Pressure-controllable treatment head for uterus involution instrument and control method of pressure-controllable treatment head

Abstract

The invention discloses a pressure-controllable treatment head for a uterus involution instrument and a control method of the pressure-controllable treatment head. The pressure-controllable treatment head comprises a shell module, an ultrasonic massage probe module, a magnetic driving unit, a control unit and a mode selection unit, the shell module limits the motion trail of the ultrasonic transducer through the guide unit and limits the range of the ultrasonic transducer, and the quick disassembly assembly realizes quick disassembly and stable connection of the ultrasonic massage probe module; the magnetic driving unit generates a magnetic field through coil energization to drive the rotor to move, and precise displacement and pressure adjustment of the treatment head are achieved. The control unit integrates a pressure acquisition circuit, a current regulation circuit and an external trigger signal monitoring circuit, realizes real-time pressure regulation, precise pressure control and track mode judgment through closed-loop feedback, and dynamically regulates a motion track; the mode selection unit supports a pressure following mode and a periodic vibration mode, and adapts to different treatment requirements. Through collaborative design of the structure and the method, precise control over the pressure, the track and the adsorption force of the treatment head is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a pressure-controllable treatment head for a uterine rejuvenation instrument and a control method thereof. Background Art

[0002] The uterine rejuvenation instrument aims at uterine restoration. It stimulates the uterine smooth muscle through low-intensity ultrasound to promote uterine contraction, improve local blood circulation in the pelvic cavity, promote the recovery of uterine function, and promote the absorption of local inflammatory effusion, and has an anti-inflammatory effect.

[0003] The current ultrasonic treatment equipment uses a treatment head that the operator holds and manually treats the patient's abdomen. This operation method has the following disadvantages: (1) The method of holding the treatment head and pressing it on the patient's abdomen for treatment is more dependent on the operator's experience. It is difficult for different operators to maintain consistent pressure on the patient's abdomen with the treatment head. Greater pressure can easily cause pain to the patient, while lighter pressure will result in poor treatment effect.

[0004] (2) The operator uses a handheld treatment head to vibrate at high frequency to massage the patient's abdomen, which consumes a lot of physical strength, and the frequency and amplitude of the vibration are difficult to guarantee. Summary of the invention

[0005] Technical purpose: In view of the shortcomings of existing treatment heads, the present invention discloses a pressure-controllable treatment head for a uterine rejuvenation instrument and a control method thereof, which can realize real-time adjustment of the pressure of the treatment head, support multi-mode selection, and have the ability to accurately adjust the motion trajectory to solve the above-mentioned problems in the prior art.

[0006] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution: A pressure-controllable treatment head for a uterine rejuvenation instrument, comprising a housing module, an ultrasonic massage probe module, a magnetic drive unit and a control unit, wherein the housing module comprises a housing for fixing the overall structure and a guide unit providing a guide function, wherein the guide unit is arranged inside the housing and is used to limit the linear motion trajectory of the ultrasonic massage probe module and limit its motion range through a travel limit structure, and a connecting piece is also connected to the housing; An ultrasonic massage probe module, comprising an ultrasonic transducer, a first ultrasonic massage probe housing, a second ultrasonic massage probe housing, a force sensor, an electrical connection unit and a quick-release assembly, wherein the ultrasonic transducer is connected to the housing module through the second ultrasonic massage probe housing and the quick-release assembly, the force sensor is located between the ultrasonic transducer and the second ultrasonic massage probe housing, and the electrical connection unit is arranged between the first ultrasonic massage probe housing and the second ultrasonic massage probe housing, and is used to provide a driving signal for the ultrasonic transducer; The magnetic driving unit includes a coil arranged inside the shell and a mover connected to the ultrasonic massage probe module, the mover is arranged on the first ultrasonic massage probe shell, and the coil drives the mover and the ultrasonic massage probe module to move up and down along the guide unit through the magnetic field after being energized; The control unit includes a pressure acquisition circuit, a current regulation circuit and an external trigger signal monitoring circuit, which are used to realize pressure detection, magnetic field strength regulation and trajectory control.

[0007] A method for controlling a pressure-controlled treatment head for a uterine rejuvenation device, which is used to control the pressure-controlled treatment head for the uterine rejuvenation device described above, specifically comprises the following steps: The pressure signal of the force sensor is obtained through the pressure acquisition circuit, and after analog-to-digital conversion and filtering, it is substituted into the query table to calculate the actual pressure value; The current regulating circuit is adjusted by pulse width modulation to achieve precise control of the current size, and the current of the coil is adjusted according to the relationship formula between the magnetic field strength and the current, thereby changing the pressure between the treatment head and the action part; The external signal is collected through the external trigger signal monitoring circuit, the external signal is monitored through the mechanical module signal detection module, and the external signal is processed through the signal filtering module to determine whether it is a valid signal; Under valid signals, the trajectory mode is determined by the mechanical module signal analysis module, and the adjustment command is transmitted to the trajectory display module to display the trajectory information; The upper computer sends the trajectory adjustment instruction to the lower computer through the communication line. The lower computer changes the structural point of the treatment head through the X-axis motor control according to the trajectory adjustment instruction sent by the upper computer to achieve motion trajectory adjustment; After the trajectory adjustment is completed, the mechanical module signal monitoring module monitors the adjusted signal in real time, the trajectory display module updates the current trajectory mode in real time, and transmits the trajectory mode information to the host computer through the communication line to complete the feedback.

[0008] Beneficial effects: The pressure-controllable treatment head for a uterine rejuvenation instrument and the control method thereof provided by the present invention have the following beneficial effects: The present invention constructs a modular pressure controllable treatment head device by integrating a housing module, an ultrasonic massage probe module, a magnetic drive unit, a control unit and a mode selection unit. A guide unit is arranged in the housing module, including a guide shaft and a slider, and the radial deviation of the slider is prevented by a non-circular cross-section structure, and the linear motion trajectory of the ultrasonic massage probe module is effectively limited in combination with a stroke limit structure, thereby improving the accuracy and stability of the probe movement; the ultrasonic massage probe module adopts a quick-release assembly design, including a quick-change docking base, a locator and a blocking structure, and the flange and the notch are inserted and rotated, and the radial locking of the locator and the anti-rotation design of the blocking structure are used to ensure the connection stability of the probe during operation, thereby achieving rapid disassembly and assembly while improving the operation efficiency and connection reliability. The magnetic drive unit is designed by the cooperation of the coil and the mover, and the ultrasonic massage probe moves smoothly along the guide trajectory under the drive of the magnetic field generated after the coil is energized. At the same time, the electrical connection unit adopts the first PCBA board, the second PCBA board and the PIN needle seat of the contact-type matching to realize efficient signal transmission between modules, and the stability and anti-interference ability of the electrical connection are further enhanced in combination with the copper column structure. The pressure acquisition circuit, current regulation circuit and external trigger signal monitoring circuit integrated in the control unit work together with the ultrasonic massage probe module and magnetic drive unit to achieve real-time pressure detection, precise adjustment of adsorption force and dynamic control of motion trajectory. The overall structural design optimizes the synergy between modules and provides a solid guarantee for the stability and flexibility of equipment operation.

[0009] Through the close combination of closed-loop feedback control method and structural design, the present invention realizes real-time adjustment of treatment head pressure and precise control of trajectory. The pressure acquisition circuit obtains the force sensor signal in real time, and calculates the actual pressure value in combination with the analog-to-digital conversion and filtering module. By dynamically adjusting the coil current, the pressure of the treatment head is always consistent with the target value. In the magnetic drive unit, the coil current is controlled by the PWM signal, and the pressure is precisely controlled according to the magnetic field strength formula to ensure the efficient adaptation of the treatment head in different scenarios. The external trigger signal monitoring circuit collects and analyzes the validity of the external signal through the signal detection, filtering and trajectory analysis module of the mechanical module, and adjusts the motion trajectory of the treatment head by controlling the X-axis motor. In the pressure following mode, the pressure value is kept consistent with the set target through closed-loop feedback; in the periodic vibration mode, the dynamic vibration frequency and amplitude are precisely controlled by periodically adjusting the current. The real-time communication between the trajectory display module and the host computer ensures the dynamic feedback of the operation status of the treatment head and provides the operator with an intuitive basis for parameter adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0011] Figure 1 This is a schematic diagram of the overall structure of the pressure-controllable treatment head of the present invention; Figure 2 It is a structural schematic diagram of the housing module of the present invention; Figure 3 It is a structural schematic diagram of the ultrasonic massage probe module of the present invention; Figure 4 It is a structural schematic diagram of the quick-release assembly of the present invention; Figure 5 It is a structural schematic diagram of the electrical connection unit of the present invention; Figure 6 This is a framework diagram of external trigger interrupt signal processing of the present invention; Figure 7 The present invention is a flow chart of the host computer realizing the motion trajectory adjustment; Figure 8 A flow chart for selecting a trajectory mode of a mechanical module of the present invention; Fig. 9 This is a diagram of a current control module of a mechanical module of the present invention; Fig.10 This is the current modulation waveform diagram of the present invention.

[0012] In the figure: 1. connector; 2. first pad; 3. first locker; 4. guide shaft; 5. housing; 6. first stroke end baffle; 7. coil; 8. slider; 9. second stroke end baffle; 10. second pad; 11. second locker; 12. first ultrasonic massage probe housing; 13. mover; 14. first PCBA board; 15. quick-change docking base; 16. positioner; 17. insulating base; 18. second ultrasonic massage probe housing; 19. PIN needle seat; 20. second PCBA board; 21. force sensor; 22. ultrasonic transducer; 23. PIN needle; 24. copper column; 25. blocking structure; 26. guide groove; 27. positioning hole. DETAILED DESCRIPTION

[0013] The present invention will be described more clearly and completely below by way of a preferred embodiment in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiment.

[0014] like Figure 1 As shown, the present invention provides a pressure-controllable treatment head for a uterine rejuvenation instrument, comprising a housing module, an ultrasonic massage probe module, a magnetic drive unit and a control unit. The housing module comprises a housing 5 for fixing the overall structure and a guide unit providing a guide function. The guide unit is arranged inside the housing 5 and is used to limit the linear motion trajectory of the ultrasonic massage probe module and limit its motion range through a travel limit structure. The housing 5 is also connected to a connector 1, and the other end of the connector 1 is connected to a drive structure on the host. like Figure 3 As shown, the ultrasonic massage probe module includes an ultrasonic transducer 22, a first ultrasonic massage probe housing 12, a second ultrasonic massage probe housing 18, a force sensor 21, an electrical connection unit and a quick-release assembly. The ultrasonic transducer 22 is connected to the housing module through the second ultrasonic massage probe housing 18 and the quick-release assembly. The force sensor 21 is located between the ultrasonic transducer 22 and the second ultrasonic massage probe housing 18, and is specifically installed in the mounting cavity below the second ultrasonic massage probe housing 18. The upper and lower ends of the force sensor 21 are respectively in contact with the various structures of the mounting cavity below the second ultrasonic massage probe housing 18 and the ultrasonic transducer 22. The electrical connection unit is arranged between the first ultrasonic massage probe housing 12 and the second ultrasonic massage probe housing 18, and is used to provide a driving signal for the ultrasonic transducer. A control unit is arranged on the electrical connection unit, and the control unit includes a pressure acquisition circuit, a current regulation circuit and an external trigger signal monitoring circuit, which are used to realize pressure detection, magnetic field strength regulation and trajectory control. The magnetic driving unit includes a coil 7 arranged inside the housing 5 and a mover 13 connected to the ultrasonic massage probe module. The two ends of the coil 7 are respectively fixedly connected to the upper and lower ends inside the housing 5. The mover 13 is arranged on the first ultrasonic massage probe housing 12 and is fixedly connected to the first ultrasonic massage probe housing 12. The mover 13 is made of magnetic material and has a hollow structure inside. When the coil 7 is energized, the mover 13 and the ultrasonic massage probe module are driven by the magnetic field to move up and down along the guide unit; The control unit includes a pressure acquisition circuit, a current regulation circuit and an external trigger signal monitoring circuit, which are used to realize pressure detection, magnetic field strength regulation and trajectory control.

[0015] like Figure 2 As shown, the guide unit includes a guide shaft 4 and a slider 8, wherein the guide shaft 4 is arranged inside the shell 5, and its two ends are connected to the bottom of the shell 5 and the connecting member 1 through a pad and a lock respectively, and the connecting member 1 is provided with a guide shaft connecting hole, and the shape of the guide shaft connecting hole can realize radial locking of the guide shaft 4; the pad and the lock include a first pad 2, a first lock 3, a second pad 10 and a second lock 11, wherein the first pad 2 and the first lock 3 cooperate with each other to lock one end of the guide shaft 4 in the connecting member 1, and the second pad 10 and the second lock 11 cooperate with each other to lock the other end of the guide shaft 4 at the bottom end inside the shell 5; the slider 8 is slidably matched with the guide shaft 4, and the movement range of the slider 8 is limited by the first stroke end baffle 6 and the second stroke end baffle 9 provided on the guide shaft 4, and the first stroke end baffle 6 and the second stroke end baffle 9 are located between the first pad 2 and the second pad 10.

[0016] It is best if the cross-sectional shapes of the guide shaft 4, the guide shaft connecting hole and the place where the slider 8 and the guide shaft meet are all non-circular, which is used to prevent radial displacement of the guide shaft 4 and the slider 8. If the guide shaft 4 has a circular cross-section, other means should be used to ensure that the radial relative position relationship between the connecting member 1 and the guide shaft 4 remains unchanged.

[0017] like Figure 4 As shown, the quick-release assembly includes a quick-change docking base 15, a positioner 16 and a blocking structure. The positioner 16 is circumferentially arranged on the quick-change docking base 15. The quick-change docking base 15 is provided with a flange and a notch. The second ultrasonic massage probe housing 18 is provided with a flange and a notch corresponding to the quick-change docking base 15. There is no restriction on the specific number and arrangement of the flanges and the notch, and they can be set accordingly according to actual needs; the flange on the second ultrasonic massage probe housing 18 and the notch on the quick-change docking base 15 are inserted and rotated together during assembly, and the contact surface of the second ultrasonic massage probe housing 18 and the quick-change docking base 15 is provided with a guide groove 26 and a positioning hole 27 adapted to the shape of the positioner 16, which cooperates with the positioner 16 to achieve radial locking; the blocking structure 25 is arranged below the flange of the second ultrasonic massage probe housing 18, and is used to limit the formation of the quick-change docking base 15 when it is rotated and disengaged, so as to prevent excessive rotation.

[0018] It should be noted that the positioner 16 described here can be a standard part commonly used in the industry, and its protruding end is usually a sphere and the positioner 16 is usually in the shape of a plunger. A return spring is present inside the positioner, and the two ends of the return spring are respectively connected to the sphere and the bottom end of the plunger. If a standard part is not used, a return spring should be added to the mounting hole between the end of the positioner 16 and the housing of the quick-change docking base 15.

[0019] When the quick-change docking base 15 and the second ultrasonic massage probe 18 align their flanges and notches respectively and fit together, the portion of the locator 16 protruding from the surface of the quick-change docking base 15 and the second ultrasonic massage probe 18 falls into the corresponding guide groove 26 of the second ultrasonic massage probe 18. The guide groove 26 is provided with a slope on the side close to the positioning hole. When the operator rotates the quick-change docking base 15, the protruding end of the locator 16 contacts the surface of the slope, compressing the return spring and returning it to the locator mounting hole. When the locator 16 falls into the positioning hole, the return spring loses its compressive force, pushing the locator 16 to fall into the positioning hole 27 and clamp it. At this time, the radial locking of the quick-change docking base 15 and the second ultrasonic massage probe 18 is completed.

[0020] The blocking structure 25 is used to limit the rotation stroke when the quick-change docking base 15 and the second ultrasonic massage probe housing 18 are disassembled, so that the two will not rotate excessively when they are disengaged in reverse rotation, causing the upper and lower flanges to overlap again. In this embodiment, the blocking structure is a reinforcing rib under the flange of the second ultrasonic massage probe housing 18, and one of the reinforcing ribs is located at the end of a flange of the second ultrasonic massage probe housing 18, and the other reinforcing rib is arranged at the other end and there is a certain distance from the end of the end, so that the reinforcing rib structure of the flange on the second ultrasonic massage probe housing 18 and its adjacent flange part can overlap with the flange on the quick-change docking base 15. The present invention does not strictly limit the number of blocking structures, the relative position of the blocking structure and the flange, and whether the blocking structure is arranged on the quick-change docking base 15 or the second ultrasonic massage probe housing 18. Any structure that realizes this function is considered to be within the protection scope of the present invention.

[0021] like Figure 5 As shown, the electrical connection unit includes a first PCBA board 14, an insulating base 17, a PIN needle seat 19, a second PCBA board 20, a PIN needle 23 and a copper pillar 24. The insulating base 17 is installed in the quick-change docking base 15, and the first PCBA board is installed on the insulating base 17 through the copper pillar 24; the second PCBA board 20 is installed in the second ultrasonic massage probe housing 18, and the first PCBA board 14 and the insulating base 17, the second PCBA board 20 and the PIN needle seat 19 are respectively connected together through a plurality of copper pillars 24, and the second PCBA board 20 is electrically connected to the first PCBA board 14 through the PIN needle seat 19 and the PIN needle 23. When the quick-change docking base 15 is rotated and connected with the second ultrasonic massage probe housing 18, the PIN needle 23 is connected with the copper column 24 through a contact-type matching connection for transmitting electrical signals. The first PCBA board 14 and the second PCBA board 20 are provided with a pressure acquisition circuit, a current regulation circuit and an external trigger signal monitoring circuit. The pressure acquisition circuit is used to detect the contact pressure between the ultrasonic massage probe module and the action part in real time, and adjust the pressure through closed-loop feedback. The current regulation circuit adjusts the coil current through pulse width modulation to control the magnetic field strength. The external trigger signal monitoring circuit is used to receive an external trigger signal, and adjust the motion trajectory and working mode of the treatment head according to the signal.

[0022] The present invention also provides a method for controlling a pressure-controllable treatment head for a uterine involution apparatus, which is used to control the pressure-controllable treatment head for a uterine involution apparatus described above, and specifically comprises the following steps: The pressure signal of the force sensor is obtained through the pressure acquisition circuit, and after analog-to-digital conversion and filtering, it is substituted into the query table to calculate the actual pressure value; The current regulating circuit is adjusted by pulse width modulation to achieve precise control of the current size, and the current of the coil is adjusted according to the relationship formula between the magnetic field strength and the current, thereby changing the pressure between the treatment head and the action part; The external signal is collected through the external trigger signal monitoring circuit, the signal is monitored through the mechanical module signal detection module, and the signal is processed through the signal filtering module to determine whether it is a valid signal; Under valid signals, the trajectory mode is determined by the mechanical module signal analysis module, and the adjustment command is transmitted to the trajectory display module to display the trajectory information; The upper computer sends the trajectory adjustment instruction to the lower computer through the communication line. The lower computer changes the structural point of the treatment head through the X-axis motor control according to the trajectory adjustment instruction sent by the upper computer to achieve motion trajectory adjustment; After the trajectory adjustment is completed, the mechanical module signal monitoring module monitors the adjusted signal in real time, the trajectory display module updates the current trajectory mode in real time, and transmits the trajectory mode information to the host computer through the communication line to complete the feedback.

[0023] The hardware structure of the present invention includes: pressure acquisition circuit, current regulation circuit, external trigger signal monitoring circuit, and the main working principle is: ① Through the digital-to-analog conversion circuit, the collected digital signal is filtered and then input into the query table to convert the corresponding pressure value. ② Through pulse width modulation, the analog circuit is controlled to achieve current control; the relationship between magnetic field strength and current is: H=N*I / Le ,in H is the magnetic field strength, in units of A / m ; N is the number of turns of the excitation coil; I is the excitation current, in units of A ; Le is the effective magnetic path length of the test sample, in units of m ; That is, by changing the current size, the adsorption force with the treatment head module is changed. ③ Determine the current motion trajectory by monitoring the external signal (the motion trajectory is realized by changing the structure). If the motion trajectory needs to be changed, the X-axis motor changes the structural point to achieve the motion trajectory change.

[0024] The current regulation circuit includes a current monitoring module and a current control module. The external trigger signal monitoring circuit includes a mechanical module signal detection module, a signal filtering module, and a mechanical module signal analysis module. The current monitoring module is used to collect the current value of the coil in real time. The current control module is used to dynamically adjust the current size of the coil through pulse width modulation technology. The mechanical module signal detection module is used to collect external signals in real time; the signal filtering module filters the collected signals and determines whether the signals meet the validity conditions. The signal is considered a valid signal when it is stable for 20ms; the mechanical module signal analysis module determines the current trajectory mode according to preset rules after receiving the valid signal, and transmits the determination result to the trajectory display module.

[0025] The pressure acquisition circuit, current regulation circuit, external trigger signal monitoring circuit and the modules they contain involved in the present invention are all existing designs. The mechanical module mentioned in the present invention refers to the structure of the attached Figure 3 The structure includes a first ultrasonic massage probe housing 12, a mover 13, a first PCBA board 14, a quick-change docking base 15, a positioner 16, an insulating base 17, a second ultrasonic massage probe housing 18, a PIN needle seat 19, a second PCBA board 20, a force sensor 21, an ultrasonic transducer 22, a PIN needle 23, a copper column 24, a blocking structure 25, a guide groove 26 and a positioning hole 27.

[0026] like Figure 6 The figure shows the framework diagram of external trigger interrupt signal processing. After the mechanical module signal monitoring module collects the external level signal, it passes through the mechanical module signal filtering module; the signal filtering module detects that the external signal is maintained at a stable value for 20ms and is regarded as a valid signal; the valid signal is transmitted to the signal detection module to determine the current trajectory mode, and the trajectory display module displays the trajectory corresponding to the signal and transmits the valid signal to the host computer.

[0027] like Figure 7 As shown, when the lower computer receives the message from the upper computer to adjust the motion trajectory, it controls the motion module circuit to work, the X-axis motor starts working, the mechanical module detects the external signal in real time, and the lower computer determines in real time whether the detected external signal is consistent with the preset trajectory signal. When the processed external signal meets the upper computer instruction requirements, the motor module stops working, and the trajectory display module refreshes the latest acquired signal value in real time.

[0028] The trajectory mode includes pressure following mode and periodic vibration mode. In the pressure following mode, the deviation between the pressure value and the target value is collected in real time, and the duty cycle of the PWM signal is dynamically adjusted to keep the pressure value consistent with the set threshold. In the periodic vibration mode, the vibration frequency range is adjusted by controlling the current amplitude and cycle time.

[0029] The pressure monitoring module of the lower computer collects the pressure value in real time and interacts with the upper computer regularly according to the communication data. In the pressure following mode, the upper computer can adjust the pressure between the treatment head and the human body according to the pressure value (the pressure value can be adjusted on the upper computer interface); in the fascia gun mode, by changing the current size, a similar fascia gun effect can be achieved.

[0030] The pressure setting threshold is set by the physician on the host computer according to the actual situation. The pressure acquisition module collects the AD value at intervals of 10 ms during operation. After 1 s, the cached data is filtered by the trimmed mean method. In actual application, this pressure sensor is powered by 3.3 V, and the AD sampling accuracy is 12 bits. Therefore, the actual pressure value = (filtered AD value * 3.3 V / 4095) * nominal maximum pressure value of the sensor / 3.3 V.

[0031] As Figure 8 shown, it is the specific flowchart of pressure adjustment and mode selection. After starting the treatment, the pressure acquisition module collects the pressure value between the treatment head and the user. Then, it selects whether the trajectory mode is the pressure following mode or the percussion massager mode. In the pressure following mode, it detects whether the actual pressure value is lower than the set threshold. When it is lower than the set threshold, it reduces the current value of the mechanical module, thereby increasing the contact force between the treatment head and the user. When the actual pressure value is higher than the set threshold, it increases the current value of the mechanical module, thereby reducing the contact force between the treatment head and the user. In the percussion massager mode, it periodically changes the current value of the pressure control module of the mechanical module, thereby periodically changing the contact force between the treatment head and the user.

[0032] As Fig. 9 shown, while the current adjustment circuit modulates the pressure, the current monitoring module collects the current value in real time to ensure that the current value is within the controllable range. If it is detected that the current value exceeds the overcurrent range of the hardware device, the current control module needs to be interrupted in time.

[0033] When the treatment head is in the pressure following mode: After enabling this mode, the current control module changes the duty cycle every 10 ms to control the current size and change the magnetic field strength H. When the error between the actual pressure P1 and the set pressure value P2 is within 10 kPa, the magnetic field strength H is no longer changed, that is, the current control module maintains the current value unchanged. When P1 > P2 + 10 kPa, the current control module reduces the duty cycle to reduce the current, thereby reducing H and finally reducing P1. When P1 < P2 - 10 kPa, the current control module increases the duty cycle to increase the current, thereby increasing H and finally reducing P1. The corresponding relationship between the pressure value P, current I, and magnetic field strength H is shown in Table 1 below.

[0034] Table 1 Corresponding table of the relationship between current, magnetic field strength, and pressure I↑ H↑ P↑ I↓ H↓ P↓ When the treatment head is in the percussion massager mode: It is the same principle as the pressure following mode - changing the pressure value by modifying the current value. However, different from the pressure following mode, the percussion massager mode needs to periodically adjust the current size to achieve periodic changes in the pressure value, and the frequency and amplitude of the periodic current are adjustable, that is, the maximum current intensity and the current change period length can be changed, and finally the vibration frequency and pressure range of the mechanical module are changed.

[0035] Vibration frequency adjustment: In the pressure following mode, the current value is changed in fixed time units (taking the pressure following mode as an example, the current value is changed in 10ms units). In the fascia gun mode, the vibration frequency is determined according to the parameters set by the host computer. For example, if the host computer needs to complete the vibration movement of the mechanical module within time T, then a one-way movement time requires T / 2. In theory, at least T / 2 time is required as a benchmark to modify the current value, but in order to smooth data collection and ensure timely data processing, the current value is adjusted based on T / 8 time units in practice.

[0036] Pressure range adjustment: Fig.10 As shown, the maximum and minimum current values ​​are limited, and the switching between the minimum and maximum current values ​​is completed within the cycle time T. The amplitude A in the figure is Imax, that is, the absolute value of the difference between the maximum current value and the minimum current value Imin. Within the cycle T, the current value is adjusted at intervals of T / 8 to complete the periodic change of the current.

[0037] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A pressure-controllable treatment head for a uterine rejuvenation instrument, characterized in that: The invention comprises a housing module, an ultrasonic massage probe module, a magnetic drive unit and a control unit, wherein the housing module comprises a housing (5) for fixing the overall structure and a guide unit for providing a guide function, wherein the guide unit is arranged inside the housing (5) and is used to define a linear motion trajectory of the ultrasonic massage probe module and to limit its motion range through a travel limit structure, and the housing (5) is also connected to a connecting piece (1); An ultrasonic massage probe module, comprising an ultrasonic transducer (22), a first ultrasonic massage probe housing (12), a second ultrasonic massage probe housing (18), a force sensor (21), an electrical connection unit and a quick-release assembly, wherein the ultrasonic transducer (22) is connected to the housing module via the second ultrasonic massage probe housing (18) and the quick-release assembly, the force sensor (21) is located between the ultrasonic transducer (22) and the second ultrasonic massage probe housing (18), and the electrical connection unit is arranged between the first ultrasonic massage probe housing (12) and the second ultrasonic massage probe housing (18) and is used to provide a driving signal for the ultrasonic transducer; The magnetic drive unit comprises a coil (7) arranged inside the housing (5) and a mover (13) connected to the ultrasonic massage probe module; the mover (13) is arranged on the first ultrasonic massage probe housing (12); when the coil (7) is energized, the mover (13) and the ultrasonic massage probe module are driven by a magnetic field to move up and down along the guide unit; The control unit includes a pressure acquisition circuit, a current regulation circuit and an external trigger signal monitoring circuit, which are used to realize pressure detection, magnetic field strength regulation and trajectory control.

2. The pressure-controllable treatment head for a uterine rejuvenation instrument according to claim 1, characterized in that: The guide unit comprises a guide shaft (4) and a slider (8). The guide shaft (4) is arranged inside a housing (5), and its two ends are connected to the bottom of the housing (5) and a connecting member (1) via a cushion block and a locker respectively. The slider (8) is slidably matched with the guide shaft (4), and the movement range of the slider (8) is limited by a first stroke end baffle (6) and a second stroke end baffle (9) arranged on the guide shaft (4).

3. The pressure-controllable treatment head for a uterine rejuvenation instrument according to claim 2, characterized in that: The connecting member (1) is provided with a guide shaft connecting hole, and the cross-sectional shapes of the guide shaft (4), the guide shaft connecting hole, and the cross-sectional shapes of the positions where the slider (8) and the guide shaft meet are all non-circular, so as to prevent radial deviation of the guide shaft (4) and the slider (8).

4. The pressure-controllable treatment head for a uterine rejuvenation instrument according to claim 1, characterized in that: The quick-release assembly comprises a quick-change docking base (15), a positioner (16) and a blocking structure, wherein the positioner (16) is arranged on the quick-change docking base (15), the quick-change docking base (15) is provided with a flange and a notch, the second ultrasonic massage probe housing (18) is provided with a flange and a notch corresponding to the quick-change docking base (15), the flange on the second ultrasonic massage probe housing (18) and the notch on the quick-change docking base (15) are inserted and rotationally matched during assembly, and the contact surface between the second ultrasonic massage probe housing (18) and the quick-change docking base (15) is provided with a guide groove and a positioning hole, which cooperate with the positioner (16) to achieve radial locking; the blocking structure is arranged below the flange of the second ultrasonic massage probe housing (18) and is used to limit the formation of the quick-change docking base (15) when it is rotated and disengaged, thereby preventing excessive rotation.

5. The pressure-controllable treatment head for a uterine rejuvenation instrument according to claim 4, characterized in that: The positioner (16) comprises a return spring and a spherical protrusion. The positioner (16) is in the shape of a plunger. The two ends of the return spring are respectively connected to the spherical protrusion of the positioner (16) and the bottom end of the plunger. The spherical protrusion bounces into the guide groove when the second ultrasonic massage probe housing (18) and the quick-change docking base (15) are rotated and matched. When the second ultrasonic massage probe housing (18) and the quick-change docking base (15) are connected, the spherical protrusion falls into the positioning hole and is clamped, thereby completing radial locking.

6. The pressure-controllable treatment head for a uterine involution apparatus according to claim 4, characterized in that: The electrical connection unit comprises a first PCBA board (14), an insulating base (17), a PIN needle seat (19), a second PCBA board (20), a PIN needle (23) and a copper pillar (24); the insulating base (17) is installed in a quick-change docking base (15); the first PCBA board is installed on the insulating base (17) (14) via the copper pillar (24); the second PCBA board (20) is installed inside a second ultrasonic massage probe housing (18); the second PCBA board (20) is electrically connected to the first PCBA board (14) via the PIN needle seat (19) and the PIN needle (23). The PIN pin (23) and the copper column (24) are connected by contact-type matching for transmitting electrical signals. The first PCBA board (14) and the second PCBA board (20) are provided with a pressure acquisition circuit, a current regulation circuit and an external trigger signal monitoring circuit. The pressure acquisition circuit is used to detect the contact pressure between the ultrasonic massage probe module and the action part in real time and adjust the pressure through closed-loop feedback. The current regulation circuit adjusts the coil current through pulse width modulation to control the magnetic field strength. The external trigger signal monitoring circuit is used to receive an external trigger signal and adjust the movement trajectory and working mode of the treatment head according to the signal.

7. A method for controlling a pressure-controlled treatment head for a uterine involution apparatus, used for controlling a pressure-controlled treatment head for a uterine involution apparatus as claimed in any one of claims 1 to 6, characterized in that: The specific steps include: The pressure signal of the force sensor is obtained through the pressure acquisition circuit, and after analog-to-digital conversion and filtering, it is substituted into the query table to calculate the actual pressure value; The current regulating circuit is adjusted by pulse width modulation to achieve precise control of the current size, and the current of the coil is adjusted according to the relationship formula between the magnetic field strength and the current, thereby changing the pressure between the treatment head and the action part; The external signal is collected through the external trigger signal monitoring circuit, the external signal is monitored through the mechanical module signal detection module, and the external signal is processed through the signal filtering module to determine whether it is a valid signal; Under valid signals, the trajectory mode is determined by the mechanical module signal analysis module, and the adjustment command is transmitted to the trajectory display module to display the trajectory information; The upper computer sends the trajectory adjustment instruction to the lower computer through the communication line. The lower computer changes the structural point of the treatment head through the X-axis motor control according to the trajectory adjustment instruction sent by the upper computer to achieve motion trajectory adjustment; After the trajectory adjustment is completed, the mechanical module signal monitoring module monitors the adjusted signal in real time, the trajectory display module updates the current trajectory mode in real time, and transmits the trajectory mode information to the host computer through the communication line to complete the feedback.

8. A method for controlling a pressure-controllable treatment head for a uterine involution apparatus according to claim 7, characterized in that: The trajectory mode includes pressure following mode and periodic vibration mode. In the pressure following mode, the deviation between the pressure value and the target value is collected in real time, and the duty cycle of the PWM signal is dynamically adjusted to keep the pressure value consistent with the set threshold. In the periodic vibration mode, the vibration frequency range is adjusted by controlling the current amplitude and cycle time.

9. A method for controlling a pressure-controllable treatment head for a uterine involution apparatus according to claim 7, characterized in that: The current regulation circuit includes a current monitoring module and a current control module. The external trigger signal monitoring circuit includes a mechanical module signal detection module, a signal filtering module, and a mechanical module signal analysis module. The current monitoring module is used to collect the current value of the coil in real time. The current control module is used to dynamically adjust the current size of the coil through pulse width modulation technology. Mechanical module signal detection module, used to collect external signals in real time; The signal filtering module filters the collected signal and determines whether the signal meets the validity conditions. The signal is considered valid when it is stable for 20ms. After receiving the valid signal, the mechanical module signal analysis module determines the current trajectory mode according to the preset rules and transmits the determination result to the trajectory display module.

10. The method for controlling a pressure-controllable treatment head for a uterine rejuvenation instrument according to claim 7, characterized in that: The external trigger interrupt signal monitoring steps include: Collect external level signals through the signal detection module; Remove noise through the signal filtering module and determine the signal stability; When the signal remains stable for 20ms, it is confirmed as a valid signal and transmitted to the mechanical module signal analysis module for trajectory mode determination.

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