An ultrasonic detection and stimulation system based on an adaptive control algorithm

Abstract

The present invention discloses an ultrasonic detection and stimulation system based on an adaptive control algorithm, belonging to the fields of ultrasonic waves and control science, and mainly using an adaptive algorithm to control an ultrasonic stimulation device. This ultrasonic stimulation system mainly includes a main control module, a power supply module, a transmitting module, a receiving module, a switch selection module, an ultrasonic transducer, and a display screen module. The purpose of the present invention is to adaptively select the ultrasonic stimulation frequency according to different degrees of target areas and different parts. First, detect the target area, receive the echo signal, judge its severity, and according to this echo signal, continuously stimulate this area, adjust the stimulation frequency through detection at equal time intervals to meet the needs of different severities and different parts, and display the results of detection and stimulation on the display screen in real time.

Description

Technical Field

[0001] The present invention relates to the fields of ultrasonic and control science, and particularly to an ultrasonic detection and stimulation system based on an adaptive control algorithm. Background Art

[0002] When ultrasonic waves act on human tissues, certain biological effects will be produced, such as mechanical effect, thermal effect, cavitation effect, etc.

[0003] The ultrasonic vibration generated when ultrasonic waves propagate in a medium can cause the movement of substances inside tissue cells. This unique therapeutic property of ultrasonic waves, also known as internal massage, can change the permeability of cell membranes, stimulate the diffusion process of cell semi-permeable membranes, promote metabolism, accelerate blood and lymph circulation, improve the ischemic and anoxic state of cells, improve tissue nutrition, change the protein synthesis rate, enhance the regeneration function, etc., thereby causing changes in the internal structure of cells, resulting in changes in cell functions, making hard connective tissues stretch and soften. The ultrasonic mechanical effect can achieve the effects of softening tissues, enhancing penetration, promoting metabolism and circulation, and stimulating the nervous system and cell functions.

[0004] Human tissues can very effectively absorb the energy of ultrasonic waves, that is, when ultrasonic waves propagate in human tissues, their energy will be continuously absorbed by the tissues and converted into heat, resulting in an increase in the temperature of the tissues themselves. This process of endogenous heat generation is an energy conversion process in which mechanical energy is converted into heat energy in a medium. Briefly speaking, the thermal effect of ultrasonic waves can accelerate metabolism and gradually improve tissue nutrition. Different from common physical heating, the thermal effect of ultrasonic waves is more significant in bones and connective tissues, and has the least effect on fats and blood.

[0005] Medical experts at home and abroad have achieved very good curative effects in the treatment of limb soft tissue injuries, limb chronic pain rehabilitation, and limb movement rehabilitation by using ultrasonic technology. However, most of the current ultrasonic physiotherapy devices on the market stimulate the target area independently and do not make real-time adjustments according to the severity of the target area. That is, the physiotherapy device can only perform ultrasonic stimulation on a certain tissue according to its own design. Such a device cannot meet the stimulation requirements of different tissues and cannot adjust the stimulation needs according to the needs of different patients.

[0006] Traditional control theory can only analyze and control deterministic systems, but it cannot be applied to non-linear and time-varying systems, which is the limitation of traditional control theory. As a research object in modern control theory, adaptive control is for systems with uncertainties. Adaptive control can modify its own characteristics to adapt to the changes in the dynamic characteristics of the object and disturbances. The inner loop of a self-tuning control system includes the controlled object and a common linear feedback regulator, while the outer loop consists of a recursive parameter estimator and a design mechanism. Its task is to identify the process parameters and then synthesize the controller parameters according to the selected design method to modify the controller in the inner loop. The characteristic of such a system is that it must identify (estimator) the process or the controlled object online, then synthesize the control parameters of the regulator online with the estimated values of the object parameters and the pre-specified performance indicators, and control the controlled object with the control action generated by these control parameters. Through multiple identifications and comprehensive adjustments of the parameters, the performance indicators of the system can tend to be optimal. Self-tuning control can be regarded as consisting of two parts: parameter estimation + controller. Summary of the Invention

[0007] The purpose of this application is to provide an ultrasonic detection and stimulation system based on an adaptive control algorithm. Currently, the ultrasonic stimulation emitted by ultrasonic physiotherapy devices on the market does not consider the situation of the target area. Therefore, it may not provide the optimal intensity of ultrasonic stimulation to the target area. Stimulating the target area with the optimal ultrasonic frequency is a problem that needs to be solved currently.

[0008] To achieve the above purpose, the technical solution adopted in this application is: an ultrasonic detection and stimulation system based on an adaptive control algorithm, including a main control module, a power supply module, a first transmitting module, a second transmitting module, a receiving module, a first switch selection module, a second switch selection module, a detection transducer, adaptive control, a stimulation transducer array, and a display screen module. The main control module is connected to the power supply module, the main control module is connected to the first transmitting module and the second transmitting module, the main control module is connected to the display screen module, the first transmitting module is connected to the first switch selection module, the second transmitting module is connected to the second switch selection module, the first switch selection is connected to the detection transducer, the second switch selection is connected to the stimulation transducer array, the detection transducer is connected to the receiving module, the receiving module is connected to the adaptive control, and the adaptive control is connected to the main control module.

[0009] A further improvement of this system is that the main control module is the control core of the entire system, capable of analysis and processing. The data received through the receiving module is used to adjust the transmitting module through adaptive control, and the stimulation intensity is changed by changing the elements in the stimulation transducer array. It is the control core module of the entire stimulation detection system.

[0010] A further improvement of this system is that the power supply module serves as the power supply part of the entire system. It includes a step-down module that converts 220V AC to 24V DC, and also includes a boost module that converts 5V DC to 24V DC. The power supply module can select different voltage supply modes according to needs. The advantage of this design method is that it can supply power with high voltage when there is electricity and can also supply power with a power bank when there is a power outage.

[0011] A further improvement of this system is that the first transmitting module and the second transmitting module emit pulse signals by receiving signals from the main control module, and drive the detection transducer and the stimulation transducer array to emit ultrasonic waves through the first switch selection and the second switch selection respectively.

[0012] A further improvement of this system is that the first switch selection module selects when to obtain detection signals and when to stimulate the target area by connecting the first transmitting module and the detection transducer, and the second switch selection module selects when to obtain detection signals and when to stimulate the target area by connecting the second transmitting module and the stimulation transducer array.

[0013] A further improvement of this system is that for the detection transducer, the ultrasonic waves emitted by the detection transducer need to obtain echo signals. After obtaining the signals, the stimulation intensity suitable for the target area at this time is adjusted for the elements in the stimulation transducer array through adaptive control.

[0014] A further improvement of this system is that the stimulation transducer array stimulates the target area by selecting different elements.

[0015] A further improvement of this system is that the detection transducer, the receiving module and the main control module together form the outer loop of the adaptive control.

[0016] Due to the adoption of the above technical solutions, the technical progress achieved by the present invention is:

[0017] The present invention provides an ultrasonic detection and stimulation system based on an adaptive control algorithm, which provides different stimulation functions through a detection transducer and a stimulation transducer array. The detection transducer emits ultrasonic waves and needs to receive echo signals to judge how much stimulation intensity is required for the target area. The stimulation transducer array does not need to receive echo signals and directly stimulates the target area to achieve the physical therapy effect.

[0018] The present invention is based on an adaptive algorithm to find the stimulation frequency step size that needs to be adjusted. The echo signal is obtained through the detection transducer, the optimal step size is calculated through the adaptive algorithm, and then the stimulation frequency is adjusted to achieve the most suitable stimulation intensity. The stimulation frequency can be adjusted according to the severity of the target area or the severity of different parts. It is a set of stimulation systems mainly based on the target area, realizing the intelligence of the stimulation system.

[0019] The two sets of power supply circuits provided by the present invention can use 220V AC voltage to supply power to the system during normal use, or use 5V DC power supply in the absence of 220V AC power supply, which greatly facilitates the use in the absence of 220V voltage and can well cope with emergencies such as power outages.

[0020] After the power is turned on, the present invention can achieve the physiotherapy function by combining the adaptive control algorithm and the detection transducer without manual intervention or adjustment, and the ultrasonic wave suitable for a certain target area can be emitted. The advantage is that it can achieve intelligence.

[0021] The stimulation transducer part of the present invention uses a stimulation transducer array. The elements in the stimulation transducer array can be designed according to the most commonly used physiotherapy frequencies. The advantage of using the array is that the optimal change step size obtained according to the adaptive control algorithm can be used to change different stimulation frequencies by changing the elements to achieve the best physiotherapy effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to illustrate the technical solutions adopted in the embodiments of the present application, the drawings involved in the present technical solutions will be briefly introduced below.

[0023] Figure 1 is the overall system framework of the present invention;

[0024] Figure 2 is the overall principle block diagram of the adaptive algorithm;

[0025] Figure 3 is the principle block diagram when the system works. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] As Figure 1 shown, the present application proposes an ultrasonic detection and stimulation system based on an adaptive control algorithm, which includes a main control module, a power supply module, a first transmission module, a second transmission module, a receiving module, an adaptive control, a first switch selection module, a second switch selection module, a detection transducer, a stimulation transducer array, and a display screen module. The detection transducer, the receiving module, the adaptive control, and the display screen module form the feedback loop of the adaptive algorithm, and the stimulation transducer array is the main body of the stimulation part; where:

[0027] The function of the main control module is to receive data and issue instructions, and it is the core control part of the whole system;

[0028] The power supply module is composed of two parts. One part is to convert 220V AC to 24V DC, and the other part is to convert 5V DC to 24V DC, which plays a role in power supply;

[0029] The first switch selection module is connected to the first transmitting module and the detection transducer, and the second switch selection module is connected to the second transmitting module and the stimulation transducer array, and selects a certain path to be transmitted to the detection transducer and the stimulation transducer array by receiving the signal of the main control module;

[0030] The first transmitting module is connected to the detection transducer part through the first switch selection module, and the second transmitting module is connected to the stimulation transducer array part through the second switch selection module to drive the transducer to emit ultrasonic waves;

[0031] The display screen module is used to display and save the detected echo signal and compare the differences between the two signals;

[0032] The receiving module and the adaptive control form the outer loop part of the adaptive control algorithm.

[0033] Figure 2 It is the principle block diagram of the adaptive control, and the specific implementation is as follows:

[0034] The main control module and the stimulation transducer array form the inner loop of the adaptive control, and the inner loop is used to emit ultrasonic waves to stimulate the target area.

[0035] The outer loop consists of a recursive parameter estimator and a design mechanism. Its task is to identify the process parameters, and then synthesize the controller parameters according to the selected design method to modify the controller of the inner loop. The outer loop of this system is the detection transducer, the receiving module, the main control module and the display screen module.

[0036] Adaptive control needs to identify the controlled object online, and then adjust the control parameters through the optimal estimated value. This system changes the stimulation intensity by judging the change of the echo signal.

[0037] Figure 3 It is the principle block diagram based on this set of systems, and its working method and working process are as follows:

[0038] 1. First, the first transmitting module emits a pulse signal, and the pulse signal drives the detection transducer to emit ultrasonic waves to the target area, obtains the ultrasonic echo signal of this area, and displays and saves it on the display screen module;

[0039] 2. Analyze the required stimulation intensity of this area according to the echo signal, and emit a signal to a certain element of the stimulation transducer array through the second transmitting module to stimulate this area;

[0040] 3. After 5 minutes, emit detection ultrasonic waves again through the first switch selection module, obtain the ultrasonic echo signal at this time, display it on the display screen module and compare it with the previous echo signal;

[0041] 4. Change the stimulation frequency according to the optimal step size that needs to be changed for calculating the stimulation frequency by adaptive control, and stimulate the target area with the optimal intensity.

[0042] 5. Repeat steps 1 - 4 until the current stimulation ends.

[0043] 6. Search for the optimal stimulation frequency of the target area.

[0044] First, the desired stimulation frequency of the target area follows the following model:

[0045] d(n) = x T (n)w0 + v(n) (0.1)

[0046] where w0 = [w0, w1......w l-1 T is the impulse response vector of the unknown system, x(n) = [x(n).....x(n - l - 1)] T is the input signal vector, v(n) is the detected ultrasonic echo signal of the system, and more generally, v(0) = 0;

[0047] This stimulation system assumes that the only variable is the stimulation frequency that needs to be adjusted, without considering the influence of noise. Further, the optimal step size is obtained through an adaptive algorithm:

[0048] S1. W(k + 1) = W(k) + μ(k)Λ -1 X H (k)E(k) (0.2)

[0049] where μ(k) is the diagonal matrix of the step size of the ultrasonic transducer array element frequency, W(k) is the frequency of the current stimulation, where W(0) is the echo signal of the first detected stimulation, W(k + 1) is the stimulation frequency after the next adjustment, X(k) is the frequency of the transmitted detection ultrasonic wave, and E(k) represents the frequency error value, that is, the difference between the signal obtained from the current detected echo and the echo signal obtained from the previous detection.

[0050] S2. Further, the above formula can be transformed into:

[0051] W(k + 1) = W(k) - μ(k)Λ -1 X H (k)E(k) (0.3)

[0052] S3. Further, multiply the left side of equation (0.2) by their respective transposes and take the mathematical expectation to obtain:

[0053]

[0054] The desired signal can be rewritten as D(k) = GX(k)W0 + V(k) (0.5)​

[0055] where V(k) is the Fourier transform of the ultrasonic echo signal.

[0056] Frequency error value: E(k) = GX(k)W(k) + V(k)(0.6)

[0057] S4. Substituting equation (0.6) into the second term of equation (0.4) gives

[0058]

[0059] S5. Further simplify equation (0.4)

[0060]

[0061] S6. Let J(k) = E[||W(k + 1)|| 2 - E[||W(k)|| 2 (0.9)

[0062] S7. Differentiating U(K) gives the optimal step size

[0063]

[0064] where ε i (k) = E[|W(k)| 2 is the frequency-domain misalignment factor, and φ vv,i = E[V i 2 (k)] is the frequency spectral density of each detection.

[0065] In summary, after obtaining the detection echo, the optimal frequency step size is obtained through an adaptive algorithm (S1 - S7), and the stimulation intensity is changed to achieve the most ideal effect.

[0066] The purpose of providing the above embodiments is to make the disclosure of the present invention clearer and more thorough, but the present invention is not limited to these specific embodiments. Those skilled in the art should understand that various modifications, equivalent substitutions, or changes can be made to the present invention, etc., as long as these transformations do not violate the spirit of the present invention, they should be within the protection scope of the present invention.

Claims

1. An ultrasonic detection and stimulation system based on an adaptive control algorithm, characterized in that, It includes a main control module, a power supply module, a first transmitting module, a second transmitting module, a receiving module, an adaptive control, a first switch selection module, a second switch selection module, a detection transducer, a stimulation transducer array and a display screen module. The main control module is respectively connected to the power supply module, the first transmitting module, the second transmitting module, the adaptive control and the display screen module. The first transmitting module is connected to the first switch selection module. The second transmitting module is connected to the second switch selection module. The first switch selection is connected to the detection transducer. The second switch selection module is connected to the stimulation transducer array. The detection transducer is connected to the receiving module. The receiving module is connected to the adaptive control. The detection transducer is used to receive the echo signal of the target area, judge whether it is necessary to change the optimal step size of the frequency, and at the same time use this signal as the input signal of the adaptive control. Different frequency elements are provided in the stimulation transducer array. According to the severity of different target areas, the receiving module receives the echo signal returned by the detection transducer, through the adjustment of the adaptive control, and then the second transmitting module emits a pulse signal, and the pulse signal drives the stimulation transducer array to emit ultrasonic waves. The display screen module is used to display and save the received echo signal of the target area, so as to record and compare it with the previously saved signal, and serve as the judgment part of the adaptive control. The signal obtained by the adaptive control through the detection transducer is used as the input signal and enters the self-tuning regulator of the adaptive control to adjust the required optimal frequency step size and change the stimulation frequency to achieve the optimal stimulation effect.

2. The ultrasonic detection and stimulation system based on an adaptive control algorithm according to claim 1, wherein The main control module, as the control module, is used to analyze the received echo signal of the target area and at the same time the second transmitting module emits a pulse signal, and the pulse signal drives the stimulation transducer array to emit ultrasonic waves. As the control part of the adaptive control, it serves the purpose of controlling the whole system.

3. An ultrasonic detection and stimulation system based on an adaptive control algorithm according to claim 1, characterized in that, The receiving module is used to receive the echo signal of the detection transducer and serve as the input of the adaptive control.

4. An ultrasonic detection and stimulation system based on an adaptive control algorithm according to claim 1, wherein, The first transmitting module emits a pulse signal, and the pulse signal drives the detection transducer. The second transmitting module emits a pulse signal, and the pulse signal drives the stimulation transducer array.

5. An ultrasonic detection and stimulation system based on an adaptive control algorithm according to claim 1, characterized in that, The first switch selection module is used to select the detection transducer, and the second switch selection module is used to select the stimulation transducer array.

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