Ultrasonic energy output control method, ultrasonic treatment host, system and ultrasonic treatment instrument

Abstract

The invention relates to the technical field of ultrasonic medical treatment, and particularly provides an ultrasonic energy output control method, an ultrasonic treatment host, a system and an ultrasonic therapeutic apparatus, and the ultrasonic energy output control method comprises the following steps: obtaining a period T of an energy converter for outputting ultrasonic energy, the period T comprising idle time T1 and energy output time T2; in the idle time T1, the motor is controlled to stop rotating to enable the transducer to be static, or the motor is controlled to drive the transducer to perform first uniform-speed motion, or the motor is controlled to drive the transducer to perform first variable-speed motion in at least a part of time; and within the energy output time T2, the motor is controlled to stop rotating so that the energy converter can be static, or the motor is controlled to drive the energy converter to conduct first uniform-speed motion, or the motor is controlled to drive the energy converter to conduct variable-speed motion within at least a part of time. According to the ultrasonic energy output control method, the time occupied by the non-ultrasonic energy output stage can be saved, and the treatment efficiency of the ultrasonic treatment handle can be improved.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic medical technology, and in particular to an ultrasonic energy output control method, an ultrasonic treatment host, a system and an ultrasonic treatment device. Background Art

[0002] Ultrasonic therapy device is a therapeutic device that focuses ultrasound waves on the subcutaneous fat layer and generates high heat, destroying fat layer cells to achieve fat reduction. Ultrasonic therapy device converts electrical energy into sound energy and focuses it precisely through the transducer in the treatment head. Ultrasonic transmission requires ultrasonic conduction fluid as a medium. The transducer needs to be immersed in the ultrasonic conduction fluid, so a sealed shell is required to seal the transducer and conduction fluid in the shell. There is a sound-transmitting port on the shell, which is sealed with an ultrasonic membrane. The ultrasonic waves emitted by the transducer are emitted through the sound-transmitting port.

[0003] In order to increase the treatment area, a stepper motor is generally used to drive the transducer to achieve linear motion or circular motion, so that the focus of the ultrasonic wave generated by the ultrasonic generating part of the transducer moves linearly or circularly on the same plane, thereby achieving the purpose of the transducer providing ultrasonic energy output in a straight line or circular trajectory.

[0004] However, existing ultrasonic transducer systems usually maintain a fixed speed of movement regardless of whether they are in the ultrasonic energy output stage or the ultrasonic energy non-output stage, which results in low system efficiency. In particular, when precise dot-marking is required, the transducer movement speed cannot be dynamically adjusted to optimize the effect.

[0005] This will lead to the following problems: The transducer moves too fast during the ultrasonic energy output stage, affecting the treatment accuracy: When precise point placement or precise ultrasonic energy output is required, the transducer moves too fast, resulting in insufficient dwell time at the target point, and insufficient ultrasonic energy output. This is particularly evident in medical ultrasound treatment, where the output accuracy directly affects the accuracy of the treatment results.

[0006] The transducer moves too slowly during the non-output stage of ultrasonic energy, resulting in low efficiency: When there is no ultrasonic energy output signal, the transducer needs to complete a certain distance, and during this process the transducer moves too slowly, causing the transducer to spend too much time moving to the next ultrasonic energy output point, reducing overall work efficiency. This is very disadvantageous in multi-point scanning or multi-point treatment tasks. Summary of the invention

[0007] The present application provides an ultrasonic energy output control method, an ultrasonic treatment host, a system and an ultrasonic treatment device to solve the problems existing in the prior art.

[0008] The present application provides an ultrasonic energy output control method comprising the following steps:

[0009] Acquire a period T of ultrasonic energy output by the transducer, wherein the period T includes an idle time T1 and an energy output time T2;

[0010] During the idle time T1, the motor is controlled to stop so that the transducer is stationary, or the motor is controlled to drive the transducer to perform a first uniform speed motion, or the motor is controlled to drive the transducer to perform a first variable speed motion in at least a part of the time;

[0011] During the energy output time T2, the motor is controlled to stop so that the transducer is stationary, or the motor is controlled to drive the transducer to perform a second uniform speed motion, or the motor is controlled to drive the transducer to perform a second variable speed motion in at least a portion of the time.

[0012] As a preferred solution, the “controlling the motor to drive the transducer to perform the first speed-changing motion in at least a part of the time during the idle time T1” includes:

[0013] Controlling the motor to drive the transducer to perform a first acceleration motion during at least a portion of the time;

[0014] Alternatively, controlling the motor to drive the transducer to perform a first deceleration motion;

[0015] Alternatively, the motor is controlled to drive the transducer to perform a variable speed motion of two or any combination of the first uniform speed motion, the first accelerated motion and the first decelerated motion.

[0016] As a preferred solution, the acceleration value a1 of the first acceleration motion or the first deceleration motion is a constant value;

[0017] Alternatively, the acceleration value a1 first increases linearly and then decreases linearly over time;

[0018] Alternatively, the acceleration value a1 first increases exponentially and then decreases exponentially over time;

[0019] Alternatively, the acceleration value a1 increases linearly first and then decreases exponentially over time;

[0020] Alternatively, the acceleration value a1 first increases exponentially and then decreases linearly over time.

[0021] As a preferred solution, the “controlling the motor to drive the transducer to perform a second speed-changing motion for at least a portion of the energy output time T2” includes:

[0022] Controlling the motor to drive the transducer to perform a second acceleration motion or a second deceleration motion;

[0023] Alternatively, the motor is controlled to drive the transducer to perform a variable speed motion of two or any combination of the second uniform speed motion, the second accelerated motion and the second decelerated motion.

[0024] As a preferred solution, the acceleration value a2 of the second accelerated motion or the second decelerated motion is a constant value;

[0025] Alternatively, the acceleration value a2 first increases linearly and then decreases linearly over time;

[0026] Alternatively, the acceleration value a2 first increases exponentially and then decreases exponentially over time;

[0027] Alternatively, the acceleration value a2 increases linearly first and then decreases exponentially over time;

[0028] Alternatively, the acceleration value a2 first increases exponentially and then decreases linearly over time.

[0029] As a preferred solution, the trajectory of the transducer driven by the motor to move is a linear trajectory or a circular trajectory.

[0030] As a preferred solution, the moving speed of the transducer during the idle time T1 is greater than the moving speed of the transducer during the energy output time T2.

[0031] As a preferred solution, the pulse output frequency of the motor is controlled to control the rotation speed of the motor; and the number of pulse outputs of the motor is controlled to control the travel of the transducer.

[0032] The present invention also provides an ultrasonic therapy system, comprising a therapy handle and an ultrasonic therapy host of any of the above-mentioned schemes, wherein the therapy handle comprises a control panel, a motor and a transducer, the control panel is electrically connected to the motor and the transducer, and the motor is used to drive the transducer to move; the ultrasonic therapy host is electrically connected to the control panel for controlling the operation of the motor and the transducer.

[0033] The present invention also provides an ultrasonic therapeutic apparatus, comprising the ultrasonic therapeutic system of any of the above schemes.

[0034] The ultrasonic energy output control method of the present invention adopts different speed control strategies to control the motor-driven transducer movement during the idle time T1 and the energy output time T2 of the ultrasonic energy output cycle T.

[0035] During the idle time T1, the motor-driven transducer performs a first acceleration motion during at least a portion of the time. Compared with the uniform motion of the motor-driven transducer, it can move a greater distance (straight-line distance or circular angle) within a specified time, or spend less time moving a specified distance (straight-line distance or circular angle), thereby saving time occupied by the non-ultrasonic energy output stage, which is beneficial to improving the treatment efficiency of the ultrasonic treatment handle and reducing the treatment time required under the same treatment effect conditions.

[0036] During the energy output time T2, the motor stops to make the transducer stationary, or the motor drives the transducer to perform a first uniform motion, or the motor drives the transducer to perform a variable speed motion for at least a portion of the time. Multiple transducer motion modes can flexibly adapt to the ultrasonic energy output requirements of different scenarios, such as improving the output accuracy of ultrasonic energy, the accuracy of ultrasonic energy covering the treatment area, the time and intensity of ultrasonic energy acting in the treatment area, etc., thereby improving the therapeutic effect of ultrasonic energy output. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] Figure 1 It is a schematic flow chart of the ultrasonic energy output control method of the present invention.

[0039] Figure 2 This is a variation curve of first performing a first acceleration motion and then performing a first deceleration motion when the acceleration a1 is a constant value in the ultrasonic energy output control method of the present invention.

[0040] Figure 3 This is a speed change curve of first performing a first deceleration motion and then performing a first acceleration motion when the acceleration a1 is a constant value in the ultrasonic energy output control method of the present invention.

[0041] Figure 4 This is a speed change curve of first performing a first acceleration motion and then performing a first deceleration motion when the acceleration a1 is linearly increasing / decreasing in the ultrasonic energy output control method of the present invention.

[0042] Figure 5 This is a speed change curve of first performing a first deceleration motion and then a first acceleration motion when the acceleration a1 is linearly increasing / decreasing in the ultrasonic energy output control method of the present invention.

[0043] Figure 6 It is a diagram of energy diffusion distribution in the treatment area within a single cycle when the transducer is in a stationary state within the energy output time T2 in the ultrasonic energy output control method of the present invention.

[0044] Figure 7 It is a distribution diagram of energy diffusion in the treatment area within a single cycle when the transducer is in the second uniform motion state within the energy output time T2 in the ultrasonic energy output control method of the present invention.

[0045] Figure 8 It is a distribution diagram of energy diffusion in the treatment area within a single cycle when the transducer is in the second accelerated motion state within the energy output time T2 in the ultrasonic energy output control method of the present invention.

[0046] Fig. 9 It is a distribution diagram of energy diffusion in the treatment area within a single cycle when the transducer is in the second deceleration motion state within the energy output time T2 in the ultrasonic energy output control method of the present invention.

[0047] Fig.10 It is a distribution diagram of energy diffusion in the treatment area within a single cycle when the transducer is in the second uniform motion and the second accelerated motion alternatingly during the energy output time T2 in the ultrasonic energy output control method of the present invention.

[0048] Fig.11 It is a distribution diagram of energy diffusion in the treatment area within a single cycle when the transducer is in the second uniform motion and the second deceleration motion alternatingly within the energy output time T2 in the ultrasonic energy output control method of the present invention.

[0049] Fig.12 It is a distribution diagram of energy diffusion in the treatment area within a single cycle when the transducer is in the alternating transformation between the second acceleration motion and the second deceleration motion within the energy output time T2 in the ultrasonic energy output control method of the present invention.

[0050] Fig.13 It is a distribution diagram of energy diffusion in the treatment area within a single cycle when the transducer in the ultrasonic energy output control method of the present invention is in the second accelerated motion, the second uniform motion and the second decelerated motion alternating within the energy output time T2.

[0051] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "an" and "the" used in the embodiments of the present application are also intended to include plural forms, unless the context clearly indicates other meanings.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0055] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0056] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0057] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0058] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0059] The ultrasonic energy output control method of the present invention is mainly applied to ultrasonic therapeutic apparatus, and the output of ultrasonic energy is realized by burning a control program for realizing the ultrasonic energy output control method into an ultrasonic therapeutic host of the ultrasonic therapeutic apparatus. The ultrasonic therapeutic host includes a processing unit and a storage unit, and the control program burned into the ultrasonic therapeutic host is stored in the storage unit. The processing unit executes the ultrasonic energy output control method by calling the control program in the storage unit.

[0060] The ultrasonic energy output control method of the present invention is suitable for application scenarios where the transducer needs to move actively. The active movement of the transducer means that the transducer needs to be driven by a motor (such as a stepping motor) to move autonomously. For example, in an ultrasonic treatment handle that drives the transducer to perform reciprocating linear motion by a motor, the trajectory of the transducer movement is a linear trajectory, or in an ultrasonic treatment handle that drives the transducer to perform circular motion by a motor, the trajectory of the transducer movement is a circular trajectory. By driving the transducer to move autonomously by a motor, the coverage range of the ultrasonic energy output and the uniformity of the ultrasonic energy output within the coverage range can be improved during the operation of the ultrasonic treatment handle.

[0061] The ultrasonic energy output control method of the present invention mainly controls the motion mode of the motor-driven transducer, and in some cases, achieves different energy effects under the same energy output conditions.

[0062] The present invention provides an ultrasonic energy output control method comprising the following steps:

[0063] The period T of the transducer outputting ultrasonic energy is obtained, where the period T includes an idle time T1 and an energy output time T2.

[0064] During the idle time T1, the motor is controlled to stop to make the transducer still, or the motor is controlled to drive the transducer to perform a first uniform speed motion, or the motor is controlled to drive the transducer to perform a first variable speed motion in at least a portion of the time.

[0065] The ultrasonic energy output cycle T of the transducer is achieved by modulating the ultrasonic energy output pulse. The transducer needs to output ultrasonic energy for multiple cycles T to complete a linear motion or a circular motion. The ultrasonic energy during the movement of the transducer has the effect of continuous dot output. The efficiency of the transducer's ultrasonic energy output mainly depends on the duration of the ultrasonic energy output and the duration of the non-ultrasonic energy output. Therefore, if you want to improve the efficiency of the transducer's ultrasonic energy output, the key is to save the time occupied by the non-ultrasonic energy output stage, that is, the idle time T1.

[0066] During the idle time T1, the transducer is stationary or performs a first uniform motion, which is beneficial to reducing noise and vibration of the motor operation.

[0067] “During the idle time T1, the motor is controlled to drive the transducer to perform a first speed change motion for at least a portion of the time” may be “During the idle time T1, the motor is controlled to drive the transducer to perform a first acceleration motion for at least a portion of the time”.

[0068] Compared with the uniform motion of the transducer driven by a motor, the transducer performing the first accelerated motion during at least a portion of the time can move more distance within a specified time, or spend less time moving the specified distance. Regardless of the application scenario, it can save the duration of the non-ultrasonic energy output stage, which is beneficial to improving the treatment efficiency of the ultrasonic treatment handle and shortening the treatment time under the same treatment effect conditions.

[0069] In the present invention, the stroke refers to the straight-line distance of the transducer when it moves in a straight line, or the circular angle of the transducer when it moves in a circular line.

[0070] During the energy output time T2, the motor is controlled to stop so that the transducer is stationary, or the motor is controlled to drive the transducer to perform a second uniform speed motion, or the motor is controlled to drive the transducer to perform a second variable speed motion in at least a portion of the time.

[0071] like Figure 6 As shown, in the first case of this step, the transducer is in a stationary state within the energy output time T2, so that the ultrasonic energy output by the transducer on the treatment area spreads in a circular shape, which is beneficial to improving the concentration of ultrasonic energy and the accuracy of ultrasonic energy output.

[0072] like Figure 7 As shown, in the second situation of this step, the transducer is in a second uniform motion state within the energy output time T2, so that the ultrasonic energy output by the transducer on the treatment area spreads in a rectangular shape to the surrounding areas, which is beneficial to improving the uniformity of ultrasonic energy diffusion and the area covered by ultrasonic energy diffusion.

[0073] In the third situation of this step, the transducer performs a second variable speed motion during at least a part of the energy output time T2, thereby realizing a variety of motion modes of the transducer. It can flexibly adapt to the ultrasonic energy output requirements of different scenarios, such as improving the output accuracy of ultrasonic energy, improving the accuracy of ultrasonic energy covering the treatment area, increasing the time and intensity of ultrasonic energy in the treatment area, and thereby improving the therapeutic effect of ultrasonic energy.

[0074] The above step of “controlling the motor to drive the transducer to perform the first speed change motion for at least a portion of the time during the idle time T1” includes:

[0075] During the idle time T1, the motor is controlled to drive the transducer to perform a first acceleration motion during at least a portion of the time; or, during the idle time T1, the motor is controlled to drive the transducer to perform a first deceleration motion; or, the motor is controlled to drive the transducer to perform a variable speed motion of two of the first uniform motion, the first acceleration motion and the first deceleration motion, or any combination of the three.

[0076] “During the idle time T1, controlling the motor to drive the transducer to perform a first acceleration motion during at least a portion of the time” includes:

[0077] Control the motor to drive the transducer to first perform a first acceleration motion and then a first deceleration motion;

[0078] Alternatively, the motor is controlled to drive the transducer to first perform a first deceleration motion and then a first acceleration motion.

[0079] In the first case of this step, the transducer first performs a first acceleration motion, the purpose of which is to make the transducer move a longer distance in the acceleration motion stage, so that the transducer can quickly move to the ultrasonic energy output point, saving the time occupied by the non-ultrasonic energy output stage; and then performs a first deceleration motion, the purpose of which is to reduce the movement speed of the transducer to the speed required for the ultrasonic energy output stage of the transducer.

[0080] In the second situation of this step, the transducer first performs a first deceleration movement, the purpose of which is to reduce the speed of the motor to provide a larger torque to drive the transducer to move, so as to prevent the motor from stalling due to sudden resistance; and then performs a first acceleration movement, the purpose of which is to make the transducer move a longer stroke during the acceleration movement stage, so that the transducer can quickly move to the ultrasonic energy output point, saving the time occupied by the non-ultrasonic energy output stage.

[0081] In the first and second situations of this step, the proportion of the first acceleration movement time to the entire idle time T1 is at least 1 / 2. The longer the first acceleration movement time accounts for, the more conducive it is to reducing the time occupied by the non-ultrasonic energy output stage, so as to reduce the time occupied by the non-ultrasonic energy output stage to a reasonable range as much as possible. Theoretically, the longer the first acceleration movement time accounts for the entire idle time T1, the better.

[0082] Preferably, Figure 2 and Figure 3 As shown, in the above steps, the acceleration value a1 of the first acceleration motion or the first deceleration motion is a constant value; at this time, the speed of the first acceleration motion increases linearly with time, and the speed of the first deceleration motion decreases linearly with time, which is beneficial to improving the stability of the motor operation, preventing the motor from losing steps, and reducing motor jitter.

[0083] Or, if Figure 4 and Figure 5 As shown, in the above steps, the acceleration value a1 of the first acceleration motion or the first deceleration motion first increases linearly and then decreases linearly with time; at this time, the speed curve of the first acceleration motion over time is a Sigmoid function curve (S-type function curve), which not only saves the time occupied by the non-ultrasonic energy output stage, but also improves the smoothness of the motor operation, prevents the motor from losing steps, and reduces motor jitter. Similarly, the speed curve of the first deceleration motion over time is also a Sigmoid function curve (S-type function curve), which can make the motor deceleration smoother, and is conducive to improving the smoothness of the motor operation and reducing motor jitter.

[0084] Alternatively, in the above steps, the acceleration value a1 of the first acceleration motion or the first deceleration motion first increases exponentially and then decreases exponentially over time; or, the acceleration value a1 first increases linearly and then decreases exponentially over time; or, the acceleration value a1 first increases exponentially and then decreases linearly over time. The above effects can also be achieved and will not be described in detail.

[0085] All the acceleration values ​​a1 mentioned above refer to the absolute value of acceleration, which only indicates the numerical value and does not reflect the vector property.

[0086] The above step of “controlling the motor to drive the transducer to perform a second speed-changing motion for at least a portion of the energy output time T2” includes:

[0087] Controlling the motor to drive the transducer to perform a second acceleration motion or a second deceleration motion;

[0088] Alternatively, the motor is controlled to drive the transducer to perform a variable speed motion of two or any combination of the second uniform speed motion, the second accelerated motion and the second decelerated motion.

[0089] like Figure 8 As shown, in the first case of this step, the transducer performs a second acceleration motion within the energy output time T2, so that the ultrasonic energy output by the transducer on the treatment area spreads in the form of long strips, and as the moving speed of the transducer increases, the ultrasonic energy received per unit area of ​​the treatment area gradually decreases. Therefore, within each ultrasonic energy output cycle T, the ultrasonic energy received per unit area of ​​the treatment area will repeat the cycle from more to less, which is beneficial to reduce the pain of ultrasonic treatment.

[0090] like Fig. 9As shown, the transducer performs a second deceleration motion within the energy output time T2. As the moving speed of the transducer decreases, the ultrasonic energy received per unit area of ​​the treatment zone gradually increases. Therefore, within each ultrasonic energy output cycle T, the ultrasonic energy received per unit area of ​​the treatment zone will repeat the cycle from small to large, which is beneficial to increase the intensity of ultrasonic energy action, thereby enhancing the effect of ultrasonic treatment.

[0091] In the second situation of this step, the variable speed motion of the transducer during the energy output time T2, which is two or any combination of the second uniform speed motion, the second accelerated motion and the second decelerated motion, can be:

[0092] like Fig.10 As shown, for example, the second uniform motion and the second accelerated motion are alternately transformed within the energy output time T2. This situation can take into account the uniformity of ultrasonic energy diffusion while helping to reduce the pain of ultrasonic treatment.

[0093] like Fig.11 As shown, for example, the second uniform motion and the second deceleration motion are alternately transformed within the energy output time T2. This situation can take into account the uniformity of energy diffusion while helping to increase the intensity of ultrasonic energy, thereby enhancing the effect of ultrasonic treatment.

[0094] like Fig.12 As shown, for example, the second acceleration motion and the second deceleration motion are alternately transformed within the energy output time T2, and the ultrasonic energy received per unit area of ​​the treatment zone will repeat the cycle from less to more and then from more to less, which is beneficial to reduce the pain of ultrasonic treatment while taking into account the intensity of ultrasonic energy, thereby improving the effect of ultrasonic treatment; in addition, it can also avoid the motor from maintaining a high load state for a long time, which is beneficial to extend the service life of the motor.

[0095] like Fig.13 As shown, for example, during the energy output time T2, the second acceleration motion, the second uniform motion and the second deceleration motion are alternately transformed, and the ultrasonic energy received per unit area of ​​the treatment zone will repeat the cycle from less to more, to uniform diffusion, and then from more to less, while taking into account reducing the pain of ultrasonic treatment, improving the uniformity of ultrasonic energy diffusion, preventing local concentration of energy and increasing the intensity of ultrasonic energy, thereby improving the effect of ultrasonic treatment; in addition, it can also reduce the continuous stress on the structural part of the transducer, reduce fatigue damage, and thus extend the service life of the equipment.

[0096] In the above steps, similar to the principle of setting the acceleration value a1, the acceleration value a2 of the second accelerated motion or the second decelerated motion is a constant value; or, the acceleration value a2 increases / decreases linearly with time; or, the acceleration value a2 increases / decreases exponentially with time; or, the acceleration value a2 first increases linearly and then decreases exponentially with time; or, the acceleration value a2 first increases exponentially and then decreases linearly with time.

[0097] All the acceleration values ​​a2 mentioned above refer to the absolute value of acceleration, which only indicates the numerical value and does not reflect the vector property.

[0098] Preferably, in the above steps, no matter under what conditions, the moving speed of the transducer in the idle time T1 is greater than the moving speed of the transducer in the energy output time T2. The purpose is to save the duration of the non-ultrasonic energy output stage, which is conducive to improving the treatment efficiency of the ultrasonic treatment handle and shortening the treatment time under the same treatment effect conditions.

[0099] The motor in the present invention is preferably a stepper motor, and the operation of the stepper motor is mainly controlled by the pulse output frequency. For each pulse output, the motor rotates a unit angle. Therefore, the speed of the motor can be controlled by controlling the pulse output frequency of the motor, thereby controlling the moving speed of the transducer. For example, if you want to make the motor rotate at a constant speed, the pulse output frequency is a constant value, and the interval between two adjacent pulses is the same. At this time, the transducer moves at a constant speed. If you want to accelerate the motor, the pulse output frequency becomes higher and higher, and the interval between two adjacent pulses becomes smaller and smaller as time goes by. At this time, the transducer is accelerating. If you want to decelerate the motor, the pulse output frequency becomes lower and lower, and the interval between two adjacent pulses becomes larger and larger as time goes by. At this time, the transducer is decelerating.

[0100] Since the unit angle of the motor's rotation in each unit pulse is a constant, the motor's rotation angle can be controlled by controlling the number of pulses output by the motor, thereby accurately controlling the travel of the transducer.

[0101] The present invention also provides an ultrasonic treatment system, including a treatment handle and an ultrasonic treatment host of any of the above-mentioned schemes, the treatment handle including a control panel, a motor and a transducer, the control panel is electrically connected to the motor and the transducer, the motor is used to drive the transducer to move; the ultrasonic treatment host is electrically connected to the control panel for controlling the operation of the motor and the transducer.

[0102] The present invention also provides an ultrasonic therapeutic apparatus, comprising the ultrasonic therapeutic system of any of the above schemes.

[0103] In the ultrasonic energy output control method of the present invention, during the idle time T1 and the energy output time T2 of the ultrasonic energy output cycle T, the motor drives the transducer to move using different speed control strategies.

[0104] During the idle time T1, the motor-driven transducer performs a first accelerated motion during at least a portion of the time. Compared with the uniform motion of the motor-driven transducer, it can move more distance within a specified time, or spend less time moving a specified distance, thereby saving the duration of the non-ultrasonic energy output stage, which is beneficial to improving the treatment efficiency of the ultrasonic treatment device and reducing the treatment time required under the same treatment effect conditions.

[0105] During the energy output time T2, the motor stops to make the transducer stationary, or the motor drives the transducer to perform a first uniform motion, or the motor drives the transducer to perform a variable speed motion for at least a portion of the time. Multiple transducer motion modes can flexibly adapt to the ultrasonic energy output requirements of different scenarios, for example, improve the output accuracy of ultrasonic energy, the accuracy of ultrasonic energy covering the treatment area, the time and intensity of ultrasonic energy acting in the treatment area, etc., thereby improving the therapeutic effect of ultrasonic energy output.

[0106] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the storage unit, database or other medium used in the embodiments provided by the present invention can include at least one of a non-volatile storage unit and a volatile storage unit. The non-volatile storage unit can include a read-only storage unit (Read-Only Memory, ROM), a magnetic tape, a floppy disk, a flash memory, an optical storage unit, a high-density embedded non-volatile storage unit, a resistive random access memory unit (ReRAM), a magnetoresistive random access memory unit (MRAM), a ferroelectric random access memory unit (FRAM), a phase change memory unit (PCM), a graphene storage unit, etc. The volatile storage unit can include a random access memory unit (RAM) or an external cache memory unit, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processing unit involved in each embodiment provided in this application may be a general processing unit, a central processing unit, a graphics processing unit, a digital signal processing unit, a programmable logic unit, a data processing logic based on quantum computing, an artificial intelligence (AI) processing unit, etc., but are not limited to this.

[0107] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0108] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An ultrasonic treatment host, characterized in that: The ultrasonic treatment host comprises a processing unit and a storage unit, wherein the storage unit stores an ultrasonic energy output control method, and the processing unit is used to execute the ultrasonic energy output control method, wherein the ultrasonic energy output control method comprises the following steps: Acquire a period T of ultrasonic energy output by the transducer, wherein the period T includes an idle time T1 and an energy output time T2; During the idle time T1, the motor is controlled to stop so that the transducer is stationary, or the motor is controlled to drive the transducer to perform a first uniform speed motion, or the motor is controlled to drive the transducer to perform a first variable speed motion in at least a part of the time; During the energy output time T2, the motor is controlled to stop so that the transducer is stationary, or the motor is controlled to drive the transducer to perform a second uniform speed motion, or the motor is controlled to drive the transducer to perform a second variable speed motion in at least a portion of the time.

2. The ultrasonic treatment host according to claim 1, characterized in that: The “controlling the motor to drive the transducer to perform a first speed-changing motion during at least a portion of the idle time T1” includes: Controlling the motor to drive the transducer to perform a first acceleration motion during at least a portion of the time; or controlling the motor to drive the transducer to perform a first deceleration motion; Alternatively, the motor is controlled to drive the transducer to perform a variable speed motion of two or any combination of the first uniform speed motion, the first accelerated motion and the first decelerated motion.

3. The ultrasonic treatment host according to claim 2, characterized in that: The acceleration value a1 of the first accelerated motion or the first decelerated motion is a constant value; Alternatively, the acceleration value a1 first increases linearly and then decreases linearly over time; Alternatively, the acceleration value a1 first increases exponentially and then decreases exponentially over time; Alternatively, the acceleration value a1 increases linearly first and then decreases exponentially over time; Alternatively, the acceleration value a1 first increases exponentially and then decreases linearly over time.

4. The ultrasonic treatment host according to claim 1, characterized in that: The “controlling the motor to drive the transducer to perform a second speed-changing motion for at least a portion of the time during the energy output time T2” includes: Controlling the motor to drive the transducer to perform a second acceleration motion or a second deceleration motion; Alternatively, the motor is controlled to drive the transducer to perform a variable speed motion of two or any combination of the second uniform speed motion, the second accelerated motion and the second decelerated motion.

5. The ultrasonic treatment host according to claim 4, characterized in that: The acceleration value a2 of the second accelerated motion or the second decelerated motion is a constant value; Alternatively, the acceleration value a2 first increases linearly and then decreases linearly over time; Alternatively, the acceleration value a2 first increases exponentially and then decreases exponentially over time; Alternatively, the acceleration value a2 increases linearly first and then decreases exponentially over time; Alternatively, the acceleration value a2 first increases exponentially and then decreases linearly over time.

6. The ultrasonic treatment host according to claim 1, characterized in that: The trajectory of the transducer driven by the motor to move is a straight line trajectory or a circular trajectory.

7. The ultrasonic treatment host according to claim 1, characterized in that: The moving speed of the transducer during the idle time T1 is greater than the moving speed of the transducer during the energy output time T2.

8. The ultrasonic treatment host according to claim 1, characterized in that: The pulse output frequency of the motor is controlled to control the rotation speed of the motor; the pulse output number of the motor is controlled to control the travel of the transducer.

9. An ultrasonic treatment system, characterized in that: It comprises a treatment handle and an ultrasonic treatment host as described in any one of claims 1 to 8, wherein the treatment handle comprises a control panel, a motor and a transducer, the control panel is electrically connected to the motor and the transducer, and the motor is used to drive the transducer to move; the ultrasonic treatment host is electrically connected to the control panel for controlling the operation of the motor and the transducer.

10. An ultrasonic therapeutic apparatus, characterized in that: Comprising the ultrasound treatment system as described in claim 9.

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