CN115607193B

CN115607193B - Driving control method, device and equipment for intravascular ultrasonic optical imaging probe

Info

Publication number: CN115607193B
Application number: CN202211398485.5A
Authority: CN
Inventors: 林沛石; 李学铭; 白晓淞
Original assignee: Innermedical Co ltd
Current assignee: Innermedical Co ltd
Priority date: 2022-11-09
Filing date: 2022-11-09
Publication date: 2023-07-28
Anticipated expiration: 2042-11-09
Also published as: CN115607193A

Abstract

The invention provides a driving control method, a driving control device and driving control equipment for an intravascular ultrasonic optical imaging probe, wherein the method comprises the following steps: receiving a first instruction sent by an interaction end associated with a user, wherein the first instruction is used for instructing a driving motor to drive an ultrasonic optical imaging probe to perform first target movement under a set driving parameter, and the first instruction is also used for instructing the driving motor to drive the ultrasonic optical imaging probe to perform second target movement under the set driving parameter; and acquiring the motion parameters of the ultrasonic optical imaging probe when the first target motion and the second target motion are carried out, and correcting the set driving parameters according to the motion parameters. The invention can realize high control precision of driving control of the intravascular ultrasonic optical imaging probe.

Description

Driving control method, device and equipment for intravascular ultrasonic optical imaging probe

Technical Field

The embodiment of the invention relates to the technical field of intravascular ultrasonic optical imaging, in particular to a driving control method, a driving control device and driving control equipment of an intravascular ultrasonic optical imaging probe.

Background

An intravascular ultrasound and optical imaging (IVUS-OCT) image is driven by an ultrasonic optical imaging probe to rotate and scan through a driving motor, so that a two-dimensional 360-degree image is formed. Are widely used in interventional cardiology as diagnostic tools for diseased vessels (such as arteries) in the human body to determine the need for treatment, guide the intervention, and/or evaluate its effectiveness.

The driving control of the intravascular ultrasonic optical imaging probe, namely the driving parameters of the driving motor, ensures that the intravascular ultrasonic optical imaging probe advances along the extending direction of the blood vessel, retreats or rotates along the extending direction of the blood vessel, ensures excellent imaging effect, and further ensures that the subsequent diagnosis result obtained according to imaging is accurate.

However, the conventional control accuracy of driving control of the intravascular ultrasound optical imaging probe is low.

Disclosure of Invention

The embodiment of the invention provides a driving control method, a driving control device and driving control equipment for an intravascular ultrasonic optical imaging probe, which are used for solving the problem of low control precision of the driving control of the intravascular ultrasonic optical imaging probe.

In order to solve the technical problems, the invention is realized as follows:

In a first aspect, an embodiment of the present invention provides a driving control method for an intravascular ultrasound optical imaging probe, including:

receiving a first instruction sent by an interaction end associated with a user, wherein the first instruction is used for instructing a driving motor to drive an ultrasonic optical imaging probe to perform first target movement under a set driving parameter, and the first instruction is also used for instructing the driving motor to drive the ultrasonic optical imaging probe to perform second target movement under the set driving parameter;

and acquiring the motion parameters of the ultrasonic optical imaging probe when the first target motion and the second target motion are carried out, and correcting the set driving parameters according to the motion parameters.

Alternatively, the process may be carried out in a single-stage,

the first target motion includes: rotating;

the motion parameters include: the ultrasonic optical imaging probe rotates at a single-turn real-time rotating speed in a single-turn rotating process;

correcting the set driving parameters according to the motion parameters, wherein the method comprises the following steps:

acquiring a real-time driving parameter of the driving motor, wherein the real-time driving parameter corresponds to the single-circle real-time rotating speed;

judging whether the ultrasonic optical imaging probe operates normally or not according to the single-turn real-time rotating speed and the real-time driving parameter, and obtaining a first judgment result;

If the first judgment result is that the ultrasonic optical imaging probe operates normally, the step of correcting the set driving parameters according to the motion parameters is not carried out;

and if the first judging result is that the ultrasonic optical imaging probe is abnormal in operation, entering a step of correcting the set driving parameters according to the motion parameters.

Alternatively, the process may be carried out in a single-stage,

judging whether the ultrasonic optical imaging probe operates normally or not according to the single-turn real-time rotating speed and the real-time driving parameter, comprising:

calculating to obtain a relation value between the rotating speed and the driving parameter at each moment in the single-turn rotating process according to the single-turn real-time rotating speed and the real-time driving parameter;

according to the relation value, calculating to obtain the relation value change rate of the relation value at each moment in the single-turn rotation process, and checking whether the relation value change rate exceeds a preset relation value change rate threshold value or not to obtain a checking result;

and if the verification result is that the relation quantity change rate does not exceed the relation quantity change rate threshold, determining that the ultrasonic optical imaging probe is normal in operation.

Alternatively, the process may be carried out in a single-stage,

correcting the set driving parameters according to the motion parameters, including:

Taking the relation quantity change rate exceeding the relation quantity change rate threshold value as a target relation quantity change rate, and determining a target rotation position according to the target relation quantity change rate;

and correcting the set driving parameters of the driving motor at the target rotation position.

Alternatively, the process may be carried out in a single-stage,

the relation value is a proportion value of the rotating speed and the driving parameter.

Alternatively, the process may be carried out in a single-stage,

the first target motion includes: rotating;

the second target motion includes: an advancing motion advancing in a direction of vascular extension;

the motion parameters include: the rotational speed of the ultrasonic optical imaging probe;

according to a preset matching rule, performing first verification on whether the rotating speed of the ultrasonic optical imaging probe is matched with the forward movement or not to obtain a first verification result;

if the first verification result is that the rotating speed of the ultrasonic optical imaging probe is matched with the forward movement, the step of correcting the set driving parameters according to the movement parameters is not carried out;

and if the first verification result is that the rotating speed of the ultrasonic optical imaging probe is not matched with the forward movement, entering a step of correcting the set driving parameters according to the movement parameters.

Alternatively, the process may be carried out in a single-stage,

the first target motion includes: rotating;

the second target motion includes: a retrograde motion of retrograde along the direction of extension of the blood vessel;

according to a preset matching rule, carrying out a second check on whether the rotating speed of the ultrasonic optical imaging probe is matched with the backward movement or not, and obtaining a second check result;

if the second checking result is that the rotating speed of the ultrasonic optical imaging probe is matched with the backward movement, the step of correcting the set driving parameter according to the movement parameter is not carried out;

and if the second checking result is that the rotating speed of the ultrasonic optical imaging probe is not matched with the backward movement, the step of correcting the set driving parameters according to the movement parameters is carried out.

Alternatively, the process may be carried out in a single-stage,

the first target motion includes: rotating;

Acquiring a motion mode of a first target motion of the ultrasonic optical imaging probe;

judging whether the current rotating speed of the ultrasonic optical imaging probe exceeds the rotating speed threshold of the motion mode or not, and obtaining a second judging result;

if the second judging result is that the rotating speed of the current ultrasonic optical imaging probe does not exceed the rotating speed threshold of the motion mode, the step of correcting the set driving parameters according to the motion parameters is not carried out;

and if the second judging result is that the rotating speed of the current ultrasonic optical imaging probe exceeds the rotating speed threshold of the motion mode, entering a step of correcting the set driving parameters according to the motion parameters.

Alternatively, the process may be carried out in a single-stage,

the motion pattern includes: a low-speed rotation mode and a high-speed rotation mode;

the rotating speed threshold value of the low-speed rotating mode is 1000-2000 revolutions per minute;

the rotation speed threshold value of the high-speed rotation mode is 4000-8000 revolutions per minute.

Alternatively, the process may be carried out in a single-stage,

the motion parameters include: a forward speed of the forward motion;

Performing a first test on whether the advancing speed exceeds a preset advancing speed threshold value to obtain a first test result;

if the first test result is that the advancing speed exceeds the advancing speed threshold, correcting the set driving parameter of the driving motor;

or alternatively, the process may be performed,

the motion parameters include: a reverse speed of the reverse motion;

performing a second test on whether the backward speed exceeds a preset backward speed threshold value to obtain a second test result;

and if the second checking result is that the backing speed exceeds the backing speed threshold, correcting the set driving parameters of the driving motor.

Alternatively, the process may be carried out in a single-stage,

the motion parameters include: a forward speed of the forward motion;

detecting whether the second target motion is uniform motion according to the advancing speed, and obtaining a first detection result;

If the first detection result is that the second target motion is not uniform motion;

correcting the set driving parameters of the driving motor by adopting an S-curve acceleration and deceleration algorithm so that the acceleration value of the forward motion does not exceed a preset forward acceleration threshold value;

or alternatively, the process may be performed,

the motion parameters include: a reverse speed of the reverse motion;

detecting whether the second target motion is uniform motion according to the backward speed to obtain a first detection result;

and correcting the set driving parameters of the driving motor by adopting an S-curve acceleration and deceleration algorithm, so that the acceleration value of the backward movement does not exceed a preset backward acceleration threshold value.

In a second aspect, an embodiment of the present invention provides a drive control device for an intravascular ultrasound optical imaging probe, including:

the receiving module is used for receiving a first instruction sent by an interaction end associated with a user, the first instruction is used for instructing a driving motor to drive an ultrasonic optical imaging probe to perform first target movement under a set driving parameter, and the first instruction is also used for instructing the driving motor to drive the ultrasonic optical imaging probe to perform second target movement under the set driving parameter when the ultrasonic optical imaging probe performs the first target movement;

And the execution module is used for acquiring the motion parameters of the ultrasonic optical imaging probe when the first target motion and the second target motion are carried out, and correcting the set driving parameters according to the motion parameters.

In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a memory, and a program or instructions stored on the memory and executable on the processor, the program or instructions, when executed by the processor, implementing the steps in the method for controlling driving of an intravascular ultrasound optical imaging probe according to any one of the first aspects.

In a fourth aspect, an embodiment of the present invention provides a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps in the drive control method of an intravascular ultrasound optical imaging probe according to any one of the first aspects.

In the embodiment of the invention, the motion parameters of the ultrasonic optical imaging probe when the first target motion and the second target motion are performed are obtained, the set driving parameters are corrected according to the motion parameters, the first target motion and the second target motion are comprehensively considered, and the set driving parameters are adjusted according to the motion parameters when the first target motion and the second target motion are performed, so that the problem of low adjustment precision caused by adjusting the set driving parameters according to the motion parameters of only a single target motion can be avoided. The embodiment of the invention can realize high control precision of driving control of the intravascular ultrasonic optical imaging probe.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a flow chart of a method for controlling driving of an intravascular ultrasound imaging probe according to an embodiment of the invention;

FIG. 2 is a schematic S-curve;

FIG. 3 is a schematic block diagram of a drive control device for an intravascular ultrasound optical imaging probe according to an embodiment of the invention;

fig. 4 is a functional block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The embodiment of the invention provides a driving control method of an intravascular ultrasound optical imaging probe, which is shown in fig. 1, and fig. 1 is a flow chart diagram of the driving control method of the intravascular ultrasound optical imaging probe according to the embodiment of the invention, and the method comprises the following steps:

step 11: receiving a first instruction sent by an interaction end associated with a user, wherein the first instruction is used for instructing a driving motor to drive an ultrasonic optical imaging probe to perform first target movement under a set driving parameter, and the first instruction is also used for instructing the driving motor to drive the ultrasonic optical imaging probe to perform second target movement under the set driving parameter;

step 12: and acquiring the motion parameters of the ultrasonic optical imaging probe when the first target moves and the second target moves, and correcting the set driving parameters according to the motion parameters.

In step 12 of the embodiment of the present invention, the acquired motion parameter is a motion parameter when the ultrasonic optical imaging probe performs the first target motion and the second target motion.

In some embodiments of the present invention, optionally, the set driving parameter may be a preset driving parameter before the ultrasonic optical imaging probe moves, and the driving motor drives the ultrasonic optical imaging probe to move according to the preset driving parameter.

In some embodiments of the invention, optionally, the set driving parameter may be a driving parameter corresponding to a set operation mode on the endoscopic device, for example: the endoscope apparatus has a certain set motion pattern built therein, which is composed of a combination of a first target motion under a first moving target parameter and a second target motion under a second moving target parameter, and the set motion pattern has a corresponding driving parameter.

When the user uses the endoscope equipment, the user can select a set motion mode according to specific use requirements, after the set motion mode is selected, the driving motor drives the ultrasonic optical imaging probe to perform first target motion and second target motion by driving parameters corresponding to the selected set motion mode, so that the first target motion moves under the first motion target parameters, and the second target motion moves under the second motion target parameters.

Illustratively, the first target motion is rotational and the second target motion is a retrograde motion retrograde along the direction of vessel extension, with a pullback scan mode built into the endoscopic device. The first moving object parameter (i.e., rotational speed) of this mode setting is 6000 rpm, and the second moving object parameter (i.e., retracting speed of the retracting motion) is 25 mm/s. When the user uses the endoscope apparatus, if the pull-back scanning mode is selected, the driving motor drives the ultrasonic optical imaging probe to perform the first target movement and the second target movement by the driving parameters corresponding to the pull-back scanning mode, so that the rotating speed of the first target movement (rotation) is 6000 rotations per minute, and the retreating speed of the second target movement (retreating movement) is 25 millimeters per second.

In some embodiments of the invention, the method, optionally,

the first target motion includes: rotating;

the motion parameters include: the single-turn real-time rotating speed of the ultrasonic optical imaging probe in the single-turn rotating process;

step 21: acquiring a real-time driving parameter of a driving motor, wherein the real-time driving parameter corresponds to a single-circle real-time rotating speed;

step 22: judging whether the ultrasonic optical imaging probe operates normally or not according to the single-turn real-time rotating speed and the real-time driving parameters, and obtaining a first judgment result;

Step 23: if the first judgment result is that the ultrasonic optical imaging probe operates normally, the step of correcting the set driving parameters according to the motion parameters is not carried out;

step 24: if the first judging result is that the ultrasonic optical imaging probe is abnormal in operation, the method enters a step of correcting the set driving parameters according to the motion parameters.

In some embodiments of the invention, the drive parameter may alternatively be a PWM parameter, i.e. PWM duty cycle.

For example, a sampling period with a time interval of 5ms is set, a current SPEED (equivalent to a single-turn real-time rotation SPEED of the ultrasonic optical imaging probe in the embodiment of the invention in a single-turn rotation process) and a current output PWM parameter (equivalent to a real-time driving parameter of the driving motor in the embodiment of the invention) are recorded every 5ms, and a relation Q between the SPEED and the PWM parameter is calculated.

Under normal conditions, under the condition that a brushless direct current motor (equivalent to a driving motor in the embodiment of the invention) rotates at a constant speed, in the process that the brushless direct current motor drives an ultrasonic optical catheter probe to rotate for one circle, the relation Q tends to be stable or has small change amplitude (the change condition is considered to be larger and has abrupt change when the change condition exceeds 5% in combination with the actual condition), and when the change of the relation Q is combined with the change of a whole circle, the situation that the change is larger or abrupt change occurs when the relation Q is frequently and continuously at the position n, the position n can be judged to have different friction force, and then the PWM parameter of the output control speed is compensated when the next time reaches the position n, and the formula used by the method is as follows:

PWM(n)＝Ki*((Q(n)-Q(n-1))*PWM(PID))

Wherein, PWM (n) is the PWM duty ratio to be output reaching n position, ki is a constant, Q (n) is the value of the relation Q at the position n, Q (n-1) is the value of the relation Q at the position n-1, and PWM (PID) is the PWM duty ratio number output by PID algorithm at the position n.

PWM (Pulse width modulation ) is an analog control method, and the bias of the base electrode of a transistor or the grid electrode of a MOS tube is modulated according to the change of corresponding load, so that the change of the on time of the transistor or the MOS tube is realized, and the change of the output of a switching regulated power supply is realized. This way, the output voltage of the power supply can be kept constant when the operating conditions change, and is a very effective technique for controlling the analog circuit by means of the digital signal of the microprocessor. Are widely used in many fields from measurement, communication to power control and conversion.

The duty cycle refers to the proportion of the energization time relative to the total time within one pulse cycle. The Duty Ratio (Duty Ratio) has the following meaning in the field of telecommunications: for example: the pulse width is 1 mu s, and the duty ratio of the pulse sequence with the signal period of 4 mu s is 0.25.

In the example, the driving motor is a brushless direct current motor, high-level pulses are applied to the driving motor at intervals in PWM duty ratio, positive work is applied to the brushless direct current motor by electric energy in high level, resistance work in the motor rotation process is counteracted, the balance between the positive work and the resistance work which are applied by the electric energy in high level can be ensured by proper PWM duty ratio, and the brushless direct current motor drives the ultrasonic optical imaging probe to rotate at constant speed. Therefore, the ultrasonic optical imaging probe can normally operate by correcting the PWM duty ratio.

PID, pro-port, integral, differential abbreviations. As the name implies, the PID control algorithm is a control algorithm combining three links of proportion, integration and differentiation, which is the most mature technology and widely applied in a continuous system, and the control algorithm is suitable for the situation that the controlled object model is not known clearly. The PID control is essentially that according to the input deviation value, the operation is carried out according to the function relation of proportion, integral and differential, and the operation result is used for controlling the output.

In some embodiments of the present invention, optionally, determining whether the ultrasonic optical imaging probe is operating normally according to the single-turn real-time rotation speed and the real-time driving parameter includes:

step 31: calculating to obtain a relation value between the rotating speed and the driving parameter at each moment in the single-turn rotating process according to the single-turn real-time rotating speed and the real-time driving parameter;

step 32: according to the relationship values, calculating to obtain the relationship value change rate of the relationship values at each moment in the single-turn rotation process, and checking whether the relationship value change rate exceeds a preset relationship value change rate threshold value or not to obtain a checking result;

step 33: and if the verification result is that the relation quantity change rate does not exceed the relation quantity change rate threshold value, determining that the ultrasonic optical imaging probe operates normally.

For example, a sampling period with a time interval of 5ms is set, a current SPEED (corresponding to a single-turn real-time rotation SPEED of the ultrasonic optical imaging probe in the embodiment of the invention in a single-turn rotation process) and a current output PWM parameter (corresponding to a real-time driving parameter of the driving motor in the embodiment of the invention) are recorded every 5ms, and a relation Q (corresponding to a relation in the embodiment of the invention) between the SPEED and the PWM parameter is calculated.

Under normal conditions, under the condition that a brushless direct current motor (equivalent to a driving motor in the embodiment of the invention) rotates at a constant speed, in the process that the brushless direct current motor drives an ultrasonic optical catheter probe to rotate for one circle, the relation Q tends to be stable or has small change amplitude (the change condition is considered to be larger and has abrupt change condition when exceeding 5% in combination with actual conditions, the relation change rate threshold value is equivalent to 5%) in the embodiment of the invention, and the relation Q is combined with the change of a whole circle, when the relation Q frequently and continuously changes at the position n, the position n can be judged to have different friction force, and then PWM parameters of output control speed are compensated when reaching the position n next time, and the used formula is as follows:

PWM(n)＝Ki*((Q(n)-Q(n-1))*PWM(PID))

In the embodiment of the invention, the relation value between the rotating speed and the driving parameter at each moment in the single-turn rotating process is calculated according to the single-turn real-time rotating speed and the real-time driving parameter; and then according to the relation value, calculating the relation value change rate of the relation value at each moment in the single-turn rotation process, and checking whether the relation value change rate exceeds a preset relation value change rate threshold.

In some embodiments of the present invention, optionally, correcting the set driving parameter according to the motion parameter includes:

step 41: the relation quantity change rate exceeding the relation quantity change rate threshold is taken as a target relation quantity change rate, and the target rotation position is determined according to the target relation quantity change rate;

Step 42: and correcting the set driving parameters of the driving motor at the target rotation position.

Under normal conditions, under the condition that the brushless direct current motor (equivalent to the driving motor in the embodiment of the invention) rotates at a constant speed, in the process that the brushless direct current motor drives the ultrasonic optical catheter probe to rotate for one circle, the relation Q tends to be stable or has smaller change amplitude (the change condition is considered to be larger and has abrupt change condition when exceeding 5 percent in combination with actual conditions, which is equivalent to the relation change rate threshold value of 5 percent in the embodiment of the invention), and the relation Q is combined with the change of one circle, when the relation Q frequently and continuously changes at the position n (the position n corresponds to the target rotation position in the embodiment of the invention), the position n can be judged to have different friction force, and then the PWM parameter of the output control speed is compensated when reaching the position n next time, and the used formula is as follows:

PWM(n)＝Ki*((Q(n)-Q(n-1))*PWM(PID))

In the embodiment of the invention, the relation quantity change rate exceeding the relation quantity change rate threshold is used as the target relation quantity change rate, the target rotation position is determined according to the target relation quantity change rate, and the set driving parameters of the driving motor at the target rotation position are corrected, so that the interference to the rotation of the normal operation position caused by excessive correction is avoided, the probability of control error in the control process is reduced, and the control precision of the embodiment of the invention is further improved.

In some embodiments of the present invention, optionally, calculating a relationship change rate of the relationship at each moment in the single rotation process according to the relationship, and then includes:

step 51: detecting whether the ultrasonic optical imaging probe is in a uniform rotation mode or not to obtain a detection result;

step 52: if the detection result is that the ultrasonic optical imaging probe is not in a uniform rotation mode, acquiring a relation quantity change rate curve corresponding to the current rotation mode;

Step 53: verifying whether the deviation value between the relation change rate and the relation change rate curve exceeds a preset deviation value threshold value or not, and obtaining a verification result;

step 54: and if the verification result shows that the deviation value between the relation quantity change rate and the relation quantity change rate curve exceeds the deviation value threshold, determining that the ultrasonic optical imaging probe is abnormal in operation.

In the embodiment of the present invention, if the detection result indicates that the ultrasonic optical imaging probe is not in the uniform rotation mode, the current rotation mode may be uniform acceleration rotation, uniform deceleration rotation, variable acceleration rotation, variable deceleration rotation, etc., and the relation magnitude cannot clearly represent the rotation condition of the ultrasonic optical imaging probe, that is: and calculating the relation quantity change rate of the relation quantity value at each moment in the single-turn rotation process according to the relation quantity value, and checking whether the relation quantity change rate exceeds a preset relation quantity change rate threshold value or not can not determine whether the ultrasonic optical imaging probe operates normally or not.

Under the condition, determining a relation quantity change rate curve corresponding to the current rotation mode, and checking whether the deviation value between the relation quantity change rate and the relation quantity change rate curve exceeds a preset deviation value threshold value, so that whether the ultrasonic optical imaging probe operates normally can be accurately obtained.

In some embodiments of the invention, the relationship value is optionally a ratio of the rotational speed to the drive parameter.

In some embodiments of the present invention, the set driving parameters are optionally modified using a PID control algorithm.

The encoder module data are sampled at set time intervals (5 ms time intervals) and converted into actual speed values, the actual speed values are compared with the target speed, a speed difference E is obtained, and the following formula is adopted according to the matched PID parameters:

PWM＝(PID_Kp*E(k))-(PID_Ki*E(k-1))+(PID_Kd*E(k-2))

wherein PWM is PWM wave duty ratio parameter, PID_Kp is P coefficient in PID algorithm, PID_Ki is I coefficient in PID algorithm, PID_Kd is D coefficient in PID algorithm, E (k) is this speed difference, E (k-1) is last speed difference, E (k-2) is last speed difference.

The calculated PWM wave duty ratio increment is output to a motor driving chip to regulate the rotation speed of the brushless DC motor, so that the closed-loop incremental PID control is achieved.

At present, the driving control of the existing intravascular ultrasonic optical imaging probe has other problems besides low control precision, particularly when a user needs to acquire an intravascular ultrasonic optical image of a certain section of blood vessel, the user needs to manually move the ultrasonic optical probe to advance or retreat in the blood vessel along the extending direction of the blood vessel, the operation is complex, the imaging is interfered by manual operation errors, and the imaging effect is poor.

Thus, in some embodiments of the invention, optionally,

the first target motion includes: rotating;

the second target motion includes: an advancing motion advancing in the direction of vascular extension, or a retreating motion retreating in the direction of vascular extension.

According to the embodiment, when a user needs to acquire an ultrasonic optical image in a blood vessel of a certain section of blood vessel, the driving motor drives the ultrasonic optical imaging probe to rotate under the set driving parameters, so that rotary scanning is realized, and a two-dimensional 360-degree image is formed; synchronously, the driving motor drives the ultrasonic optical imaging probe to move forwards along the extending direction of the blood vessel or to move backwards along the extending direction of the blood vessel under the set driving parameters, so that the scanning of a certain section of blood vessel is realized. The two are combined, so that 360-degree imaging of three-dimensional in a blood vessel of a certain section of blood vessel can be realized according to the needs of a user. The complicated operation that the user needs to manually move the ultrasonic optical probe to advance or retreat in the blood vessel along the extending direction of the blood vessel is avoided, the imaging effect is not interfered by manual operation errors, and the imaging effect is good.

In the embodiment of the invention, in the case that the first target motion is rotation and the second target motion is forward motion advancing along the extending direction of the blood vessel or backward motion backing along the extending direction of the blood vessel, the set driving parameters are corrected according to the motion parameters by acquiring the motion parameters of the ultrasonic optical imaging probe when the first target motion (rotation) and the second target motion (forward motion advancing along the extending direction of the blood vessel or backward motion backing along the extending direction of the blood vessel) are performed.

In some embodiments of the invention, the method, optionally,

the first target motion includes: rotating;

step 61: according to a preset matching rule, performing first verification on whether the rotating speed of the ultrasonic optical imaging probe is matched with the forward movement or not to obtain a first verification result;

step 62: if the first checking result is that the rotating speed of the ultrasonic optical imaging probe is matched with the forward movement, the step of correcting the set driving parameters according to the movement parameters is not carried out;

step 63: if the first checking result is that the rotating speed of the ultrasonic optical imaging probe is not matched with the forward movement, the method enters a step of correcting the set driving parameters according to the movement parameters.

In an embodiment of the present invention, based on ensuring a high imaging effect of an ultrasonic optical imaging probe, when a first target moves to rotate and a second target moves forward, a preset matching rule includes: and if the rotating speed of the ultrasonic optical imaging probe does not exceed the preset first target rotating speed threshold, determining that the rotating speed of the ultrasonic optical imaging probe is not matched with the forward movement.

In some embodiments of the present invention, optionally, the endoscope apparatus has built therein a certain set motion pattern composed of a combination of a first target motion under a first moving target parameter and a second target motion under a second moving target parameter. In the set motion mode, the matching rule which needs to be met by the first motion target parameter and the second motion target parameter is a preset matching rule.

When the user uses the endoscope apparatus, the movement mode can be set according to the specific use requirement. Ideally, after the user finishes selecting the set motion mode, the driving motor drives the ultrasonic optical imaging probe to perform the first target motion and the second target motion according to the set driving parameters corresponding to the selected set motion mode, so that the first target motion moves under the first motion target parameter, the second target motion moves under the second motion target parameter, and at the moment, the first motion target parameter and the second motion target parameter also accord with a preset matching rule.

However, it is understood that in the actual use scenario, there are cases where the first moving object parameter may not match the second moving object parameter, and there are cases where the first moving object parameter and the second moving object parameter contradict each other.

Therefore, the motion parameters of the ultrasonic optical imaging probe when the first target moves and the second target moves are required to be obtained integrally, whether the first motion target parameter and the second motion target parameter are matched or not is checked according to a preset matching rule before the set driving parameter is corrected according to the motion parameters, and whether the set driving parameter is corrected according to the motion parameters is judged according to the obtained checking result.

In some embodiments of the invention, the method, optionally,

the first target motion includes: rotating;

step 71: according to a preset matching rule, carrying out a second check on whether the rotating speed of the ultrasonic optical imaging probe is matched with the backward movement or not, and obtaining a second check result;

step 72: if the second checking result is that the rotating speed of the ultrasonic optical imaging probe is matched with the backward movement, the step of correcting the set driving parameters according to the movement parameters is not carried out;

Step 73: if the second checking result is that the rotating speed of the ultrasonic optical imaging probe is not matched with the backward movement, the step of correcting the set driving parameters according to the movement parameters is carried out.

In an embodiment of the present invention, based on ensuring a high imaging effect of an ultrasonic optical imaging probe, when a first target moves to rotate and a second target moves to retract, a preset matching rule includes: and if the rotating speed of the ultrasonic optical imaging probe does not exceed the preset second target rotating speed threshold, determining that the rotating speed of the ultrasonic optical imaging probe is not matched with the backward movement.

For example, in order to increase the frame number during the backward movement (ensure the imaging effect during the backward movement), the rotation speed of the ultrasonic optical imaging probe needs to be increased (i.e., the rotation speed should meet the requirement of being within the second target rotation speed threshold, in this case, the second target rotation speed threshold is a speed interval higher than the usual speed), so that the frame number is about 100 frames per second, and the imaging requirement is satisfied.

In some embodiments of the invention, the method, optionally,

the first target motion includes: rotating;

step 81: acquiring a motion mode of a first target motion of an ultrasonic optical imaging probe;

step 82: judging whether the rotating speed of the current ultrasonic optical imaging probe exceeds a rotating speed threshold of a motion mode, and obtaining a second judging result;

step 83: if the second judging result is that the rotating speed of the current ultrasonic optical imaging probe does not exceed the rotating speed threshold of the motion mode, the step of correcting the set driving parameters according to the motion parameters is not carried out;

step 84: and if the second judging result is that the rotating speed of the current ultrasonic optical imaging probe exceeds the rotating speed threshold of the motion mode, entering a step of correcting the set driving parameters according to the motion parameters.

In some embodiments of the invention, the method, optionally,

the movement pattern includes: a low-speed rotation mode and a high-speed rotation mode;

the rotation speed threshold value of the low-speed rotation mode is 1000-2000 revolutions per minute;

the rotational speed threshold for the high speed rotational mode is 4000-8000 revolutions per minute.

In some embodiments of the invention, the method, optionally,

the motion parameters include: the forward speed of the forward motion;

step 91: performing first test on whether the advancing speed exceeds a preset advancing speed threshold value to obtain a first test result;

step 92: if the first checking result is that the advancing speed exceeds the advancing speed threshold, correcting the set driving parameters of the driving motor;

or alternatively, the process may be performed,

the motion parameters include: a reverse speed of the reverse motion;

step 101: performing a second test on whether the backward speed exceeds a preset backward speed threshold value to obtain a second test result;

step 102: and if the second checking result is that the backing speed exceeds the backing speed threshold, correcting the set driving parameters of the driving motor.

In some embodiments of the invention, the preset forward speed threshold is optionally 0-10 mm/s and the preset reverse speed threshold is 10-30 mm/s.

In some embodiments of the invention, the method, optionally,

the motion parameters include: the forward speed of the forward motion;

step 111: detecting whether the second target motion is uniform motion according to the advancing speed, and obtaining a first detection result;

step 112: if the first detection result is that the second target motion is not uniform motion;

step 113: correcting set driving parameters of the driving motor by adopting an S-curve acceleration and deceleration algorithm so that the acceleration value of forward motion does not exceed a preset forward acceleration threshold value;

or alternatively, the process may be performed,

the motion parameters include: a reverse speed of the reverse motion;

step 121: detecting whether the second target motion is uniform motion according to the backward speed to obtain a first detection result;

step 122: if the first detection result is that the second target motion is not uniform motion;

step 123: and correcting the set driving parameters of the driving motor by adopting an S-curve acceleration and deceleration algorithm, so that the acceleration value of the backward movement does not exceed a preset backward acceleration threshold value.

In the embodiment of the invention, referring to fig. 2, fig. 2 is a schematic diagram of an S curve, wherein an abscissa is time, an ordinate is parts, an initial position of the ordinate is 0, and an end position of the ordinate is 1; the S-curve may be user-set according to clinical use needs.

For example, 1000 parts of S-curve are equally divided, and the 1000 parts of ordinate data are taken to be packaged into an array, and the specific implementation formula is as follows:

Speed_now[n]＝Speed_start+(Speed_expect-Speed_start)*S[n]

wherein the interval of n is 0-999, representing 1000 parts in equal parts, S [ n ] is the nth bit of the array of the S curve equal parts 1000, speed_now [ n ] is the running Speed calculated at the n bit, and the arrays speed_now [0] to speed_now [999] form an S curve Speed from the starting Speed speed_start to the target Speed speed_expect.

The S-curve acceleration and deceleration algorithm is adopted, acceleration is slow (acceleration is small) when the Speed begins to accelerate from the initial Speed speed_start and reaches the maximum Speed, and the acceleration is a change trend of gradually increasing and then gradually decreasing from the initial Speed speed_start to the maximum Speed, so that sudden acceleration changes are avoided, sudden Speed accidental injury patients when a user uses an endoscope to carry out intravascular ultrasonic optical detection on the patients are avoided, and the use safety of the endoscope is ensured.

In the embodiment of the invention, under the condition that the second target motion is forward motion, an S-curve acceleration and deceleration algorithm is adopted to ensure that the acceleration value does not exceed a preset forward acceleration threshold value, namely: the acceleration value is not suddenly changed into an excessively high or excessively low acceleration value, but is within a preset forward acceleration threshold value; under the condition that the second target motion is the backward motion, an S-curve acceleration and deceleration algorithm is adopted to ensure that the acceleration value does not exceed a preset backward acceleration threshold value, namely: the acceleration value does not change suddenly to an excessively high or low acceleration value, but is within a preset back acceleration threshold.

The endoscope equipment is internally provided with a low-speed scanning state, a high-speed scanning state, a pull-back state and a pushing state, wherein the second target in the four state scenes does not move at a constant speed, and when the endoscope equipment is in the four state scenes, an S-curve acceleration and deceleration algorithm can be called to avoid acceleration mutation, so that a user is prevented from using the endoscope to carry out intravascular ultrasonic optical detection on patients suffering from sudden speed accidental injury, and the use safety of the endoscope is ensured.

The S-curve acceleration and deceleration algorithm is mainly used for changing the current scanning speed and the target speed when entering or switching the state, and the current speed is smoothly increased to the target speed value by the S-curve shown in the figure 2, so that the vibration of motor rotation caused by acceleration and speed mutation in the acceleration process is avoided. The S-curve acceleration/deceleration algorithm is also used to return to the target speed according to the S-curve shown in fig. 2 after overspeed detection of the faulty abnormality.

An embodiment of the present invention provides a driving control device for an intravascular ultrasound optical imaging probe, referring to fig. 3, fig. 3 is a schematic block diagram of the driving control device for an intravascular ultrasound optical imaging probe according to an embodiment of the present invention, and a driving control device 200 for an intravascular ultrasound optical imaging probe includes:

The receiving module 201 is configured to receive a first instruction sent by an interaction end associated with a user, where the first instruction is configured to instruct a driving motor to drive an ultrasonic optical imaging probe to perform a first target motion under a set driving parameter, and the first instruction is further configured to instruct the driving motor to drive the ultrasonic optical imaging probe to perform a second target motion under the set driving parameter when the ultrasonic optical imaging probe performs the first target motion;

and the execution module 202 is configured to obtain a motion parameter of the ultrasonic optical imaging probe when the first target motion and the second target motion are performed, and correct the set driving parameter according to the motion parameter.

In some embodiments of the invention, the method, optionally,

the first target motion includes: rotating;

the execution module 202 is further configured to obtain a real-time driving parameter of the driving motor, where the real-time driving parameter corresponds to the single-turn real-time rotation speed;

the execution module 202 is further configured to determine whether the ultrasonic optical imaging probe is operating normally according to the single-turn real-time rotation speed and the real-time driving parameter, so as to obtain a first determination result;

The execution module 202 is further configured to, if the first determination result indicates that the ultrasonic optical imaging probe is operating normally, not enter a step of correcting the set driving parameter according to the motion parameter;

the execution module 202 is further configured to enter a step of correcting the set driving parameter according to the motion parameter if the first determination result indicates that the ultrasonic optical imaging probe is not operating normally.

In some embodiments of the invention, the method, optionally,

the execution module 202 is further configured to calculate, according to the single-turn real-time rotation speed and the real-time driving parameter, a relationship value between the rotation speed and the driving parameter at each moment in the single-turn rotation process;

the execution module 202 is further configured to calculate, according to the relationship value, a relationship change rate of the relationship value at each moment in the single rotation process, and verify whether the relationship change rate exceeds a preset relationship change rate threshold, to obtain a verification result;

the execution module 202 is further configured to determine that the ultrasonic optical imaging probe is operating normally if the verification result indicates that the relationship change rate does not exceed the relationship change rate threshold.

In some embodiments of the invention, the method, optionally,

the execution module 202 is further configured to determine a target rotation position according to the target relationship change rate by using the relationship change rate exceeding the relationship change rate threshold as a target relationship change rate;

the execution module 202 is further configured to correct the set driving parameter of the driving motor at the target rotation position.

In some embodiments of the invention, the method, optionally,

the first target motion includes: rotating;

the execution module 202 is further configured to perform a first check on whether the rotation speed of the ultrasonic optical imaging probe matches the forward motion according to a preset matching rule, so as to obtain the first check result;

the execution module 202 is further configured to, if the first verification result indicates that the rotational speed of the ultrasonic optical imaging probe matches the forward motion, not enter a step of correcting the set driving parameter according to the motion parameter;

the execution module 202 is further configured to enter a step of correcting the set driving parameter according to the motion parameter if the first verification result indicates that the rotation speed of the ultrasonic optical imaging probe is not matched with the forward motion.

In some embodiments of the invention, the method, optionally,

the first target motion includes: rotating;

the execution module 202 is further configured to perform a second check on whether the rotation speed of the ultrasonic optical imaging probe and the backward movement are matched according to a preset matching rule, so as to obtain the second check result;

the execution module 202 is further configured to, if the second test result indicates that the rotation speed of the ultrasonic optical imaging probe matches the backward movement, not enter a step of correcting the set driving parameter according to the movement parameter;

the execution module 202 is further configured to enter a step of correcting the set driving parameter according to the motion parameter if the second test result indicates that the rotation speed of the ultrasonic optical imaging probe is not matched with the backward motion.

In some embodiments of the invention, the method, optionally,

the first target motion includes: rotating;

The execution module 202 is further configured to obtain a motion mode of a first target motion of the ultrasonic optical imaging probe;

the executing module 202 is further configured to determine whether a current rotational speed of the ultrasonic optical imaging probe exceeds a rotational speed threshold of the motion mode, so as to obtain a second determination result;

the executing module 202 is further configured to not enter a step of correcting the set driving parameter according to the motion parameter if the second determination result indicates that the current rotation speed of the ultrasonic optical imaging probe does not exceed the rotation speed threshold of the motion mode;

the executing module 202 is further configured to enter a step of correcting the set driving parameter according to the motion parameter if the second determination result indicates that the current rotational speed of the ultrasonic optical imaging probe exceeds the rotational speed threshold of the motion mode.

In some embodiments of the invention, the method, optionally,

the motion parameters include: a forward speed of the forward motion;

the execution module 202 is further configured to perform a first test on whether the forward speed exceeds a preset forward speed threshold, to obtain the first test result;

The execution module 202 is further configured to correct the set driving parameter of the driving motor if the first test result indicates that the forward speed exceeds the forward speed threshold;

or alternatively, the process may be performed,

the motion parameters include: a reverse speed of the reverse motion;

the execution module 202 is further configured to perform a second test on whether the retraction speed exceeds a preset retraction speed threshold value, to obtain the second test result;

the execution module 202 is further configured to correct the set driving parameter of the driving motor if the second test result indicates that the reverse speed exceeds the reverse speed threshold.

In some embodiments of the invention, the method, optionally,

the motion parameters include: a forward speed of the forward motion;

the executing module 202 is further configured to detect whether the second target motion is uniform motion according to the advancing speed, so as to obtain a first detection result;

the executing module 202 is further configured to, if the first detection result indicates that the second target motion is not uniform motion;

The execution module 202 is further configured to modify the set driving parameter of the driving motor by using an S-curve acceleration/deceleration algorithm, so that an acceleration value of the forward motion does not exceed a preset forward acceleration threshold;

or alternatively, the process may be performed,

the motion parameters include: a reverse speed of the reverse motion;

the executing module 202 is further configured to detect whether the second target motion is uniform motion according to the backward speed, so as to obtain a first detection result;

the execution module 202 is further configured to modify the set driving parameter of the driving motor by using an S-curve acceleration/deceleration algorithm, so that an acceleration value of the backward movement does not exceed a preset backward acceleration threshold.

The driving control device for the intravascular ultrasound optical imaging probe provided by the embodiment of the application can realize each process realized by the method embodiments of fig. 1 to 2 and achieve the same technical effects, and in order to avoid repetition, the description is omitted here.

An embodiment of the present invention provides an electronic device 300, referring to fig. 4, and fig. 4 is a schematic block diagram of the electronic device 300 according to the embodiment of the present invention, including a processor 301, a memory 302, and a program or an instruction stored in the memory 302 and capable of running on the processor 301, where the program or the instruction is executed by the processor to implement steps in any one of the driving control methods of the intravascular ultrasound optical imaging probe according to the present invention.

The embodiment of the invention provides a readable storage medium, on which a program or an instruction is stored, which when executed by a processor, implements each process of the embodiment of the driving control method of the intravascular ultrasound optical imaging probe according to any one of the above embodiments, and can achieve the same technical effects, and in order to avoid repetition, a detailed description is omitted here.

Wherein the readable storage medium is selected from Read-Only Memory (ROM), random access Memory (Random Access Memory RAM), magnetic disk or optical disk.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.

Claims

1. A drive control device of an intravascular ultrasound optical imaging probe, comprising:

the execution module is used for acquiring the motion parameters of the ultrasonic optical imaging probe when the first target motion and the second target motion are carried out, and correcting the set driving parameters according to the motion parameters;

the first target motion includes: rotating;

the execution module is further used for acquiring real-time driving parameters of the driving motor, wherein the real-time driving parameters correspond to the single-turn real-time rotating speed;

the execution module is further used for judging whether the ultrasonic optical imaging probe operates normally or not according to the single-turn real-time rotating speed and the real-time driving parameter, and obtaining a first judgment result;

The execution module is further configured to, if the first determination result indicates that the ultrasonic optical imaging probe is operating normally, not enter a step of correcting the set driving parameter according to the motion parameter;

the execution module is further configured to enter a step of correcting the set driving parameter according to the motion parameter if the first determination result indicates that the ultrasonic optical imaging probe is not operating normally;

the execution module is also used for calculating and obtaining a relation value between the rotating speed and the driving parameter at each moment in the single-turn rotating process according to the single-turn real-time rotating speed and the real-time driving parameter;

the execution module is further used for calculating and obtaining the relation quantity change rate of the relation quantity value at each moment in the single-turn rotation process according to the relation quantity value, and checking whether the relation quantity change rate exceeds a preset relation quantity change rate threshold value or not to obtain a checking result;

and the execution module is further used for determining that the ultrasonic optical imaging probe operates normally if the verification result shows that the relation quantity change rate does not exceed the relation quantity change rate threshold.

2. The drive control device of an intravascular ultrasound optical imaging probe according to claim 1 wherein:

The execution module is further used for taking the relation quantity change rate exceeding the relation quantity change rate threshold value as a target relation quantity change rate, and determining a target rotation position according to the target relation quantity change rate;

the execution module is also used for correcting the set driving parameters of the driving motor at the target rotation position.

3. The drive control device of an intravascular ultrasound optical imaging probe according to claim 1 wherein:

4. The drive control device of an intravascular ultrasound optical imaging probe according to claim 1 wherein:

the first target motion includes: rotating;

the execution module is further used for carrying out first verification on whether the rotating speed of the ultrasonic optical imaging probe is matched with the forward movement or not according to a preset matching rule, so as to obtain a first verification result;

the execution module is further configured to, if the first verification result indicates that the rotation speed of the ultrasonic optical imaging probe matches the forward motion, not enter a step of correcting the set driving parameter according to the motion parameter;

And the execution module is further used for entering the step of correcting the set driving parameters according to the motion parameters if the first verification result is that the rotating speed of the ultrasonic optical imaging probe is not matched with the forward motion.

5. The drive control device of an intravascular ultrasound optical imaging probe according to claim 1 wherein:

the first target motion includes: rotating;

the execution module is further used for carrying out a second check on whether the rotating speed of the ultrasonic optical imaging probe is matched with the backward movement according to a preset matching rule, so as to obtain a second check result;

the execution module is further configured to, if the second test result indicates that the rotation speed of the ultrasonic optical imaging probe matches the backward movement, not enter a step of correcting the set driving parameter according to the movement parameter;

and the execution module is further used for entering the step of correcting the set driving parameters according to the motion parameters if the second checking result is that the rotating speed of the ultrasonic optical imaging probe is not matched with the backward motion.

6. The drive control device of an intravascular ultrasound optical imaging probe according to claim 1 wherein:

the first target motion includes: rotating;

the execution module is also used for acquiring a motion mode of the first target motion of the ultrasonic optical imaging probe;

the execution module is further used for judging whether the current rotating speed of the ultrasonic optical imaging probe exceeds the rotating speed threshold of the motion mode or not, and obtaining a second judging result;

the execution module is further configured to not enter a step of correcting the set driving parameter according to the motion parameter if the second determination result indicates that the current rotation speed of the ultrasonic optical imaging probe does not exceed the rotation speed threshold of the motion mode;

and the execution module is further used for entering the step of correcting the set driving parameters according to the motion parameters if the second judgment result is that the rotation speed of the current ultrasonic optical imaging probe exceeds the rotation speed threshold of the motion mode.

7. The drive control device for an intravascular ultrasound optical imaging probe according to claim 6 wherein:

8. The drive control device of an intravascular ultrasound optical imaging probe according to claim 1 wherein:

the motion parameters include: a forward speed of the forward motion;

the execution module is further used for performing a first test on whether the advancing speed exceeds a preset advancing speed threshold value to obtain a first test result;

the execution module is further configured to correct the set driving parameter of the driving motor if the first test result indicates that the forward speed exceeds the forward speed threshold;

or alternatively, the process may be performed,

the motion parameters include: a reverse speed of the reverse motion;

the execution module is further used for performing a second test on whether the backward speed exceeds a preset backward speed threshold value to obtain a second test result;

And the execution module is further used for correcting the set driving parameters of the driving motor if the second checking result is that the backward speed exceeds the backward speed threshold.

9. The drive control device of an intravascular ultrasound optical imaging probe according to claim 1 wherein:

the motion parameters include: a forward speed of the forward motion;

the execution module is further used for detecting whether the second target motion is uniform motion or not according to the advancing speed to obtain a first detection result;

the execution module is further configured to modify the set driving parameter of the driving motor by using an S-curve acceleration/deceleration algorithm if the first detection result indicates that the second target motion is not uniform motion, so that an acceleration value of the forward motion does not exceed a preset forward acceleration threshold;

or alternatively, the process may be performed,

the motion parameters include: a reverse speed of the reverse motion;

the execution module is further used for detecting whether the second target motion is uniform motion or not according to the backward speed to obtain a first detection result;

And the execution module is further used for correcting the set driving parameters of the driving motor by adopting an S-curve acceleration and deceleration algorithm if the first detection result is that the second target motion is not uniform motion, so that the acceleration value of the backward motion does not exceed a preset backward acceleration threshold value.