In this disclosure, the walking motor encoder reading unit and the rotating motor encoder reading unit are set independently and equipped with corresponding processing units. This allows for timely and accurate adjustment and control of the walking and rotating motor speeds while simultaneously reading the rotation angle of the rotating code disk in real time. Pulses are automatically generated to synchronously trigger image acquisition, ensuring that the final image reflects the actual position rather than being synthesized based on time distance. This differs from existing time synchronization solutions and avoids image distortion caused by uneven rotation speeds. It fundamentally solves the problems of imaging delay and image jitter caused by MCU serial processing in existing technologies, effectively guaranteeing the imaging quality of the intravascular ultrasound control system to better meet the imaging requirements of various scenarios. Furthermore, this handle control device also offers advantages such as good real-time performance and flexibility, high integration, and reduced investment costs. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the handle control device according to Embodiment 1 of this disclosure.

[0051] Figure 2 This is a schematic diagram of the first module of the handle control device according to Embodiment 2 of this disclosure.

[0052] Figure 3 This is a schematic diagram of the second module of the handle control device according to Embodiment 2 of this disclosure.

[0053] Figure 4 This is a schematic diagram of the intravascular ultrasound control system of Embodiment 3 of this disclosure.

[0054] Figure 5 This is a flowchart of the control method of the handle control device according to Embodiment 4 of this disclosure.

[0055] Figure 6 This is a schematic diagram of the structure of the electronic device according to Embodiment 5 of this disclosure. Detailed Implementation

[0056] The present disclosure is further illustrated below by way of embodiments, but the present disclosure is not limited to the scope of the embodiments described herein.

[0057] The prefixes such as "first" and "second" used in this disclosure are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this disclosure does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not be construed as an unnecessary limitation. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0058] Example 1

[0059] In this embodiment, the handle control device is located in the intravascular ultrasound control system.

[0060] like Figure 1 As shown, the handle control device in this embodiment includes a motion control module 1, a trigger control module 2, and an ultrasonic pulse transceiver module 3.

[0061] The motion control module 1 includes, but is not limited to, an FPGA chip, preferably an FPGA chip. The trigger control module 2 includes, but is not limited to, a UART module.

[0062] When using an FPGA chip as the main control chip, all timing-critical tasks are deterministically executed by the FPGA hardware logic, with timing accuracy reaching the clock cycle level (nanosecond level), and there is no mutual blocking between tasks.

[0063] Specifically, the motion control module 1 includes a motor control unit 4, a first processing unit 5, a walking motor encoder reading unit 6, a second processing unit 7, and a rotary motor encoder reading unit 8. Furthermore, the intravascular ultrasound control system includes a walking motor and a rotary motor.

[0064] Specifically, the walking motor, the walking motor encoder reading unit 6, the first processing unit 5, and the motor control unit 4 are connected in sequence for communication; the rotary motor, the rotary motor encoder reading unit 8, the second processing unit 7, and the motor control unit 4 are connected in sequence for communication.

[0065] The ultrasonic pulse transceiver module 3 includes an ultrasonic pulse generation unit, and the rotary motor encoder reading unit 8 is communicatively connected to the ultrasonic pulse generation unit.

[0066] The trigger control module 2 is used to respond to the occurrence of the first trigger operation by sending a first PWM signal to trigger the walking motor to start moving. The walking motor encoder reading unit 6 is used to read the pulses of the walking code disk to obtain the number of pulses within the first preset time period and send it to the first processing unit 5.

[0067] The first processing unit 5 is used to process the number of pulses in the first preset time period using the first processing algorithm to obtain the first processing result and output it to the motor control unit 4. The motor control unit 4 is used to generate a first motor drive signal based on the first processing result and adjust the first duty cycle of the first PWM signal according to the first motor drive signal to control the uniformity of the movement speed of the walking motor.

[0068] The trigger control module 2 is used to respond to the occurrence of the second trigger operation, and to send a second PWM signal based on the input image frame rate parameters to trigger the rotary motor to start rotating. The rotary motor encoder reading unit 8 is used to read the pulses of the rotary code disk to obtain the number of pulses in the second preset time period, and send it to the second processing unit.

[0069] The second processing unit 7 is used to process the number of pulses in the second preset time period using the second processing algorithm to obtain the second processing result and output it to the motor control unit 4. The motor control unit 4 is also used to generate a second motor drive signal based on the second processing result and adjust the second duty cycle of the second PWM signal according to the second motor drive signal to control the uniformity of the rotation speed of the rotary motor.

[0070] The rotary motor encoder reading unit 8 is also used to send a single pulse to the ultrasound pulse generation unit every time the code disk rotates by a preset angle. The ultrasound pulse generation unit is used to drive the ultrasound transducer to emit ultrasound waves based on the single pulse and feed them back to the host module in the intravascular ultrasound control system so that the host module can synthesize and process the ultrasound image of the target location.

[0071] In this embodiment, the walking motor encoder reading unit and the rotating motor encoder reading unit are set independently and equipped with corresponding processing units. This allows for timely and accurate adjustment and control of the walking and rotating motor speeds while simultaneously reading the rotation angle of the rotating code disk in real time. Pulses are automatically generated to synchronously trigger image acquisition, ensuring that the final image reflects the actual position rather than being synthesized based on time distance. This differs from existing time synchronization solutions and avoids image distortion caused by uneven rotation speeds. It fundamentally solves the problems of imaging delay and image jitter caused by MCU serial processing in existing technologies, effectively guaranteeing the imaging quality of the intravascular ultrasound control system to better meet the imaging requirements of various scenarios. Furthermore, this handle control device also offers advantages such as good real-time performance and flexibility, high integration, and reduced investment costs.

[0072] Example 2

[0073] like Figure 2 and Figure 3 As shown, the handle control device in this embodiment is a further improvement on embodiment 1, specifically:

[0074] In one feasible embodiment, the motor control unit 4 is a servo motor control unit with configurable motor control parameters.

[0075] In this solution, the motor control parameters can be adjusted or reconfigured in real time according to the actual working conditions (such as different conduit models, different speed requirements, different load conditions, etc.) without replacing any hardware, which further ensures the flexibility and adaptability of the overall control; at the same time, since the independent dedicated servo module is eliminated, the hardware cost of the CDU is also significantly reduced.

[0076] In one feasible solution, both the first processing unit 5 and the second processing unit 7 are PID control units, each integrating a corresponding PID control algorithm. The first processing algorithm is a first PID control algorithm, and the second processing algorithm is a second PID control algorithm. The preset correlation parameters in the first and second PID control algorithms are matched and set with the traveling motor and the rotating motor.

[0077] The preset correlation parameters include gain, integral, difference coefficients, and the filter's time window function.

[0078] Specifically, the proportional, integral, and differential coefficients of the PID control algorithm in the two PID control units, as well as the time window function of the filter, can be connected to the host module via the UART module. The host module is then connected to the PC via PCIe to be integrated into the software interface, which can be set or adjusted.

[0079] In this solution, the walking motor and the rotary motor correspond to different motion attributes. By pre-configuring and matching PID control algorithms, the accuracy and reliability of the results after processing the data obtained by the walking motor encoder reading unit and the rotary motor encoder reading unit are ensured. This ensures the efficiency and reliability of the motion speed adjustment of the walking motor and the rotary motor, enabling the motor to reach a more uniform motion speed state more quickly and stably, thereby further ensuring the accuracy of the ultrasound images.

[0080] In one feasible embodiment, the handle control device includes a first interaction unit 9 communicatively connected to a motor control unit, the first interaction unit 9 being used to trigger the motor control unit to emit a first PWM signal based on a first external operation.

[0081] The handle control device includes a second interaction unit 10 that is communicatively connected to the motor control unit 4. The second interaction unit 10 is used to generate a start pulse for the rotary motor to start rotating based on a second external operation.

[0082] The trigger control module 2 is used to calculate the corresponding rotation speed based on the image frame rate parameters sent by the host module, and generate a second PWM signal based on the rotation speed to drive the rotary motor to rotate.

[0083] Specifically, the UART module receives the walking speed parameters sent by the host module, and when the back button in the button module is pressed, it triggers a start pulse to start the walking motor. The motor control unit 4 sends out the first PWM signal, and the walking motor starts to move according to the received walking speed parameters.

[0084] After the walking motor is activated, it drives the code disk to rotate. The walking motor encoder reading unit 6 reads the rotation pulses of the walking code disk, calculates the corresponding movement distance, and sends it to the display module (such as OLED) to display the corresponding distance information. At the same time, it calculates the number of pulses per second and sends it to the first PID control unit for processing using the first PID control algorithm.

[0085] The first PID control algorithm is used to calculate the filter gain, integral and differential values ​​to obtain the corresponding first processing result and feed it back to the motor control unit 4 in real time. The motor control unit 4 generates the corresponding first motor drive signal to adjust the duty cycle of the first PWM signal in real time so that the walking motor moves at a more uniform speed.

[0086] When the image acquisition button on the button module is pressed, a start pulse is generated to initiate the rotation of the rotary motor. The image frame rate parameters input from the host module are obtained via the UART module, the corresponding rotation speed is calculated, and a second PWM signal is generated to drive the rotary motor to rotate.

[0087] After the rotary motor rotates, it drives the rotary code disk to rotate. The rotary motor encoder reading unit 8 reads the pulses of the code disk, calculates the number of pulses within 20ms, and sends it to the second PID control unit for processing using the second PID control algorithm. The second PID control algorithm performs filter gain, integral, and differential calculations to obtain the corresponding second processing result, which is fed back to the motor control unit 4 in real time. The motor control unit 4 generates the corresponding second motor drive signal to adjust the duty cycle of the second PWM signal in real time, so that the rotary motor moves at a more uniform speed.

[0088] In one feasible solution, the first interaction unit 9 and the second interaction unit 10 include physical buttons, touch buttons, voice interaction units, etc.

[0089] In this solution, the corresponding trigger time can be activated by pressing physical buttons, touching the touch buttons in the operation interface, or through voice interaction; there are no restrictions on the specific configuration, as long as it can be implemented.

[0090] In one feasible embodiment, the handle control device also includes an electronic tag identification module 11 and a variable clock generator 12 with communication connectivity;

[0091] The electronic tag identification module 11 is used to read the electronic tag information of the actual conduit and send it to the variable clock generator 12;

[0092] The variable clock generator 12 is used to receive electronic tag information and adjust the ultrasonic pulse transmission frequency based on the catheter information in the electronic tag information to generate the clock required for ultrasonic pulses;

[0093] or,

[0094] The variable clock generator 12 is used to receive frequency adjustment commands and adjust the ultrasonic pulse transmission frequency based on the frequency adjustment commands to generate the clock required for ultrasonic pulses.

[0095] The frequency adjustment command is generated based on imaging depth, resolution requirements, and other factors. Specifically, it can be sent to the variable clock generator 12 via a UART module or similar means.

[0096] Before leaving the factory, each catheter is programmed with a unique identification code and transducer operating frequency. The transducer operating frequency is read by the FPGA and used to control the variable clock generator 12 to generate the corresponding clock, which in turn controls the ultrasonic pulse generation unit to generate the corresponding pulse frequency.

[0097] Once the variable clock generator 12 acquires the catheter information of the actual catheter, it determines the matching ultrasonic pulse transmission frequency. Unlike the CDU in the prior art that uses a fixed frequency clock, the ultrasonic transmission frequency of this solution can be adjusted in steps within the range of [10MHz~80MHz], thereby adapting to different imaging depth and resolution requirements, and achieving automatic adaptation with catheter type.

[0098] In this solution, instead of using a default fixed ultrasonic pulse emission frequency, the ultrasonic pulse emission frequency can be automatically and accurately matched and adjusted according to different catheters to achieve compatibility with different catheters, thereby improving the flexibility and convenience of handle control.

[0099] In one feasible embodiment, the handle control device also includes a master clock generator 13 and a power-on timing management module 14;

[0100] Master clock generator 13 is used to generate the required clock;

[0101] Power-on sequence management module 14 is used to control the power-on sequence between different modules in the handle control device;

[0102] In this solution, the stable operation of all modules in the handheld control device is ensured by setting up basic modules such as the master clock generator and the power-on timing management module. The combination of the two enables the handheld control device to still have excellent electromagnetic compatibility and startup reliability in harsh interventional operation environments, laying a solid foundation for the real-time acquisition and stable transmission of high-quality ultrasound images.

[0103] In one feasible embodiment, the ultrasonic pulse transceiver module 3 further includes a time gain control unit 15 and a programmable gain amplifier 16;

[0104] The time gain control unit 15 is used to adjust the gain curve according to the echo depth;

[0105] The programmable gain amplifier 16 is used to configure the gain parameters of the preamplifier.

[0106] In this solution, the ultrasound pulse transceiver module, through the coordinated operation of the ultrasound pulse generation unit, time gain control unit, and programmable gain amplifier, ensures the effective transmission and reception of high-quality ultrasound signals, serving as a crucial bridge connecting the front-end probe and the back-end image reconstruction. Specifically, the ultrasound pulse generation unit generates high-voltage electrical pulses to excite the transducer to emit ultrasound waves, determining the system's penetration and signal-to-noise ratio limits. The time gain control (TGC) unit applies dynamic gain compensation to echo signals at different depths, effectively overcoming the depth attenuation effect of ultrasound waves propagating in tissues, ensuring uniform brightness in both far-field and near-field images. The programmable gain amplifier (PGA) flexibly adjusts the signal amplification factor according to system requirements, optimizing the dynamic range and suppressing noise interference. This close collaboration allows the system to acquire high-fidelity, low-noise raw radio frequency signals across a wide depth range, providing a solid data foundation for subsequent beamforming, signal processing, and high-resolution image reconstruction. Ultimately, this ensures that the IVUS system can clearly display the fine structure of the vessel wall and accurately identify key pathological features such as vulnerable plaques.

[0107] In one feasible embodiment, the handle control device also includes a display module 17.

[0108] The display module includes LED displays, OLED displays, etc.

[0109] For example, LED displays are used for heart rate indication, catheter identification indication, etc.

[0110] OLED displays are used to display relevant parameters such as speed and distance.

[0111] In this solution, relevant information is displayed in a timely manner via a display module so that operators are informed promptly.

[0112] Of course, a voice broadcast module can also be set up according to actual needs to promptly inform operators via voice.

[0113] Example 3

[0114] like Figure 4 As shown, the intravascular ultrasound control system 100 of this embodiment includes the handle control device 200 in embodiment 1 or 2.

[0115] The intravascular ultrasound control system in this embodiment, by integrating the aforementioned handle control device, can not only timely and accurately adjust and control the movement speed of the walking motor and the rotating motor, but also read the rotation angle in the rotating encoder in real time to automatically generate pulses to synchronously trigger image acquisition. This ensures that the final image is an image of the actual position, rather than one synthesized based on time and distance, thus avoiding image distortion caused by uneven rotation speed. This effectively guarantees the imaging quality of the intravascular ultrasound control system and thereby effectively improves the overall product performance of the intravascular ultrasound control system.

[0116] Example 4

[0117] The control method of the handle control device in this embodiment is based on the handle control device provided in Embodiment 1 or 2.

[0118] like Figure 5 As shown, the control method of the handle control device in this embodiment includes:

[0119] S101. In response to the occurrence of the first trigger operation, a first PWM signal is sent to trigger the walking motor to start moving, and the pulse of the walking code disk is read by the walking motor encoder reading unit to obtain the number of pulses in the first preset time period.

[0120] The first processing unit processes the number of pulses within a first preset time period using a first processing algorithm to obtain a first processing result, which is then output to the motor control unit. The motor control unit adjusts the first duty cycle of the first PWM signal based on the first processing result to control the uniformity of the walking motor's movement speed.

[0121] S102. In response to the occurrence of the second trigger operation, the trigger control module sends a second PWM signal based on the input image frame rate parameters to trigger the rotary motor to start rotating. The rotary motor encoder reading unit reads the pulses of the rotary code disk to obtain the number of pulses within the second preset time period.

[0122] The second processing unit processes the number of pulses within the second preset time period using a second processing algorithm to obtain a second processing result, which is then output to the motor control unit. The motor control unit adjusts the second duty cycle of the second PWM signal based on the second processing result to control the uniformity of the rotation speed of the rotary motor.

[0123] The execution order of S101 and S102 is not restricted. It is mainly determined by the timing of the first trigger operation and the second trigger operation.

[0124] S103. Every time the rotary encoder rotates by a preset angle, the rotary motor encoder reading unit sends a single pulse to the ultrasound pulse generation unit, which drives the ultrasound transducer at the corresponding position to emit ultrasound waves and feeds them back to the host module in the intravascular ultrasound control system, so that the host module can synthesize and process the ultrasound image of the target at the actual position.

[0125] In this embodiment, the walking motor encoder reading unit and the rotating motor encoder reading unit are set independently and configured with corresponding processing units. This allows for timely and accurate adjustment and control of the movement speed of the walking motor and the rotating motor, while simultaneously reading the rotation angle in the rotating code disk in real time. This automatically generates pulses to synchronously trigger image acquisition, ensuring that the final image is the actual position rather than a composite image based on time distance. This differs from the time synchronization of existing solutions and avoids image distortion caused by uneven rotation speed. It fundamentally solves the problems of imaging delay and image jitter caused by MCU serial processing in existing technologies, effectively ensuring the imaging quality of the intravascular ultrasound control system to better meet the imaging requirements of the scenario.

[0126] Example 5

[0127] Figure 6 This is a schematic diagram of the structure of an electronic device according to an example embodiment of the present disclosure. The electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor. When the processor executes the computer program, it implements the method described in any of the above embodiments. Figure 6 The electronic device 90 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0128] like Figure 6 As shown, the electronic device 90 can be manifested as a general-purpose computing device, such as a server device. The components of the electronic device 90 may include, but are not limited to: at least one processor 91, at least one memory 92, and a bus 93 connecting different system components (including memory 92 and processor 91).

[0129] Bus 93 includes a data bus, an address bus, and a control bus.

[0130] The memory 92 may include volatile memory, such as random access memory (RAM) 921 and / or cache memory 922, and may further include read-only memory (ROM) 923.

[0131] The memory 92 may also include a program tool 925 (or utility) having a set (at least one) program module 924, such program module 924 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0132] The processor 91 executes various functional applications and data processing, such as the methods provided in any of the above embodiments, by running computer programs stored in the memory 92.

[0133] Electronic device 90 can also communicate with one or more external devices 94 (e.g., keyboard, pointing device, etc.). This communication can be performed through input / output (I / O) interface 95. Furthermore, electronic device 90 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public network, such as the Internet) via network adapter 96. As shown, network adapter 96 communicates with other modules of electronic device 90 via bus 93. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with electronic device 90, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0134] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0135] Example 6

[0136] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in any of the above embodiments.

[0137] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0138] Example 7

[0139] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the above embodiments.

[0140] The program code for executing the computer program product of this disclosure can be written in any combination of one or more programming languages, and the program code can be executed entirely on a user device, partially on a user device, as a stand-alone software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0141] While specific embodiments of this disclosure have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this disclosure, but all such changes and modifications fall within the scope of protection of this disclosure.

Claims

1. A handle control device, characterized in that, The handle control device is located in the intravascular ultrasound control system, and the handle control device includes a motion control module, a trigger control module, and an ultrasound pulse transceiver module; the intravascular ultrasound control system includes a walking motor and a rotating motor; The motion control module includes a motor control unit, a first processing unit, a walking motor encoder reading unit, a second processing unit, and a rotary motor encoder reading unit. The walking motor, the walking motor encoder reading unit, the first processing unit, and the motor control unit are sequentially and communicatively connected. The rotary motor, the rotary motor encoder reading unit, the second processing unit, and the motor control unit are sequentially and communicatively connected. The ultrasonic pulse transceiver module includes an ultrasonic pulse generation unit, and the rotary motor encoder reading unit is communicatively connected to the ultrasonic pulse generation unit. The trigger control module is used to respond to the occurrence of the first trigger operation by sending a first PWM signal to trigger the walking motor to start moving. The walking motor encoder reading unit is used to read the pulses of the walking code disk to obtain the number of pulses within a first preset time period and send it to the first processing unit. The first processing unit is used to process the number of pulses in the first preset time period using a first processing algorithm to obtain a first processing result and output it to the motor control unit. The motor control unit is used to generate a first motor drive signal based on the first processing result and adjust the first duty cycle of the first PWM signal according to the first motor drive signal to control the uniformity of the movement speed of the walking motor. The trigger control module is also used to respond to the occurrence of a second trigger operation by issuing a second PWM signal based on the input image frame rate parameters to trigger the rotary motor to start rotating. The rotary motor encoder reading unit is used to read the pulses of the rotating code disk to obtain the number of pulses within a second preset time period and send it to the second processing unit. The second processing unit is used to process the number of pulses in the second preset time period using a second processing algorithm to obtain a second processing result and output it to the motor control unit. The motor control unit is also used to generate a second motor drive signal based on the second processing result and adjust the second duty cycle of the second PWM signal according to the second motor drive signal to control the uniformity of the rotation speed of the rotary motor. The rotary motor encoder reading unit is also used to send a single pulse to the ultrasound pulse generation unit every time the rotary code disk rotates by a preset angle. The ultrasound pulse generation unit is used to drive the ultrasound transducer to emit ultrasound waves based on the single pulse and feed them back to the host module in the intravascular ultrasound control system, so that the host module can synthesize and process the ultrasound image of the target location.

2. The handle control device as described in claim 1, characterized in that, The motion control module is an FPGA chip; And / or, The motor control unit is a servo motor control unit with configurable motor control parameters.

3. The handle control device as described in claim 1, characterized in that, The handle control device also includes an electronic tag identification module and a variable clock generator with communication connection; The electronic tag identification module is used to read the electronic tag information of the actual catheter and send it to the variable clock generator; The variable clock generator is used to receive the electronic tag information and adjust the ultrasonic pulse transmission frequency based on the catheter information in the electronic tag information to generate the clock required for the ultrasonic pulse. or, The variable clock generator is used to receive frequency adjustment commands and adjust the ultrasonic pulse transmission frequency based on the frequency adjustment commands to generate the clock required for ultrasonic pulses.

4. The handle control device as described in claim 1, characterized in that, Both the first processing unit and the second processing unit are PID control units; The first processing algorithm is a first PID control algorithm, the second processing algorithm is a second PID control algorithm, and the preset correlation parameters in the first PID control algorithm and the second PID control algorithm are matched and set with the walking motor and the rotating motor.

5. The handle control device as described in claim 1, characterized in that, The handle control device includes a first interaction unit that is communicatively connected to the motor control unit. The first interaction unit is used to trigger the motor control unit to emit the first PWM signal based on a first external operation.

6. The handle control device as described in claim 5, characterized in that, The handle control device includes a second interaction unit that is communicatively connected to the motor control unit. The second interaction unit is used to generate a start pulse for the rotary motor to start rotating based on a second external operation. The trigger control module is used to calculate the corresponding rotation speed based on the image frame rate parameters sent by the host module, and generate the second PWM signal based on the rotation speed to drive the rotary motor to rotate.

7. The handle control device as described in claim 6, characterized in that, The first interaction unit and / or the second interaction unit includes physical buttons, touch buttons, or voice interaction units.

8. The handle control device as described in any one of claims 1 to 7, characterized in that, The handle control device also includes a master clock generator and a power-on timing management module; The master clock generator is used to generate the required clock; The power-on timing management module is used to control the power-on timing between different modules in the handle control device; And / or, The ultrasonic pulse transceiver module also includes a time gain control unit and a programmable gain amplifier; The time gain control unit is used to adjust the gain curve according to the echo depth; The programmable gain amplifier is used to configure the gain parameters of the preamplifier; And / or, The handle control device also includes a display module; And / or, The trigger control module includes a UART module.

9. A control method for a handle control device, characterized in that, The control method is implemented based on the handle control device according to any one of claims 1 to 8; The control method includes: In response to the occurrence of the first trigger operation, a first PWM signal is sent to trigger the walking motor to start moving. The pulse of the walking code disk is read by the walking motor encoder reading unit to obtain the number of pulses within the first preset time period. The first processing unit processes the number of pulses within a first preset time period using a first processing algorithm to obtain a first processing result, which is then output to the motor control unit. The motor control unit adjusts the first duty cycle of the first PWM signal based on the first processing result to control the uniformity of the movement speed of the walking motor. In response to the occurrence of the second trigger operation, the trigger control module sends a second PWM signal based on the input image frame rate parameters to trigger the rotary motor to start rotating. The rotary motor encoder reading unit reads the pulses of the rotary code disk to obtain the number of pulses within the second preset time period. The second processing unit processes the number of pulses within the second preset time period using a second processing algorithm to obtain a second processing result, which is then output to the motor control unit. The motor control unit adjusts the second duty cycle of the second PWM signal based on the second processing result to control the uniformity of the rotation speed of the rotary motor. For each preset angle rotated by the rotary code disk, the rotary motor encoder reading unit sends a single pulse to the ultrasound pulse generation unit, which drives the ultrasound transducer at the corresponding position to emit ultrasound waves and feeds them back to the host module in the intravascular ultrasound control system, so that the host module can synthesize and process the ultrasound image of the target location.

10. An intravascular ultrasound control system, characterized in that, The intravascular ultrasound control system includes a handle control device as described in any one of claims 1 to 8.

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