Patent ID: 11872079
Assignee: KUNSHAN IMAGENE MEDICAL CO., LTD.
Field: Medical technology (Instruments)
Classification: CPC A  Y | IPC A

Claim 13:
14. The ultrasound scanning device of claim 12, wherein the processor is further caused to:
control a pressure value between the probe and the part to be examined to be a constant value, comprising:
sensing an actual pressure value between the probe and the part to be examined in each control cycle using the force sensor;
calculating a position change amount Δp of position change using a preset position change formula according to the actual pressure value, wherein Δp=KP*ef+Kd*Δef;
Wherein Kp represents a preset proportional value and Kd represents a preset differential gain; ef represents a pressure error value between a preset target pressure value and the actual pressure value in a control cycle; Δef represents an amount of error change between a pressure error value corresponding to a current control cycle and a pressure error value corresponding to a previous control cycle; and
controlling the mechanical arm to drive the probe to make a position change with the position change amount Δp in a vertical direction based on the second coordinate system.