Control circuit suitable for laser navigation puncture equipment

Abstract

The utility model relates to a control circuit suitable for laser navigation puncture equipment, comprising a power supply unit, an MCU unit, a motor driving unit, a laser driving unit, a sensor unit and a control unit, the power supply output end of the power supply unit is connected with the input ends of the MCU unit, the motor driving unit, the laser driving unit, the sensor unit and the control unit; the output end of the control unit is connected with the input end of the MCU unit, the output end of the MCU unit is connected with the input end of the laser driving unit, the output end of the laser driving unit is connected with the laser instrument, the output end of the MCU unit is connected with the input end of the motor driving unit, the output end of the motor driving unit is connected with the stepping motor, and the stepping motor is connected with the laser instrument. The output end of the sensor unit is connected with the input end of the MCU unit. According to the utility model, the control precision can be improved, so that the efficiency is improved.

Description

Technical Field

[0001] This utility model relates to a control circuit suitable for laser-guided puncture equipment. Background Technology

[0002] CT-guided percutaneous soft tissue biopsy is an important diagnostic method for confirming the nature of visceral soft tissue masses, inflammatory lesions, and other superficial masses. However, the ideal needle insertion angle for CT-guided biopsy is often at a certain angle to the vertical. The operator must accurately estimate the angle to ensure accurate needle insertion and successful puncture, especially when the mass is small (e.g., <1cm), where precise localization is even more crucial. Most biopsiers can only estimate the needle insertion angle visually, which often results in significant errors. The longer the needle travel, the greater the error between the actual and planned puncture sites. Due to inaccurate needle insertion angles, repeated adjustments and re-insertion are frequently necessary, which not only reduces the success rate and efficiency of the procedure but also increases patient discomfort and the likelihood of complications. A search revealed a patent: a tumor chemotherapy puncture positioning device (CN201720530366.9). The detection device is electrically connected to a main unit on the right side. The main unit has a display on its top and a cabinet on its lower side. The detection device includes an ultrasound probe, a connecting tube, a handle, and a positioning device. The top of the ultrasound probe is connected to the connecting tube, and the top of the connecting tube is connected to the handle. The positioning device includes a spring rod, a control rod, a crossbar, and a laser. The spring rod is located inside the connecting tube, with its top fixed to the top of the connecting tube. The control rod is connected to the outside of the spring rod, and the crossbar is connected to the bottom of the spring rod. The crossbar is fixedly connected to the laser. The laser includes a laser head, a laser circuit board, and a laser power supply. The laser head is connected to the laser circuit board, and the laser circuit board is electrically connected to the laser power supply. The above-mentioned positioning device has low control accuracy and requires repeated operation for positioning, thus reducing efficiency.

[0003] In view of the above-mentioned shortcomings, the designer actively researched and innovated in order to create a new type of control circuit suitable for laser-guided puncture equipment, making it more valuable for industrial applications. Utility Model Content

[0004] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a control circuit suitable for laser-guided puncture equipment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A control circuit for a laser-guided puncture device includes a power supply unit, an MCU unit, a motor drive unit, a laser drive unit, a sensor unit, and a control unit. The power supply output terminal of the power supply unit is connected to the input terminals of the MCU unit, the motor drive unit, the laser drive unit, the sensor unit, and the control unit. The output terminal of the control unit is connected to the input terminal of the MCU unit. The output terminal of the MCU unit is connected to the input terminal of the laser drive unit. The output terminal of the laser drive unit is connected to a laser instrument. The output terminal of the MCU unit is connected to the input terminal of the motor drive unit. The output terminal of the motor drive unit is connected to a stepper motor. The output terminal of the sensor unit is connected to the input terminal of the MCU unit.

[0007] Preferably, in the control circuit for laser-guided puncture equipment, the MCU unit uses an STM32F103C8 chip.

[0008] Preferably, in the control circuit for laser-guided puncture equipment, the control unit is connected to the MCU unit via RS232 communication, wherein the control unit adopts a 32-bit SOC processor.

[0009] Preferably, in the control circuit for laser-guided puncture equipment, the sensor unit includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass, wherein the sensor unit is connected to the MCU unit via CAN communication.

[0010] Preferably, in the control circuit for laser-guided puncture equipment, the motor drive unit uses a chip model A4988.

[0011] Preferably, in the control circuit for laser-guided puncture equipment, the power supply unit includes DC5V, DC12V, and DC12~15V.

[0012] By means of the above solution, this utility model has at least the following advantages:

[0013] This invention can improve the speed and precision of equipment control, thereby improving equipment positioning accuracy and achieving efficient operation.

[0014] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. 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 schematic diagram of the principle of this utility model;

[0017] Figure 2 This is a circuit diagram of the sensor unit and MCU unit of this utility model;

[0018] Figure 3 This is the circuit diagram of the motor drive unit of this utility model;

[0019] Figure 4 This is the circuit diagram of the laser driver unit of this utility model. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] Example

[0023] like Figures 1 to 4As shown, a control circuit suitable for laser-guided puncture equipment includes a power supply unit 1, an MCU unit 2, a motor drive unit 3, a laser drive unit 4, a sensor unit 5, and a control unit 6. The power supply output terminal of the power supply unit 1 is connected to the input terminals of the MCU unit 2, the motor drive unit 3, the laser drive unit 4, the sensor unit 5, and the control unit 6. The output terminal of the control unit 6 is connected to the input terminal of the MCU unit 2. The output terminal of the MCU unit 2 is connected to the input terminal of the laser drive unit 4. The output terminal of the laser drive unit 4 is connected to a laser instrument. The output terminal of the MCU unit 2 is connected to the input terminal of the motor drive unit 3. The output terminal of the motor drive unit 3 is connected to a stepper motor. The output terminal of the sensor unit 5 is connected to the input terminal of the MCU unit 2.

[0024] The MCU unit 2 described in this invention uses an STM32F103C8 chip.

[0025] In this invention, the control unit 6 and the MCU unit 2 are connected via RS232 communication. The control unit 6 is a 32-bit SOC processor.

[0026] The sensor unit 5 described in this utility model includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. By integrating various high-performance sensors and using a dynamic core algorithm engine, combined with a high-dynamic Kalman filter fusion algorithm, the sensor can provide high-precision, high-dynamic, real-time compensated three-axis dynamic angles. By flexibly selecting and configuring various data, it can meet different application scenarios.

[0027] The main parameters of the sensor are as follows:

[0028] Accelerometer parameters: resolution + / - 2g, minimum deviation accuracy 0.0000039g / LSB;

[0029] Gyroscope parameters (XY axis): 0.061 (degrees / second) / LSB;

[0030] Gyroscope parameters (Z-axis): 0.000055 (degrees / second) / LSB;

[0031] Magnetometer parameters: Resolution 13 nT / LSB;

[0032] Pitch and roll angle parameters: 0.001 degrees;

[0033] Heading angle parameter: 0.0055 degrees;

[0034] The sensor communication interface uses CAN communication, with an output rate of 0.1Hz to 200Hz.

[0035] Meanwhile, sensor unit 5 is connected to MCU unit 2 via CAN communication.

[0036] like Figure 3 The motor drive unit 3 described in this invention uses an A4988 chip, which provides 8-35V DC power, a maximum peak current of 2A, and supports microstepping from 1 to 1 / 16. The drive motor is a stepper motor, a type of open-loop control motor that converts electrical pulse signals into angular or linear displacement, also known as a pulse motor. Under non-overload conditions, the stopping position of the stepper motor depends on the frequency and number of pulse signals, unaffected by load changes. When the stepper driver receives a pulse signal, it can drive the stepper motor to rotate a fixed angle, called the "step angle," in a set direction. Stepper motors are prone to step loss under open-loop control. This invention uses a sensor to make it a closed-loop control, thereby greatly improving control accuracy.

[0037] The power supply unit 1 described in this utility model includes DC5V, DC12V and DC12~15V. The output voltages in the power supply unit are all voltage values ​​that can be provided by power supply chips known in the art, and will not be described in detail here.

[0038] The working principle of this utility model is as follows:

[0039] In actual operation, the MCU unit is controlled by the control unit (UI interface), and then the MCU unit controls the motor drive unit 3 and the laser drive unit 4, so that the device reaches the designated position and performs laser operation. At the same time, the sensor feeds back the corresponding information to confirm the accuracy of the position.

[0040] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0041] In the description of this application, it should be noted that the terms "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0042] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or vertical, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0043] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0044] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A control circuit suitable for laser-guided puncture equipment, characterized in that: The system includes a power supply unit (1), an MCU unit (2), a motor drive unit (3), a laser drive unit (4), a sensor unit (5), and a control unit (6). The power supply output terminal of the power supply unit (1) is connected to the input terminals of the MCU unit (2), the motor drive unit (3), the laser drive unit (4), the sensor unit (5), and the control unit (6). The output terminal of the control unit (6) is connected to the input terminal of the MCU unit (2). The output terminal of the MCU unit (2) is connected to the input terminal of the laser drive unit (4). The output terminal of the laser drive unit (4) is connected to the laser instrument. The output terminal of the MCU unit (2) is connected to the input terminal of the motor drive unit (3). The output terminal of the motor drive unit (3) is connected to the stepper motor. The output terminal of the sensor unit (5) is connected to the input terminal of the MCU unit (2).

2. The control circuit for a laser-guided puncture device according to claim 1, characterized in that: The MCU unit (2) uses an STM32F103C8 chip.

3. The control circuit for a laser-guided puncture device according to claim 1, characterized in that: The control unit (6) and the MCU unit (2) are connected via RS232 communication. The control unit (6) is a 32-bit SOC processor.

4. The control circuit for a laser-guided puncture device according to claim 1, characterized in that: The sensor unit (5) includes a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass. The sensor unit (5) is connected to the MCU unit (2) via CAN communication.

5. The control circuit for a laser-guided puncture device according to claim 1, characterized in that: The motor drive unit (3) uses a chip model A4988.

6. The control circuit for a laser-guided puncture device according to claim 1, characterized in that: The power supply unit (1) includes DC5V, DC12V and DC12~15V.

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