Nanometer microneedle device capable of adaptively adjusting penetration depth

Abstract

The invention provides a nanometer microneedle device capable of adjusting the penetration depth in a self-adaptive mode, and belongs to the field of medical microneedle equipment. According to the device, an optical thickness detection module and an integrated pressure sensor which are used for detecting the skin thickness and density are arranged at a contact sensing end, meanwhile, a nano microneedle array is arranged, and distance adjustment of microneedles is achieved through a stepping motor; then, based on the set model, mode and external force application selection and the measured skin thickness and density, the piercing depth is automatically calculated, the depth is corrected based on basic setting, then a stepping motor is controlled through a control module, and finally self-adaptive control over the piercing depth is achieved. According to the invention, the self-adaptive adjustment of the penetration depth is realized by correcting the penetration depth based on the user demand, so that the penetration depth is prevented from being too deep or insufficient, the finally obtained penetration depth meets the user demand, and the method is suitable for different treatment scenes; meanwhile, data can be recorded and synchronized in real time, and effect evaluation and scheme optimization are facilitated.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of medical microneedle devices, and particularly relates to a nanometer microneedle device capable of self-adaptively adjusting a penetration depth. BACKGROUND

[0002] In recent years, nanometer microneedle technology has been widely concerned in the fields of medical cosmetology and drug delivery, and achieves therapeutic effect or drug delivery by penetrating the skin surface layer or deeper tissue. The microneedle device directly acts on the skin surface layer, and penetrates different skin depths for different skin problems. Therefore, how to monitor and control the penetration depth of the microneedle is an important indicator for measuring the microneedle technology and device.

[0003] In the prior art, there are two kinds of fixed depth and adjustable depth for microneedle penetration. Generally, the microneedle device has a predetermined specificity, and is only used for a specific skin area or skin state. The penetration depth is fixed and cannot be changed. Such a device has a small application range and great limitations, and is difficult to adapt to the needs of different treatment areas or skin states. Some devices have a manually adjustable function, but the manual depth adjustment method has low precision and complex operation, which is not conducive to efficient treatment. Moreover, the adjustment process depends on manual operation, and it is difficult to meet the complex and variable treatment needs. Some microneedle devices attempt to adjust the penetration depth through mechanical adjustment, but lack real-time dynamic adjustment function, which limits the application of microneedle technology in multiple scenarios. SUMMARY

[0004] In view of the above defects or deficiencies in the prior art, the application aims to provide a nanometer microneedle device capable of self-adaptively adjusting a penetration depth. The penetration depth is calculated based on the real-time state of the skin, and the penetration depth is corrected based on the individual selection of the user, thereby improving the safety, individualization, precision and universality of nanometer microneedle treatment.

[0005] In order to achieve the above-mentioned purpose, the embodiments of the application adopt the following technical solutions: The embodiments of the application provide a nanometer microneedle device capable of self-adaptively adjusting a penetration depth. The device comprises a contact sensing end 1 provided with a nanometer microneedle array, a shell 2, a stepping motor 3, a precision transmission mechanism 4, a data processing circuit 5, a control module 6, a data and power interface 7, and a control panel 8. Wherein, The contact sensing end 1 is arranged at the front end of the shell 2, the data and power interface 7 is arranged at the tail end of the shell 2, the data processing circuit 5 is arranged inside the shell 2 and is electrically connected with the contact sensing end 1, the control module 6 and the data and power interface 7 respectively; the keys 81, the control buttons 82 and the display screen 83 of the control panel 8 are distributed and embedded on the shell 2 and are in communication with the corresponding interfaces in the control module 6; the control module 6 is connected with the stepping motor 3, the stepping motor 3 is connected with the precision transmission mechanism 4, and the precision transmission mechanism 4 is connected with the nanometer microneedle array 11 of the contact sensing end 1; The cross section of the contact sensing end 1 is circular and is divided into an inner ring and an outer ring, the outer ring end face is provided with the optical thickness measurement module 12 and the integrated pressure sensor 13, the inner ring is provided with the uniformly distributed nanometer microneedle array 11, the inner side end face of the microneedle is uniformly arranged on the same plate, the plate is connected with the precision transmission mechanism 4, the precision transmission mechanism 4 is connected with the stepping motor 3, under the driving of the stepping motor 3, the precision transmission mechanism 4 can control the stretching and contraction of the nanometer microneedle array 11 uniformly distributed on the plate on the outer ring end face, so that the outer end needle tip of the nanometer microneedle array 11 and the plane where the outer ring end face is located maintain a predetermined vertical distance; The data processing circuit 5 includes a penetration depth calculation module 51 and a depth correction module 52; the control module 6 includes a model selection module 61, an external force applying module 62, a mode selection module 63 and a control command module 64, and the model selection module 61, the external force applying module 62 and the mode selection module 63 are all provided with corresponding buttons on the control panel 8, the control command module 64 is connected with the key 81; the model selection module 61 is connected with the penetration depth calculation module 51, the external force applying module 62 and the mode selection module 63 are connected with the depth correction module 52.

[0006] As a preferred embodiment of the application, in the control module 6, the model selection module 61 corresponds to at least two selection buttons of linear model and nonlinear model, the external force applying module 62 corresponds to a scroll button which can continuously select the value of the applied pressure, the mode selection module 63 corresponds to at least selection buttons of treatment modes such as drug delivery and skin stimulation; the model, the applied pressure and the mode are selected by the operator through the corresponding buttons of the control panel.

[0007] As a preferred embodiment of the present application, the penetration depth calculation module 51 is connected to the optical thickness measurement module 12, the integrated pressure sensor 13 and the model selection module 61 at the uplink data interface, and is connected to the depth correction module 52 at the downlink data interface, and is internally provided with a penetration depth algorithm based on a machine learning model construction and an updateable database, for calculating a preliminary penetration depth corresponding to the current condition according to the skin thickness, density measured by the optical thickness measurement module 51 and the integrated pressure sensor 52, and the model selected by the user, and sending the calculated preliminary penetration depth to the depth correction module 52.

[0008] As a preferred embodiment of the present application, the depth correction module 52 is connected to the external force application module 62 and the mode selection module 63 at the uplink data interface, and is connected to the control command module 64 at the downlink data interface; the control command module 64 activates the external force application module 62 and the mode selection module 63 when receiving the preliminary penetration depth value, and feeds back the user's selection of the applied external force and mode to the depth correction module 52; the depth correction module 52 corrects the preliminary penetration depth according to the user's selection of the applied external force, mode and internal safety threshold, and sends the corrected penetration depth to the control command module 64; the control command module 64 controls the display result of the display module 83 and the value of the stepping motor 3 according to the penetration depth value, and automatically controls and adjusts the vertical distance between the nanometer microneedle array 11 and the outer ring end face of the contact sensing end through the stepping motor 3 and the precision transmission mechanism 4, to realize self-adaptive adjustment of the penetration depth.

[0009] As a preferred embodiment of the present application, when the thickness or pressure change value measured by the optical thickness measurement module 12 and the integrated pressure sensor 13 exceeds the preset change threshold in the device, the penetration depth calculation module 51 is restarted, at which time the initial model, mode and applied pressure options are defaulted, the data processing circuit automatically starts the depth correction module 52 to complete the calculation of the final penetration depth, and sends it to the control command module 64 to complete the self-adaptive adjustment of the nanometer microneedle array 11.

[0010] As a preferred embodiment of the present application, the penetration depth calculation module 51 calculation process corresponds to linear and nonlinear models, including linear calculation and nonlinear calculation.

[0011] As a preferred embodiment of the present application, when the calculation is performed under the linear model, it is suitable for the case where the skin thickness and density have a relatively linear effect on the penetration depth, and the penetration depth can be quickly calculated in an environment with limited calculation resources; The preliminary penetration depth H is represented by the following linear relationship: (1) In formula (1), T is the skin thickness, unit: mm; D is the skin density, dimensionless; alpha is the thickness influence coefficient, unit: mm / mm; beta is the density influence coefficient, unit: m / unit density; gamma is the fixed compensation factor, unit: mm.

[0012] As a preferred embodiment of the present application, when the calculation is performed under the nonlinear model, the influence of the skin characteristics on the optimal penetration depth can be more accurately reflected, and the nonlinear model is suitable for high-precision treatment scenarios. When the quadratic polynomial model is used for calculation, the preliminary penetration depth H is represented by the following linear relationship: (2) In formula (2), T is the skin thickness, unit: mm; D is the skin density, dimensionless; alpha is the thickness influence coefficient, unit: mm / mm; beta is the density influence coefficient, unit: m / unit density; gamma is the fixed compensation factor, unit: mm; delta is the thickness quadratic term correction coefficient, unit: mm / mm<2>; epsilon is the density quadratic term correction coefficient, unit: mm / unit density<2>; eta is the thickness and density interaction coefficient, unit: mm / (mm·unit density).

[0013] As a preferred embodiment of the present application, the coefficients alpha, beta, delta, epsilon, eta and gamma in the model are trained according to historical data by using a machine learning regression algorithm, and the model parameters are dynamically optimized, so that the model is adapted to different populations and skin types, and the calculation accuracy is improved.

[0014] As a preferred embodiment of the present application, the depth correction module 52 introduces the following correction parameters when performing correction calculation: treatment mode correction M, which adjusts the target penetration depth according to different treatment modes; pressure correction P, which dynamically adjusts the depth according to the data detected by the integrated pressure sensor 13 during the penetration process, to adapt to the change of skin elasticity; safety threshold correction S, which sets the minimum penetration depth S min and the maximum penetration depth S max to prevent the penetration from being too deep or too shallow and ensure the safety of treatment; in combination with the above correction parameters, the extended depth correction calculation formula is as follows: (3) In formula (3), f an adaptive model based on a machine learning algorithm or a neural network model is constructed to realize the correction of the final penetration depth.

[0015] The technical scheme provided by the embodiment of the present application has the following beneficial effects: The nanometer microneedle device for self-adaptive adjustment of penetration depth provided by the embodiment of the application uses real-time detected skin data as the basis for calculation of penetration depth, and simultaneously corrects the penetration depth according to user requirements, so as to avoid excessive or insufficient penetration, and make the final penetration depth meet the user requirements; the step motor and the precision transmission mechanism are combined to realize micron-level adjustment of the microneedle array module in the vertical direction (Z axis); the machine learning algorithm and big data are introduced into the calculation and correction of the penetration depth, and simultaneously realize real-time self-adaptive dynamic adjustment, adapt to various skin conditions, and through the combination with the manual operation module, the personalized selection of the user is realized through the control keys, support multiple treatment modes such as drug delivery and skin stimulation, realize safer and more accurate treatment, and adapt to different treatment scenes; meanwhile, real-time recording and synchronization of data are realized, and the effect evaluation and scheme optimization are facilitated.

[0016] Of course, implementing any product or method of the application does not necessarily require achieving all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0018] Figure 1 is a schematic diagram of the appearance of the nanometer microneedle device for self-adaptive adjustment of penetration depth described in the embodiment of the application; Figure 2 is a schematic diagram of the internal structure connection of the device described in the embodiment of the application; Figure 3 is a schematic diagram of the internal structure of the data processing module described in the embodiment of the application; Figure 4 is a schematic diagram of the internal structure of the control module described in the embodiment of the application.

[0019] Explanation of reference signs: 1-contact sensing end; 11-nanometer microneedle array; 12-optical thickness measurement module; 13-integrated pressure sensor; 2-housing; 3-step motor; 4-precision transmission mechanism; 5-data processing circuit; 51-penetration depth calculation module; 52-depth correction module; 6-control module; 61-model selection module; 62-applied external force module; 63-mode selection module; 64-control command module; 7-data and power supply interface; 8-control panel; 81-on-off key; 82-control key; 83-display screen. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0021] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the description of the present application, the terms "first", "second", "third", "fourth" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0022] In view of the micro-needle penetration depth problem in the prior art, the embodiment of the present application provides a nano-micro-needle device for self-adaptive adjustment of penetration depth, to solve the problems of low depth adjustment precision, complex operation, single function and the like in the existing micro-needle device, and to dynamically adjust the micro-needle penetration depth in real time, to adapt to different skin areas and treatment requirements, and to improve the treatment effect and operation efficiency.

[0023] Referring to Figure 1 and Figure 2 The nano-micro-needle device for self-adaptive adjustment of penetration depth comprises a contact sensing end 1 provided with a nano-micro-needle array, a shell 2, a stepping motor 3, a precision transmission mechanism 4, a data processing circuit 5, a control module 6, a data and power interface 7 and a control panel 8; wherein the contact sensing end 1 is arranged at the front end of the shell 2, the data and power interface 7 is arranged at the tail end of the shell 2, the data processing circuit 5 is arranged inside the shell 2, and is electrically connected with the contact sensing end 1, the control module 6 and the data and power interface 7 respectively; the on-off key 81, the control key 82 and the display screen 83 of the control panel 8 are distributed and embedded on the shell 2, and are in communication with the corresponding interfaces in the control module 6; the control module 6 is connected with the stepping motor 3, the stepping motor 3 is connected with the precision transmission mechanism 4, and the precision transmission mechanism 4 is connected with the nano-micro-needle array 11 of the contact sensing end 1.

[0024] The cross section of the contact sensing end 1 is circular and is divided into an inner ring and an outer ring, wherein the outer ring end face is provided with an optical thickness measurement module 12 and an integrated pressure sensor 13, and the inner ring is provided with a uniformly distributed nano-microneedle array 11, the inner side end face of the microneedle is uniformly arranged on the same flat plate, and the flat plate is connected with a precision transmission mechanism 4, and the precision transmission mechanism 4 is connected with a stepping motor 3; under the driving of the stepping motor 3, the precision transmission mechanism 4 can control the stretching and shrinking of the nano-microneedle array 11 uniformly distributed on the flat plate on the outer ring end face, so that the outer end needle tip of the nano-microneedle array 11 maintains a predetermined vertical distance from the plane where the outer ring end face is located.

[0025] The data processing circuit 5 includes a penetration depth calculation module 51 and a depth correction module 52; the control module 6 includes a model selection module 61, an external force application module 62, a mode selection module 63 and a control command module 64, and the model selection module 61, the external force application module 62 and the mode selection module 63 are each provided with a corresponding button on the control panel 8, and the control command module 64 is connected with the key 81; wherein the model selection module 61 includes at least two selection buttons of a linear model and a nonlinear model, the corresponding button of the external force application module 62 is a scroll button that can continuously select the pressure value, and the mode selection module 63 includes at least selection buttons corresponding to treatment modes such as drug delivery and skin stimulation; the model, the applied pressure and the mode are selected by the operator through the corresponding buttons of the control panel; the model selection module 61 is connected with the penetration depth calculation module 51, and the external force application module 62 and the mode selection module 63 are connected with the depth correction module 52.

[0026] The penetration depth calculation module 51 is connected with the optical thickness measurement module 12, the integrated pressure sensor 13 and the model selection module 61 through an uplink data interface, and is connected with the depth correction module 52 through a downlink data interface, and has a built-in penetration depth algorithm based on a machine learning model and an updateable database, which is used to calculate a preliminary penetration depth corresponding to the current condition according to the skin thickness and density measured by the optical thickness measurement module 51 and the integrated pressure sensor 52 and the model selected by the user, and send the calculated preliminary penetration depth to the depth correction module 52.

[0027] The depth correction module 52 is connected to the external force applying module 62 and the mode selection module 63 at the uplink data interface, and is connected to the control command module 64 at the downlink data interface; the control command module 64 activates the external force applying module 62 and the mode selection module 63 upon receiving the preliminary penetration depth value, and feeds back the user's selection of the applied external force and mode to the depth correction module 52; the depth correction module 52 corrects the preliminary penetration depth according to the user's selection of the applied external force, mode, and built-in safety threshold, and sends the corrected penetration depth to the control command module 64; the control command module 64 controls the display result of the display module 83 and the value of the stepping motor 3 according to the penetration depth value, and automatically controls and adjusts the vertical distance between the nanometer microneedle array 11 and the outer ring end face of the contact sensing end through the stepping motor 3 and the precision transmission mechanism 4, to achieve self-adaptive adjustment of the penetration depth.

[0028] When the thickness or pressure change value measured by the optical thickness measurement module 12 and the integrated pressure sensor 13 exceeds the preset change threshold, i.e., when the skin state changes significantly, the penetration depth calculation 51 module is restarted, at which time the initial model, mode, and applied pressure options are defaulted, the data processing circuit automatically starts the depth correction module 52 to complete the final penetration depth calculation, and sends the result to the control command module 64, to complete the self-adaptive adjustment of the nanometer microneedle array 11.

[0029] Preferably, the penetration depth calculation module 51 calculation process corresponds to linear and nonlinear models, including linear and nonlinear calculations.

[0030] When the calculation is performed under the linear model, the preliminary penetration depth H is represented by the following linear relationship: (1) In formula (1), T is the skin thickness, with the unit of mm; D is the skin density, which is a relative dimensionless value; a is the thickness influence coefficient, with the unit of mm / mm; b is the density influence coefficient, with the unit of m / unit density; g is the fixed compensation factor, with the unit of mm. This model is suitable for cases where the skin thickness and density have a relatively linear impact on the penetration depth, and can quickly calculate the penetration depth in an environment with limited calculation resources.

[0031] When the calculation is performed under the nonlinear model, the preliminary penetration depth may have a nonlinear relationship with the skin thickness T and density D, considering the biological properties of the skin, and a nonlinear function is used to calculate the penetration depth. In an executable embodiment, a quadratic polynomial model is used to calculate the preliminary penetration depth H, which is represented by the following linear relationship: (2) In formula (2), δ is the thickness quadratic correction coefficient, with unit mm / mm²; ε is the density quadratic correction coefficient, with unit mm / unit density²; η is the thickness and density interaction coefficient, with unit mm / (mm·unit density). This model can more accurately reflect the influence of skin characteristics on the optimal penetration depth, and is suitable for high-precision treatment scenarios.

[0032] The coefficients a, β, δ, ε, η and γ in the linear and nonlinear models need to be fitted through a large amount of experimental data and clinical trials to ensure the accuracy of the calculation model. Machine learning regression algorithms (such as multiple regression, deep learning) are used to train the model, dynamically optimize the model parameters, and adapt to different populations and skin types. In the implementation process, the data processing module performs self-adaptive adjustment on the model based on machine learning algorithms according to historical data to improve the calculation accuracy.

[0033] Preferably, the depth correction module 52 introduces the following correction parameters when performing correction calculation: treatment mode correction M, which adjusts the target penetration depth according to different treatment modes (such as drug delivery, skin stimulation, etc.); pressure correction P, which dynamically adjusts the depth during penetration according to the data detected by the integrated pressure sensor 13 to adapt to changes in skin elasticity; safety threshold correction S, which sets the minimum penetration depth S min and the maximum penetration depth S max to prevent penetration too deep or too shallow and ensure treatment safety. Combined with the above correction parameters, the extended depth correction calculation formula is as follows: (3) In formula (3), f represents an adaptive model based on machine learning algorithms or neural network models to realize the correction of the final penetration depth.

[0034] In an executable embodiment, the nanometer microneedle array 11 includes a replaceable nanometer microneedle array, supporting single or multiple uses; the integrated pressure sensor 13 and the optical thickness measurement module 12 are used to detect skin thickness and density.

[0035] The data and power interface 7 includes a wireless communication module supporting Bluetooth or Wi-Fi connection, which can be synchronized with mobile devices and remotely controlled.

[0036] Preferably, the device can also include an auxiliary positioning module that uses guide rails and positioning pins and other structures to ensure that the microneedle array module does not deviate laterally during movement, thereby ensuring accurate alignment of the needle with the target area.

[0037] The device can also include a cache module for recording data on the penetration procedure, recording treatment parameters and uploading to the cloud.

[0038] When the nano-microneedle device provided by the embodiment of the application is used for nano-microneedle treatment, the contact sensing end is placed on the corresponding skin area after starting, at this time, the integrated pressure sensor and the optical thickness measurement module first automatically detect the skin state, measure the skin thickness and density; the user selects the depth calculation model according to the needs; the depth calculation module calculates the preliminary penetration depth according to the skin thickness, density and model; after the external force application module and the mode selection module are activated, the user selects the external force value and the treatment mode according to the own needs; at this time, the deep correction module corrects the preliminary penetration depth according to the received data and sends the correction result to the control module, and simultaneously displays on the display screen of the control panel; the control module controls the stepping motor, then drives the precision transmission mechanism, and finally drives the nano-microneedle array to adjust the vertical distance on the contact sensing end and penetrate the skin to the corresponding depth according to the final penetration depth calculated by the depth correction module.

[0039] When the drug needs to be administered for treatment, the display screen displays the actual penetration depth of the microneedle, and the operator presses the administration button to perform the administration operation.

[0040] The embodiment uses the real-time detected skin data as the basis for calculating the penetration depth, and simultaneously corrects the penetration depth according to the user's needs, thereby avoiding excessive or insufficient penetration, so that the final penetration depth meets the user's needs; the combination of the stepping motor and the precision transmission mechanism realizes the micron-level adjustment of the microneedle array module along the vertical direction (Z axis); the machine learning algorithm and big data are introduced into the calculation and correction of the penetration depth, and simultaneously realize real-time adaptive dynamic adjustment, adapt to various skin states, through the combination with the manual operation module, the user's personalized selection is realized through the control button, supports various treatment modes such as drug delivery and skin stimulation, realizes safer and more accurate treatment, and is suitable for different treatment scenes; at the same time, real-time recording and synchronization of data can be realized, which is convenient for effect evaluation and scheme optimization.

[0041] It should be noted that the modules in the embodiments can be implemented by a processor, and a memory is appropriately increased when storage is required. The processor can be, but is not limited to, a microprocessor (MPU), a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The memory can include a random access memory (RAM) and can also include a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0042] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner.

[0043] The above description is only the preferred embodiment of the present application and the explanation of the applied technical principles, and is not intended to limit the scope of the claimed application, but only represents the preferred embodiment of the present application. Those skilled in the art should understand that the scope of the application involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

Claims

1. A nanoneedle device that adaptively adjusts insertion depth, characterized in that, The device includes: a contact sensing end with a nano-microneedle array, a housing, a stepper motor, a precision transmission mechanism, a data processing circuit, a control module, a data and power interface, and a control panel; wherein... The contact sensing terminal is located at the front end of the housing, the data and power interface is located at the rear end of the housing, and the data processing circuit is located inside the housing, and is electrically connected to the contact sensing terminal, the control module, and the data and power interface respectively inside the housing; the power switch, control buttons, and display screen of the control panel are distributed and embedded in the housing, and are connected to the corresponding interfaces in the control module; the control module is also connected to a stepper motor, the stepper motor is connected to a precision transmission mechanism, and the precision transmission mechanism is connected to the nano-microneedle array of the contact sensing terminal; The contact sensing end has a circular cross-section, divided into an inner ring and an outer ring. An optical thickness measurement module and an integrated pressure sensor are installed on the outer ring end face. The inner ring has a uniformly distributed array of nano-microneedles. The inner end faces of the microneedles are uniformly arranged on the same flat plate, which is connected to a precision transmission mechanism, which is in turn connected to a stepper motor. Driven by the stepper motor, the precision transmission mechanism can control the extension and contraction of the nano-microneedle array uniformly distributed on the flat plate on the outer ring end face, so that the outer tip of the nano-microneedle array maintains a predetermined perpendicular distance from the plane where the outer ring end face is located. The data processing circuit includes a penetration depth calculation module and a depth correction module; the control module includes a model selection module, an external force application module, a mode selection module, and a control command module, and the model selection module, the external force application module, and the mode selection module are all equipped with corresponding buttons on the control panel, and the control command module is connected to the power switch; the model selection module is connected to the penetration depth calculation module, and the external force application module and the mode selection module are connected to the depth correction module.

2. The apparatus according to claim 1, characterized in that, In the control module, the model selection module has at least two selection buttons for linear and nonlinear models. The external force application module has a roller button that allows continuous selection of the applied pressure value. The mode selection module has at least two selection buttons for treatment modes such as drug delivery and skin stimulation. The model, applied pressure, and mode are selected by the operator through the corresponding buttons on the control panel.

3. The apparatus according to claim 1, characterized in that, The penetration depth calculation module is connected to the optical thickness measurement module, the integrated pressure sensor, and the model selection module simultaneously via the uplink data interface, and to the depth correction module via the downlink data interface. It has a built-in penetration depth algorithm based on a machine learning model and an updatable database. It is used to calculate the initial penetration depth under the current conditions based on the skin thickness and density measured by the optical thickness measurement module and the integrated pressure sensor, as well as the model selected by the user, and then send the calculated initial penetration depth to the depth correction module.

4. The apparatus according to claim 1, characterized in that, The depth correction module is connected to the external force application module and the mode selection module via the uplink data interface, and to the control command module via the downlink data interface. When the control command module receives the initial insertion depth value, it activates the external force application module and the mode selection module, and simultaneously feeds back the user's selection of the applied external force and mode to the depth correction module. The depth correction module corrects the initial penetration depth based on the user-selected applied external force, mode, and built-in safety threshold, and sends the corrected penetration depth to the control command module. The control command module controls the display results of the display module and the value of the stepper motor according to the puncture depth value. It automatically controls and adjusts the vertical distance between the nano-needle array and the outer ring end face of the contact sensing end through the stepper motor and precision transmission mechanism according to the received puncture depth, so as to achieve adaptive adjustment of the puncture depth.

5. The apparatus according to claim 1, characterized in that, When the thickness or pressure change value measured by the optical thickness measurement module and the integrated pressure sensor exceeds the preset change threshold, the insertion depth calculation module is restarted. At this time, the default initial model, mode and applied pressure options are used. The data processing circuit automatically starts the depth correction module to complete the calculation of the final insertion depth and sends it to the control command module to complete the adaptive adjustment of the nano-needle array.

6. The apparatus according to claim 1, characterized in that, The penetration depth calculation module's calculation process corresponds to both linear and nonlinear models, including both linear and nonlinear calculations.

7. The apparatus according to claim 6, characterized in that, When performing calculations under a linear model, it is suitable for situations where the effects of skin thickness and density on insertion depth are relatively linear, and can quickly calculate the insertion depth in environments with limited computing resources; The initial penetration depth H is expressed as a linear relationship as follows: (1) In equation (1), T is the skin thickness in mm; D is the skin density, which is a relative dimensionless value; α is the thickness influence coefficient in mm / mm; β is the density influence coefficient in m / unit density; and γ is the fixed compensation factor in mm.

8. The apparatus according to claim 6, characterized in that, When performing calculations under a nonlinear model, it can more accurately reflect the influence of skin characteristics on the optimal insertion depth, making it suitable for high-precision treatment scenarios; Using a quadratic polynomial model, the initial penetration depth H is expressed as the following linear relationship: (2) In equation (2), T is skin thickness in mm; D is skin density, a relative dimensionless value; α is thickness influence coefficient in mm / mm; β is density influence coefficient in m / unit density; γ is fixed compensation factor in mm; δ is thickness quadratic term correction coefficient in mm / mm²; ε is density quadratic term correction coefficient in mm / unit density²; and η is thickness-density interaction coefficient in mm / (mm·unit density).

9. The apparatus according to claim 7 or 8, characterized in that, The coefficients α, β, δ, ε, η, and γ in the model are trained using a machine learning regression algorithm based on historical data. The model parameters are dynamically optimized to adapt to different populations and skin types, thereby improving computational accuracy.

10. The apparatus according to claim 1, characterized in that, The depth correction module incorporates the following correction parameters during the correction calculation: treatment mode correction M, which adjusts the target insertion depth according to different treatment modes; pressure correction P, which dynamically adjusts the depth based on data detected by the integrated pressure sensor during insertion to adapt to changes in skin elasticity; and safety threshold correction S, which sets the minimum insertion depth S. min and maximum penetration depth S max To prevent excessively deep or shallow insertion and ensure treatment safety, the extended depth correction calculation formula, based on the above correction parameters, is as follows: (3) In equation (3), f This refers to an adaptive model built based on machine learning algorithms or neural network models to correct the final penetration depth.

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