JPH02152444A - Inching feed control apparatus of ultrasonic probe - Google Patents

Abstract

PURPOSE:To control inching feed by operating a connected probe by synthesizing the difference signal of the data of the position of the probe with respect to a desired inching feed position, the speed data signal of the operated probe and a data signal for stopping the probe at a desired position to amplifying the same and supplying the amplified signals to a motor driving circuit. CONSTITUTION:The output signal of the difference between the data of a desired inching feed position and the position data of a probe is amplified to be supplied to a probe driving motor 11 to operate a motor. On the basis of positive and negative speed data signals at the time of operation, data of one polarity is selected corresponding to the rotary direction of the motor to feed back an output signal and the probe 13 connected to the driving motor is operated at a constant speed with respect to the load variation of the driving motor. When the probe reaches before + or - count based on a digital output value with respect to a desired inching feed position, the output signal due to the data of one polarity of a brake data signal divided into positive and negative polarities corresponding to the rotary direction of the driving motor is added to stop the probe at a desired position rapidly with good accuracy. By this method, an ultrasonic cardiograph or Doppler spectrum can be diagnosed with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is applicable to ultrasonic diagnostic equipment, etc. for obtaining ultrasound cardiographs, Doppler spectra, etc. of internal organs in the body using ultrasonic waves. This invention relates to an inching feed control device for an ultrasonic probe.

2. Description of the Related Art In general, an ultrasonic diagnostic apparatus obtains tomographic images of internal organs by emitting ultrasonic waves into the body and receiving the reflected waves. To irradiate ultrasound into the body, an ultrasound transducer called a 5-probe is brought into contact with the body in a direction perpendicular to the desired tomographic plane. Then, an ultrasonic probe is placed on the circumference near the tip of this probe,
The motor installed in the probe rotates or stops the probe as described above, transmits ultrasonic waves, receives reflected waves from the internal organs of the body, and obtains tomographic images while rotating the probe. There are devices that can obtain ultrasound cardiographs and Doppler spectra obtained by stopping the child at a desired position.

Hereinafter, a conventional inching feed control device for stopping an ultrasonic probe will be described with reference to FIG. 2.

In FIG. 2, 32 is a manual operation device, 33 is a position information generation circuit, 34 is a microcomputer, 35 is an up/down counter circuit, 36 is a D/A converter, 37 is an amplifier, and 38 is a D/A conversion circuit. , the D/A converter 36 and the amplifier 37. , 39 is an output addition resistor, 4
0 is an output switching circuit, 4I is a preamplifier, 42 is a motor drive circuit, 43 is a probe drive motor, 44 is an encoder, 45 is an ultrasonic probe, 46 is a probe, and 43.
44 and 45. Next, the inching feed control of the probe in the conventional example described above will be explained.

By operating the manual operating device 32, the manual operating device 32
Information on the inching feed direction and feed amount is sent from the position information generating circuit 33 connected to the microcomputer 34. The position information of the probe 45 in the probe 46 is
A probe driving motor 43 is connected to the probe drive motor 5, an encoder 44 is connected thereto, and the output signal of the encoder 44 is sent to the microcomputer 34 by an up/down counter circuit 35 connected thereto. In the microcomputer 34, the above position information generation circuit 3
3 and the input from the up/down counter circuit 35 indicating the position of the probe 45 in the probe 46, and output the difference in digital quantity to the A/A converter 36.

[)/A converter 36 converts the difference in digital (i) into an analog voltage, the output of which is amplified by an amplifier 37 and sent to an output switching circuit 40 through an output adding resistor 39.

The output of the output switching circuit 40 is amplified by a preamplifier 41 and then passed through a motor drive circuit 42 to a probe drive motor 43.
is supplied to drive the drive motor 43 to perform inching feed control of the probe 45 connected to the drive motor.

Problems to be Solved by the Invention However, with the above-mentioned conventional configuration, there are problems such as differences in the rotational loads of the individual probes 45, changes in the rotational loads due to temperature, and problems in the connection between the probe 45 and the probe drive motor 43. Due to load fluctuations due to temperature, etc., the probe drive motor 43 may vibrate during inching feed, or the probe drive motor 43 may not operate at the desired position set with the manual operation device 32. , it was not possible to move the probe 45 to a desired position and perform highly accurate diagnosis using an ultrasonic cardiograph, a Doppler spectrum, or the like.

Means for Solving the Problems In order to achieve the above object, the present invention counts the output pulses of an encoder connected to the driving motor of the ultrasonic probe and detects the position of the probe as indicated by -. Compare the digital value output of the counter circuit with the output of the desired inching feed position set by the digital value inputted to the microcomputer via the position information generation circuit by the manual operation device,
D converts the difference into an analog voltage, amplifies it, and outputs it.
/Δ conversion circuit, and a pulse width constant circuit that generates a signal with a constant pulse width from the output signal (a) from this circuit and both rising and falling edges of the output pulse of the encoder; A circuit that doubles the output from the circuit, and 2
A filter circuit that converts the doubled pulses into an analog voltage, a signal generation circuit that generates positive and negative outputs with the same absolute value as the output from the above circuit, and an output from this circuit that converts the output in the direction of rotation of the above probe. There is a positive/negative signal selection circuit that selects and outputs a voltage of one polarity depending on the voltage, and an output signal (
b), the digital value from the counter circuit that detects the position of the probe, and the value of the desired inching feed position set by the digital value, and the output value from the counter circuit is determined to be the desired value. When it reaches ±1 count before the feed position, a pulse generation circuit that generates positive and negative pulses and pulses from this circuit are activated according to the rotation direction of the probe.
It has a positive/negative pulse selection circuit that selects and outputs a pulse signal of one polarity, and has an output signal (c) from this circuit, and an output signal (a) and an output signal (b) from the circuit. and an output signal (c) by an output synthesis circuit, amplified by a preamplifier, and supplied to a probe drive motor, the probe being connected to the probe drive motor. This is an ultrasonic probe inching feed control device that controls the inching feed of an ultrasonic probe.

Function: Since the above-mentioned technical measures have been taken, 1) the manual edger is used to input the output information of the desired inching feed position, which is inputted to the microcomputer through the position information generation circuit and set as a digital value, and the rotary type Using the output pulses of the encoder connected to the probe drive motor, the digital output information from the counter circuit that detects the probe position is compared and converted into an analog voltage that is the difference between the digital values. Generate a signal with a constant pulse width from one edge using the output signal (a) and both rising and falling edges of the encoder, double this signal and convert it into an analog voltage,
Furthermore, positive and negative voltages with the same absolute value are generated in this analog voltage, and the voltage of one polarity is selected and output according to the rotational direction of the probe, and the output signal (b) is obtained by differentiating this voltage. , the digital output value from the counter that detects the position of the probe is compared with the digital output of the desired inching feed position set by the digital value, and the digital output value from the counter is When it reaches ±1 count before the digital output value, it generates constant positive and negative pulse signals, and converts these output pulses into an output signal (c ), the output signals (a), (b), and (c) are synthesized and amplified by an output synthesis circuit, and the signals are supplied to a motor drive circuit to operate a probe connected to the motor. , inching feed control. Therefore, the difference signal of the probe position information with respect to the desired inching position, the speed information signal at which the probe is operating, and the information to apply the brake to stop the probe at the desired position. Since a signal is supplied to the drive motor according to the direction of rotation of the probe, it is now possible to quickly and precisely stop the probe at a desired inching position.

EXAMPLES Hereinafter, examples of the present invention will be described with reference to the drawings.

FIG. 1 is a block circuit diagram of an inching feed control device for an ultrasonic probe according to an embodiment of the present invention.

In Fig. 1, l is a manual operation device, 2 is a position information generation circuit, 3 is a microcomputer, 4 is an up/down counter circuit, and 5 is a digital-to-analog converter (1).
6 is an amplifier, and 7 is a D/A conversion circuit.

8 is an output synthesis circuit, 9 is a preamplifier 510 is a dryer drive circuit, 11 is a probe drive motor, 12 is an encoder,
13 is an ultrasonic probe; 14 is a probe;
Consists of 2.13. 15 is a pulse generation circuit, 15 is a positive pulse generation circuit, 17 is a negative pulse generation circuit, 18 is a positive/negative pulse selection circuit, 19.20.21 is an output combining resistor,
22 is a pulse width constant circuit, 23 is a pulse doubling circuit,
24 is a filter circuit, 25 is an amplifier circuit, 26 is a positive signal generation circuit, 27 is a negative signal generation circuit, 28.29 is an output synthesis resistor, 30 is a positive/negative signal selection circuit, 31 is a differentiation circuit, and the present invention The embodiment is configured as described above.

Next, the operation of this embodiment will be explained. In order to inch the probe I3 to a desired position, the manual operation device 1 is used to
Set the desired inching feed direction and feed amount. Since the manual operating device 1 is connected to a position information generating circuit 2, digital information of the set feeding position is generated from this circuit and taken into the microcomputer 3. On the other hand, the position information of the probe 13 is obtained by counting the output pulses of a probe drive motor 11 connected to the probe 13 and an encoder 12 connected to the motor, and detecting the position of the probe 13. The up/down counter circuit 4 converts the data into digital information. This digital information is taken into the microcomputer 3. Microfunputer 3 is
The digital information of the desired feeding position and the probe 13
The difference between the digital values is compared with the digital information at the stop position, and the difference between the digital values is output to the A/A converter 5. D/
The difference is converted into an analog voltage by the A converter 5, and the analog voltage corresponding to the difference is amplified by the amplifier 6 and input to the output synthesis circuit 8 through the output summing resistor 19. The signal is input to an amplifier 9, amplified, and supplied to a motor drive circuit 10, which drives a probe drive motor 11. The motor 11 operates and the dryer 1
Pulses are output from an encoder 12 connected to 1.

The pulse width constant circuit 22 is activated by both the rising and falling edges of this pulse, and a pulse synchronized with the above-mentioned edges is output. This pulse output is doubled by a pulse doubling circuit 23, converted to an analog voltage by a filter circuit 24, and amplified by an amplifier 25 according to the type of probe 14. The amplified output is sent to the positive signal generation circuit 26
, a negative signal generating circuit 27, and these circuits generate positive and negative voltages whose absolute values are equal to the analog voltage. The outputs of the positive signal generation circuit 26 and negative signal generation circuit 27 are passed through resistors 28 and 29, respectively.
The voltage is input to the positive/negative signal selection circuit 30, and a voltage of one polarity is selected and output depending on the direction of rotation of the probe +3.

This output is differentiated by the differentiating circuit 31, inputted to the output combining circuit 8, combined with the analog voltage corresponding to the difference, amplified by the preamplifier 9, and motor drive circuit l.
It is input to O. The output of the motor drive circuit 10 is supplied to a probe drive motor 11 to drive the probe 13. The output of the differential circuit 31 acts as a feedback output to keep the operating speed of the motor 11 constant in response to load fluctuations applied to the probe drive motor H, and
The operating speed during inching feed is made constant. On the other hand, a feedback output as a brake for quickly stopping the probe 13 at a desired inching feed position is generated in the following manner. That is, the microcomputer 3 compares the digital information at the desired position generated by the position information generating circuit 2 and the digital information from the up-down counter 4 for detecting the position of the probe, and the search is performed. When the feeler 13 reaches ±1 count before the desired inching feed position, a trigger pulse is sent from the microcomputer 3 to the pulse generating circuit I5, and the pulse is output from the generating circuit I5. This output is output from the positive pulse generating circuit 16 and the negative pulse generating circuit 17.
These circuits generate positive and negative pulses, respectively. These pulses are resistor 2
0.2! is inputted to the positive/negative pulse selection circuit 18, which selects one polarity depending on the rotational direction of the probe 13, and is inputted to the output synthesis circuit 8, where it is synthesized with the output of the differentiating circuit 31, and then the preamplifier 9. The signal is fed back as a brake information signal to the probe drive motor 11 through the motor drive circuit 10.

Effects of the Invention Since the present invention has the above-described configuration, the output signal (a) of the difference between the desired inching feed position information and the probe position information is amplified to drive the probe. supplying the motor to the motor, operating the motor, selecting one polarity of the positive and negative speed information signals during operation according to the rotational direction of the drive motor, and feeding back the output signal (b). , the probe connected to the probe drive motor is operated at a constant speed in response to load fluctuations on the drive motor, and the digital output value is ±1 count for the desired inching feed position of the probe. When the probe reaches the front, apply the output signal (c) based on the information of one polarity of the brake information signal divided into positive and negative polarity according to the rotation direction of the probe drive motor to reach the desired position. Since it can be stopped quickly and accurately, it has the effect of enabling highly accurate diagnosis using an ultrasonic cardiograph or Doppler spectrum of an ultrasonic diagnostic device.

[Brief explanation of the drawing]

Fig. 1 is a block circuit diagram of an ultrasonic probe inching feed control device showing an embodiment of the present invention, and Fig. 2 is a block circuit diagram of a conventional ultrasonic probe inching feed control device. be. l...Manual operation device 2...Position information generation circuit 3.
...Microcomputer 4...Counter circuit 7.
...D/A conversion circuit 8...Output synthesis circuit 9...
Preamplifier lO... Inverter drive circuit 11... Probe drive motor 12... Encoder 13...
Ultrasonic probe 14...Probe 15-...Pulse generation circuit 16.17...Pulse generation circuit 18...Positive/negative pulse selection circuit 22...Pulse width constant circuit 23...Pulse Doubling circuit 26.27...Signal generation circuit 3a...Positive/negative signal selection circuit 24...Filter circuit 31...Differentiating circuit

Claims (1)

[Claims] (1) The digital value output of the counter circuit that counts the output pulses of the encoder connected to the driving motor of the ultrasonic probe and detects the position of the probe, and the position information generation circuit is activated by the manual operation device. It has a D/A conversion circuit that compares the output of the desired inching feed position, which is input to the microcomputer and set as a digital value, and converts the difference into an analog voltage, amplifies it, and outputs it. A pulse width constant circuit that generates a signal with a constant pulse width from the output signal (a) from the circuit and both the rising and falling edges of the output pulse of the encoder, and the output from this circuit is doubled. a filter circuit that converts the doubled pulses into an analog voltage, a signal generation circuit that generates positive and negative outputs whose absolute values are equal to the output from the circuit, and the output from this circuit that is probed as described above. A positive/negative signal selection circuit that selects and outputs a voltage of one polarity depending on the rotation direction of the child, an output signal (b) from a differentiating circuit that differentiates the output from this circuit, and the above detector. The digital value from the counter circuit that detects the position of the feeler is compared with the value of the desired inching feed position set by the digital value, and the output value from the counter circuit is ±1 of the desired feed position.
When the count is reached, there is a pulse generation circuit that generates positive and negative pulses, and a pulse generation circuit that selects and outputs a pulse signal of one polarity depending on the rotation direction of the probe. a pulse selection circuit, an output signal (c) from the circuit, and an output signal (a) from the circuit;
), the output signal (b) and the output signal (c) are synthesized by an output synthesis circuit, amplified by a preamplifier, and supplied to a probe drive motor; What is claimed is: 1. An inching feed control device for an ultrasonic probe, characterized in that the inching feed control device controls the inching feed of a probe connected to the probe.