Endoscope gyroscope posture acquisition sub-board circuit with high-precision clock

Abstract

The utility model discloses an endoscope gyroscope attitude acquisition daughterboard circuit with high-precision clock, including first road voltage stabilizing power module, second road voltage stabilizing power module, third road voltage stabilizing power module, attitude sensing module and 24MHz external clock oscillation module, and attitude sensing module is powered by 3.3V main power supply of upper host board, and 24MHz external clock oscillation module is connected with attitude sensing module through connector P1. The utility model discloses an endoscope gyroscope attitude acquisition daughterboard circuit, and three low -voltage power supplies are not any electrical connection with attitude sensing module, realize the complete isolation of the power supply of peripheral load and attitude sensing module and reduce the noise, and 24MHz external clock oscillation module provides external hardware reference clock for attitude sensing module, and the external crystal oscillator clock frequency precision is higher, and the temperature drift is smaller, and the stability is stronger, can effectively restrain the sampling error under high and low temperature environment, guarantees whole machine long -time work time attitude data not to drift, not to deviate.

Description

Technical Field

[0001] This utility model relates to an endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock. Background Technology

[0002] The attitude acquisition sub-board circuit of medical endoscopes and arthroscopes is used to acquire the three-axis angular velocity and three-axis acceleration attitude data of the probe in real time, and upload them to the host SOC through a standardized interface, providing accurate raw data support for the whole machine's image stabilization, attitude correction and angle positioning algorithms.

[0003] The existing medical electronic endoscopes have a crudely designed built-in attitude acquisition sub-board circuit, which generally suffers from problems such as mixed power supply, serious noise crosstalk, large temperature drift of attitude data, and inaccurate anti-shake angle sampling. They cannot adapt to the strong electromagnetic conditions of the operating room with high-frequency electrosurgical units and monitors superimposed on each other.

[0004] Traditional endoscope gyroscope daughterboards use a single 3.3V power supply, with the probe front-end image differential circuit, infrared auxiliary circuit, and gyroscope sensing circuit sharing the same power supply. High-speed image switching ripple and infrared on / off current fluctuations are directly coupled to the six-axis sensing chip, easily causing angular velocity sampling offset, reverse drift of image stabilization, and angle zeroing failure. The chip uses an internal RC oscillation clock without an external high-precision crystal oscillator, resulting in large temperature drift errors and poor data stability under high and low temperature environments. Communication interfaces are scattered and lack standardized connectors, making assembly cumbersome and leading to a high failure rate. There is no probe in-situ detection mechanism, and the gyroscope is powered on under no-load conditions for extended periods, resulting in high ineffective power consumption and rapid component aging. The defects of traditional endoscope gyroscope daughterboards are summarized as follows: 1. Severe interference from mixed power supplies: The high-speed front-end image circuit, infrared sampling circuit and gyroscope share the same power supply, and the power supply ripple interferes with each other, causing attitude sampling drift, anti-shake jamming and angle data jump during endoscopic surgery. 2. Insufficient clock accuracy and large temperature drift error: It relies on the internal RC clock of the chip to work. The clock frequency stability is poor and it is greatly affected by temperature. After long-term operation, the angular velocity and acceleration sampling offset is serious, which affects the image stabilization effect. 3. Non-standard communication interface and low reliability: There is no dedicated integrated interface socket, the signal lines are scattered, the assembly process is complicated, and the connection or disconnection is prone to failure under vibration and plugging / unplugging scenarios. 4. Lack of intelligent start-stop mechanism, high energy consumption and short lifespan: The lack of probe in-situ detection circuit means that the gyroscope continues to work after the equipment is turned on, resulting in high power consumption due to the probe being idle, which accelerates the aging of components and reduces the service life of the equipment.

[0005] Given the above industry pain points, how to overcome the aforementioned technical deficiencies is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] The purpose of this invention is to provide an endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock to solve at least one of the above-mentioned technical problems.

[0007] According to one aspect of this utility model, an endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock is provided, comprising: The first voltage regulator module supplies power to the front-end image differential circuit of the probe through the onboard connector J2. The second voltage regulator module provides a pull-up voltage to the XSHUTDN sleep control pin on connector P1. The third voltage regulator module outputs power to the endoscope front infrared LED driver and peripheral circuits through onboard connectors J2 and P1 respectively. The attitude sensing module is powered by the 3.3V mains power supply of the host motherboard; and The 24MHz external clock oscillation module is powered by a second regulated power supply module. The 24MHz external clock oscillation module is connected to the attitude sensing module via connector P1.

[0008] This invention relates to an endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock. The attitude sensing module is independently powered by the clean 3.3V main power supply of the host motherboard, forming its own isolated power domain. The three low-voltage power supplies—the first, second, and third regulated power supply modules—are all output externally to power the image differential circuit at the probe front end, the XSHUTDN sleep control pin on connector P1, the infrared LED driver at the endoscope front end, and peripheral circuits. The three low-voltage power supplies have no electrical connection with the attitude sensing module, achieving complete isolation and noise reduction between the power supply of the peripheral load and the attitude sensing module. At the same time, a 24MHz external clock oscillation module provides an external hardware reference clock for the attitude sensing module. Compared with the internal RC oscillation clock of the attitude sensing module, the external crystal oscillator clock has higher frequency accuracy, lower temperature drift, and stronger stability, which can effectively suppress sampling errors under high and low temperature environments, ensuring that the attitude data does not drift or shift during long-term operation of the entire device, and providing accurate timing and data support for image stabilization algorithms.

[0009] In some implementations, the attitude sensing module may include a gyroscope sensing chip U4, a power filtering device, an I2C bus matching device, a power supply current limiting resistor, and a reserved pull-up resistor bit. The gyroscope sensor chip U4 has independent core power supply pin VDD and IO power supply pin VDDIO. The core power supply pin VDD is powered by the 3.3V main power supply of the upper motherboard, and the IO power supply pin VDDIO is powered by the output of the second regulated power supply module. The power supply current limiting resistors are connected in series in the core power supply circuit and the IO power supply circuit of the gyroscope sensor chip U4 to limit the power supply circuit current; The power supply filtering devices are connected between the core power supply pin VDD and the IO power supply pin VDDIO of the gyroscope sensor chip U4 and ground respectively to filter out high-frequency ripple interference in the two power supply voltages. The I2C bus matching devices are electrically connected to the I2C communication pins of the gyroscope sensor chip U4 to achieve bus level pull-up and signal impedance matching, and lead the communication signal to the external connector to complete data interaction; Reserved pull-up resistor positions are set between the I2C communication signal line and the output power of the second voltage regulator module for voltage domain compatibility configuration.

[0010] Therefore, the core power supply pin VDD of the gyroscope sensor chip U4 is independently powered by the clean 3.3V main power supply of the host motherboard, forming an isolated power domain. This achieves complete isolation and noise reduction between the power supply of the gyroscope sensor chip U4 and the peripheral load. The power supply current limiting resistor can limit the power supply circuit current on the core power supply circuit and the IO power supply circuit of the gyroscope sensor chip U4. The power supply filtering device can filter out high-frequency ripple interference in the power supply voltage. The I2C bus matching device can realize bus level pull-up and signal impedance matching and lead the communication signal to the external connector to complete data interaction. The reserved pull-up resistor bit can be used for voltage domain compatible configuration.

[0011] In some implementations, the power supply current limiting resistor may include a core power supply resistor R9 and an I / O power supply current limiting resistor R6, and the power supply filtering device may include a first power supply filter capacitor C7 and a second power supply filter capacitor C9. The core power supply pin VDD of the gyroscope sensor chip U4 is connected to the 3.3V main power supply of the host motherboard through the core power supply resistor R9. One end of the first power supply filter capacitor C7 is connected to the core power supply pin VDD of the gyroscope sensor chip U4, and the other end of the first power supply filter capacitor C7 is grounded. The IO power supply pin VDDIO of the gyroscope sensor chip U4 is connected to the output of the second regulated power supply module via the IO power supply current limiting resistor R6. One end of the second power supply filter capacitor C9 is connected to the IO power supply pin VDDIO of the gyroscope sensor chip U4, and the other end of the second power supply filter capacitor C9 is grounded.

[0012] Therefore, the core power supply resistor R9 and the IO power supply current limiting resistor R6 can limit the power supply circuit current on the core power supply circuit and the IO power supply circuit of the gyroscope sensor chip U4, and the first power supply filter capacitor C7 and the second power supply filter capacitor C9 can filter out high-frequency ripple interference in the power supply voltage.

[0013] In some implementations, the I2C bus matching device may include a first I2C bus pull-up resistor R2, a second I2C bus pull-up resistor R4, a first signal matching resistor R11 and a second signal matching resistor R13, and the reserved pull-up resistor bits may include R3 and R5; One end of the first I2C bus pull-up resistor R2 and the second I2C bus pull-up resistor R4 are connected to the 3.3V main power supply of the host motherboard, and the other end is electrically connected to the I2C communication pins SDX and SCX of the gyroscope sensor chip U4 to realize the I2C bus level pull-up. R3 and R5 are respectively set between the I2C communication signal line and the 1.8V power supply for compatibility and expansion of the I2C bus 1.8V voltage domain pull-up; The first signal matching resistor R11 and the second signal matching resistor R13 are connected in series on the signal output lines of the I2C communication pins SDX and SCX of the gyroscope sensor chip U4, respectively. The I2C communication signal is led out to the connector P1 through the first signal matching resistor R11 and the second signal matching resistor R13 to realize the data interaction between the gyroscope sensor chip U4 and the host motherboard.

[0014] Therefore, the first I2C bus pull-up resistor R2 and the second I2C bus pull-up resistor R4 set between the 3.3V main power supply of the host motherboard and the I2C communication pins SDX and SCX of the gyroscope sensor chip U4 can be used for voltage domain compatible configuration. The I2C communication signal of the gyroscope sensor chip U4 can be led out to the connector P1 through the first signal matching resistor R11 and the second signal matching resistor R13, thereby realizing data interaction between the gyroscope sensor chip U4 and the host motherboard.

[0015] In some implementations, the attitude sensing module may include a gyroscope sensing chip U4, a first power supply filter capacitor C7, a second power supply filter capacitor C9, a first I2C bus pull-up resistor R2, a second I2C bus pull-up resistor R4, a first signal matching resistor R11, a second signal matching resistor R13, an IO power supply current limiting resistor R6, and a core power supply current limiting resistor R9. The core power supply pin VDD of the gyroscope sensor chip U4 is connected to the 3.3V main power supply of the host motherboard through the core power supply current limiting resistor R9. One end of the first power supply filter capacitor C7 is connected to the core power supply pin VDD of the gyroscope sensor chip U4, and the other end of the first power supply filter capacitor C7 is grounded. The IO power supply pin VDDIO of the gyroscope sensor chip U4 is connected to the output of the second regulated power supply module through the IO power supply current limiting resistor R6. One end of the second power supply filter capacitor C9 is connected to the IO power supply pin VDDIO of the gyroscope sensor chip U4, and the other end of the second power supply filter capacitor C9 is grounded. One end of the first I2C bus pull-up resistor R2 and the second I2C bus pull-up resistor R4 are connected to the 3.3V main power supply of the upper motherboard, and the other end is electrically connected to the I2C communication pins SDX and SCX of the gyroscope sensor chip U4, respectively. The first signal matching resistor R11 and the second signal matching resistor R13 are connected in series on the signal output lines of the I2C communication pins SDX and SCX of the gyroscope sensor chip U4, respectively. The I2C communication signal is led out to the connector P1 through the first signal matching resistor R11 and the second signal matching resistor R13 to realize the data interaction between the gyroscope sensor chip U4 and the host motherboard.

[0016] Therefore, the core power supply resistor R9 and the IO power supply current limiting resistor R6 can limit the power supply circuit current on the core power supply circuit and the IO power supply circuit of the gyroscope sensor chip U4. The first power supply filter capacitor C7 and the second power supply filter capacitor C9 can filter out high-frequency ripple interference in the power supply voltage. The first I2C bus pull-up resistor R2 and the second I2C bus pull-up resistor R4 set between the 3.3V main power supply of the upper motherboard and the I2C communication pins SDX and SCX of the gyroscope sensor chip U4 can be used for voltage domain compatible configuration. The I2C communication signal of the gyroscope sensor chip U4 can be led out to the connector P1 through the first signal matching resistor R11 and the second signal matching resistor R13, thereby realizing the data interaction between the gyroscope sensor chip U4 and the upper motherboard.

[0017] In some implementations, the interrupt output pins INT1 and INT2 of the attitude sensing module can be pulled up by 1.8V to carry the data interrupt link. Connector P1 uses BM23FR0.6-24DP-0.35V. The XSHUTDN pin of connector P1 is pulled up to 1.8V through a 10K resistor and forms an RC stabilization circuit with a 1μF filter capacitor.

[0018] Therefore, INT1 and INT2 carry the data interrupt link. The dual interrupt signals are pulled up by 1.8V. When the attitude data acquisition is completed and the data is ready, the attitude sensing module actively triggers the interrupt level to notify the upper motherboard to read the data in time, avoiding data accumulation, loss, and delay, and ensuring the real-time performance of attitude sampling. The BM23FR0.6-24DP-0.35V connector has the advantages of ultra-thin miniaturization, two-point contact terminals, metal guide to prevent incorrect insertion, anti-solder creep structure, and high mechanical strength. The circuit reserves the XSHUTDN hardware sleep control pin, which, together with a 10K pull-up resistor and a 1μF filter capacitor, forms an RC stabilization circuit, which can realize hardware-level start and stop control of the gyroscope. It is a key control unit for low power consumption and high stability operation of the device.

[0019] In some implementations, connector P1 can be a daughterboard external signal interaction connector. Connector P1 includes a power pin group, an image differential signal pin group, an I2C communication pin group, a sleep control pin, an infrared LED driver pin group, and a clock signal pin. The power supply pin group is electrically connected to the first, second, and third regulated power supply modules, respectively, and outputs multiple working voltages and provides a reference ground potential. The image differential signal pin group is used to transmit differential image data from the front end of the endoscope probe; The I2C communication pin group is electrically connected to the attitude sensing module to enable bidirectional interaction of gyroscope attitude data; The sleep control pin is powered by the second regulated power supply module to complete hardware sleep control with the help of pull-up and filter components. The infrared LED driver pin group is electrically connected to the third-channel regulated power supply module to output the infrared fill light driver signal; The clock signal pin is connected to a 24MHz external clock oscillator module to transmit a high-precision reference clock to the attitude sensing module.

[0020] Therefore, connector P1 can be electrically connected to the first, second, and third regulated power supply modules through the power supply pin group, and output multiple working voltages and provide a reference ground potential. Connector P1 can transmit differential image data from the endoscope probe front end through the image differential signal pin group. Connector P1 can be electrically connected to the attitude sensing module through the I2C communication pin group to realize bidirectional interaction of gyroscope attitude data. Connector P1 can complete hardware sleep control through the sleep control pin. Connector P1 can output infrared fill light drive signals through the infrared LED drive pin group. Connector P1 can transmit a high-precision reference clock to the attitude sensing module through the clock signal pin.

[0021] In some implementations, it may also include an 8-pin onboard connector J1 and a 9-pin onboard connector J2, with connector P1 mating with an integrated socket on the host motherboard via onboard connectors J1 and J2. The four pins on the onboard connector J2 are connected to four regulated power supplies of 1.2V, 1.8V, 2.8V, and 3.3V respectively, and the MCK pin of the 24MHz external clock oscillation module is connected to one pin on the onboard connector J2.

[0022] Therefore, two sets of integrated connectors, J1 and J2, are configured on the board to achieve standardized and rapid docking with the integrated sockets on the host motherboard. Onboard connector J1 can integrate SDA / SCL I2C communication signals and DACK differential signals, while onboard connector J2 can integrate four regulated power supplies (1.2V, 1.8V, 2.8V, and 3.3V) and the MCK system clock signal, ensuring clock synchronization, stable grounding and shielding, and reducing signal interference. Onboard connectors J1 and J2 can integrate all power, clock, and communication signals of the circuit, resulting in neat wiring, convenient assembly, and high stability, achieving integrated docking of communication and probe in-situ detection signals.

[0023] In some implementations, two pins on the onboard connector J2 are connected to the cold light source driver circuit of the upper-level motherboard. When the probe is properly inserted into the medical cold light source device, it blocks the infrared light path in the device. The host motherboard recognizes the probe's presence and automatically activates the gyroscope's power supply and data acquisition functions. When the probe is removed, the infrared light path in the medical cold light source device is activated, the host motherboard shuts down the gyroscope's power supply, and data acquisition stops.

[0024] Therefore, the two pins on the onboard connector J2 can be linked with the cold light source drive circuit of the upper motherboard to realize intelligent recognition of probe start and stop, realize energy saving under no-load power failure and extend the life of the device.

[0025] In some implementations, the first regulated power supply module may include an ME6206-2.8V regulator U1, a 1μF capacitor C1, and a 1μF capacitor C2. The 3.3V main power supply from the host motherboard is filtered by capacitor C1 and then fed to the Vin pin of the ME6206-2.8V regulator. The Vout pin of the ME6206-2.8V regulator outputs a 2.8V voltage after secondary filtering by capacitor C2. The second voltage regulator module may include an ME6206-1.8V regulator U2, a 1μF capacitor C3, and a 1μF capacitor C4. The 3.3V main power supply from the host motherboard is filtered by capacitor C3 and then fed to the Vin pin of the ME6206-1.8V regulator. The Vout pin of the ME6206-1.8V regulator outputs a 1.8V voltage after secondary filtering by capacitor C4. The third voltage regulator module may include an ME6206-1.2V regulator U3, a 1μF capacitor C5, and a 1μF capacitor C6. The 3.3V main power supply from the host motherboard is filtered by capacitor C5 and then fed into the Vin pin of the ME6206-1.2V. The Vout pin of the ME6206-1.2V outputs a 1.2V voltage after secondary filtering by capacitor C6.

[0026] Therefore, the endoscope gyroscope attitude acquisition sub-board circuit of this utility model is connected to the 3.3V system voltage of the upper motherboard. It is equipped with a high-precision linear LDO chip ME6206-2.8V regulator U1 to generate an independent 2.8V low-voltage power supply. Both the input and output terminals of the ME6206-2.8V regulator U1 are equipped with 1μF ceramic filter capacitors to suppress high-frequency power supply ripple. The external 2.8V power supply domain is completely electrically isolated from the 3.3V power supply domain of the attitude sensing module, preventing crosstalk and addressing issues such as intraoperative attitude drift, anti-shake reverse offset, and data jumps. This adapts to the complex high-frequency electromagnetic conditions of the operating room. It is also equipped with a high-precision linear LDO chip ME6206-1.8V regulator U2 to generate an independent 1.8V low-voltage power supply. The input and output terminals of the ME6206-1.8V regulator U2 are equipped with 1μF ceramic filter capacitors to suppress high-frequency power supply ripple. Each output terminal is equipped with a 1μF ceramic filter capacitor to suppress high-frequency power supply ripple. The 1.8V power supply domain of the external device is electrically isolated from the 3.3V power supply domain of the attitude sensing module, ensuring no power supply coupling or crosstalk. This solves problems such as attitude drift, anti-shake reverse offset, and data jump during surgery, making it suitable for the complex high-frequency electromagnetic conditions in the operating room. It is equipped with a high-precision linear LDO chip ME6206-1.2V regulator U3 to generate an independent 1.2V low-voltage power supply. Both the input and output terminals of the ME6206-1.2V regulator U3 are equipped with 1μF ceramic filter capacitors to suppress high-frequency power supply ripple. The 1.2V power supply domain of the external device is electrically isolated from the 3.3V power supply domain of the attitude sensing module, ensuring no power supply coupling or crosstalk. This solves problems such as attitude drift, anti-shake reverse offset, and data jump during surgery, making it suitable for the complex high-frequency electromagnetic conditions in the operating room. Attached Figure Description

[0027] Figure 1 This is a connection block diagram of an endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock, according to one embodiment of the present invention. Figure 2 for Figure 1 The circuit diagram of the first regulated power supply module 1 in the endoscope gyroscope attitude acquisition sub-board circuit is shown. Figure 3 for Figure 1 The circuit diagram shown is of the second regulated power supply module in the endoscope gyroscope attitude acquisition sub-board circuit. Figure 4 for Figure 1The circuit diagram shown is of the third regulated power supply module in the endoscope gyroscope attitude acquisition sub-board circuit. Figure 5 for Figure 1 The circuit diagram shown is of the attitude sensing module in the attitude acquisition sub-board circuit of the endoscope gyroscope. Figure 6 for Figure 1 The circuit diagram shown is of the 24MHz external clock oscillation module in the attitude acquisition sub-board circuit of the endoscope gyroscope. Figure 7 for Figure 1 The circuit diagram of connector P1 in the endoscope gyroscope attitude acquisition sub-board circuit is shown. Figure 8 for Figure 1 The circuit diagram shown is of the onboard connector J1 in the attitude acquisition sub-board circuit of the endoscope gyroscope. Figure 9 for Figure 1 The circuit diagram shown is of the onboard connector J2 in the attitude acquisition sub-board circuit of the endoscope gyroscope. Figure 10 for Figure 1 The diagram shows the wiring diagram of the endoscope gyroscope attitude acquisition sub-board circuit on the PCB. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0029] Figures 1 to 9 The diagram schematically illustrates the structure of an endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock according to one embodiment of the present invention.

[0030] refer to Figures 1 to 9 An endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock includes a first regulated power supply module 1, a second regulated power supply module 2, a third regulated power supply module 3, an attitude sensing module 4, and a 24MHz external clock oscillation module 5. Furthermore, the endoscope gyroscope attitude acquisition sub-board circuit may also include connector P1, onboard connector J1, and onboard connector J2.

[0031] refer to Figure 1The attitude sensing module 4 is connected to the 3.3V main power supply of the host motherboard (i.e., the host main processor). The 3.3V main power supply of the host motherboard powers the attitude sensing module 4. The first regulated power supply module 1 can be connected to the MCK main clock and the front-end image differential circuit of the probe on the host motherboard through the onboard connector J2 and power them. The second regulated power supply module 2 is also connected to connector P1. The second regulated power supply module 2 provides a pull-up voltage to the XSHUTDN sleep control pin on connector P1. The second regulated power supply module 2 is connected to a 24MHz external clock oscillator. Module 5 is connected. The second regulated power supply module 2 supplies power to the 4MHz external clock oscillation module 5. The third regulated power supply module 3 outputs power to the outside through onboard connectors J2 and P1, respectively, for powering the infrared LED driver at the endoscope front end and peripheral circuits. The attitude sensing module 4 is connected to connector P1. The 24MHz external clock oscillation module 5 is connected to connector P1. The 24MHz external clock oscillation module 5 is connected to the attitude sensing module 4 through connector P1. Onboard connector J1 is connected to connector P1. Onboard connector J2 is connected to connector P1.

[0032] refer to Figure 2 The first regulated power supply module 1 includes an ME6206-2.8V regulator U1, a 1μF capacitor C1, and a 1μF capacitor C2. The 3.3V main power supply from the host motherboard is filtered by capacitor C1 and then fed into the Vin pin of the ME6206-2.8V. The Vout pin of the ME6206-2.8V outputs a 2.8V voltage after secondary filtering by capacitor C2, which is connected to the 3.3V system voltage of the host motherboard. The high-precision linear LDO chip ME6206-2.8V regulator U1 is used to generate an independent 2.8V low-voltage power supply. Both the input and output terminals of the ME6206-2.8V regulator U1 are equipped with 1μF ceramic filter capacitors to suppress high-frequency power supply ripple. The 2.8V power supply domain of the peripheral device is completely electrically isolated from the 3.3V power supply domain of the attitude sensing module, and the power supplies are not coupled or interfered with each other, which solves the problems of attitude drift, anti-shake reverse offset, and data jump during operation, and is suitable for the complex high-frequency electromagnetic conditions in the operating room.

[0033] refer to Figure 3The second voltage regulator module 2 includes an ME6206-1.8V regulator U2, a 1μF capacitor C3, and a 1μF capacitor C4. The 3.3V main power supply from the upper motherboard is filtered by capacitor C3 and then fed into the Vin pin of the ME6206-1.8V. The Vout pin of the ME6206-1.8V outputs a 1.8V voltage after secondary filtering by capacitor C4, which is connected to the 3.3V system voltage of the upper motherboard. The high-precision linear LDO chip ME6206-1.8V regulator U2 is used to generate an independent 1.8V low-voltage power supply. Both the input and output terminals of the ME6206-1.8V regulator U2 are equipped with 1μF ceramic filter capacitors to suppress high-frequency power supply ripple. The 1.8V power supply domain of the peripheral device is completely electrically isolated from the 3.3V power supply domain of the attitude sensing module, and the power supplies are not coupled or interfered with each other, which solves the problems of attitude drift, anti-shake reverse offset, and data jump during operation, and is suitable for the complex high-frequency electromagnetic conditions in the operating room.

[0034] refer to Figure 4 The third-channel regulated power supply module 3 includes an ME6206-1.2V regulator U3, a 1μF capacitor C5, and a 1μF capacitor C6. The 3.3V main power supply from the host motherboard is filtered by capacitor C5 and then fed into the Vin pin of the ME6206-1.2V. The Vout pin of the ME6206-1.2V outputs a 1.2V voltage after secondary filtering by capacitor C6, which is connected to the 3.3V system voltage of the host motherboard. Equipped with a high-precision linear LDO chip ME6206-1.2V regulator U3, it generates an independent 1.2V low-voltage power supply. Both the input and output terminals of the ME6206-1.2V regulator U3 are equipped with 1μF ceramic filter capacitors to suppress high-frequency power supply ripple. The 1.2V power supply domain of the peripheral device is completely electrically isolated from the 3.3V power supply domain of the attitude sensing module, and the power supplies are not coupled or interfered with each other, solving the problems of attitude drift, anti-shake reverse offset, and data jump during operation, and adapting to the complex high-frequency electromagnetic conditions in the operating room.

[0035] refer to Figure 5The attitude sensing module 4 includes a gyroscope sensor chip U4, power supply filtering components, an I2C bus matching device, power supply current limiting resistors, and reserved pull-up resistor positions. The gyroscope sensor chip U4 has independent core power supply pin VDD and IO power supply pin VDDIO. The core power supply pin VDD is powered by the 3.3V main power supply of the upper-level motherboard, and the IO power supply pin VDDIO is powered by the output of the second regulated power supply module 2. The power supply current limiting resistors are connected in series in the core power supply circuit and the IO power supply circuit of the gyroscope sensor chip U4 to limit the current in the power supply circuit. The power supply filtering devices are connected between the core power supply pin VDD and the IO power supply pin VDDIO of the gyroscope sensor chip U4 and ground, respectively, to filter out high-frequency ripple interference in the two power supply voltages; the I2C bus matching devices are electrically connected to the I2C communication pins of the gyroscope sensor chip U4 to realize bus level pull-up and signal impedance matching, and lead the communication signal to the external connector to complete data interaction; the reserved pull-up resistor bits are set between the I2C communication signal line and the output power of the second regulated power supply module 2 for voltage domain compatible configuration. The core power supply pin VDD of the gyroscope sensor chip U4 is independently powered by the clean 3.3V main power supply of the host motherboard, forming its own isolated power domain. This achieves complete isolation and noise reduction between the power supply of the gyroscope sensor chip U4 and the peripheral load. The power supply current limiting resistor can limit the power supply circuit current on the core power supply circuit and the IO power supply circuit of the gyroscope sensor chip U4. The power supply filter device can filter out high-frequency ripple interference in the power supply voltage. The I2C bus matching device can realize bus level pull-up and signal impedance matching and lead the communication signal to the external connector to complete data interaction. The reserved pull-up resistor bit can be used for voltage domain compatible configuration.

[0036] refer to Figure 5 In this embodiment, the gyroscope sensor chip U4 uses the SC7I22 chip. The SC7I22 chip is a medical-grade six-axis high-precision attitude sensor chip, integrating a three-axis acceleration acquisition unit and a three-axis angular velocity acquisition unit. It can become the core device for spatial attitude acquisition of endoscope probes and electronic image stabilization. The SC7I22 chip has a built-in integrated on-chip LDO step-down circuit, which automatically steps down the externally input 3.3V voltage to generate an on-chip 1.2V voltage to supply the internal digital operation core and PLL phase-locked timing circuit of the SC7I22 chip. There is no need for an external third-channel regulated power supply module to provide 1.2V power supply. The core power supply pin VDD and the IO power supply pin VDDIO of the SC7I22 chip are independently decoupled, which can filter out instantaneous voltage fluctuations in the analog sensing domain and the digital communication domain, respectively.

[0037] refer to Figure 5In this embodiment, the power supply current limiting resistor includes the core power supply resistor R9 and the IO power supply current limiting resistor R6. The power supply filtering device includes the first power supply filter capacitor C7 and the second power supply filter capacitor C9. The I2C bus matching device includes the first I2C bus pull-up resistor R2, the second I2C bus pull-up resistor R4, the first signal matching resistor R11 and the second signal matching resistor R13. The reserved pull-up resistor bits include R3 and R5.

[0038] refer to Figure 5 The core power supply pin VDD of the gyroscope sensor chip U4 is connected to the 3.3V main power supply of the host motherboard via the core power supply resistor R9. One end of the first power supply filter capacitor C7 is connected to the core power supply pin VDD of the gyroscope sensor chip U4, and the other end of the first power supply filter capacitor C7 is grounded. The IO power supply pin VDDIO of the gyroscope sensor chip U4 is connected to the output of the second regulated power supply module 2 via the IO power supply current limiting resistor R6. One end of the second power supply filter capacitor C9 is connected to the IO power supply pin VDDIO of the gyroscope sensor chip U4, and the other end of the second power supply filter capacitor C9 is grounded. One end of the first I2C bus pull-up resistor R2 and the second I2C bus pull-up resistor R4 are both connected to the 3.3V main power supply of the host motherboard. The other ends of resistor R2 and the second I2C bus pull-up resistor R4 are electrically connected to the I2C communication pins SDX and SCX of the gyroscope sensor chip U4, respectively, to achieve I2C bus level pull-up. R3 and R5 are respectively set between the I2C communication signal line and the 1.8V power supply for compatibility and expansion of the I2C bus 1.8V voltage domain pull-up, adapting to low-end 1.8V main control devices. The first signal matching resistor R11 and the second signal matching resistor R13 are connected in series on the signal output lines of the I2C communication pins SDX and SCX of the gyroscope sensor chip U4, respectively. The I2C communication signal is led out to connector P1 through the first signal matching resistor R11 and the second signal matching resistor R13 to realize data interaction between the gyroscope sensor chip U4 and the upper motherboard. Figure 5 The SDA pin (I2C serial data pin) of the gyroscope sensor chip U4 is connected to the PCB board. Figure 7 The SDA pins on connector P1 are shorted together, and the SCL pin (I2C serial clock pin) of the gyroscope sensor chip U4 is connected to the PCB board. Figure 7The SCL pins on connector P1 are shorted together. The SDA pin of gyroscope sensor chip U4 serves as a bidirectional data transmission pin, responsible for the exchange of gyroscope attitude data. The SCL pin of gyroscope sensor chip U4 serves as a synchronization clock pin, which can unify the communication timing between the main processor of the host motherboard and the gyroscope and control the data transmission rhythm. The main processor of the host motherboard can configure the registers of gyroscope sensor chip U4, switch the working mode, and calibrate the parameters through the SDA and SCL buses, while simultaneously sending back attitude data. The core power supply resistor R9 and the IO power supply current limiting resistor R6 can limit the power supply circuit current on the core power supply circuit and the IO power supply circuit of the gyroscope sensor chip U4. The first power supply filter capacitor C7 and the second power supply filter capacitor C9 can filter out high-frequency ripple interference in the power supply voltage. The first I2C bus pull-up resistor R2 and the second I2C bus pull-up resistor R4 set between the 3.3V main power supply of the host motherboard and the I2C communication pins SDX and SCX of the gyroscope sensor chip U4 can be used for voltage domain compatible configuration. The I2C communication signal of the gyroscope sensor chip U4 can be led out to the connector P1 through the first signal matching resistor R11 and the second signal matching resistor R13, thereby realizing the data interaction between the gyroscope sensor chip U4 and the host motherboard.

[0039] refer to Figure 5 The interrupt output pins INT1 and INT2 of the gyroscope sensor chip U4 can be pulled up to 1.8V to carry the data interrupt link. 1.8V is the 1.8V output voltage of the second regulated power supply module 2. INT1 and INT2 carry the data interrupt link. When the attitude data acquisition is completed and the data is ready, the gyroscope sensor chip U4 actively triggers the interrupt level to notify the upper motherboard to read the data in time, so as to avoid data accumulation, loss and delay, and ensure the real-time performance of attitude sampling.

[0040] refer to Figure 5 The four signal lines formed by the four pins SDO, SDX, SCX, and CSB on the gyroscope sensor chip U4 can form a high-speed SPI transmission channel with a higher transmission rate, which can meet the requirements of real-time uploading of high frame rate and high-precision attitude data, and is suitable for high-speed computing scenarios with 4K high-definition image stabilization.

[0041] refer to Figure 5The working logic of attitude sensing module 4: After the gyroscope sensor chip U4 is powered on and completes hardware self-test and temperature initialization calibration, it continuously collects raw motion data of the endoscope probe's three-axis acceleration and three-axis angular velocity in real time. After the gyroscope sensor chip U4 performs internal hardware low-pass filtering, real-time temperature drift compensation, and register parameter calibration calculation, it encapsulates a standardized attitude data packet and waits for the main processor of the host motherboard to read it periodically through the I2C communication bus, namely the SDA pin and SCL pin, to provide a high-precision raw data source for electronic image stabilization and probe spatial angle positioning.

[0042] refer to Figure 6 The 24MHz external clock oscillation module 5 includes a 24MHz passive high-precision crystal oscillator Y1, and 0Ω external matching resistors R1 and R12. The VCC of the passive high-precision crystal oscillator Y1 is connected to the 1.8V output of the second regulated power supply module 2. The GND of the passive high-precision crystal oscillator Y1 is grounded, and the VOUT of the passive high-precision crystal oscillator Y1 is connected to the external clock via the 0Ω resistor R1. Figure 7 The SS MCK pin on connector P1 is connected, and the VOUT of the passive high-precision crystal oscillator Y1 is connected to the resistors R1 and R12 through 0Ω resistors. Figure 9 The MCK pin on the onboard connector J2 is connected; the 24MHz external clock oscillation module 5 provides an external hardware reference clock for the gyroscope sensor chip U4. Compared with the internal RC oscillation clock of the gyroscope sensor chip U4, the external crystal oscillator clock has higher frequency accuracy, smaller temperature drift, and stronger stability. It can effectively suppress sampling errors under high and low temperature environments, ensure that the attitude data does not drift or deviate when the whole machine works for a long time, and provide accurate timing and data support for the image stabilization algorithm.

[0043] refer to Figure 7Connector P1 is the external signal interaction connector for the daughterboard. Connector P1 includes a power pin group, an image differential signal pin group, an I2C communication pin group, a sleep control pin, an infrared LED driver pin group, and a clock signal pin. The power pin group is electrically connected to the first regulated power supply module 1, the second regulated power supply module 2, and the third regulated power supply module 3, respectively, and outputs multiple working voltages and provides a reference ground potential. The image differential signal pin group is used to transmit differential image data from the endoscope probe front end. The I2C communication pin group is electrically connected to the attitude sensing module 4 to realize bidirectional interaction of gyroscope attitude data. The sleep control pin is powered by the second regulated power supply module 2 and is equipped with pull-up and filtering devices to complete hardware sleep control. The infrared LED driver pin group is electrically connected to the third regulated power supply module 3 to output infrared fill light drive signals. The clock signal pin is connected to the 24MHz external clock oscillation module 5 to transmit a high-precision reference clock to the attitude sensing module 4. Connector P1 can be electrically connected to the first regulated power supply module 1, the second regulated power supply module 2, and the third regulated power supply module 3 through the power supply pin group, and output multiple working voltages and provide a reference ground potential. Connector P1 can transmit differential image data from the endoscope probe front end through the image differential signal pin group. Connector P1 can be electrically connected to the attitude sensing module 4 through the I2C communication pin group to realize bidirectional interaction of gyroscope attitude data. Connector P1 can complete hardware sleep control through the sleep control pin. Connector P1 can output infrared fill light drive signal through the infrared LED drive pin group. Connector P1 can transmit a high-precision reference clock to the attitude sensing module 4 through the clock signal pin.

[0044] refer to Figure 7 In this embodiment, connector P1 uses BM23FR0.6-24DP-0.35V and has physical pins that are directly inserted into the PCB board. Figure 10On the P1 socket (as shown), the XSHUTDN pin of connector P1 is pulled up to 1.8V through a 10K resistor and forms an RC stabilization circuit with a 1μF filter capacitor. 1.8V is the 1.8V output voltage of the second regulated power supply module 2. The circuit reserves a hardware sleep control pin for XSHUTDN. Combined with the 10K pull-up resistor and 1μF filter capacitor to form an RC stabilization circuit, it can achieve hardware-level controllable start / stop of the gyroscope. This is a key control unit for low-power, high-stability operation of the device. The working principle is as follows: the XSHUTDN pin is pulled up to 1.8V by default through a 10K resistor and kept at a high level. When the gyroscope sensor chip U4 is powered on normally, the main processor of the host motherboard can actively pull down the level of this pin, and the gyroscope sensor chip U4 will immediately enter a hardware sleep power-off state, stopping attitude acquisition and data output. A 1μF grounding capacitor is connected in parallel around the pin to smooth the level signal, suppress voltage jitter, and prevent accidental triggering of sleep or start-stop disorder. Through this circuit, precise start-stop can be achieved by software control, effectively reducing the no-load power consumption of the device. In addition, the BM23FR0.6-24DP-0.35V connector has the advantages of ultra-thin miniaturization, two-point contact terminals, metal guide to prevent incorrect insertion, anti-solder creep structure, and high mechanical strength.

[0045] refer to Figure 7 One pin on connector P1 is connected to the 1.2V output of the third regulated power supply module 3, one pin on connector P1 is connected to the 1.8V output of the second regulated power supply module 2, and one pin on connector P1 is connected to the 2.8V output of the first regulated power supply module 1. The 1.2V output of the third regulated power supply module 3, the 1.8V output of the second regulated power supply module 2, and the 2.8V output of the first regulated power supply module 1 can be output externally through connector P1.

[0046] refer to Figure 8 Onboard connector J1 is an 8-pin onboard connector with physical pins that plug directly into the PCB board. Figure 10 On the J1 socket (as shown), the SDA and SCL pins of the onboard connector J1 are connected to the PCB board via... Figure 7 The SDA and SCL pins on connector P1 are shorted together. The DA0 N, DA0 P, DACK P, and DACK N pins on onboard connector J1 are connected to the PCB board via... Figure 7The DA0 N pin, DA0 P ​​pin, DACK P pin, and DACK N pin on connector P1 are shorted together. The SDA pin and SCL pin on onboard connector J1 are connected to the main processor of the host motherboard to implement IC2 communication. The DA0 N pin, DA0 P ​​pin, DACK P pin, and DACK N pin on onboard connector J1 are used to connect to the image sensor of the medical cold light source device. The image sensor of the medical cold light source device is connected to the main processor of the host motherboard through onboard connector J1 / connector P1 to realize signal transmission.

[0047] refer to Figure 9 Onboard connector J2 is a 9-pin onboard connector with physical pins that plug directly into the PCB board. Figure 10 On the socket shown, the MCK pin of onboard connector J2 is connected to... Figure 6 The 24MHz external clock oscillation module 5 is connected to the MCK pin to ensure clock synchronization. The four pins on the onboard connector J2 are connected to four regulated power supplies: 1.2V, 1.8V, 2.8V, and 3.3V. 1.2V is the 1.2V output voltage of the third regulated power supply module 3, 1.8V is the 1.8V output voltage of the second regulated power supply module 2, 2.8V is the 2.8V output voltage of the first regulated power supply module 1, and 3.3V is the 3.3V output voltage of the main power supply of the upper motherboard. The onboard connector J1 can integrate four regulated power supplies (1V2, 1V8, 2V8, and 3V3) and the MCK system clock signal to ensure clock synchronization, stable grounding and shielding, and reduce signal interference.

[0048] refer to Figure 9 The IR.LED+ and IR.LED- pins on the onboard connector J2 are connected to the PCB board via... Figure 7The IR.LED+ and IR.LED- pins on connector P1 are shorted together. The IR.LED+ and IR.LED- pins on connector J2 are connected to the cold light source driver circuit on the upper motherboard. When the probe is inserted into the optical interface of the medical cold light source device, the probe will block the infrared light path inside the optical interface. The infrared light path will send a switching signal generated by the trigger to the main processor of the upper motherboard. The main processor of the upper motherboard determines that the probe has been properly connected, and then controls the LED cold light source module of the medical cold light source device to start, outputting an illumination source. The light passes through the probe. The optical lens transmits data to the endoscope diagnostic system, and the automatic data acquisition function is activated. The medical cold light source device enters normal working state. When the probe is pulled out from the optical interface, the switching signal generated by the infrared light path is interrupted. The main processor of the upper motherboard determines that there is no probe access signal. The main processor of the upper motherboard immediately controls the LED cold light source module to cut off the power supply to the light source and stop data acquisition. The light source is turned off and the machine stops. The IR.LED+ and IR.LED- pins on the onboard connector J2 can be linked with the cold light source drive circuit of the upper motherboard to realize intelligent probe recognition start and stop, realize no-load power-off energy saving, and extend the life of the device.

[0049] refer to Figures 7 to 9 Connector P1 mates with the integrated socket on the host motherboard via onboard connectors J1 and J2. The onboard connectors J1 and J2 are configured to enable standardized and rapid docking with the integrated socket on the host motherboard. Onboard connector J1 can integrate SDA / SCL I2C communication signals and DACK differential signals, while onboard connector J2 can integrate four regulated power supplies (1.2V, 1.8V, 2.8V, and 3.3V) and the MCK system clock signal, ensuring clock synchronization, stable grounding and shielding, and reducing signal interference. Onboard connectors J1 and J2 can integrate all power, clock, and communication signals of the circuit, resulting in neat wiring, convenient assembly, and high stability, achieving integrated docking of communication and probe in-situ detection signals.

[0050] refer to Figure 10 U1, U2, U3, U4, Y1, connector P1, onboard connector J1, and onboard connector J2 (J2 is not labeled) can be arranged according to... Figure 10 The layout shown is soldered onto the PCB, and the circuits are connected to each other via copper foil on the PCB.

[0051] refer to Figures 1 to 10This utility model discloses an endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock. The attitude sensing module 4 is independently powered by the clean 3.3V main power supply of the upper-level motherboard, forming its own isolated power domain. Three low-voltage power supplies—a first regulated power supply module outputting 2.8V, a second regulated power supply module outputting 1.8V, and a third regulated power supply module outputting 1.2V—are all output externally to power the upper-level motherboard's MCK main clock, the probe front-end image differential circuit, the XSHUTDN sleep control pin on connector P1, the endoscope front-end infrared LED driver, and peripheral circuits. These three low-voltage power supplies have no electrical connection to the attitude sensing module 4, achieving complete isolation and noise reduction between the peripheral load and the power supply of the attitude sensing module 4. Simultaneously, a 24MHz external clock oscillation module 5 provides an external hardware reference clock for the attitude sensing module 4. Compared to the internal RC oscillation clock of the attitude sensing module 4, the external crystal oscillator clock has a higher frequency accuracy. With higher accuracy, lower temperature drift, and stronger stability, it effectively suppresses sampling errors under high and low temperature environments, ensuring that the attitude data does not drift or shift during long-term operation, providing precise timing and data support for image stabilization algorithms. Furthermore, connector P1 connects to the integrated socket on the host motherboard via onboard connectors J1 and J2. The onboard connectors J1 and J2 enable standardized and rapid connection to the integrated socket on the host motherboard. The endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock in this invention reserves I2C and SPI dual-channel communication buses and dual-channel data interrupt signals, enabling bidirectional high-speed data interaction with the host motherboard's main processor. It can adapt to different main control configurations and has extremely strong compatibility. The overall signal flow of the endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock in this invention is: host motherboard main processor → docking socket (J1 / J2 / P1) → I2C (SDA / SCL) / SPI (SDO, SDX, SCX, CSB) bus → Gyroscope sensor chip U4 (parameter configuration, mode control); Gyroscope sensor chip U4 acquires attitude data → I2C / SPI bus + INT interrupt reporting (INT1 / INT2) → Main processor of the host motherboard (anti-shake algorithm calculation).

[0052] The beneficial effects of this utility model's endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock are summarized as follows: (1) Zone isolation and noise reduction, greatly improving anti-shake accuracy: The gyroscope sensor chip U4 is independently powered by 3.3V, and the front-end image and infrared peripherals use three independent LDO isolated regulated power supplies. The power supplies are not coupled and crosstalk each other, solving the problems of attitude drift, anti-shake reverse offset and data jump during operation, and adapting to the complex working conditions of high frequency electromagnetic in the operating room. (2) External high-precision crystal oscillator with strong environmental adaptability: The 24MHz external crystal oscillator replaces the internal RC clock, with extremely low clock temperature drift, good data consistency under high and low temperature surgical environments, and no attitude deviation during long-term continuous operation. (3) Dual communication + interrupt architecture, high real-time reliability: I2C / SPI dual communication compatibility and adaptation, combined with hardware interrupt active reporting mechanism, attitude data transmission has no delay and no loss, meeting the real-time anti-shake calculation requirements of 4K high-definition images. (4) Infrared intelligent start-stop, energy saving and life extension: The gyroscope’s working state is automatically switched by infrared in-situ detection to determine whether the probe is inserted. It automatically cuts off power when no load, effectively reducing the power consumption of the equipment and greatly extending the service life of the gyroscope chip and the whole machine probe.

[0053] (5) Standardized integrated interface, convenient assembly and maintenance: The dual integrated sockets J1 / J2 integrate all signals and connect to the general interface of the upper motherboard. The whole machine has neat wiring, simple assembly, convenient fault diagnosis and repair, and excellent equipment versatility and mass production.

[0054] The above descriptions are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and all such modifications and improvements fall within the protection scope of this utility model.

Claims

1. An endoscope gyroscope attitude acquisition sub-board circuit with a high-precision clock, characterized in that, include: The first voltage regulator module supplies power to the front-end image differential circuit of the probe through the onboard connector J2. The second voltage regulator module provides a pull-up voltage to the XSHUTDN sleep control pin on connector P1. The third voltage regulator module outputs power to the endoscope front infrared LED driver and peripheral circuits through onboard connectors J2 and P1 respectively. An attitude sensing module, which is powered by the 3.3V mains power supply of the host motherboard; and The 24MHz external clock oscillation module is powered by the second regulated power supply module. The 24MHz external clock oscillation module is connected to the attitude sensing module through connector P1.

2. The endoscope gyroscope attitude acquisition sub-board circuit according to claim 1, characterized in that, The attitude sensing module includes a gyroscope sensing chip U4, a power filter device, an I2C bus matching device, a power supply current limiting resistor, and a reserved pull-up resistor bit. The gyroscope sensor chip U4 is equipped with independent core power supply pin VDD and IO power supply pin VDDIO. The core power supply pin VDD is powered by the 3.3V main power supply of the upper motherboard, and the IO power supply pin VDDIO is powered by the output of the second regulated power supply module. The power supply current limiting resistors are connected in series in the core power supply circuit and the IO power supply circuit of the gyroscope sensor chip U4 to limit the power supply circuit current. The power supply filtering devices are respectively connected between the core power supply pin VDD and the IO power supply pin VDDIO of the gyroscope sensor chip U4 and ground to filter out high-frequency ripple interference in the two power supply voltages. The I2C bus matching devices are electrically connected to the I2C communication pins of the gyroscope sensor chip U4 to achieve bus level pull-up and signal impedance matching, and lead the communication signal to the external connector to complete data interaction; The reserved pull-up resistor positions are respectively set between the I2C communication signal line and the output power of the second voltage regulator module for voltage domain compatibility configuration.

3. The endoscope gyroscope attitude acquisition sub-board circuit according to claim 2, characterized in that, The power supply current limiting resistor includes the core power supply resistor R9 and the IO power supply current limiting resistor R6, and the power supply filtering device includes the first power supply filtering capacitor C7 and the second power supply filtering capacitor C9. The core power supply pin VDD of the gyroscope sensor chip U4 is connected to the 3.3V main power supply of the host motherboard via the core power supply resistor R9. One end of the first power supply filter capacitor C7 is connected to the core power supply pin VDD of the gyroscope sensor chip U4, and the other end of the first power supply filter capacitor C7 is grounded. The IO power supply pin VDDIO of the gyroscope sensor chip U4 is connected to the output of the second regulated power supply module via the IO power supply current limiting resistor R6. One end of the second power supply filter capacitor C9 is connected to the IO power supply pin VDDIO of the gyroscope sensor chip U4, and the other end of the second power supply filter capacitor C9 is grounded.

4. The endoscope gyroscope attitude acquisition sub-board circuit according to claim 3, characterized in that, The I2C bus matching device includes a first I2C bus pull-up resistor R2, a second I2C bus pull-up resistor R4, a first signal matching resistor R11 and a second signal matching resistor R13, and reserved pull-up resistor bits include R3 and R5; One end of the first I2C bus pull-up resistor R2 and the second I2C bus pull-up resistor R4 are both connected to the 3.3V main power supply of the upper motherboard, and the other end is electrically connected to the I2C communication pins SDX and SCX of the gyroscope sensor chip U4 respectively to realize the I2C bus level pull-up; R3 and R5 are respectively set between the I2C communication signal line and the 1.8V power supply for compatibility extension of the I2C bus 1.8V voltage domain pull-up; The first signal matching resistor R11 and the second signal matching resistor R13 are connected in series on the signal output lines of the I2C communication pins SDX and SCX of the gyroscope sensor chip U4, respectively. The I2C communication signal is led out to the connector P1 through the first signal matching resistor R11 and the second signal matching resistor R13 to realize the data interaction between the gyroscope sensor chip U4 and the host motherboard.

5. The endoscope gyroscope attitude acquisition sub-board circuit according to claim 1, characterized in that, The attitude sensing module includes a gyroscope sensing chip U4, a first power supply filter capacitor C7, a second power supply filter capacitor C9, a first I2C bus pull-up resistor R2, a second I2C bus pull-up resistor R4, a first signal matching resistor R11, a second signal matching resistor R13, an IO power supply current limiting resistor R6, and a core power supply current limiting resistor R9. The core power supply pin VDD of the gyroscope sensor chip U4 is connected to the 3.3V main power supply of the host motherboard via the core power supply current limiting resistor R9. One end of the first power supply filter capacitor C7 is connected to the core power supply pin VDD of the gyroscope sensor chip U4, and the other end of the first power supply filter capacitor C7 is grounded. The IO power supply pin VDDIO of the gyroscope sensor chip U4 is connected to the output of the second regulated power supply module through the IO power supply current limiting resistor R6. One end of the second power supply filter capacitor C9 is connected to the IO power supply pin VDDIO of the gyroscope sensor chip U4, and the other end of the second power supply filter capacitor C9 is grounded. One end of the first I2C bus pull-up resistor R2 and the second I2C bus pull-up resistor R4 are connected to the 3.3V main power supply of the upper motherboard, and the other end is electrically connected to the I2C communication pins SDX and SCX of the gyroscope sensor chip U4, respectively. The first signal matching resistor R11 and the second signal matching resistor R13 are connected in series on the signal output lines of the I2C communication pins SDX and SCX of the gyroscope sensor chip U4, respectively. The I2C communication signal is led out to the connector P1 through the first signal matching resistor R11 and the second signal matching resistor R13 to realize the data interaction between the gyroscope sensor chip U4 and the host motherboard.

6. The endoscope gyroscope attitude acquisition sub-board circuit according to claim 1, characterized in that, The interrupt output pins INT1 and INT2 of the attitude sensing module are each pulled up by 1.8V to carry the data interruption link. The connector P1 uses BM23FR0.6-24DP-0.35V. The XSHUTDN pin of connector P1 is pulled up to 1.8V through a 10K resistor and forms an RC stabilization circuit with a 1μF filter capacitor.

7. The endoscope gyroscope attitude acquisition sub-board circuit according to claim 1, characterized in that, The connector P1 is the external signal interaction connector of the daughter board. The connector P1 includes a power pin group, an image differential signal pin group, an I2C communication pin group, a sleep control pin, an infrared LED driver pin group, and a clock signal pin. The power supply pin group is electrically connected to the first, second, and third voltage regulator modules, respectively, and outputs multiple working voltages and provides a reference ground potential. The image differential signal pin group is used to transmit differential image data from the front end of the endoscope probe; The I2C communication pin group is electrically connected to the attitude sensing module to realize bidirectional interaction of gyroscope attitude data; The sleep control pin is powered by the second regulated power supply module to complete hardware sleep control with pull-up and filter components. The infrared LED driving pin group is electrically connected to the third voltage regulator module to output the infrared fill light driving signal. The clock signal pin is connected to a 24MHz external clock oscillation module to transmit a high-precision reference clock to the attitude sensing module.

8. The endoscope gyroscope attitude acquisition sub-board circuit according to claim 6, characterized in that, It also includes an 8-pin onboard connector J1 and a 9-pin onboard connector J2. Connector P1 mates with the integrated socket on the host motherboard via onboard connectors J1 and J2. The four pins on the onboard connector J2 are connected to four regulated power supplies of 1.2V, 1.8V, 2.8V, and 3.3V respectively, and the MCK pin of the 24MHz external clock oscillation module is connected to one pin on the onboard connector J2.

9. The endoscope gyroscope attitude acquisition sub-board circuit according to claim 8, characterized in that, The two pins on the onboard connector J2 are connected to the cold light source drive circuit of the upper motherboard. When the probe is properly inserted into the medical cold light source device, it blocks the infrared light path in the device. The host motherboard recognizes the probe's presence and automatically activates the gyroscope's power supply and data acquisition functions. When the probe is removed, the infrared light path in the medical cold light source device is activated, the host motherboard shuts down the gyroscope's power supply, and data acquisition stops.

10. The endoscope gyroscope attitude acquisition sub-board circuit according to any one of claims 1 to 9, characterized in that, The first regulated power supply module includes an ME6206-2.8V regulator U1, a 1μF capacitor C1, and a 1μF capacitor C2. The 3.3V main power supply from the host motherboard is filtered by capacitor C1 and then fed to the Vin pin of the ME6206-2.8V regulator. The Vout pin of the ME6206-2.8V regulator outputs a 2.8V voltage after secondary filtering by capacitor C2. The second voltage regulator module includes an ME6206-1.8V regulator U2, a 1μF capacitor C3, and a 1μF capacitor C4. The 3.3V main power supply from the host motherboard is filtered by capacitor C3 and then fed to the Vin pin of the ME6206-1.8V regulator. The Vout pin of the ME6206-1.8V regulator outputs a 1.8V voltage after secondary filtering by capacitor C4. The third voltage regulator module includes an ME6206-1.2V regulator U3, a 1μF capacitor C5, and a 1μF capacitor C6. The 3.3V main power supply from the host motherboard is filtered by capacitor C5 and then fed into the Vin pin of the ME6206-1.2V. The Vout pin of the ME6206-1.2V outputs a 1.2V voltage after secondary filtering by capacitor C6.

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