Laser therapeutic instrument wireless positioning method and system suitable for ophthalmology department

Abstract

The invention provides a laser therapeutic instrument wireless positioning method and system suitable for the ophthalmology department, and particularly relates to the technical field of laser therapeutic instrument wireless positioning for the ophthalmology department, and the method comprises the steps: carrying out the initialization processing of a wireless positioning system, and completing the initialization; the wireless positioning system performs automatic positioning adjustment, so that the eye position of the patient is preliminarily aligned with the laser therapeutic instrument for the ophthalmology department; the transmitting power of the transmitter and the sensitivity of the receiver are adjusted in real time; according to the method, automatic calibration compensation parameters are obtained on time by using the micro-motion speed of eyeball movement of a patient and actual communication of a wireless positioning system, and the position and angle of an automatic calibration emission head of the laser therapeutic instrument for the ophthalmology department are controlled through the automatic calibration compensation parameters until the coordinates of the emission head and the wireless positioning system are kept consistent. Through the technical means of initialization, automatic positioning, environment adaptation, real-time calibration and the like, high-precision, high-adaptability and high-safety ophthalmology wireless positioning is realized.

Description

Technical Field

[0001] The present invention provides a wireless positioning method and system for an ophthalmic laser therapeutic apparatus, which relates to the field of wireless positioning technology, and in particular to the field of wireless positioning technology for an ophthalmic laser therapeutic apparatus. Background Art

[0002] With the continuous development of medical technology, ophthalmic laser therapy devices have been widely used in the field of ophthalmology as a non-invasive surgical tool. However, due to the complexity of the eye structure and the slight movement of the patient's eyeball during surgery, accurately aligning the eye position and stably maintaining the position and angle of the therapeutic device transmitter head have always been technical challenges faced by ophthalmic laser treatment. Traditional ophthalmic laser therapy devices usually rely on the doctor's manual operation and visual judgment to achieve the positioning and alignment of the eye position. However, this method is not only inefficient, but also easily affected by human factors, resulting in unstable positioning accuracy and may even increase surgical risks. In order to solve the above problems, wireless positioning technology has been introduced into the field of ophthalmic laser treatment. The wireless positioning system measures variables related to the position information and calculates the coordinates of the target point using the corresponding mathematical model to achieve accurate positioning of the eye position. However, there are still some problems in the application of existing wireless positioning systems in ophthalmic laser treatment. Environmental parameters in the operating room, such as temperature, humidity, and airflow, will affect the propagation of wireless signals, resulting in a decrease in positioning accuracy. Therefore, a method is needed to adjust the transmitter power and receiver sensitivity of the wireless positioning system in real time according to changes in environmental parameters to ensure the accuracy and stability of positioning. Since the patient's eyeballs will move slightly during surgery, traditional wireless positioning systems often cannot respond to these changes in time, resulting in deviations in the alignment between the therapeutic device transmitter and the eye position. Therefore, a method is needed to monitor the eyeball movement state in real time and automatically calibrate the position and angle of the therapeutic device transmitter according to the micro-movement speed of the eyeball movement and the actual communication delay of the wireless positioning system. Summary of the invention

[0003] The present invention provides a wireless positioning method and system for an ophthalmic laser therapy device, which is used to solve the problem that traditional ophthalmic laser therapy devices usually rely on manual operation and visual judgment of doctors to achieve positioning and alignment of the eye position. Not only is it inefficient, but it is also easily affected by human factors, resulting in unstable positioning accuracy and may even increase surgical risks. There are still some problems with the application of existing wireless positioning systems in ophthalmic laser treatment. Environmental parameters in the operating room, such as temperature, humidity, and airflow, will affect the propagation of wireless signals, resulting in a decrease in positioning accuracy. Since the patient's eyeballs will move slightly during the operation, traditional wireless positioning systems are often unable to respond to these changes in time, resulting in deviations in the alignment of the therapeutic device transmitter head with the eye position. Problems such as:

[0004] A wireless positioning method for a laser therapeutic apparatus for ophthalmology, the wireless positioning method for a laser therapeutic apparatus for ophthalmology comprising:

[0005] Initialize the wireless positioning system of the ophthalmic laser therapeutic device, and after the initialization process, control the automatic positioning adjustment of the wireless positioning system, and adjust the transmission power of the transmitter of the wireless positioning system and the sensitivity of the receiver in real time;

[0006] According to the real-time position information of the patient's eyes, the automatic calibration compensation parameters are obtained on time using the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system, and the automatic calibration compensation parameters are used to control the position and angle of the automatic calibration transmitter of the ophthalmic laser therapy device until the coordinates of the transmitter are consistent with those of the wireless positioning system.

[0007] Furthermore, the wireless positioning system of the ophthalmic laser therapeutic device is initialized, and after the initialization, the wireless positioning system is controlled to automatically adjust the positioning, and the transmission power of the transmitter of the wireless positioning system and the sensitivity of the receiver are adjusted in real time, including:

[0008] Initializing the wireless positioning system of the ophthalmic laser therapeutic apparatus to complete the initialization of the wireless positioning system;

[0009] The wireless positioning system automatically positions and adjusts the patient's eye position to make a preliminary alignment with the ophthalmic laser therapy device;

[0010] According to the environmental parameter change information of the operating room, the transmission power of the wireless positioning system transmitter and the sensitivity of the receiver are adjusted in real time;

[0011] Furthermore, the wireless positioning system of the ophthalmic laser therapeutic apparatus is initialized so that the wireless positioning system is initialized, including:

[0012] Initialize the hardware equipment of the wireless positioning system;

[0013] Initializing the software interface of the wireless positioning system so that a communication connection is established between the software interface and the hardware device;

[0014] The working parameters of the wireless positioning system are set according to the environmental parameters of the operating room, wherein the environmental parameters of the operating room include temperature, humidity, airflow and electromagnetic interference information; and the working parameters include signal coverage and accuracy.

[0015] Furthermore, the wireless positioning system automatically positions and adjusts the patient's eye position to make a preliminary alignment with the ophthalmic laser therapy device, including:

[0016] Automatically calibrate the ophthalmic laser therapy device to ensure that the light beam of the transmitter meets the positioning accuracy required for surgery;

[0017] Scanning and locating the patient's eyes through a wireless positioning system to obtain the patient's eye position information;

[0018] The light beam of the laser therapy device is controlled to be aimed at the patient's eyes according to the position information of the patient's eyes.

[0019] Furthermore, the transmission power of the wireless positioning system transmitter and the sensitivity of the receiver are adjusted in real time according to the environmental parameter change information of the operating room, including:

[0020] Real-time monitoring of temperature and humidity changes in the operating room;

[0021] Automatically adjust the compensation amount of the transmission power of the transmitter of the wireless positioning system according to the temperature and humidity change information;

[0022] Obtaining the adjusted transmitter transmission power by automatically adjusting the compensation amount;

[0023] Automatically adjust the compensation amount for the sensitivity of the receiver of the wireless positioning system according to the temperature and humidity change information;

[0024] The adjusted receiver sensitivity is obtained by automatically adjusting the compensation amount of the receiver sensitivity.

[0025] Furthermore, according to the real-time position information of the patient's eyes, the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system are used to obtain automatic calibration compensation parameters on time, and the position and angle of the automatic calibration transmitter of the ophthalmic laser therapeutic device are controlled by the automatic calibration compensation parameters, including:

[0026] Obtain the actual communication delay of the current wireless positioning system in real time;

[0027] Real-time monitoring of the patient's eye movement status;

[0028] When the patient's eyeball moves, obtain the micro-movement speed of the eyeball;

[0029] Using the actual communication delay of the wireless positioning system and the micro-movement speed of the eyeball, the position automatic calibration compensation amount and the angle automatic calibration compensation amount corresponding to the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument are obtained;

[0030] The position and angle of the automatic calibration emitter head of the ophthalmic laser therapeutic apparatus are obtained by utilizing the position automatic calibration compensation amount and the angle automatic calibration compensation amount.

[0031] A wireless positioning system for a laser therapeutic apparatus for ophthalmology, the wireless positioning system for a laser therapeutic apparatus for ophthalmology comprising:

[0032] A parameter adjustment module, used to initialize the wireless positioning system of the ophthalmic laser therapeutic device, and after the initialization process, control the automatic positioning adjustment of the wireless positioning system, and adjust the transmission power of the transmitter of the wireless positioning system and the sensitivity of the receiver in real time;

[0033] The compensation calibration module is used to obtain automatic calibration compensation parameters on time according to the real-time position information of the patient's eyes by utilizing the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system, and to control the position and angle of the automatic calibration transmitter of the ophthalmic laser therapy device through the automatic calibration compensation parameters until the coordinates of the transmitter are consistent with those of the wireless positioning system.

[0034] Furthermore, the parameter adjustment module includes:

[0035] A preliminary processing module, used for initializing the wireless positioning system of the ophthalmic laser therapeutic apparatus, so that the wireless positioning system is initialized;

[0036] A positioning and alignment module, used for automatic positioning and adjustment of the wireless positioning system, so that the patient's eye position is preliminarily aligned with the ophthalmic laser therapy device;

[0037] The data adjustment module is used to adjust the transmission power of the wireless positioning system transmitter and the sensitivity of the receiver in real time according to the change information of the environmental parameters of the operating room.

[0038] Furthermore, the data adjustment module includes:

[0039] Power compensation module, used to monitor the temperature and humidity changes in the operating room in real time;

[0040] Automatically adjust the compensation amount of the transmission power of the transmitter of the wireless positioning system according to the temperature and humidity change information;

[0041] Obtaining the adjusted transmitter transmission power by automatically adjusting the compensation amount;

[0042] A sensitivity compensation module, used for automatically adjusting the compensation amount of the sensitivity of the receiver of the wireless positioning system according to the change information of the temperature and humidity;

[0043] The adjusted receiver sensitivity is obtained by automatically adjusting the compensation amount of the receiver sensitivity.

[0044] Furthermore, the compensation calibration module includes:

[0045] The actual information acquisition module is used to obtain the actual communication delay of the current wireless positioning system in real time;

[0046] The real-time movement status monitoring module is used to monitor the current patient's eye movement status in real time;

[0047] A micro-motion speed information acquisition module is used to acquire the micro-motion speed of the eyeball when the patient's eyeball moves;

[0048] An automatic compensation information acquisition module, used to obtain the position automatic calibration compensation amount and the angle automatic calibration compensation amount corresponding to the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument by using the actual communication delay of the wireless positioning system and the micro-movement speed of the eyeball movement;

[0049] The automatic calibration module is used to obtain the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument by using the position automatic calibration compensation amount and the angle automatic calibration compensation amount.

[0050] Beneficial effects of the present invention: Through the precise alignment and real-time calibration of the wireless positioning system, it can be ensured that the transmitter head of the laser therapy device is always consistent with the patient's eye position, thereby improving the accuracy of positioning. The system can automatically adapt to changes in the operating room environment, whether it is temperature, humidity or electromagnetic interference, and can maintain positioning accuracy by adjusting the transmission power and receiver sensitivity. Automatic positioning adjustment and real-time calibration reduce the need for manual adjustment. Accurate positioning and calibration reduce the possibility of misoperation, thereby enhancing the stability of positioning. The wireless positioning system of the ophthalmic laser therapy device achieves high-precision, high-adaptability and high-safety ophthalmic laser treatment through technical means such as initialization, automatic positioning, environmental adaptation and real-time calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of a wireless positioning method for an ophthalmic laser therapeutic device;

[0052] Figure 2 This is a schematic diagram of the wireless positioning system for ophthalmic laser therapy equipment. DETAILED DESCRIPTION

[0053] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0054] One embodiment of the present invention provides a wireless positioning system and positioning method for an ophthalmic laser therapeutic apparatus. The wireless positioning method for an ophthalmic laser therapeutic apparatus includes:

[0055] Initialize the wireless positioning system of the ophthalmic laser therapeutic device, and after the initialization process, control the automatic positioning adjustment of the wireless positioning system, and adjust the transmission power of the transmitter of the wireless positioning system and the sensitivity of the receiver in real time;

[0056] According to the real-time position information of the patient's eyes, the automatic calibration compensation parameters are obtained on time using the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system, and the automatic calibration compensation parameters are used to control the position and angle of the automatic calibration transmitter of the ophthalmic laser therapy device until the coordinates of the transmitter are consistent with those of the wireless positioning system.

[0057] Specifically, the wireless positioning system of the ophthalmic laser therapeutic device is initialized, and after the initialization, the wireless positioning system is controlled to automatically adjust the positioning, and the transmission power of the transmitter of the wireless positioning system and the sensitivity of the receiver are adjusted in real time, including:

[0058] Initializing the wireless positioning system of the ophthalmic laser therapeutic apparatus to complete the initialization of the wireless positioning system;

[0059] The wireless positioning system automatically positions and adjusts the patient's eye position to make a preliminary alignment with the ophthalmic laser therapy device;

[0060] According to the environmental parameter change information of the operating room, the transmission power of the wireless positioning system transmitter and the sensitivity of the receiver are adjusted in real time;

[0061] According to the real-time position information of the patient's eyes, the automatic calibration compensation parameters are obtained on time using the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system, and the automatic calibration compensation parameters are used to control the position and angle of the automatic calibration transmitter of the ophthalmic laser therapy device until the coordinates of the transmitter are consistent with those of the wireless positioning system.

[0062] The working principle of the above technical solution is as follows: Initializing the wireless positioning system of the ophthalmic laser therapeutic device is to ensure that all components of the system are in a preset starting state, including setting initial parameters, calibrating sensors, checking hardware connections, etc., to ensure that the entire system is in normal working condition. The wireless positioning system automatically detects and adjusts, and uses wireless signal positioning technology to determine the patient's eye position. By automatically adjusting the position and angle of the ophthalmic laser therapeutic device, it is initially aligned with the patient's eyes. The environmental parameters of the operating room (such as temperature, humidity, electromagnetic interference, etc.) will affect the performance of the wireless positioning system. The system monitors the changes in these environmental parameters in real time and adjusts the transmission power of the wireless positioning system transmitter and the sensitivity of the receiver accordingly to ensure the accuracy and stability of the positioning information. Based on the real-time position information of the patient's eyes, the system can calculate the micro-motion speed of the eyeball movement. Combined with the actual communication data of the wireless positioning system, the system obtains automatic calibration compensation parameters, which are used to fine-tune the position and angle of the transmitter head of the laser therapeutic device. By continuously iterating this process, until the position of the transmitter head is completely consistent with the coordinates of the wireless positioning system, the accuracy of the treatment is ensured.

[0063] The effect of the above technical solution is: through the precise alignment and real-time calibration of the wireless positioning system, it can ensure that the transmitter head of the laser therapy device is always consistent with the patient's eye position, thereby improving the accuracy of positioning. The system can automatically adapt to changes in the operating room environment, whether it is temperature, humidity or electromagnetic interference, and can maintain positioning accuracy by adjusting the transmission power and receiver sensitivity. Automatic positioning adjustment and real-time calibration reduce the need for manual adjustment. Accurate positioning and calibration reduce the possibility of misoperation, thereby enhancing the stability of positioning. The wireless positioning system of the ophthalmic laser therapy device achieves high-precision, high-adaptability and high-safety ophthalmic laser treatment through technical means such as initialization, automatic positioning, environmental adaptation and real-time calibration.

[0064] In one embodiment of the present invention, the wireless positioning system of the ophthalmic laser therapeutic apparatus is initialized so that the wireless positioning system is initialized, including:

[0065] Initialize the hardware equipment of the wireless positioning system; initialize the software interface of the wireless positioning system to establish a communication connection between the software interface and the hardware equipment; set the working parameters of the wireless positioning system according to the environmental parameters of the operating room, wherein the environmental parameters of the operating room include temperature, humidity, airflow and electromagnetic interference information; and the working parameters include signal coverage and accuracy.

[0066] The working principle of the above technical solution is: initializing the hardware equipment of the wireless positioning system; wherein the hardware equipment includes sensors, transmitters and receivers, etc.;

[0067] Initialize the software interface of the wireless positioning system to establish a communication connection between the software interface and the hardware device; and calibrate the sensitivity of the sensor in the hardware device according to the calibration requirements, and calibrate the position of the receiver;

[0068] The working parameters of the wireless positioning system are set according to the environmental parameters of the operating room, wherein the environmental parameters of the operating room include temperature, humidity, airflow and electromagnetic interference information; and the working parameters include signal coverage and accuracy.

[0069] Specifically, the impact of the above operating room environmental parameters on the wireless positioning system is as follows:

[0070] Temperature and humidity:

[0071] The temperature and humidity in the operating room will affect the propagation speed and stability of the wireless signal. Too high or too low temperature and humidity may cause signal attenuation or distortion, thus affecting positioning accuracy.

[0072] Wireless positioning systems usually need to work within a certain temperature and humidity range to ensure the stability of their performance. Therefore, the temperature and humidity parameters of the operating room need to be adjusted according to the requirements of the wireless positioning system.

[0073] airflow:

[0074] Air currents in the operating room, especially those generated by air conditioning or ventilation systems, may disturb the wireless signal, resulting in reduced positioning accuracy.

[0075] To reduce the impact of airflow on the wireless positioning system, the airflow in the operating room should be kept stable and avoid blowing directly onto the equipment of the wireless positioning system.

[0076] Electromagnetic Interference:

[0077] Other medical equipment or electrical appliances in the operating room may generate electromagnetic interference and affect the normal operation of the wireless positioning system.

[0078] When setting the parameters of the wireless positioning system, it is necessary to consider the electromagnetic interference of other equipment in the operating room and perform appropriate electromagnetic shielding or adjust parameters to reduce interference.

[0079] In view of the above problems, the wireless positioning system automatically sets the transmission power of the transmitter and the sensitivity of the receiver of the wireless positioning system to obtain the initial transmission power of the transmitter and the sensitivity of the receiver;

[0080] At the same time, filters can be used to filter out noise and interference signals in the environment to ensure that the system only receives and processes useful positioning signals. Shielding settings can reduce the impact of external electromagnetic interference on the system, such as using shielding materials to wrap key components of the system.

[0081] Furthermore, through frequency selection and channel allocation, further selecting the appropriate frequency can avoid frequency conflicts with other wireless devices in the operating room and reduce interference. And by reasonably allocating channels, it is ensured that multiple wireless positioning system devices will not interfere with each other when working simultaneously in the operating room.

[0082] The effects of the above technical solutions are as follows: by initializing the hardware device and software interface of the wireless positioning system, the normal communication connection between the hardware device and the software is ensured. The sensitivity of the sensor and the position of the receiver are calibrated to further enhance the accuracy and reliability of the system. Considering the environmental parameters such as temperature, humidity, airflow and electromagnetic interference in the operating room, the working parameters of the wireless positioning system are set, so that the system can work stably in different environments, and the environmental adaptability of the system is improved. By adjusting the transmission power of the transmitter and the sensitivity of the receiver, as well as using measures such as filters and shielding settings, the influence of environmental factors on the positioning accuracy of the system is effectively reduced. By accurately calibrating and initializing the wireless positioning system, it is ensured that the system can accurately obtain the patient's eye position information, thereby improving the precision and accuracy of treatment. Measures such as frequency selection and channel allocation further reduce interference and improve the stability and reliability of the positioning signal. By automatically adjusting system parameters and calibrating hardware devices, the need for manual operation is reduced, making the entire treatment process more convenient and efficient, and improving the user experience. Accurate positioning and calibration reduce the possibility of misoperation, thereby enhancing the safety of treatment. By considering and responding to the impact of various environmental factors on the system, the wireless positioning system is not only suitable for ophthalmic treatment, but may also be applicable to other medical fields that require high-precision positioning, thereby expanding the application scope of the system. Technical measures such as initialization processing, environmental adaptability optimization, and positioning accuracy improvement of the wireless positioning system have jointly improved the stability, reliability, accuracy, and safety of the system, providing strong technical support for treatment in ophthalmology and other medical fields.

[0083] In one embodiment of the present invention, the wireless positioning system automatically positions and adjusts the patient's eye position to make a preliminary alignment with the ophthalmic laser therapeutic device, including:

[0084] Automatically calibrate the ophthalmic laser therapy device to ensure that the light beam of the transmitter meets the positioning accuracy required for surgery;

[0085] Scanning and locating the patient's eyes through a wireless positioning system to obtain the patient's eye position information;

[0086] The light beam of the laser therapy device is controlled to be aimed at the patient's eyes according to the position information of the patient's eyes.

[0087] The working principle of the above technical solution is: the system automatically calibrates the laser therapy device through a built-in or external calibration device. This usually involves adjusting the position, angle and accuracy of the transmitter head to ensure that the beam can be accurately aligned with the target position. During the calibration process, the system uses precise mechanical structures, sensors and algorithms to accurately control the movement of the transmitter head and the direction of the beam. The wireless positioning system performs non-contact scanning and positioning of the patient's eyes through signal interaction between the transmitter and the receiver. The system uses the propagation characteristics of wireless signals (such as radio frequency, ultrasound, etc.) to measure the time or phase difference of the signal from the transmitter to the eye and then back to the receiver, thereby calculating the precise position information of the eye. Based on the eye position information obtained by the wireless positioning system, the system calculates the angle and position that the laser therapy device transmitter head needs to be adjusted. The position of the transmitter head is adjusted by the control mechanism so that the beam is accurately aligned with the patient's eyes.

[0088] The effect of the above technical solution is: through automatic calibration and precise measurement of the wireless positioning system, the beam of the laser therapy device can accurately locate the patient's eyes, improving the positioning accuracy. Accurate positioning reduces the possibility of misoperation and avoids damage to the surrounding tissues of the eye by the beam. The use of automatic calibration and wireless positioning systems reduces the need for manual adjustment. Automatic calibration and wireless positioning technology is not only suitable for ophthalmic laser treatment, but also can be applied to other medical fields that require high-precision positioning and beam control, broadening the scope of application of the technology. By automatically calibrating the laser therapy device and using the wireless positioning system for eye scanning and positioning, accurate, safe and efficient ophthalmic positioning can be achieved.

[0089] An embodiment of the present invention adjusts the transmission power of a wireless positioning system transmitter and the sensitivity of a receiver in real time according to the environmental parameter change information of an operating room, including:

[0090] Real-time monitoring of temperature and humidity changes in the operating room;

[0091] Automatically adjust the compensation amount of the transmission power of the transmitter of the wireless positioning system according to the temperature and humidity change information;

[0092] Obtaining the adjusted transmitter transmission power by automatically adjusting the compensation amount;

[0093] Automatically adjust the compensation amount for the sensitivity of the receiver of the wireless positioning system according to the temperature and humidity change information;

[0094] The adjusted receiver sensitivity is obtained by automatically adjusting the compensation amount of the receiver sensitivity.

[0095] The working principle of the above technical solution is: real-time monitoring of the temperature and humidity change information in the operating room;

[0096] The automatic adjustment compensation amount of the transmission power of the transmitter of the wireless positioning system is adjusted according to the change information of the temperature and humidity; wherein the automatic adjustment compensation amount of the transmission power is obtained by the following formula:

[0097]

[0098] Wherein, Q represents the automatic adjustment compensation amount of the transmission power; T e Indicates the current temperature in the operating room; T e0 represents the temperature value in the operating room at the time of wireless positioning system operation enlightenment; W represents the humidity in the current operating room; W 0 It indicates the humidity value in the operating room at the time of wireless positioning system operation; E indicates the electromagnetic interference compensation amount; E x and E y They represent the frequency interference energy (frequency interference energy refers to the electromagnetic energy within a certain frequency range) and the electromagnetic radiation interference (electromagnetic radiation interference refers to the intensity or energy density of electromagnetic radiation generated by electronic equipment in a specific area) generated by the ophthalmic laser therapy device; ΔE x and ΔE y They respectively represent the changes in frequency interference energy and electromagnetic radiation interference generated by each unit distance change between the ophthalmic laser therapy device and other electrical equipment in the operating room, and the value range of the unit distance is 10cm-30cm; m represents the total number of other electronic devices activated in the operating room for ophthalmic surgery except the ophthalmic laser therapy device; L i represents the distance between the i-th other electronic device and the ophthalmic laser therapy device; ΔE 01i and ΔE 02i The change in frequency interference energy and electromagnetic radiation interference generated by each unit change in the distance between the i-th other electronic device and the ophthalmic laser therapeutic device; k 01 and k 02 denote the first coefficient and the second coefficient respectively, and the first coefficient and the second coefficient are obtained by the following formula:

[0099]

[0100] Among them, T ei represents the temperature value of the operating room corresponding to the i-th unit time; s represents a constant coefficient, and when Then s=1; when Then s = -1;

[0101]

[0102] Among them, W i represents the humidity value of the operating room corresponding to the i-th unit time;

[0103] The adjusted transmitter transmission power is obtained by automatically adjusting the compensation amount; wherein the adjusted transmitter transmission power is obtained by the following formula:

[0104]

[0105] Among them, Q m Represents the adjusted transmitter’s transmit power; Q 0 Indicates the transmit power of the transmitter before adjustment;

[0106] The compensation amount of the automatic adjustment of the sensitivity of the receiver of the wireless positioning system is obtained according to the change information of the temperature and humidity; wherein the compensation amount of the automatic adjustment of the sensitivity of the receiver is obtained by the following formula:

[0107]

[0108] Where R represents the automatic adjustment compensation amount of sensitivity;

[0109] The adjusted sensitivity of the receiver is obtained by automatically adjusting the compensation amount of the sensitivity of the receiver; wherein the adjusted sensitivity of the receiver is obtained by the following formula:

[0110]

[0111] Among them, R m Represents the sensitivity of the adjusted receiver; R 0 Indicates the sensitivity of the receiver before adjustment.

[0112] The effect of the above technical solution is: since the wireless positioning system communicates data with the software interface and imager of the ophthalmic laser therapy device through wireless communication, and when the wireless signal transmitter of the wireless positioning system is greatly affected by the environment, wireless communication delay will occur, which will lead to imaging delay, thereby affecting the precision of eye surgery and causing accidents. Therefore, it is necessary to adjust the parameters of the wireless communication device in real time according to the environmental parameter information of the operating room to deal with the problem of wireless communication delay. Adjusting the transmitter's transmission power and the receiver's sensitivity in the above manner can effectively improve the quality of wireless communication, effectively reduce the impact of wireless communication quality caused by changes in the operating room's environmental parameters, and thus minimize wireless communication delay. At the same time, the transmitter's transmission power and the receiver's sensitivity obtained in the above manner can effectively improve the data transmission efficiency and data reception efficiency, improve the matching between the transmitter's transmission power and the receiver's sensitivity and the current wireless communication environment, and further reduce the delay of wireless communication.

[0113] On the other hand, the transmitting power of the transmitter and the sensitivity of the receiver obtained in the above manner can further prevent the transmission power from being too high and causing its impact on other electronic instruments and equipment during the operation while ensuring the required wireless communication anti-interference. In addition, the adjustment of the sensitivity of the above-mentioned receiver can further prevent the problem of excessive signal disturbance caused by excessive sensitivity while ensuring the required wireless communication anti-interference. This can further improve the quality of wireless communication while reducing the wireless communication delay.

[0114] At the same time, changes in temperature and humidity in the operating room may affect the propagation characteristics of the wireless signal, resulting in a decrease in positioning accuracy. By monitoring these environmental parameters in real time and automatically adjusting the transmitter's transmit power and the receiver's sensitivity, it is possible to ensure that the wireless positioning system maintains stable performance under various environmental conditions. Appropriate transmit power and receiver sensitivity are essential to ensure the quality and distance of signal transmission. Automatically adjusting these parameters based on information about changes in temperature and humidity can optimize the transmission effect of the signal, reduce signal attenuation and distortion, and thus improve the accuracy and reliability of positioning. Temperature and humidity conditions may vary in different operating rooms or during different surgical procedures. Through the automatic adjustment mechanism, the wireless positioning system can adaptively respond to these changes and ensure accurate positioning services in various environments. Traditionally, it may be necessary to manually adjust the parameters of the wireless positioning system to adapt to environmental changes. The automatic adjustment mechanism reduces the reliance on manual intervention, reduces the complexity of operation, and improves work efficiency. Accurate wireless positioning systems are key to the success of surgeries such as ophthalmic laser treatment. By optimizing signal transmission and enhancing system stability, accurate positioning during surgery can be ensured, the risk of misoperation can be reduced, and the safety and efficiency of surgery can be improved. Real-time monitoring of temperature and humidity changes in the operating room and automatic adjustment of the wireless positioning system's transmitter transmission power and receiver sensitivity based on these change information can significantly improve the stability of the positioning system, optimize signal transmission quality, enhance the system's adaptability, and improve the safety and efficiency of surgery.

[0115] In one embodiment of the present invention, according to the real-time position information of the patient's eyes, the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system are used to timely obtain automatic calibration compensation parameters, and the position and angle of the automatic calibration transmitter of the ophthalmic laser therapeutic apparatus are controlled by the automatic calibration compensation parameters, including:

[0116] Obtain the actual communication delay of the current wireless positioning system in real time;

[0117] Real-time monitoring of the patient's eye movement status;

[0118] When the patient's eyeball moves, obtain the micro-movement speed of the eyeball;

[0119] Using the actual communication delay of the wireless positioning system and the micro-movement speed of the eyeball, the position automatic calibration compensation amount and the angle automatic calibration compensation amount corresponding to the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument are obtained;

[0120] The position and angle of the automatic calibration emitter head of the ophthalmic laser therapeutic apparatus are obtained by utilizing the position automatic calibration compensation amount and the angle automatic calibration compensation amount.

[0121] The working principle of the above technical solution is: obtaining the actual communication delay of the current wireless positioning system in real time;

[0122] Real-time monitoring of the patient's eye movement status;

[0123] When the patient's eyeball moves, obtain the micro-movement speed of the eyeball;

[0124] The actual communication delay of the wireless positioning system and the micro-movement speed of the eyeball are used to obtain the position automatic calibration compensation amount and the angle automatic calibration compensation amount corresponding to the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument; wherein the position automatic calibration compensation amount is obtained by the following formula:

[0125] Δp=v·Δt-ξ v ·d

[0126]

[0127] Wherein, Δp represents the position automatic calibration compensation amount; Δt represents the actual communication delay of the current wireless positioning system; v represents the micro-movement speed of the eyeball; d represents the position deviation corresponding to the actual communication delay; and v x 、v y and v z They represent the velocity components of the eyeball's micro-movement velocity in the xyz directions respectively; v represents the position deviation coefficient, and, And, x , y and z Respectively represent the position deviation coefficient on the xyz axis, where the position deviation coefficient on the xyz axis ξ x , y and z Obtained through the following formula:

[0128]

[0129] Wherein, T represents the preset maximum permissible communication delay; λ represents the offset adjustment coefficient; n represents the number of unit times experienced during the operation of the wireless positioning system, and the unit time is 1s; Δt i represents the actual communication delay of the wireless positioning system corresponding to the i-th unit time;

[0130] Furthermore, the angle automatic calibration compensation amount is obtained by the following formula:

[0131] Δα=α·Δt-δ v β

[0132]

[0133] Among them, Δα represents the position automatic calibration compensation; α represents the angular velocity of the eye movement during the communication delay; β represents the angular deviation corresponding to the actual communication delay; α x , α y and α z Respectively represent the angular velocity components on the xyz axis; δ v represents the angular deviation coefficient, and, δ x , δ y and δ z They represent the angular deviation coefficients on the xyz axis respectively, where the angular deviation coefficients on the xyz axis are obtained by the following formula:

[0134]

[0135] The position and angle of the automatic calibration transmitter head of the ophthalmic laser therapeutic apparatus are obtained by using the position automatic calibration compensation amount and the angle automatic calibration compensation amount, wherein the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapeutic apparatus are obtained by the following formula:

[0136] P m =P 0 +Δp

[0137] α m =α 0 +Δα

[0138] Among them, P m represents the position coordinates of the automatic calibration transmitter head of the ophthalmic laser therapy device, and P m =(x m ,y m , z m ), and x m ,y m and z m They represent the coordinates on the xyz axis corresponding to the calibrated position; P 0 represents the position coordinates of the eyeball before the eyeball moves, and P 0 =(x 0 ,y 0 , z 0 ), and x 0 ,y 0 and z 0 They represent the coordinates on the xyz axis corresponding to the position of the eye before the eye moves; α m Indicates the angle of the laser therapy device for ophthalmology to automatically calibrate the transmitter head; α 0 Indicates the angle of the transmitter head before the eye moves.

[0139] The effect of the above technical solution is: since communication delay cannot be completely avoided, and when communication delay exists, errors in the patient's eye positioning are likely to occur. Therefore, the automatic calibration of the patient's eye position obtained by the above method combines the communication delay and the patient's eye movement speed to detect and predict the eye movement position to locate the eye position, which can effectively improve the accuracy and efficiency of eye position positioning.

[0140] On the other hand, by obtaining the actual communication delay of the wireless positioning system in real time, the system can timely understand the delay of signal transmission, thereby avoiding positioning errors caused by communication delays. By monitoring the patient's eye movement status in real time and obtaining its micro-motion speed when the eye moves, the system can quickly respond to the dynamic changes of the eye and ensure that the transmitter head of the laser therapy device is always aligned with the target position. The patient's eye may move slightly during surgery for various reasons, which poses a challenge to the accuracy of surgical positioning. By combining the micro-motion speed of the eye movement and the communication delay of the wireless positioning system, the system can automatically calculate the position automatic calibration compensation and the angle automatic calibration compensation, and realize dynamic adjustment of the position and angle of the transmitter head to adapt to the movement of the eyeball. Automatically calibrating the position and angle of the transmitter head ensures the stability and accuracy of the laser therapy device during surgery and improves the success rate and effect of the surgery. By precisely controlling the position and angle of the transmitter head, the system can more effectively focus the laser beam on the target area, reduce damage to surrounding tissues, and improve the safety of surgery. Real-time and accurate positioning and calibration reduce uncertainty and risks during surgery, reduce patient anxiety and discomfort, and improve the overall experience of patients. This automatic calibration technology based on real-time communication delay and eye movement status monitoring is not only suitable for ophthalmic laser treatment, but may also be applied to other medical fields that require high-precision dynamic positioning, such as neurosurgery, otolaryngology, etc., and has broad application prospects. The present invention can achieve automatic calibration of the transmitter head of the ophthalmic laser therapy device by acquiring the communication delay of the wireless positioning system and monitoring the eye movement status in real time, which can significantly improve the real-time and accuracy of surgical positioning, enhance the dynamic adaptability of the system, optimize the performance of the laser therapy device, improve patient experience and satisfaction, and expand the scope of application and prospects.

[0141] In one embodiment of the present invention, the wireless positioning system for ophthalmic laser therapeutic apparatus comprises:

[0142] A parameter adjustment module, used to initialize the wireless positioning system of the ophthalmic laser therapeutic device, and after the initialization process, control the automatic positioning adjustment of the wireless positioning system, and adjust the transmission power of the transmitter of the wireless positioning system and the sensitivity of the receiver in real time;

[0143] The compensation calibration module is used to obtain automatic calibration compensation parameters on time according to the real-time position information of the patient's eyes by utilizing the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system, and to control the position and angle of the automatic calibration transmitter of the ophthalmic laser therapy device through the automatic calibration compensation parameters until the coordinates of the transmitter are consistent with those of the wireless positioning system.

[0144] Specifically, the parameter adjustment module includes:

[0145] A preliminary processing module, used for initializing the wireless positioning system of the ophthalmic laser therapeutic apparatus, so that the wireless positioning system is initialized;

[0146] A positioning and alignment module, used for automatic positioning and adjustment of the wireless positioning system, so that the patient's eye position is preliminarily aligned with the ophthalmic laser therapy device;

[0147] A data adjustment module is used to adjust the transmission power of the wireless positioning system transmitter and the sensitivity of the receiver in real time according to the environmental parameter change information of the operating room;

[0148] The compensation calibration module is used to obtain automatic calibration compensation parameters on time according to the real-time position information of the patient's eyes by utilizing the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system, and to control the position and angle of the automatic calibration transmitter of the ophthalmic laser therapy device through the automatic calibration compensation parameters until the coordinates of the transmitter are consistent with those of the wireless positioning system.

[0149] The working principle of the above technical solution is as follows: the preliminary processing module initializes the wireless positioning system of the ophthalmic laser therapeutic device to ensure that all components of the system are in a preset starting state, including setting initial parameters, calibrating sensors, checking hardware connections, etc., to ensure that the entire system is in normal working condition. The wireless positioning system automatically detects and adjusts, and uses wireless signal positioning technology to determine the patient's eye position. The positioning alignment module automatically adjusts the position and angle of the ophthalmic laser therapeutic device to align it with the patient's eyes. The environmental parameters of the operating room (such as temperature, humidity, electromagnetic interference, etc.) will affect the performance of the wireless positioning system. The data adjustment module monitors the changes in these environmental parameters in real time and adjusts the transmission power of the wireless positioning system transmitter and the sensitivity of the receiver accordingly to ensure the accuracy and stability of the positioning information. The compensation calibration module can calculate the micro-motion speed of the eyeball according to the real-time position information of the patient's eyes. Combined with the actual communication data of the wireless positioning system, the system obtains automatic calibration compensation parameters, which are used to fine-tune the position and angle of the transmitter head of the laser therapeutic device. By continuously iterating this process, until the position of the transmitter head is completely consistent with the coordinates of the wireless positioning system, the accuracy of the treatment is ensured.

[0150] The effect of the above technical solution is: through the precise alignment and real-time calibration of the wireless positioning system, it can ensure that the transmitter head of the laser therapy device is always consistent with the patient's eye position, thereby improving the accuracy of positioning. The system can automatically adapt to changes in the operating room environment, whether it is temperature, humidity or electromagnetic interference, and can maintain positioning accuracy by adjusting the transmission power and receiver sensitivity. Automatic positioning adjustment and real-time calibration reduce the need for manual adjustment. Accurate positioning and calibration reduce the possibility of misoperation, thereby enhancing the stability of positioning. The wireless positioning system of the ophthalmic laser therapy device achieves high-precision, high-adaptability and high-safety ophthalmic laser treatment through technical means such as initialization, automatic positioning, environmental adaptation and real-time calibration.

[0151] In one embodiment of the present invention, the preliminary processing module includes:

[0152] An initialization module is used to initialize the hardware device of the wireless positioning system; initialize the software interface of the wireless positioning system to establish a communication connection between the software interface and the hardware device;

[0153] The parameter setting module is used to set the working parameters of the wireless positioning system according to the environmental parameters of the operating room, wherein the environmental parameters of the operating room include temperature, humidity, airflow and electromagnetic interference information; and the working parameters include signal coverage and accuracy.

[0154] The working principle of the above technical solution is: initializing the hardware equipment of the wireless positioning system; wherein the hardware equipment includes sensors, transmitters and receivers, etc.;

[0155] Initialize the software interface of the wireless positioning system to establish a communication connection between the software interface and the hardware device; and calibrate the sensitivity of the sensor in the hardware device according to the calibration requirements, and calibrate the position of the receiver;

[0156] The working parameters of the wireless positioning system are set according to the environmental parameters of the operating room, wherein the environmental parameters of the operating room include temperature, humidity, airflow and electromagnetic interference information; and the working parameters include signal coverage and accuracy.

[0157] Specifically, the impact of the above operating room environmental parameters on the wireless positioning system is as follows:

[0158] Temperature and humidity:

[0159] The temperature and humidity in the operating room will affect the propagation speed and stability of the wireless signal. Too high or too low temperature and humidity may cause signal attenuation or distortion, thus affecting positioning accuracy.

[0160] Wireless positioning systems usually need to work within a certain temperature and humidity range to ensure the stability of their performance. Therefore, the temperature and humidity parameters of the operating room need to be adjusted according to the requirements of the wireless positioning system.

[0161] airflow:

[0162] Air currents in the operating room, especially those generated by air conditioning or ventilation systems, may disturb the wireless signal, resulting in reduced positioning accuracy.

[0163] To reduce the impact of airflow on the wireless positioning system, the airflow in the operating room should be kept stable and avoid blowing directly onto the equipment of the wireless positioning system.

[0164] Electromagnetic Interference:

[0165] Other medical equipment or electrical appliances in the operating room may generate electromagnetic interference and affect the normal operation of the wireless positioning system.

[0166] When setting the parameters of the wireless positioning system, it is necessary to consider the electromagnetic interference of other equipment in the operating room and perform appropriate electromagnetic shielding or adjust parameters to reduce interference.

[0167] In view of the above problems, the wireless positioning system automatically sets the transmission power of the transmitter and the sensitivity of the receiver of the wireless positioning system to obtain the initial transmission power of the transmitter and the sensitivity of the receiver;

[0168] At the same time, filters can be used to filter out noise and interference signals in the environment to ensure that the system only receives and processes useful positioning signals. Shielding settings can reduce the impact of external electromagnetic interference on the system, such as using shielding materials to wrap key components of the system.

[0169] Furthermore, through frequency selection and channel allocation, further selecting the appropriate frequency can avoid frequency conflicts with other wireless devices in the operating room and reduce interference. And by reasonably allocating channels, it is ensured that multiple wireless positioning system devices will not interfere with each other when working simultaneously in the operating room.

[0170] The effects of the above technical solutions are as follows: by initializing the hardware device and software interface of the wireless positioning system, the normal communication connection between the hardware device and the software is ensured. The sensitivity of the sensor and the position of the receiver are calibrated to further enhance the accuracy and reliability of the system. Considering the environmental parameters such as temperature, humidity, airflow and electromagnetic interference in the operating room, the working parameters of the wireless positioning system are set, so that the system can work stably in different environments, and the environmental adaptability of the system is improved. By adjusting the transmission power of the transmitter and the sensitivity of the receiver, as well as using measures such as filters and shielding settings, the influence of environmental factors on the positioning accuracy of the system is effectively reduced. By accurately calibrating and initializing the wireless positioning system, it is ensured that the system can accurately obtain the patient's eye position information, thereby improving the precision and accuracy of treatment. Measures such as frequency selection and channel allocation further reduce interference and improve the stability and reliability of the positioning signal. By automatically adjusting system parameters and calibrating hardware devices, the need for manual operation is reduced, making the entire treatment process more convenient and efficient, and improving the user experience. Accurate positioning and calibration reduce the possibility of misoperation, thereby enhancing the safety of treatment. By considering and responding to the impact of various environmental factors on the system, the wireless positioning system is not only suitable for ophthalmic treatment, but may also be applicable to other medical fields that require high-precision positioning, thereby expanding the application scope of the system. Technical measures such as initialization processing, environmental adaptability optimization, and positioning accuracy improvement of the wireless positioning system have jointly improved the stability, reliability, accuracy, and safety of the system, providing strong technical support for treatment in ophthalmology and other medical fields.

[0171] In one embodiment of the present invention, the positioning and alignment module comprises:

[0172] The calibration module is used to automatically calibrate the ophthalmic laser therapy device so that the light beam of the transmitter meets the positioning accuracy required by the surgery;

[0173] A positioning module, used to scan and locate the patient's eyes through a wireless positioning system to obtain the patient's eye position information;

[0174] The light beam of the laser therapy device is controlled to be aimed at the patient's eyes according to the position information of the patient's eyes.

[0175] The working principle of the above technical solution is: the system automatically calibrates the laser therapy device through a built-in or external calibration device. This usually involves adjusting the position, angle and accuracy of the transmitter head to ensure that the beam can be accurately aligned with the target position. During the calibration process, the system uses precise mechanical structures, sensors and algorithms to accurately control the movement of the transmitter head and the direction of the beam. The wireless positioning system performs non-contact scanning and positioning of the patient's eyes through signal interaction between the transmitter and the receiver. The system uses the propagation characteristics of wireless signals (such as radio frequency, ultrasound, etc.) to measure the time or phase difference of the signal from the transmitter to the eye and then back to the receiver, thereby calculating the precise position information of the eye. Based on the eye position information obtained by the wireless positioning system, the system calculates the angle and position that the laser therapy device transmitter head needs to be adjusted. The position of the transmitter head is adjusted by the control mechanism so that the beam is accurately aligned with the patient's eyes.

[0176] The effect of the above technical solution is: through automatic calibration and precise measurement of the wireless positioning system, the beam of the laser therapy device can accurately locate the patient's eyes, improving the positioning accuracy. Accurate positioning reduces the possibility of misoperation and avoids damage to the surrounding tissues of the eye by the beam. The use of automatic calibration and wireless positioning systems reduces the need for manual adjustment. Automatic calibration and wireless positioning technology is not only suitable for ophthalmic laser treatment, but also can be applied to other medical fields that require high-precision positioning and beam control, broadening the scope of application of the technology. By automatically calibrating the laser therapy device and using the wireless positioning system for eye scanning and positioning, accurate, safe and efficient ophthalmic positioning can be achieved.

[0177] In one embodiment of the present invention, the data adjustment module includes:

[0178] Power compensation module, used to monitor the temperature and humidity changes in the operating room in real time;

[0179] Automatically adjust the compensation amount of the transmission power of the transmitter of the wireless positioning system according to the temperature and humidity change information;

[0180] Obtaining the adjusted transmitter transmission power by automatically adjusting the compensation amount;

[0181] A sensitivity compensation module, used for automatically adjusting the compensation amount of the sensitivity of the receiver of the wireless positioning system according to the change information of the temperature and humidity;

[0182] The adjusted receiver sensitivity is obtained by automatically adjusting the compensation amount of the receiver sensitivity.

[0183] The working principle of the above technical solution is: real-time monitoring of the temperature and humidity change information in the operating room;

[0184] The automatic adjustment compensation amount of the transmission power of the transmitter of the wireless positioning system is adjusted according to the change information of the temperature and humidity; wherein the automatic adjustment compensation amount of the transmission power is obtained by the following formula:

[0185]

[0186] Wherein, Q represents the automatic adjustment compensation amount of the transmission power; T e Indicates the current temperature in the operating room; T e0 represents the temperature value in the operating room at the time of wireless positioning system operation enlightenment; W represents the humidity in the current operating room; W 0 It indicates the humidity value in the operating room at the time of wireless positioning system operation; E indicates the electromagnetic interference compensation amount; E x and E y They represent the frequency interference energy (frequency interference energy refers to the electromagnetic energy within a certain frequency range) and the electromagnetic radiation interference (electromagnetic radiation interference refers to the intensity or energy density of electromagnetic radiation generated by electronic equipment in a specific area) generated by the ophthalmic laser therapy device; ΔE x and ΔE y They respectively represent the changes in frequency interference energy and electromagnetic radiation interference generated by each unit distance change between the ophthalmic laser therapy device and other electrical equipment in the operating room, and the value range of the unit distance is 10cm-30cm; m represents the total number of other electronic devices activated in the operating room for ophthalmic surgery except the ophthalmic laser therapy device; L i represents the distance between the i-th other electronic device and the ophthalmic laser therapy device; ΔE 01i and ΔE 02i The change in frequency interference energy and electromagnetic radiation interference generated by each unit change in the distance between the i-th other electronic device and the ophthalmic laser therapeutic device; k 01 and k 02 denote the first coefficient and the second coefficient respectively, and the first coefficient and the second coefficient are obtained by the following formula:

[0187]

[0188] Among them, T ei represents the temperature value of the operating room corresponding to the i-th unit time; s represents a constant coefficient, and when Then s=1; when Then s = -1;

[0189]

[0190] Among them, W i represents the humidity value of the operating room corresponding to the i-th unit time;

[0191] The adjusted transmitter transmission power is obtained by automatically adjusting the compensation amount; wherein the adjusted transmitter transmission power is obtained by the following formula:

[0192]

[0193] Among them, Q m Represents the adjusted transmitter’s transmit power; Q 0 Indicates the transmit power of the transmitter before adjustment;

[0194] The compensation amount of the automatic adjustment of the sensitivity of the receiver of the wireless positioning system is obtained according to the change information of the temperature and humidity; wherein the compensation amount of the automatic adjustment of the sensitivity of the receiver is obtained by the following formula:

[0195]

[0196] Where R represents the automatic adjustment compensation amount of sensitivity;

[0197] The adjusted sensitivity of the receiver is obtained by automatically adjusting the compensation amount of the sensitivity of the receiver; wherein the adjusted sensitivity of the receiver is obtained by the following formula:

[0198]

[0199] Among them, R m Represents the sensitivity of the adjusted receiver; R 0 Indicates the sensitivity of the receiver before adjustment.

[0200] The effect of the above technical solution is: since the wireless positioning system communicates data with the software interface and imager of the ophthalmic laser therapy device through wireless communication, and when the wireless signal transmitter of the wireless positioning system is greatly affected by the environment, wireless communication delay will occur, which will lead to imaging delay, thereby affecting the precision of eye surgery and causing accidents. Therefore, it is necessary to adjust the parameters of the wireless communication device in real time according to the environmental parameter information of the operating room to deal with the problem of wireless communication delay. Adjusting the transmitter's transmission power and the receiver's sensitivity in the above manner can effectively improve the quality of wireless communication, effectively reduce the impact of wireless communication quality caused by changes in the operating room's environmental parameters, and thus minimize wireless communication delay. At the same time, the transmitter's transmission power and the receiver's sensitivity obtained in the above manner can effectively improve the data transmission efficiency and data reception efficiency, improve the matching between the transmitter's transmission power and the receiver's sensitivity and the current wireless communication environment, and further reduce the delay of wireless communication.

[0201] On the other hand, the transmitting power of the transmitter and the sensitivity of the receiver obtained in the above manner can further prevent the transmission power from being too high and causing its impact on other electronic instruments and equipment during the operation while ensuring the required wireless communication anti-interference. In addition, the adjustment of the sensitivity of the above-mentioned receiver can further prevent the problem of excessive signal disturbance caused by excessive sensitivity while ensuring the required wireless communication anti-interference. This can further improve the quality of wireless communication while reducing the wireless communication delay.

[0202] At the same time, changes in temperature and humidity in the operating room may affect the propagation characteristics of the wireless signal, resulting in a decrease in positioning accuracy. By monitoring these environmental parameters in real time and automatically adjusting the transmitter's transmit power and the receiver's sensitivity, it is possible to ensure that the wireless positioning system maintains stable performance under various environmental conditions. Appropriate transmit power and receiver sensitivity are essential to ensure the quality and distance of signal transmission. Automatically adjusting these parameters based on information about changes in temperature and humidity can optimize the transmission effect of the signal, reduce signal attenuation and distortion, and thus improve the accuracy and reliability of positioning. Temperature and humidity conditions may vary in different operating rooms or during different surgical procedures. Through the automatic adjustment mechanism, the wireless positioning system can adaptively respond to these changes and ensure accurate positioning services in various environments. Traditionally, it may be necessary to manually adjust the parameters of the wireless positioning system to adapt to environmental changes. The automatic adjustment mechanism reduces the reliance on manual intervention, reduces the complexity of operation, and improves work efficiency. Accurate wireless positioning systems are key to the success of surgeries such as ophthalmic laser treatment. By optimizing signal transmission and enhancing system stability, accurate positioning during surgery can be ensured, the risk of misoperation can be reduced, and the safety and efficiency of surgery can be improved. Real-time monitoring of temperature and humidity changes in the operating room and automatic adjustment of the wireless positioning system's transmitter transmission power and receiver sensitivity based on these change information can significantly improve the stability of the positioning system, optimize signal transmission quality, enhance the system's adaptability, and improve the safety and efficiency of surgery.

[0203] In one embodiment of the present invention, the compensation calibration module includes:

[0204] The actual information acquisition module is used to obtain the actual communication delay of the current wireless positioning system in real time;

[0205] The real-time movement status monitoring module is used to monitor the current patient's eye movement status in real time;

[0206] A micro-motion speed information acquisition module is used to acquire the micro-motion speed of the eyeball when the patient's eyeball moves;

[0207] An automatic compensation information acquisition module, used to obtain the position automatic calibration compensation amount and the angle automatic calibration compensation amount corresponding to the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument by using the actual communication delay of the wireless positioning system and the micro-movement speed of the eyeball movement;

[0208] The automatic calibration module is used to obtain the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument by using the position automatic calibration compensation amount and the angle automatic calibration compensation amount.

[0209] The working principle of the above technical solution is: obtaining the actual communication delay of the current wireless positioning system in real time;

[0210] Real-time monitoring of the patient's eye movement status;

[0211] When the patient's eyeball moves, obtain the micro-movement speed of the eyeball;

[0212] The actual communication delay of the wireless positioning system and the micro-movement speed of the eyeball are used to obtain the position automatic calibration compensation amount and the angle automatic calibration compensation amount corresponding to the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument; wherein the position automatic calibration compensation amount is obtained by the following formula:

[0213] Δp=v·Δt-ξ v ·d

[0214]

[0215] Wherein, Δp represents the position automatic calibration compensation amount; Δt represents the actual communication delay of the current wireless positioning system; v represents the micro-movement speed of the eyeball; d represents the position deviation corresponding to the actual communication delay; and v x 、v y and v z They represent the velocity components of the eyeball's micro-movement velocity in the xyz directions respectively; v represents the position deviation coefficient, and, And, x , y and z Respectively represent the position deviation coefficient on the xyz axis, where the position deviation coefficient on the xyz axis ξ x , y and z Obtained through the following formula:

[0216]

[0217] Wherein, T represents the preset maximum permissible communication delay; λ represents the offset adjustment coefficient; n represents the number of unit times experienced during the operation of the wireless positioning system, and the unit time is 1s; Δt i represents the actual communication delay of the wireless positioning system corresponding to the i-th unit time;

[0218] Furthermore, the angle automatic calibration compensation amount is obtained by the following formula:

[0219] Δα=α·Δt-δ v β

[0220]

[0221] Among them, Δα represents the position automatic calibration compensation; α represents the angular velocity of the eye movement during the communication delay; β represents the angular deviation corresponding to the actual communication delay; α x , α y and α z Respectively represent the angular velocity components on the xyz axis; δ v represents the angular deviation coefficient, and, δ x , δ y and δ z They represent the angular deviation coefficients on the xyz axis respectively, where the angular deviation coefficients on the xyz axis are obtained by the following formula:

[0222]

[0223] The position and angle of the automatic calibration transmitter head of the ophthalmic laser therapeutic apparatus are obtained by using the position automatic calibration compensation amount and the angle automatic calibration compensation amount, wherein the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapeutic apparatus are obtained by the following formula:

[0224] P m =P 0 +Δp

[0225] α m =α 0 +Δα

[0226] Among them, P m represents the position coordinates of the automatic calibration transmitter head of the ophthalmic laser therapy device, and P m =(x m ,y m , z m ), and x m ,y m and z m They represent the coordinates on the xyz axis corresponding to the calibrated position; P 0represents the position coordinates of the eyeball before the eyeball moves, and P 0 =(x 0 ,y 0 , z 0 ), and x 0 ,y 0 and z 0 They represent the coordinates on the xyz axis corresponding to the position of the eye before the eye moves; α m Indicates the angle of the laser therapy device for ophthalmology to automatically calibrate the transmitter head; α 0 Indicates the angle of the transmitter head before the eye moves.

[0227] The effect of the above technical solution is: since communication delay cannot be completely avoided, and when communication delay exists, errors in the patient's eye positioning are likely to occur. Therefore, the automatic calibration of the patient's eye position obtained by the above method combines the communication delay and the patient's eye movement speed to detect and predict the eye movement position to locate the eye position, which can effectively improve the accuracy and efficiency of eye position positioning.

[0228] On the other hand, by obtaining the actual communication delay of the wireless positioning system in real time, the system can timely understand the delay of signal transmission, thereby avoiding positioning errors caused by communication delays. By monitoring the patient's eye movement status in real time and obtaining its micro-motion speed when the eye moves, the system can quickly respond to the dynamic changes of the eye and ensure that the transmitter head of the laser therapy device is always aligned with the target position. The patient's eye may move slightly during surgery for various reasons, which poses a challenge to the accuracy of surgical positioning. By combining the micro-motion speed of the eye movement and the communication delay of the wireless positioning system, the system can automatically calculate the position automatic calibration compensation and the angle automatic calibration compensation, and realize dynamic adjustment of the position and angle of the transmitter head to adapt to the movement of the eyeball. Automatically calibrating the position and angle of the transmitter head ensures the stability and accuracy of the laser therapy device during surgery and improves the success rate and effect of the surgery. By precisely controlling the position and angle of the transmitter head, the system can more effectively focus the laser beam on the target area, reduce damage to surrounding tissues, and improve the safety of surgery. Real-time and accurate positioning and calibration reduce uncertainty and risks during surgery, reduce patient anxiety and discomfort, and improve the overall experience of patients. This automatic calibration technology based on real-time communication delay and eye movement status monitoring is not only suitable for ophthalmic laser treatment, but may also be applied to other medical fields that require high-precision dynamic positioning, such as neurosurgery, otolaryngology, etc., and has broad application prospects. The present invention can achieve automatic calibration of the transmitter head of the ophthalmic laser therapy device by acquiring the communication delay of the wireless positioning system and monitoring the eye movement status in real time, which can significantly improve the real-time and accuracy of surgical positioning, enhance the dynamic adaptability of the system, optimize the performance of the laser therapy device, improve patient experience and satisfaction, and expand the scope of application and prospects.

[0229] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A wireless positioning method for laser therapeutic apparatus suitable for ophthalmology, characterized in that: The wireless positioning method of the laser therapeutic apparatus applicable to ophthalmology comprises: Initialize the wireless positioning system of the ophthalmic laser therapeutic device, and after the initialization process, control the automatic positioning adjustment of the wireless positioning system, and adjust the transmission power of the transmitter of the wireless positioning system and the sensitivity of the receiver in real time; According to the real-time position information of the patient's eyes, the automatic calibration compensation parameters are obtained on time using the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system, and the automatic calibration compensation parameters are used to control the position and angle of the automatic calibration transmitter of the ophthalmic laser therapy device until the coordinates of the transmitter are consistent with those of the wireless positioning system.

2. The wireless positioning method for laser therapeutic apparatus for ophthalmology according to claim 1, characterized in that: Initialize the wireless positioning system of the ophthalmic laser therapeutic device, and after the initialization process, control the automatic positioning adjustment of the wireless positioning system, and adjust the transmission power of the wireless positioning system transmitter and the sensitivity of the receiver in real time, including: Initializing the wireless positioning system of the ophthalmic laser therapeutic apparatus to complete the initialization of the wireless positioning system; The wireless positioning system automatically positions and adjusts the patient's eye position to make a preliminary alignment with the ophthalmic laser therapy device; The transmission power of the wireless positioning system transmitter and the sensitivity of the receiver are adjusted in real time according to the changes in the environmental parameters of the operating room.

3. The wireless positioning method for laser therapeutic apparatus for ophthalmology according to claim 2, characterized in that: Initializing the wireless positioning system of the ophthalmic laser therapeutic apparatus to complete the initialization of the wireless positioning system includes: Initialize the hardware equipment of the wireless positioning system; Initializing the software interface of the wireless positioning system so that a communication connection is established between the software interface and the hardware device; The working parameters of the wireless positioning system are set according to the environmental parameters of the operating room, wherein the environmental parameters of the operating room include temperature, humidity, airflow and electromagnetic interference information; and the working parameters include signal coverage and accuracy.

4. The wireless positioning method for laser therapeutic apparatus for ophthalmology according to claim 2, characterized in that: The wireless positioning system automatically positions and adjusts to make the patient's eye position preliminarily aligned with the ophthalmic laser therapy device, including: Automatically calibrate the ophthalmic laser therapy device to ensure that the light beam of the transmitter meets the positioning accuracy required for surgery; Scanning and locating the patient's eyes through a wireless positioning system to obtain the patient's eye position information; The light beam of the laser therapy device is controlled to be aimed at the patient's eyes according to the position information of the patient's eyes.

5. The wireless positioning method for laser therapeutic apparatus for ophthalmology according to claim 2, characterized in that: The transmission power of the wireless positioning system transmitter and the sensitivity of the receiver are adjusted in real time according to the environmental parameter changes in the operating room, including: Real-time monitoring of temperature and humidity changes in the operating room; Automatically adjust the compensation amount of the transmission power of the transmitter of the wireless positioning system according to the temperature and humidity change information; Obtaining the adjusted transmitter transmission power by automatically adjusting the compensation amount; Automatically adjust the compensation amount for the sensitivity of the receiver of the wireless positioning system according to the temperature and humidity change information; The adjusted receiver sensitivity is obtained by automatically adjusting the compensation amount of the receiver sensitivity.

6. The wireless positioning method for laser therapeutic apparatus for ophthalmology according to claim 1, characterized in that: According to the real-time position information of the patient's eyes, the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system are used to obtain automatic calibration compensation parameters on time, and the position and angle of the automatic calibration transmitter of the ophthalmic laser therapeutic device are controlled by the automatic calibration compensation parameters, including: Obtain the actual communication delay of the current wireless positioning system in real time; Real-time monitoring of the patient's eye movement status; When the patient's eyeball moves, obtain the micro-movement speed of the eyeball; Using the actual communication delay of the wireless positioning system and the micro-movement speed of the eyeball, the position automatic calibration compensation amount and the angle automatic calibration compensation amount corresponding to the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument are obtained; The position and angle of the automatic calibration emitter head of the ophthalmic laser therapeutic apparatus are obtained by utilizing the position automatic calibration compensation amount and the angle automatic calibration compensation amount.

7. A wireless positioning system for laser therapeutic apparatus suitable for ophthalmology, characterized in that: The laser therapeutic apparatus wireless positioning system applicable to ophthalmology comprises: A parameter adjustment module, used to initialize the wireless positioning system of the ophthalmic laser therapeutic device, and after the initialization process, control the automatic positioning adjustment of the wireless positioning system, and adjust the transmission power of the transmitter of the wireless positioning system and the sensitivity of the receiver in real time; The compensation calibration module is used to obtain automatic calibration compensation parameters on time according to the real-time position information of the patient's eyes by utilizing the micro-movement speed of the patient's eyeballs and the actual communication of the wireless positioning system, and to control the position and angle of the automatic calibration transmitter of the ophthalmic laser therapy device through the automatic calibration compensation parameters until the coordinates of the transmitter are consistent with those of the wireless positioning system.

8. The wireless positioning system for laser therapy apparatus for ophthalmology according to claim 7, characterized in that: The parameter adjustment module comprises: A preliminary processing module, used for initializing the wireless positioning system of the ophthalmic laser therapeutic apparatus, so that the wireless positioning system is initialized; A positioning and alignment module, used for automatic positioning and adjustment of the wireless positioning system, so that the patient's eye position is preliminarily aligned with the ophthalmic laser therapy device; The data adjustment module is used to adjust the transmission power of the wireless positioning system transmitter and the sensitivity of the receiver in real time according to the change information of the environmental parameters of the operating room.

9. The wireless positioning system for laser therapy apparatus for ophthalmology according to claim 8, characterized in that: The data adjustment module includes: Power compensation module, used to monitor the temperature and humidity changes in the operating room in real time; Automatically adjust the compensation amount of the transmission power of the transmitter of the wireless positioning system according to the temperature and humidity change information; Obtaining the adjusted transmitter transmission power by automatically adjusting the compensation amount; A sensitivity compensation module, used for automatically adjusting the compensation amount of the sensitivity of the receiver of the wireless positioning system according to the change information of the temperature and humidity; The adjusted receiver sensitivity is obtained by automatically adjusting the compensation amount of the receiver sensitivity.

10. The wireless positioning system for laser therapy apparatus for ophthalmology according to claim 7, characterized in that: The compensation calibration module includes: The actual information acquisition module is used to obtain the actual communication delay of the current wireless positioning system in real time; The real-time movement status monitoring module is used to monitor the current patient's eye movement status in real time; A micro-motion speed information acquisition module is used to acquire the micro-motion speed of the eyeball when the patient's eyeball moves; An automatic compensation information acquisition module, used to obtain the position automatic calibration compensation amount and the angle automatic calibration compensation amount corresponding to the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument by using the actual communication delay of the wireless positioning system and the micro-movement speed of the eyeball movement; The automatic calibration module is used to obtain the position and angle of the automatic calibration transmitter head of the ophthalmic laser therapy instrument by using the position automatic calibration compensation amount and the angle automatic calibration compensation amount.

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