CN211355577U

CN211355577U - Control system for scanning probe of automatic ultrasonic scanner

Info

Publication number: CN211355577U
Application number: CN201921991618.3U
Authority: CN
Inventors: 王刚
Original assignee: Zhejiang Shenbo Medical Technology Co ltd
Current assignee: Zhejiang Shenbo Medical Technology Co ltd
Priority date: 2019-11-18
Filing date: 2019-11-18
Publication date: 2020-08-28
Anticipated expiration: 2029-11-18

Abstract

The utility model discloses an supersound automatic scanner scanning probe control system, including total accuse chip, motor drive circuit and manipulator board communication circuit, motor drive circuit with manipulator board communication circuit all with total accuse chip electricity is connected, motor drive circuit include with total accuse chip electricity be connected drive chip and with the motor and the encoder interface that drive chip electricity is connected, motor and encoder interface are used for being connected with scanning probe's driving motor electricity and are connected with the incremental encoder electricity of locating scanning probe's driving motor department. The utility model discloses can trail the scanistor position in real time, can combine mechanical control board to make the scanistor obtain the high accuracy location, control is nimble, and the function is abundant, and expansibility is good, scans fully stably, the effect is good.

Description

Control system for scanning probe of automatic ultrasonic scanner

Technical Field

The utility model relates to a scanning technical field especially relates to an supersound automatic scanner scanning probe control system.

Background

The main use schemes of the medical instruments/devices for ultrasound examination currently used in hospital clinics are:

A) a doctor manually controls a mechanical arm probe to search the diseased part of the patient by observing the effect of ultrasonic real-time imaging;

the method has the following defects: the doctor is tired or careless, which can lead to inaccurate positioning or unavailable searching of the diseased part of the patient, and the doctor can influence the discovery and treatment in the early stage of the disease.

B) Due to the manual probe, the affected area of the patient needs to be screened through a large number of repeated ultrasonic images, and the patient part can be completely and effectively scanned.

The method has the following defects: inefficient, requires a large amount of work and is prone to errors.

With the rapid development of the current medical instrument technology, more and more medical devices use automatic scanning probes to perform medical scanning on human bodies, and the medical scanning device has the characteristics of comprehensive detection parts, easiness in operation and accurate results.

A "full-automatic ultrasound scanner" as disclosed in patent document No. CN206651840U, includes: an ultrasonic probe; the driving system is used for driving the ultrasonic probe to move; the flexible circuit board is used for connecting the ultrasonic probe and the ultrasonic machine and is responsible for signal transmission; the ultrasonic probe is arranged on the flexible track, and the flexible circuit board is also fixed on the flexible track. The arrangement makes the whole manipulator small and easy to operate.

Also, as disclosed in patent document No. CN207679476U, "an ultrasonic scanner and an ultrasonic scanner", the ultrasonic scanner includes a support, a scanning device, a driving device, and a control device, the support has a scanning area for scanning a human body; the scanning device is provided with a scanning probe; the driving device is arranged on the bracket and is in transmission connection with the scanning device and used for driving the scanning probe to move in the scanning area; the control device is electrically connected with the driving device and is used for controlling the driving device. Above-mentioned ultrasonic scanner can pass through controlling means control drive arrangement, makes its drive scanning probe slide, and when sliding, this scanning probe degree of automation is higher, easy operation, whole result of use preferred, and the whole process human body does not have obvious uncomfortable and feels.

However, the above devices do not have the positioning capability of tracking the position of the scanning probe, and the scanning probe has a single start-stop or movement rule, cannot be switched according to actual conditions, and is not intelligent enough.

Based on the equipment, the scanning probe control system which is good, intelligent, rich in functions and good in man-machine interaction is certainly increased in cost and color, brings good experience to patients and doctors, and has great significance for early detection of the patient's condition.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is not enough to above-mentioned prior art, provide one kind and can track the scanning probe position in real time, can combine the manipulator control panel to make scanning probe obtain the high accuracy location, control is nimble, and the function is abundant, and expansibility is good, scans abundant stable, the good supersound automatic scanner scanning probe control system of effect.

In order to realize the purpose, the utility model discloses a technical scheme be:

the utility model provides an supersound automatic scanner scanning probe control system, includes total accuse chip, motor drive circuit and manipulator board communication circuit, motor drive circuit with manipulator board communication circuit all with total accuse chip electricity is connected, motor drive circuit include with total drive chip that the chip electricity is connected and with the motor and the encoder interface that the drive chip electricity is connected, motor and encoder interface are used for being connected with scanning probe's driving motor electricity and are connected with the increment encoder electricity of locating scanning probe's driving motor department.

And the two distance sensors are respectively and electrically connected with the master control chip and are respectively arranged at the limit positions at the two ends of the stroke of the scanning probe.

And the external key interface is electrically connected with the master control chip and is used for electrically connecting external keys.

Further, the driving chip adopts DRV 8308.

Further, the master control chip adopts any one chip in the STM32F405XX series chips.

Further, the manipulator board communication circuit comprises a UART-to-RS 232 circuit, the UART-to-RS 232 circuit comprises an RS232 chip electrically connected with the master control chip, and the RS232 chip is used for conversion between UART signals and RS232 signals.

Further, the RS232 chip adopts MAX3232ECPWR or MAX3232 EUE.

Furthermore, the UART-to-RS 232 circuit further comprises a communication power interface electrically connected with the RS232 chip, and the communication power interface is used for being electrically connected with a power supply and the RS232 interface of the manipulator board.

Further, the intelligent control system also comprises an output current detection circuit, wherein the output current detection circuit is respectively electrically connected with the driving chip and the master control chip.

Further, the output current detection circuit comprises an operational amplifier chip TLV 9002.

After the technical scheme is adopted, the beneficial effects of the utility model are that: the scanning probe is provided with a motor and encoder interface, a driving motor of the scanning probe can be connected with an incremental encoder at the driving motor of the scanning probe, a driving chip is used for controlling the operation of the driving motor of the scanning probe and acquiring incremental encoder data and transmitting the incremental encoder data to a master control chip, and the rotation condition of the driving motor of the scanning probe can be conveniently calculated by acquiring the incremental encoder data, so that the scanning probe can be positioned;

the distance sensors are respectively arranged at the limit positions at the two ends of the scanning probe stroke, so that the distance sensors can be used for helping to accurately and finely position the specific position of the scanning probe in the stroke together with incremental encoder data, the detection of the stroke of the scanning probe by an upper computer is favorably realized, the scanning probe is favorably controlled to accurately return to the middle position of the stroke, namely, the function of returning to the middle position, the use flexibility is favorably improved, and the operation convenience is favorably improved;

the external key interface is arranged, so that the setting of external keys can be facilitated, and the operation control of the scanning probe, such as emergency stop, can be facilitated;

set up manipulator board communication circuit and can be used for communicating with the manipulator board, further can realize the data interaction with the host computer through manipulator board communication circuit, so that operate according to host computer control scanning probe, it includes RS232 chip and communication power source interface to set up manipulator board communication circuit in addition, wherein the RS232 chip can satisfy the transmission of long distance, guarantee data transmission integrality, communication power source interface is favorable to realizing the introduction of convenient manipulator board department power in the RS232 signal transmission, only need through a data line connection can, the function is realized conveniently.

Drawings

In order to more clearly illustrate embodiments of the present invention or the technical solutions of the prior art, the drawings are as follows:

fig. 1 is a system block diagram of a scanning probe control system of a preferred ultrasonic automatic scanner provided by the present invention;

fig. 2 is a schematic circuit diagram of a motor driving circuit according to an embodiment of the present invention;

fig. 3 is a schematic circuit diagram of a master control chip according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an external key interface according to an embodiment of the present invention;

fig. 5 is a control flow chart of a control system of a scanning probe of an automatic ultrasonic scanner according to a specific embodiment of the present invention;

FIG. 6 is a schematic diagram of a UART-to-RS 232 circuit according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a communication power interface according to an embodiment of the present invention.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

As shown in fig. 1, this embodiment provides an ultrasonic automatic scanner scanning probe control system, including total control chip 1, motor drive circuit 2 and manipulator board communication circuit 3, motor drive circuit 2 with manipulator board communication circuit 3 all with total control chip 1 electricity is connected, motor drive circuit 2 include with total control chip 1 electricity be connected drive chip 21 and with drive chip 21 electricity motor and encoder interface 22 that are connected, motor and encoder interface 22 is used for being connected with scanning probe's drive motor electricity and is connected with the incremental encoder electricity of locating scanning probe's drive motor department, and wherein scanning probe's drive motor drives scanning probe and moves in certain stroke within range to carry out diversified scanning work.

In the above scheme, the master control chip 1 is a program running carrier and a core control device of the control system of this embodiment, and generally an STM32 or 51 single chip microcomputer or some MCU chips is selected, the motor driving circuit 2 is mainly used for driving and controlling the driving motor of the scanning probe according to the instruction of the master control chip 1, and particularly, is also used for acquiring data of an incremental encoder arranged at the driving motor, the incremental encoder is used for converting linear displacement into a pulse signal, and the rotational position, rotational direction and speed of the driving motor can be tracked by monitoring the number of pulses and the relative phase of the two signals;

the driving chip 21 can be selected from conventional motor-driven chips, such as DRV8308, DRV8301, DRV8302, DRV8303 and BLDC-driven DRV10983 with MOS built-in, and the motor and encoder interface 22 can be selected from connector 874381243 model. In addition, because the operating voltages of the above components are different, and are generally several voltages of 12V, 5V and 3.3V, a voltage conversion device, preferably a DCDC switching power supply chip TPS54160, is further provided in the system for converting the 12V voltage into the 5V voltage, and an LDO linear power supply chip REG1117-3.3 for converting the 5V voltage into the 3.3V voltage.

The manipulator board communication circuit 3 mainly comprises a communication circuit, the design is originally designed for establishing connection with a manipulator control board in an ultrasonic automatic scanner, the main purpose is to supply power by means of a power module in the manipulator control board and use a communication module which is communicated with an upper computer and arranged on the manipulator control board, interaction with the upper computer is realized, messages from the upper computer are read, the operation of a scanning probe is controlled, and meanwhile, the scanning probe is responsible for reporting the running state of equipment to the upper computer, the normal and safe running of the equipment is ensured, a new power module or a new upper computer communication module is not additionally arranged, the improvement of the matching with the manipulator control board is facilitated, the configuration cost of devices is saved, and the model is specifically determined according to the data interaction interface model of the manipulator control board.

If do not consider factors such as cost and the encumbrance of cable, manipulator board communication circuit 3 also can directly be set up to be connected with the host computer, and the agreement of communication can suitably change for direct and host computer communication carries out the interaction of key data.

In summary, the motor and encoder interface 22 is provided for connecting the driving motor of the scanning probe and the incremental encoder at the driving motor of the scanning probe, the driving chip 21 is used for controlling the operation of the driving motor of the scanning probe and acquiring incremental encoder data and transmitting the incremental encoder data to the general control chip 1, and by acquiring the incremental encoder data, the rotation condition of the driving motor of the scanning probe can be conveniently calculated, thereby being beneficial to positioning the scanning probe.

In one specific embodiment, as shown in fig. 2, the driver chip 21 is selected from DRV8308, and 3 sets of mosfets 88537ND are matched to form a motor driving output line, and the driving output line is output through three

pins

12, 11, and 10 of the motor and encoder interface 22 (model 874381243) for controlling the operation of the driving motor of the scanning probe, and a power switch chip U1, model STMPS2141STR, is further provided for controlling the output current.

Preferably, the system further comprises an output current detection circuit, and the output current detection circuit is electrically connected with the driving chip 21 and the master control chip 1 respectively.

The output current detection circuit comprises an operational amplifier chip TLV 9002. Specifically, as shown in fig. 2, the output current detection circuit includes an operational amplifier chip TLV9002 and TLV9062, and one end of the circuit is electrically connected to the master control chip 1, and the other end is electrically connected to the driver chip 21, so as to implement detection of the output current, so as to monitor the operating state of the system.

Preferably, the master control chip 1 adopts any one of chips of the STM32F405XX series (STM 32F405RG, STM32F405VG, STM32F405ZG, STM32F405OG, STM32F405OE and the like). The STM32F405XX series chip uses ARM 32-bit Cortex-M4, strengthens the operational capability on the basis of Cortex-M3, and increases floating point, DSP, parallel computation and the like.

As shown in fig. 3, in order to use STM32F405RG as a circuit schematic diagram of the master control chip 1, the STM32F405RG has the following advantages:

1. frequencies up to 168mhz, 210 DMIPS;

2. low Power-support sleep, stop and standby modes

3. 1M byte Flash and 192K SRAM are stored at high speed in the internal part; 3 12-bit 2.4 MSPS A/D converters which support 24 channels at most; 16 general DMA;

4. two APB buses, two AHB buses and a 32-bit multi-AHB bus matrix.

In fig. 3, CN2 is a JTAG port, which can be used for online simulation and programming of programs, Y1 is an external passive crystal oscillator, a simple RC-type circuit composed of frequency 8M, R26 and C34 is used for power-on program reset, U9 is an eeprom chip AT24C01D, which is used for storing version information, and such information is not lost after power down of the system.

Furthermore, the control system also comprises two distance sensors 4 which are respectively electrically connected with the master control chip 1, and the two distance sensors 4 are respectively arranged at the limit positions at the two ends of the scanning probe stroke.

Specifically, for example, the scanning probe is driven by the driving motor to reciprocate left and right in the horizontal direction, then two distance sensors 4 (the proximity sensor TL-W3MB1 of the selectable OMRON, and the proximity distance is 3 mm) are respectively arranged at the travel limit positions of the scanning probe at the left end and the right end, when the probe travels to the limit positions, the distance sensors 4 at the corresponding positions can output trigger levels to the master control chip 1, at this time, the master control chip 1 reads out incremental encoder data at the motor and encoder interface 22 at that moment, and by combining the mechanical structure and the driving motor of the scanning probe and the peripheral information of the encoder, the following functions are realized by the device of the system:

a stroke detection function: the stroke is obtained by calculating data according to the difference value through the encoder data at the position of the motor and encoder interface 22 when the distance sensors 4 at the two sides are triggered;

the function of returning to the center: the encoder data at the motor and encoder interface 22 when the distance sensors 4 at the two sides are triggered are averaged to obtain intermediate position information, and the scanning probe can be driven to return to the intermediate position of the equipment;

an automatic stop function: when the scanning probe moves to the limit position at one side, the distance between the distance sensor 4 at one side and the distance sensor is zero, and when the distance is zero, the action of a driving motor of the scanning probe is automatically stopped. And then can satisfy some operation demands in a flexible way, be convenient for strengthen human-computer interaction, the scanning process of accelerating, bring good experience for patient and doctor.

Although the control of the scanning probe can be realized directly through the upper computer data received from the manipulator board communication circuit 3, the external key control is provided, which is beneficial to adapting to more emergency situations and improving the control effect, so the system further comprises an external key interface 5 electrically connected with the master control chip 1, and the external key interface 5 is used for electrically connecting external keys.

Specifically, as shown in fig. 4, the external key interface 5 is a connector with a model number of 52207 and 0460, and the external key interface 5 at least provides for the setting of a lock key, a start key and a reset key through the electrical connection with the master control chip 1. Through programming, the locking key can be corresponding to the scanning probe stop operation, the start key is corresponding to the scanning probe start operation, and the reset key is corresponding to the scanning probe return.

Based on the hardware basis, the control flow of the control system can be set as shown in fig. 5.

In fig. 5, first, whether a driving motor of the scanning probe normally operates is detected, if so, whether a key is pressed is detected, and if not, the detection of whether the key is pressed is executed after the fault state is updated;

if the key is pressed, the key state is updated, whether the upper computer message from the manipulator board communication circuit 3 exists is detected after the command is executed according to the key, and if the key is not pressed, whether the upper computer message from the manipulator board communication circuit 3 exists is directly detected;

if the upper computer information exists, identifying the information instruction, and controlling the driving motor of the scanning probe to operate according to the instruction; if no upper computer information exists, the control operation of the scanning probe is not executed.

Further, as shown in fig. 6, the robot board communication circuit 3 includes a UART to RS232 circuit, the UART to RS232 circuit includes an RS232 chip U12 electrically connected to the master control chip 1, the RS232 chip U12 is used for conversion between UART signals and RS232 signals, the master control chip 1 selects an STM32F405XX series chip with a UART communication port, wherein the RS232 chip U12 can meet long distance transmission, and ensure data transmission integrity;

the RS232 chip adopts MAX3232EUE, can be compatible with 3.3V and 5V systems for use, and has the communication speed reaching 1 Mbps.

As shown in fig. 7, the UART-to-RS 232 circuit further includes a communication power interface CN3 electrically connected to the RS232 chip, where the communication power interface CN3 is used in the system to plug a power supply into an RS232 interface data line of the robot board, and complete data interaction with the RS232 interface of the robot board while introducing an external power supply, and preferably, when the data line at the RS232 interface of the robot board is plugged into the communication power interface CN3 of the system, the UART-to-RS 232 circuit can simultaneously introduce a power supply and complete RS232 signal transmission, and certainly, the power supply is not excluded and can also be introduced from a power module independent from the robot board. The communication power interface CN3 can be selected from connectors of model 87438 and 0443.

Based on the setting, the system has rich functions and good expansibility, and can also complete the following functions through programming and function expansion:

watchdog function: when the master control chip 1 is interfered and the program fails, the master control chip 1 can automatically reset;

the safety protection function is as follows: when the motion of the scanning probe driving motor is blocked by the action of external force, the scanning probe driving motor is stopped to act in time. Specifically, when the ISEN voltage reaches a limit value (when the ISEN voltage is blocked by an external force), the driving chip 21 may be configured to stop the scanning probe driving motor for a period of time. In addition, the master control chip 1 can also be arranged to judge that the current is too large (when being blocked by external force) according to the voltage collected by the ADC of the ISEN, and then the scanning probe driving motor is shut down.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. The utility model provides an supersound automatic scanner scanning probe control system, its characterized in that, including total accuse chip, motor drive circuit and manipulator board communication circuit, motor drive circuit with manipulator board communication circuit all with total accuse chip electricity is connected, motor drive circuit include with total the drive chip of chip electricity connection and with the motor and the encoder interface that the drive chip electricity is connected, motor and encoder interface be used for with scanning probe's driving motor electricity be connected and with locate scanning probe's the increment encoder electricity of driving motor department and be connected.

2. The system of claim 1, further comprising two distance sensors electrically connected to the master control chip, wherein the two distance sensors are respectively disposed at the extreme positions at the two ends of the scanning probe stroke.

3. The system of claim 1, further comprising an external key interface electrically connected to the master control chip, wherein the external key interface is used for electrically connecting to an external key.

4. The system as claimed in claim 1, wherein the driver chip is DRV 8308.

5. The control system of the scanning probe of the automatic ultrasonic scanner according to claim 1, wherein the general control chip adopts any one chip in the STM32F405XX series chips.

6. The system of claim 1, wherein the robot board communication circuit comprises a UART to RS232 circuit, the UART to RS232 circuit comprises an RS232 chip electrically connected to the general control chip, and the RS232 chip is used for conversion between UART signals and RS232 signals.

7. The system as claimed in claim 6, wherein the RS232 chip is MAX3232 EUE.

8. The system of claim 6, wherein the UART-to-RS 232 circuit further comprises a communication power interface electrically connected to the RS232 chip, and the communication power interface is configured to electrically connect to a power supply and the RS232 interface of the robot board.

9. The system of claim 1, further comprising an output current detection circuit, wherein the output current detection circuit is electrically connected to the driving chip and the general control chip respectively.

10. The control system of the scanning probe of the ultrasonic automatic scanner according to claim 9, wherein the output current detection circuit comprises an operational amplifier chip TLV 9002.