CN103654855B - Ultrasonic device and method for abnormality detection and recovery of ultrasonic device - Google Patents

Abstract

The present invention provides an ultrasonic device and its abnormality detection and recovery method. The ultrasonic device includes a probe, an input circuit and an output circuit respectively connected to the probe, and two interconnected digital signal processors DSP, and each DSP is respectively connected to the A display control device, an input circuit and an output circuit, the method includes: any one of the DSPs periodically sends a detection signal to another DSP, and responds when receiving the detection signal sent by another DSP; When another DSP replies to a signal, send a reset signal to another DSP; the DSP continues to send a detection signal after sending a reset signal, and then confirms that another DSP has been detected when it has not received a reply signal from another DSP within the set time. Abnormal. The invention improves the reliability and stability of the hardware system of the ultrasonic equipment.

Description

An ultrasonic device and its abnormality detection and recovery method

technical field

The invention relates to the technical field of medical devices, in particular to an ultrasonic device and an abnormality detection and recovery method thereof.

Background technique

Medical electronic equipment is based on modern electronic technology, semiconductor technology, etc. At the same time, medical machinery, biomedicine, new materials and other disciplines are applied to medical research, clinical diagnosis, treatment, in-depth analysis, analysis of equipment in the fields of health care and rehabilitation.

Ultrasonic diagnostic equipment uses the propagation of ultrasonic waves in the human body to obtain structural information about relevant tissues or organs of the human body. At present, ultrasonic diagnostic instruments use one or more array element probes. The probe is subjected to high-voltage pulses to generate ultrasonic waves, which are focused and transmitted into the human body to receive echoes scattered and reflected from human tissue. The information in the echo is extracted by the signal processing module of the ultrasonic diagnostic system to form the data of each scanning line of imaging. The scan line data is converted and processed with as little distortion as possible and then displayed in the corresponding mode, so as to obtain tissue and organ images. When the doctor examines the patient, the tissue and organ images of the patient are displayed on the LCD (Liquid Crystal Display) in real time.

Ultrasonic diagnostic equipment such as color Doppler ultrasound equipment is an important part of medical electronic products. Figure 1 shows the hardware circuit of traditional color Doppler ultrasound equipment. The hardware circuit is divided into input channels and output channels.

In the input channel: the multi-channel bidirectional probes input the collected ultrasonic analog signals to the signal processing module for amplification and analog-to-digital A/D conversion to form the data of each scanning line for imaging. The processed data is input into the FPGA (Field Programmable Gate Array, Field Programmable Gate Array), and the FPGA stores all the received data in the external DDR memory. When the DSP fetches data from the FPGA, the FPGA fetches useful data from the DDR according to a certain logic algorithm and stores it in the internal RAM of the FPGA, and then sends it to the DSP (Digital Signal Processor, digital signal processor), where the useful data is a complete image data. DSP performs further digital signal processing on the useful data input by FPGA. For color Doppler ultrasound equipment, it mainly performs image restoration and optimization. After completing these tasks, DSP transmits the final image to PC for display.

In the output channel: the DSP receives the control signal from the PC, and the output control signal is transmitted to the FPGA. According to the control signal, the FPGA controls the probe vibrator by controlling the vibrator control module, such as controlling the launch delay of the probe vibrator, etc., to achieve a good signal focusing effect. Thereby controlling the imaging effect of the image.

DSP includes DSP core and ARM core, DSP core realizes functions such as image imaging and optimization, and ARM core realizes functions such as image transmission and communication with PC.

Medical electronic products are different from consumer electronic products. Their reliability and stability must be guaranteed to ensure that they can work continuously and normally in different environments. The reliability and stability of the hardware circuit system is to improve the reliability and stability of medical electronic products. The root and key of sex.

However, the current ultrasonic diagnostic instrument uses a single-chip DSP, and the DSP plays the role of input and output data to realize data receiving and sending operations. The single-chip DSP mainly has the following problems:

1) The amount of color ultrasound image data is large, and the receiving and sending of image data is completed by the same DSP. In addition, the DSP also needs to complete the task of communicating with the PC and analyzing the commands sent by the PC. Therefore, the single-chip DSP has a large amount of operating tasks, resulting in a decrease in system performance. ;

2) There is only one main control chip DSP. Once the system runs away or crashes, the system can only be manually restarted, and the monitoring system cannot be implemented, which may cause medical accidents; immediate manual restart may not work, which may cause medical accidents.

Contents of the invention

The invention improves an ultrasonic device and its abnormal detection and recovery method, and improves the reliability and stability of the hardware system of the ultrasonic device.

The present invention provides a method for abnormal detection and recovery of ultrasonic equipment. The ultrasonic equipment includes a probe, an input circuit and an output circuit respectively connected to the probe, two interconnected digital signal processors DSP, and each DSP is respectively connected to display control device, input circuit and output circuit, the method comprising:

Any one of the DSPs periodically sends a probe signal to the other DSP, and responds when receiving the probe signal sent by the other DSP;

The DSP sends a reset signal to another DSP when it determines that it has not received another DSP reply signal for N consecutive times, and N is an integer greater than 1;

After sending the reset signal, the DSP continues to send the detection signal, and if it does not receive a reply signal from another DSP within a set time, it is determined that another DSP is abnormal.

Preferably, when the DSP determines that another DSP is detected to be abnormal, it further includes:

Receive image data from the input circuit of the ultrasound device for image restoration and optimization, and output the obtained image to the display control device for display;

Receive the DSP command and the probe control command output by the display control device, execute the DSP command and send the probe control command to the output circuit of the ultrasonic device.

Preferably, when the DSP does not detect that another DSP is abnormal, it further includes:

Receive the DSP command and probe control command output by the display control device according to the configuration, send the probe control command to the output circuit of the ultrasound device, and send the DSP command to another DSP;

Another DSP executes the DSP command when it receives the DSP command, receives image data from the input circuit of the ultrasound device according to the configuration, performs image restoration and optimization, and outputs the obtained image to the display control device for display.

Preferably, the detection signal is a set special command character, and the reply signal is a corresponding set special command character.

An embodiment of the present invention also provides an ultrasonic device, including a probe, an input circuit and an output circuit respectively connected to the probe, and also includes:

Two interconnected digital signal processors DSP, each DSP is respectively connected to the display control device, input circuit and output circuit, any DSP periodically sends a detection signal to the other DSP, and receives the detection signal sent by the other DSP When the DSP determines that it has not received the reply signal from another DSP for N consecutive times, it sends a reset signal to another DSP, and N is an integer greater than 1; after sending the reset signal, the DSP continues to send the detection signal, and then sets When the reply signal from another DSP is not received within the time, it is determined that another DSP is abnormal.

Preferably, for any one of the DSPs, when another DSP is detected to be abnormal, the image data is received from the input circuit for image restoration and optimization, the resulting image is output to the display control device for display, and the DSP command output by the display control device is received and a probe control command, executing the DSP command and sending the probe control command to an output circuit.

Preferably, when any DSP does not detect that another DSP is abnormal, one of the DSPs receives the DSP command and the probe control command output by the display control device according to the configuration, sends the probe control command to the output circuit, and sends the DSP command to the other DSP, another DSP executes the DSP command when it receives the DSP command, receives image data from the input circuit according to the configuration, restores and optimizes the image, and outputs the obtained image to the display control device for display.

Preferably, the two DSPs are connected through two serial ports, and periodically send detection signals and reply detection signals through the serial ports;

For any DSP, the reset pin is connected to the signal pin of another DSP, and the reset signal is sent to the reset pin of the other DSP through the signal pin.

Of course, the detection function can also be realized through other interfaces or pins. Since the faulty DSP is first reset when the abnormality is judged for the first time, the two DSPs in the dual-DSP circuit can realize the automatic detection of abnormal working conditions through the mutual supervision mechanism. The processing mechanism enables the system to always be in normal working condition, improves the system security level and hardware system reliability, and reduces the risk of medical accidents.

Preferably, the serial port can be, but not limited to, a universal asynchronous transceiver UART interface;

The signal pins may be, but not limited to, general input and output GPIO pins.

Preferably, the ultrasound equipment is a color ultrasound equipment, of course, it can also be other types of ultrasound diagnostic equipment.

Preferably, the input circuit includes a signal processing module and a programmable logic device FPGA2, the signal processing module is connected to the probe, the FPGA2 is connected to each DSP, the signal processing module receives echoes from the probe, and performs signal processing to form Each scanning line data of imaging is output to FPGA2, and FPGA2 obtains the image data of a complete image and outputs to each DSP to each scanning line data processing of described imaging;

The output circuit includes a vibrator control module and FPGA1, the FPGA1 is connected to each DSP, the vibrator control module is connected to the probe, the FPGA1 receives a probe control command from one of the DSPs, and controls the probe through the vibrator control module according to the probe control command.

Preferably, each DSP includes a DSP core for image restoration and optimization processing and an ARM core for communicating with the display control device.

Utilizing the present invention to provide ultrasonic equipment and its abnormality detection and recovery method has the following beneficial effects:

1) Send a reset signal to make the other party reset and restart after the first judgment of the fault of the other party, which can realize the mutual supervision of two DSPs, one party can reset the other party in an abnormal working state, and realize the input/output function of the other party when the reset is unsuccessful. The automatic processing mechanism for abnormal working conditions enables the system to always be in normal working condition, improves the system security level and hardware system reliability, and reduces the risk of medical accidents;

2) The dual DSP circuit realizes the split operation of data receiving and sending, which solves the shortcomings of large data operation tasks and reduced system performance, improves the stability of the hardware circuit system, and reduces the risk of medical accidents;

3) Each DSP in the dual DSP circuit is connected to the input circuit and the output circuit, realizing the data receiving and sending function with a single DSP, improving the integrity and scalability of the system;

Description of drawings

Fig. 1 is the structural schematic diagram of existing ultrasonic equipment;

Fig. 2 is a schematic diagram of an ultrasonic device according to an embodiment of the present invention;

Fig. 3 is two DSP connection schematic diagrams in the embodiment of the present invention;

FIG. 4 is a flowchart of a data transmission method based on an ultrasonic device according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of two DSP working state transitions according to an embodiment of the present invention.

Detailed ways

The ultrasonic equipment and its abnormality detection and recovery method provided by the present invention will be described in more detail below in conjunction with the accompanying drawings and embodiments.

The present invention provides an ultrasonic device, as shown in Figure 2, comprising a probe, an input circuit and an output circuit respectively connected to the probe, the probe generates ultrasonic waves and receives echoes and outputs them to the input circuit, and the input circuit controls the echoes The ultrasonic signal is processed to obtain the image data output of a complete image. The output circuit controls the probe according to the received probe control command. The ultrasonic equipment also includes: two digital signal processors DSP connected to each other, each Each DSP is respectively connected to the display control device, input circuit and output circuit. Any one of the DSPs periodically sends a detection signal to the other DSP, and replies when receiving the detection signal sent by another DSP; When receiving a reply signal from another DSP, send a reset signal to another DSP, N is an integer greater than 1; the DSP continues to send a detection signal after sending a reset signal, and has not received a reply signal from another DSP within the set time. , it is determined that an abnormality has been detected in another DSP.

In the embodiment of the present invention, by sending a reset signal to make the other party reset and restart after the first judgment of the failure of the other party, mutual supervision of two DSPs can be realized, and one party can reset the other party in an abnormal working state, and realize the input/output function of the other party when the reset is unsuccessful , Realize the automatic processing mechanism of abnormal working conditions, so that the system can always be in the normal working state, improve the system security level and hardware system reliability, and reduce the risk of medical accidents.

Preferably, for any one of the DSPs, when another DSP is detected to be abnormal, the image data is received from the input circuit for image restoration and optimization, the resulting image is output to the display control device for display, and the DSP command output by the display control device is received and a probe control command, executing the DSP command and sending the probe control command to an output circuit.

Preferably, when any DSP does not detect that another DSP is abnormal, one of the DSPs receives the DSP command and the probe control command output by the display control device according to the configuration, sends the probe control command to the output circuit, and sends the DSP command to the other DSP, another DSP executes the DSP command when it receives the DSP command, receives image data from the input circuit according to the configuration, restores and optimizes the image, and outputs the obtained image to the display control device for display.

The embodiment of the present invention has designed a double DSP control system, including two DSPs, each DSP can input and output data because it is connected with the input circuit and the output circuit, and each DSP can realize the complete function of the system, realizing a single One piece of DSP can complete the data receiving and sending function, which improves the integrity and scalability of the system; under normal working conditions, the two DSPs play the role of input and output data respectively according to the pre-configuration, and realize the shunt operation of data receiving and sending , which solves the shortcomings of large system data operation tasks and reduced system performance, reduces the system task load, improves the stability of the hardware circuit system, and reduces the risk of medical accidents.

Two DSPs are connected to each other to send detection signals to detect whether the other party is abnormal, and various determination methods can be used. Preferably, the two DSPs in the embodiment of the present invention are connected in the following manner, and determine whether the other party is abnormal:

The two DSPs are connected through two serial ports, and periodically send detection signals and reply detection signals through the serial ports;

For any DSP, the reset pin is connected to the signal pin of another DSP, and the reset signal is sent to the reset pin of the other DSP through the signal pin.

Preferably, as shown in Figure 3, the serial port can be but not intended to be a UART interface of a general-purpose asynchronous transceiver transmitter; the signal pin is a general-purpose input and output GPIO pin, and the GPIO pin of each DSP is connected to another DSP Reset the RESET pin, send a reset signal through the GPIO pin, receive the reset signal through the reset RESET pin and reset.

The input circuit and the output circuit can adopt the existing circuit structure, and the display output device is usually a PC with a display.

As shown in Figure 2, in the embodiment of the present invention, the input circuit includes a signal processing module and a programmable logic device FPGA2, the signal processing module is connected with the probe, and the FPGA2 is connected with each DSP, and the multi-channel bidirectional probe will gather the feedback The wave (ultrasonic analog signal) is input to the signal processing module, the signal processing module receives the echo from the probe, performs amplification and analog-to-digital A/D conversion and other processing, and outputs the data of each scanning line formed into the image to FPGA2, and FPGA2 performs the imaging The image data of each scanning line is processed to obtain a complete image and output to each DSP. Specifically, FPGA2 stores all the received data in the external DDR memory. When each DSP fetches data from FPGA2, FPGA fetches useful data from DDR according to a certain logic algorithm and stores it in FPGA internal RAM, and then sends it to each DSP, among which the useful data is a complete image data.

It should be noted that, for the input channel, although each DSP receives the data of each scanning line of imaging from FPGA2, when a DSP fails, another DSP performs the data processing of each scanning line of imaging received from FGPA1. Graphics processing, in the case that none of the DSPs fails, one of the DSPs performs graphics processing on each scan line data of the imaging received from FGPA2, and the other DSP will shield each scan line of the imaging received from FGPA2 according to the configuration data.

As shown in Figure 2, the output circuit of the embodiment of the present invention includes a vibrator control module and FPGA1, the FPGA1 is connected to each DSP, the vibrator control module is connected to the probe, the FPGA1 receives a probe control command from one of the DSPs, and according to the probe control The command controls the probe through the vibrator control module.

For the output path in the embodiment of the present invention, although each DSP is connected to the display control device and FPGA1 respectively, each DSP will receive DSP commands and probe control commands from the display control device. The DSP executes to receive the DSP command and send the probe control command to FPGA1. For the situation that neither of the two DSPs fails, one of the DSPs receives the DSP command and the probe control command output by the display control device according to the configuration, and sends the probe control command to FPGA1. Send to the output circuit, send the DSP command to another DSP, and the other DSP executes the DSP command when receiving the DSP command, and the other DSP shields the probe control command and DSP command received from the display control device according to the configuration.

Executing DSP commands, usually but not limited to adjusting the way of image restoration and optimization according to the received DSP commands.

Preferably, as shown in FIG. 3 , each DSP includes a DSP core for image restoration and optimization processing and an ARM core for communicating with the display control device. The two DSPs can use the same type of DSP chip and have the same processing capability. Of course, the two DSP chips may also be chips of different types with different processing capabilities.

The ultrasound equipment described in the embodiment of the present invention is a color ultrasound equipment, and may also be other types of ultrasound equipment.

Based on the ultrasonic device with the above structure, an embodiment of the present invention provides a method for detecting and restoring an abnormality of the ultrasonic device, as shown in FIG. 4 , including:

Step 401, any DSP periodically sends a probe signal to another DSP, and replies when receiving the probe signal sent by another DSP;

Step 402, the DSP sends a reset signal to another DSP when it determines that it has not received the reply signal from another DSP for N consecutive times, and N is an integer greater than 1;

Step 403, the DSP continues to send the detection signal after sending the reset signal, and if it still does not receive a reply signal from another DSP within the set time, it is determined that another DSP is abnormal

In the embodiment of the present invention, by sending a reset signal to make the other party reset and restart after the first judgment of the failure of the other party, mutual supervision of two DSPs can be realized, and one party can reset the other party in an abnormal working state, and realize the input/output function of the other party when the reset is unsuccessful , Realize the automatic processing mechanism of abnormal working conditions, so that the system can always be in the normal working state, improve the system security level and hardware system reliability, and reduce the risk of medical accidents.

Preferably, when the DSP determines that another DSP is detected to be abnormal, it further includes:

Receive image data from the input circuit of the ultrasound device for image restoration and optimization, and output the obtained image to the display control device for display;

Receive the DSP command and the probe control command output by the display control device, execute the DSP command and send the probe control command to the output circuit of the ultrasonic device.

When the DSP does not detect that another DSP is abnormal, it further includes:

Receive the DSP command and probe control command output by the display control device according to the configuration, send the probe control command to the output circuit of the ultrasound device, and send the DSP command to another DSP;

Another DSP executes the DSP command when it receives the DSP command, receives image data from the input circuit of the ultrasound device according to the configuration, performs image restoration and optimization, and outputs the obtained image to the display control device for display.

Preferably, the detection signal is a set special command character, and the reply signal is a corresponding set special command character.

Detailed examples of the ultrasonic apparatus of the present invention are given below.

As shown in Fig. 2, the embodiment of the present invention adds a piece of DSP on the basis of the existing ultrasonic equipment, wherein DSP1 and DSP2 are the same chip, both of which include DSP core and ARM core. DSP1 and DSP2 are connected with FPGA1 and FPGA2, can realize the receiving and sending function of DSP in Fig. 1, DSP1 and DSP2 communicate with PC through USB interface. As shown in Figure 3, DSP1 and DSP2 are interconnected through UART interfaces of their respective ARM cores to monitor each other's working status. DSP1 and DSP2 send specific information through UART. If the information is sent repeatedly within the specified time and the other party does not reply, it is considered that the other party may be in an abnormal working situation. The respective reset pins of DSP1 and DSP2 are connected with each other's GPIO. As shown in Figure 5 (taking DSP1 as an example where an exception may occur),

(1) Under normal working conditions, the division of labor between DSP1 and DSP2 is as follows:

DSP1 communicates with PC as the main controller according to the configuration, sends the analyzed DSP command to DSP2, and sends the analyzed probe control command to FPGA1.

DSP2 shields the DSP commands and probe control commands received from the PC according to the configuration, receives and executes the DSP commands from DSP1, receives image data from FPGA2 for image restoration and optimization, and outputs the obtained images to the PC for display.

Image data received by DSP1 from FPGA2 according to the configuration.

(2) In abnormal working conditions, the work of DSP1 and DSP2 is as follows:

1) If one party finds that the other party cannot reply to the message normally, it means that the other party is in an abnormal working state. In the case of failure to communicate normally for many times in a row, it can be considered that the other party is in a dead state, reset the other party, and enter the normal working state;

2) If one party resets the other party in an abnormal working state, and the other party still cannot work normally or cannot work, it is considered that the other party has been destroyed, and the normal working DSP will be responsible for input and output functions, and transmit image data and communicate with the PC through USB .

Both DSP1 and DSP2 contain DSP core and ARM core. The RX pin of the UART receiving port of DSP1 is connected to the TX pin of the UART sending port of DSP2, and the TX pin of the UART sending port of DSP1 is connected to the RX pin of the UART receiving port of DSP2 to realize the function of communicating through the serial port. GPIO and RESET pins of DSP1 are connected to RESET and GPIO pins of DSP2 respectively.

The function of serial port interconnection is as follows:

DSP1 communicates with DSP2 to transmit probe control commands sent by PC and internal DSP commands.

DSP1 and DSP2 supervise each other's working status, and realize the supervision mechanism by sending special command characters from one side and replying corresponding special command characters from the other side. For example, DSP1 regularly sends a command AA55, and DSP2 replies 55AA after receiving the command. If DSP1 does not receive the data replied by DSP2, DSP1 resends the command. If there is no reply for 3 consecutive times, it means that DSP2 is in an abnormal working state, and the GPIO tube of DSP1 Pin output low level, reset DSP2. Similarly, DSP2 supervises the working status of DSP1 with the same mechanism.

It can be seen that the dual DSP circuit in the embodiment of the present invention realizes the data receiving and sending split operation. Under normal working conditions, the dual DSP circuit realizes the data receiving and sending split operation, which solves the shortcomings of large system data operation tasks and reduced system performance. The stability of the hardware circuit system is improved, and the risk of medical accidents is reduced.

In the dual DSP circuit, each DSP is connected with the input control FPGA and the output control FPGA, realizing the data receiving and sending functions with a single DSP, improving the integrity and scalability of the system. The two DSPs in the dual DSP circuit realize the automatic processing mechanism of abnormal working conditions through the mutual supervision mechanism, so that the system can always be in the normal working state, improve the system security level and hardware system reliability, and reduce the risk of medical accidents.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (10)

1. An ultrasonic device abnormality detection and recovery method, the ultrasonic device comprises a probe, an input circuit and an output circuit connected to the probe respectively, two interconnected digital signal processors DSP, each DSP is respectively connected to a display control device , input circuit and output circuit, it is characterized in that, this method comprises: Any one of the DSPs periodically sends a probe signal to the other DSP, and responds when receiving the probe signal sent by the other DSP; The DSP sends a reset signal to another DSP when it determines that it has not received another DSP reply signal for N consecutive times, and N is an integer greater than 1; After sending the reset signal, the DSP continues to send the detection signal, and if it does not receive a reply signal from another DSP within a set time, it is determined that another DSP is abnormal. 2. The method according to claim 1, wherein, when the DSP determines that another DSP is detected to be abnormal, further comprising: Receive image data from the input circuit of the ultrasound device for image restoration and optimization, and output the obtained image to the display control device for display; Receive the DSP command and the probe control command output by the display control device, execute the DSP command and send the probe control command to the output circuit of the ultrasonic device. 3. The method according to claim 1, wherein, when the DSP does not detect that another DSP is abnormal, further comprising: Receive the DSP command and probe control command output by the display control device according to the configuration, send the probe control command to the output circuit of the ultrasound device, and send the DSP command to another DSP; Another DSP executes the DSP command when it receives the DSP command, receives image data from the input circuit of the ultrasound device according to the configuration, performs image restoration and optimization, and outputs the obtained image to the display control device for display. 4. The method according to claim 1, wherein the detection signal is a set special command character, and the reply signal is a corresponding set special command character. 5. An ultrasonic device comprising a probe, an input circuit and an output circuit connected to the probe respectively, characterized in that it also includes: Two interconnected digital signal processors DSP, each DSP is respectively connected to the display control device, input circuit and output circuit, any DSP periodically sends a detection signal to the other DSP, and receives the detection signal sent by the other DSP When the DSP determines that it has not received the reply signal from another DSP for N consecutive times, it sends a reset signal to another DSP, and N is an integer greater than 1; after sending the reset signal, the DSP continues to send the detection signal, and then sets When the reply signal from another DSP is not received within the time, it is determined that another DSP is abnormal. 6. The ultrasonic device according to claim 5, wherein, for any DSP, when another DSP is detected to be abnormal, the image data is received from the input circuit for image restoration and optimization, and the obtained image is output to the display The display control device receives the DSP command and the probe control command output by the display control device, executes the DSP command and sends the probe control command to the output circuit. 7. The ultrasonic device as claimed in claim 5, wherein when any DSP does not detect that another DSP is abnormal, one of the DSPs receives the DSP command and the probe control command output by the display control device according to the configuration, and turns the probe The control command is sent to the output circuit, and the DSP command is sent to another DSP. When another DSP receives the DSP command, it executes the DSP command. According to the configuration, it receives the image data from the input circuit for image restoration and optimization, and outputs the obtained image to the display. Control device display. 8. The ultrasonic device of claim 5, wherein: The two DSPs are connected through two serial ports, and periodically send detection signals and reply detection signals through the serial ports; For any DSP, the reset pin is connected to the general-purpose input and output GPIO pin of another DSP, and the reset signal is sent to the reset pin of another DSP through the general-purpose input and output GPIO pin. 9. The ultrasonic device of claim 5, wherein: The input circuit includes a signal processing module and a programmable logic device FPGA2, the signal processing module is connected to the probe, the FPGA2 is connected to each DSP, the signal processing module receives echoes from the probe, and performs signal processing to form each The scan line data is output to FPGA2, and FPGA2 processes each scan line data of the imaging to obtain the image data of a complete image and outputs it to each DSP; The output circuit includes a vibrator control module and FPGA1, the FPGA1 is connected to each DSP, the vibrator control module is connected to the probe, the FPGA1 receives a probe control command from one of the DSPs, and controls the probe through the vibrator control module according to the probe control command. 10. The ultrasound device according to claim 5, wherein each DSP includes a DSP core for image restoration and optimization processing and an ARM core for communicating with a display control device.