Rehabilitation laser therapeutic instrument

Abstract

A rehabilitation laser therapeutic instrument disclosed by the present invention comprises a therapeutic head, a host and a support arm, the therapeutic head is connected with the host through the support arm, the host comprises a control module and a laser driving module, and the therapeutic head comprises a laser chip, a thermal imaging image sensor and a biprism module. The laser driving module drives the laser chip to emit light; the control module controls the biprism to move. Temperature data of the thermal imager is transmitted to the control module and used for controlling and monitoring the temperature of the irradiation area. The device has the advantages that the positioning is flexible, the light beam scanning method is simple, the thermal imaging sensor is integrated on the treatment head to ensure the safety of laser radiation under the non-handheld condition, the whole device can reduce the labor amount of a curer, and the device has the advantages of being simple in structure, safe, reliable, low in cost and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of laser rehabilitation, and particularly relates to a rehabilitation laser therapeutic apparatus. Background Art

[0002] Clinical studies have shown that laser therapy can be used for analgesia, anti-inflammation and wound healing. Compared with traditional low-energy laser therapy (power less than 0.5W), high-energy laser (power greater than 0.5W) has a larger irradiation area, deeper penetration depth and shorter treatment time, can achieve better therapeutic effects, and has the advantages of being non-invasive, free of side effects and can be used for a long time.

[0003] In a traditional rehabilitation laser therapy device, a doctor holds a treatment handle to implement laser irradiation and treatment of the patient. The arm can flexibly irradiate the diseased area, and by constantly moving the laser treatment spot, local tissue overheating can be avoided. The therapist usually uses linear motion and circular motion to scan and treat the diseased area. However, a handheld laser rehabilitation therapy device has the disadvantage of being labor-intensive. When there are many patients, the labor of handheld treatment increases dramatically. In order to reduce the labor intensity of the therapist, the present invention proposes a hand-free, automatic light beam scanning laser rehabilitation therapy device.

[0004] In order to achieve the problem of hands-free and automatic beam scanning, three technical problems need to be overcome, namely positioning problem, automatic beam scanning and laser radiation safety problem. The positioning problem is to solve the problem of guiding the treatment beam to the disease area and realize the positioning of the disease area. Since the irradiated person may be in a lying, sitting or standing position, and the irradiated area may be the head, legs, waist, hands and other areas, the use of electric control mechanical positioning has the disadvantage of cumbersome adjustment, while manual adjustment can flexibly guide the treatment head to the disease area; the automatic beam scanning method has many forms, including one-dimensional shaking motor, two-dimensional two-axis two-frame and other methods, but the structure and control are complex. The electric control double prism has the advantages of simple structure and maintenance, low cost, etc., which is very suitable for the needs of laser rehabilitation treatment system; when the doctor holds the treatment handle to perform rehabilitation treatment on the patient, the shaking speed of the treatment handle or the laser power can be adjusted in time according to the patient's feedback, but there is no such process in the automatic beam scanning process, so the present invention uses a thermal imager to monitor and control the temperature of the irradiated area. The invention provides a laser rehabilitation therapeutic apparatus with flexible manual positioning of a flexible support arm, automatic light beam scanning of a double prism and automatic temperature control, which is free of hands and has automatic light beam scanning. Summary of the invention

[0005] In view of the above situation, in order to overcome the defects of the prior art, the present invention proposes a hand-free, light beam automatic scanning rehabilitation laser therapy device, thereby reducing the labor intensity of the therapist to solve the problems in the above technical background.

[0006] The present invention proposes a rehabilitation laser therapy device, including a treatment head, a main unit, and a support arm. The treatment head is connected to the main unit through the support arm. The main unit includes a control module and a laser driving module. The treatment head includes a laser chip, a thermal imaging image sensor, and a dual prism module. The laser driving module drives the laser chip to emit light. The thermal imaging image sensor images the laser irradiation position and obtains a temperature image and transmits it to the control module. The control module realizes laser scanning of a specific motion curve by controlling the relative angle of two dual prisms according to a preset motion curve. The control module controls the rotation speed of the dual prism and the light intensity of the laser according to the temperature image data, thereby controlling the temperature of the laser irradiation area. The dual prism module is used on the treatment head to realize automatic light beam scanning, and a thermal imaging image sensor is integrated to ensure safety issues in non-handheld situations. The entire device can reduce the workload of the therapist, and has a simple structure and is safe and reliable.

[0007] In a possible implementation, the treatment head further includes a shaping lens disposed at the rear end of the dual prism module, the laser chip adopts a vertical cavity surface semiconductor laser chip or an end-face emitting semiconductor laser chip, and simultaneously emits a treatment laser and an indicator light. The laser chip adopts a mixed packaging method of a treatment laser chip and an indicator light chip, and the emitted light of the laser chip is shaped into a circular uniform light spot by the shaping lens. The laser beam can be emitted by the laser chip, and this setting can facilitate the selection of a variety of laser chips by integrating a vertical cavity surface emitting semiconductor laser or an end-face emitting semiconductor laser chip on the treatment head.

[0008] In a possible implementation, the treatment laser uses a single wavelength or multiple wavelengths, the average power of the treatment laser output laser is greater than 30W, and the wavelength range is 800nm-1000nm; the indicator light uses visible light, the indicator light luminous power is 4.5mW, and the wavelength is 520nm or 632nm. The optical power of the laser module is greater than 30W, which can enable the therapeutic device to achieve a large irradiation area, deep penetration depth, and short treatment time. The wavelength range of the treatment laser is 800nm-1000nm, the laser is in the near-infrared light range, and the action range is wide. The indicator light module uses the visible light range to achieve the indication effect.

[0009] In a possible implementation, the diameter of the circular uniform light spot is 5 cm-20 cm. This setting can realize that the therapeutic device can meet the rehabilitation treatment of most diseases.

[0010] In a possible implementation, the dual prism module includes a first prism, a second prism, a first motor, a second motor, a first angle encoder, a second angle encoder and a support. The first prism and the second prism are cylindrical structures with the same wedge angle. The first motor and the second motor are hollow motors, and the hollow parts clamp the prisms to drive the first and second prisms to rotate respectively. The first angle encoder and the second angle encoder output the rotation angles of the first prism and the second prism respectively. The components of the dual prism module can realize different rotation angles and different rotation speeds of the two prisms. The different rotation angles and different rotation speeds of the two prisms can be matched to realize any scanning curve in the 2θ cone, such as a straight line, a circle or a spiral line, so as to realize the control of the laser treatment spot by controlling the dual prism module through an electric control method, and realize the linear, circular or spiral scanning of the laser treatment spot.

[0011] In one possible implementation, the control module includes a touch display screen, and the touch display screen receives a set beam scanning curve and a set temperature. The control module solves the set beam scanning curve into a specific motion relationship between the two prisms, controls the rotation angle of the first prism and the second prism, and corrects the error of the rotation angle of the first prism and the second prism through the first angle encoder and the second angle encoder, thereby realizing the set beam scanning curve, such as a straight line, a circle or a spiral. Through this setting, the control module and the operator can interact through the touch display screen. According to the set beam scanning curve, the control module plans the rotation angle of the dual prism, and uses the angle encoder to judge the error of the rotation angle of the dual prism and correct it, so as to ensure that the set beam scanning curve is consistent with the actual beam scanning curve.

[0012] In a possible implementation, the touch screen outputs the actual temperature of the irradiated area, and the control module controls the temperature of the irradiated area in two levels by comparing the set temperature and the actual temperature. The first level controls the temperature of the irradiated area by controlling the scanning speed of the beam by controlling the rotation speed of the dual prism. The higher the beam scanning speed, the smaller the temperature rise. The beam scanning speed is controlled at about 3-10cm / s; when increasing the beam scanning speed still cannot increase the temperature to the set temperature, the control module controls the laser output power to reduce the temperature of the irradiated area. The set temperature value must be lower than the human skin tolerance temperature, but higher than the body surface temperature. The body temperature value is obtained through a thermal imager.

[0013] In a possible implementation, the support arm adopts a multi-link movable structure or a flexible arm structure, and the support arm manually controls the treatment head to point to the disease center area, so the support arm plays a role of flexible positioning, and the support arm is a hollow structure. The controller controls the movement of the dual prism to realize automatic beam scanning near the disease center area, such as linear, circular or spiral scanning, so as to perform hands-free treatment on the disease area, and has the advantages of safety and reliability.

[0014] Compared with the prior art, the beneficial results of the present invention are:

[0015] 1. A method for automatic beam scanning of a rehabilitation laser therapy device combining manual positioning and automatic scanning is proposed. First, the center of the diseased area is positioned using the support arm, and then the beam scanning is controlled by the movement of the electrically controlled dual prism to achieve automatic scanning of the diseased area.

[0016] 2. It is proposed to use an electric control method to control the dual prism module to control the laser treatment spot, so as to achieve linear, circular or spiral scanning of the laser treatment spot, thereby reducing the workload of the therapist, and has the advantages of simple structure and maintenance, low cost, etc.

[0017] 3. It is proposed to integrate a thermal imaging sensor on the treatment head and provide a temperature control method to control the temperature of the irradiated area at two levels. The first level controls the scanning speed of the beam by controlling the rotation speed of the dual prism to control the temperature of the irradiated area. The higher the beam scanning speed, the smaller the temperature rise. The beam scanning speed is controlled at about 3-10cm / s. When increasing the beam scanning speed still cannot raise the temperature to the set temperature, the control module controls the laser output power to reduce the temperature of the irradiated area, which can solve the safety problem in non-handheld situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate the embodiments and are used together with the description to explain the principles of the present invention. It will be easy to recognize other embodiments and many expected advantages of the embodiments because they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale with each other. The same reference numerals refer to corresponding similar parts.

[0019] Figure 1 is a schematic structural diagram of a rehabilitation laser therapeutic apparatus according to Embodiment 1 of the present invention;

[0020] Figure 2 is a schematic structural diagram of a rehabilitation laser therapeutic apparatus according to Embodiment 2 of the present invention;

[0021] Figure 3is a schematic diagram of a curve formed by light beam deflection by a single double prism and two double prisms according to a specific embodiment of the present invention;

[0022] Figure 4 is a schematic structural diagram of a double prism according to structural combination 1 of a specific embodiment of the present invention;

[0023] Figure 5 is a schematic structural diagram of a double prism according to a structural combination 2 of a specific embodiment of the present invention;

[0024] Figure 6 is a flow chart of a control module including temperature control according to an embodiment of the present invention.

[0025] The meaning of the numbers in the figure are: 1. Treatment head; 11. Laser chip; 12. Thermal imaging image sensor; 13. Plastic lens; 14. Dual prism module; 141. First prism; 142. Second prism; 143. First motor; 144. Second motor; 145. First angle encoder; 146. Second angle encoder; 147. Support; 15. Laser transmitter; 2. Host; 21. Laser drive module; 22. Control module; 23. Laser; 3. Support arm; 4. Cable; 5. Optical cable. DETAILED DESCRIPTION

[0026] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant disclosure, rather than to limit the disclosure. It is also necessary to explain that, for ease of description, only the parts related to the relevant disclosure are shown in the accompanying drawings.

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In the following, the terms "first", "second", etc. are used only for convenience of description and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0029] Embodiment 1:

[0030] The present invention proposes a rehabilitation laser therapy device, see Figure 1The rehabilitation laser therapy device includes a treatment head 1, a host 2, and a support arm 3. The treatment head 1 is connected to the host 2 through the support arm 3. The host 2 includes a control module 22 and a laser driving module 21. The treatment head 1 includes a laser chip 11, a thermal imaging image sensor 12, and a dual prism module 14. The laser driving module 21 drives the laser chip 11 to emit light. The thermal imaging image sensor 12 images the laser irradiation position and obtains the temperature image and transmits it to the control module 22. The control module 22 controls the dual prism module 14 according to the preset motion curve and temperature image data, and controls the output power of the laser 23, thereby controlling the motion curve of the laser emission and the temperature of the scanning area. The thermal imaging image sensor 12 is integrated on the treatment head 1 to ensure safety issues in non-handheld situations, and the dual prism module 14 is used to realize automatic light beam scanning. The entire device can reduce the workload of the therapist, and the structure is simple, safe and reliable.

[0031] It should be noted that the laser driving module 21 is a constant current power supply, driving the laser chip 11 to emit light, and the control of the dual prism is implemented by the control module 22, which is determined by the beam scanning curve and temperature control.

[0032] In a specific embodiment, the support arm 3 adopts a multi-link movable structure or a flexible arm structure, and the support arm 3 manually controls the treatment head 1 to point to the disease center area, and the support arm 3 is a hollow structure. The multi-link movable structure or the flexible arm structure can facilitate the linear, circular and spiral scanning of the laser medical spot, and the hollow structure can realize that the support arm 3 has a built-in cable 4, the thermal imaging image sensor 12 and the dual prism module 14 are electrically connected to the control module 22 through the cable 4, and the laser chip 11 is electrically connected to the laser driving module 21 through the cable 4, and the positioning of the disease center area can be achieved through the support arm 3.

[0033] In a specific embodiment, the treatment head 1 further includes a shaping lens 13 disposed at the rear end of the dual prism module 14, and the laser chip 11 adopts a vertical cavity surface semiconductor laser chip 11 or an end surface emitting semiconductor laser chip 11, and simultaneously emits a treatment laser and an indicator light. The laser chip 11 adopts a mixed packaging method of a treatment laser chip 11 and an indicator light chip, and the emission light of the laser chip 11 is shaped into a circular uniform light spot by the shaping lens 13. The laser beam can be emitted by the laser chip 11, and this setting can facilitate the selection of the laser chip 11 by integrating a vertical cavity surface emitting semiconductor laser chip 11 or an end surface emitting semiconductor laser chip 11 on the treatment head 1, which can facilitate the diversity of the selection of the laser chip 11.

[0034] In a specific embodiment, the therapeutic laser adopts a single wavelength or multiple wavelengths, the average power of the therapeutic laser output laser is greater than 30W, and the wavelength range is 800nm-1000nm; the indicator light adopts visible light, the indicator light luminous power is 4.5mW, and the wavelength is 520nm or 632nm. The optical power of the laser module is greater than 30W, which can enable the therapeutic device to achieve a therapeutic effect with a large irradiation area, deep penetration depth, and short treatment time. The wavelength range of the therapeutic laser adopts 800nm-1000nm, the laser is in the near-infrared light range, and the action range is wide. The indicator light module adopts the visible light range to achieve the indication effect.

[0035] In this embodiment, the therapeutic laser wavelengths used are 808±10nm, 830±10nm, 850±10nm, 880±10nm, 905nm±10nm, 940nm±10nm, 980±10nm, and combinations of the above wavelengths. These wavelengths are concentrated in the near-infrared band and have a higher biological tissue penetration depth than other laser bands, and can act on deep biological tissues. In addition, the semiconductor laser chips 11 of these wavelengths have high power and low cost.

[0036] In other embodiments, the indicator light uses visible light, the indicator light luminous power is 4.5mW, and the wavelength can use other visible light wavelengths. As long as the wavelength range of the indicator light conforms to the visible light wavelength of 400nm-760nm, it can achieve the indication effect, so it can be set according to specific needs.

[0037] In a specific embodiment, the diameter of the circular uniform light spot is 5 cm-20 cm. This setting can realize that the therapeutic device can meet the rehabilitation treatment of most diseases.

[0038] The dual prism module 14 is disposed at the front end of the treatment laser. The treatment laser beam deflects when passing through the dual prism module 14 , and the dual prism module 14 realizes beam deflection control through two or more electrically controlled rotating prisms.

[0039] In this embodiment, the dual prism module 14 includes a first prism 141, a second prism 142, a first motor 143, a second motor 144, a first angle encoder 145, a second angle encoder 146 and a support 147. The first prism 141 and the second prism 142 are cylindrical structures with the same wedge angle; the first motor 143 and the second motor 144 are hollow motors, and the hollow parts clamp the prisms to drive the first and second prisms 142 to rotate respectively; the first angle encoder 145 and the second angle encoder 146 respectively output the rotation angles of the first prism 141 and the second prism 142. In other embodiments, the number of prisms may be greater than two, that is, the number of prisms is not limited and can be set according to actual needs.

[0040] See also Figure 3 In the case of small angle approximation, assuming that the refractive index of the prism is n and the wedge angle of the prism is α, then a single prism realizes a beam deflection of θ, and θ is α*(n-1). When a single prism rotates along the vertical line of the vertical surface of the prism, the beam forms a circular curve; when the two prisms rotate independently, conical scanning with a maximum cone angle of 2θ can be achieved.

[0041] See Figure 4 When the tip of the prism cone is pointing upward at 0°, according to optical principles, when the angles of the two prisms differ by 180°, the transmission direction of the light beam will not change; when the angles of the two edges are the same, the deflection angle of the light beam is the largest.

[0042] When the rotation angle φ1(t) of the first prism 141 is ω*t (ω is the rotation angular velocity, t is the time variable), and the rotation angle φ2(t) of the second prism 142 is ω*t+φ0 (φ0 is the angle between the two prisms), the treatment laser beam scanning curve is a circular scanning mode. In the circular scanning mode, the deflection angle is determined by φ0. When φ0 is 0°, the deflection angle is 2θ, and when φ0 is 180°, the deflection angle is 0°.

[0043] When the rotation angle φ1(t) of the first prism 141 is ω*t and the rotation angle φ2(t) of the second prism 142 is -ω*t, the scanning curve of the treatment laser beam is a straight line mode. According to the principles of physical optics, the coordination of different rotation angles and different rotation speeds of the two prisms can realize any scanning curve within the 2θ cone, such as a spiral, a straight line, and a circle.

[0044] See also Figure 5 It should be understood that the biprism can also be used as Figure 5 It should be noted that the principle of light beam deflection control of the two prisms is the same, and the cooperation of different rotation angles and different rotation speeds of the two prisms can realize any scanning curve in the 2θ cone, such as a spiral line, a straight line or a circular curve.

[0045] See also Figure 1 and Figure 6In a specific embodiment, the control module 22 includes a touch display screen, and the touch display screen receives the set beam scanning curve and the set temperature. The control module 22 controls the rotation angle of the first prism 141 and the second prism 142 by setting the beam scanning curve, and corrects the error of the rotation angle of the first prism 141 and the second prism 142 by the first angle encoder 145 and the second angle encoder 146, and sets the beam scanning curve to a straight line, a circle or a spiral line. Through this setting, the control module 22 and the operator can interact through the touch display screen. According to the set beam scanning curve, the control module 22 plans the rotation angle of the dual prism, and judges the error of the rotation angle of the dual prism through the angle encoder and corrects it.

[0046] In a specific embodiment, the touch screen outputs the actual temperature of the irradiated area, and the control module 22 controls the scanning speed and laser output power of the light beam or the dual prism module 14 on the diseased area by comparing the set temperature and the actual temperature, and the set temperature value is lower than the tolerance temperature of human skin, preferably not exceeding 43 degrees. When the actual temperature exceeds the set temperature, the control module 22 speeds up the scanning speed of the light beam, and the maximum scanning setting speed of the light beam is preferably not more than 10cm / s. When the light beam scanning speed is higher than the maximum scanning setting speed, and the actual temperature still cannot be lower than the set temperature value, the control module 22 reduces the actual temperature by reducing the optical power. The control module 22 displays the thermal imaging image to ensure that the treatment temperature of the diseased area is lower than the tolerance temperature of human skin.

[0047] Embodiment 2:

[0048] See also Figure 2 The rehabilitation laser therapy device includes a treatment head 1, a main unit 2, and a support arm 3. The treatment head 1 is connected to the main unit 2 through the support arm 3. The treatment head 1 includes a laser 23, a thermal imaging image sensor 12, a shaping lens 13, and a dual prism module 14; the thermal imaging image sensor 12 images the laser irradiation position to obtain a temperature image; the shaping lens 13 realizes the shaping of the emitted laser beam; the dual prism module 14 realizes the deflection control of the laser emission direction, including circular motion and linear motion, etc.; the control module 22 receives the temperature image data from the thermal imaging image sensor 12 and controls the operation of the laser 23 and the dual prism module 14. The thermal imaging sensor is integrated on the treatment head 1 to ensure safety issues in non-handheld situations. The entire device can reduce the workload of the therapist, and the structure is simple, safe and reliable.

[0049] In a specific embodiment, the support arm 3 adopts a multi-link movable structure or a flexible arm structure, and the support arm 3 manually controls the treatment head 1 to point to the disease center area, and the support arm 3 is a hollow structure. The multi-link movable structure or the flexible arm structure can facilitate the linear, circular or spiral scanning of the laser medical spot, and the hollow structure can realize the support arm 3 with built-in cables 4 and optical cables 5, and the positioning of the disease center area can be achieved through the support arm 3, the thermal imaging image sensor 12 and the dual prism module 14 are electrically connected to the control module 22 through the cable 4, and the laser 23 is electrically connected to the control module 22 through the cable 4.

[0050] The dual prism module 14 is placed at the front end of the treatment laser, and the treatment laser beam passes through the dual prism module 14 to deflect the beam. The dual prism module 14 realizes the deflection control of the beam through two or more electrically controlled rotating prisms. A typical dual prism module 14 is composed of prism a, prism b, motor a, motor b, angle encoder a, angle encoder b and support 147. Prism a and prism b are cylindrical structures with the same wedge angle; motor a and motor b are hollow motors, the hollow part clamps the prism, and the motor drives the prism to rotate; angle encoder a and angle encoder b output the rotation angles of prism a and prism b respectively.

[0051] It should be understood that the prism a, prism b, motor a, motor b, angle encoder a, and angle encoder b of Example 2 correspond to or are opposite to the first prism 141, second prism 142, first motor 143, second motor 144, first angle encoder 145, and second angle encoder 146 proposed in Example 1. For example, prism a, prism b, motor a, motor b, angle encoder a, and angle encoder b can also be the second prism 142, first prism 141, second motor 144, first motor 143, second angle encoder 146, and first angle encoder 145.

[0052] It should be noted that the optical principle of forming different treatment laser beam scanning curves by different rotation angles and different rotation speeds of the two prisms of the dual prism module 14 of Example 2 is the same as that of Example 1.

[0053] See also Figure 2-Figure 6 The control of the dual prism is realized by the control module 22, which is determined by the beam scanning curve and temperature control. The control module 22 includes a touch screen, which outputs the temperature of the irradiated area on the one hand, and receives the set beam scanning curve and the set temperature on the other hand; according to the set beam scanning curve, the control module 22 plans the rotation angle of the dual prism, and uses the angle encoder to determine the error of the rotation angle of the dual prism and correct it.

[0054] Specifically, the set temperature value needs to be lower than the tolerable temperature of human skin, preferably not exceeding 43 degrees; the control module 22 compares the set temperature and the actual temperature. When the actual temperature exceeds the set temperature, the control module 22 speeds up the scanning speed of the light beam, and the maximum scanning setting speed of the light beam is preferably not more than 10 cm / s. When the light beam scanning speed is greater than the maximum scanning setting speed, and the actual temperature still cannot be lower than the set temperature value, the control module 22 reduces the actual temperature by reducing the optical power. The interaction between the control module 22 and the operator is realized through the touch screen, and the control module 22 displays the thermal imaging image to ensure that the treatment temperature of the diseased area is lower than the tolerable temperature of human skin.

[0055] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the description of the present invention, it should be understood that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The wording 'comprising' does not exclude the presence of elements or steps not listed in the claims. The wording 'one' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The simple fact that certain measures are recorded in mutually different dependent claims does not indicate that a combination of these measures cannot be used for improvement. Any reference symbols in the claims should not be interpreted as limiting the scope.

[0057] The above describes the specific implementation of the present invention, but the protection scope of this application is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in this application, which should be included in the protection scope of this application. Therefore, the protection scope of this application should be based on the protection scope of the claims.

Claims

1. A rehabilitation laser therapy device, characterized in that: The invention comprises a treatment head, a main unit and a support arm, wherein the treatment head is connected to the main unit via the support arm, the main unit comprises a control module and a laser driving module, the treatment head comprises a laser chip, a thermal imaging image sensor and a dual prism module, the laser driving module drives the laser chip to emit light, the thermal imaging image sensor images the laser irradiation position and obtains a temperature image and transmits it to the control module, and the control module controls the dual prism module and the laser output power according to a preset motion curve and temperature image data, thereby controlling the motion curve of the laser emission and the temperature of the scanning area.

2. A rehabilitation laser therapy apparatus according to claim 1, characterized in that: The treatment head also includes a shaping lens arranged at the rear end of the dual prism module. The laser chip adopts a vertical cavity semiconductor laser chip or an end-face emitting semiconductor laser chip, and simultaneously emits a treatment laser and an indicator light. The laser chip adopts a mixed packaging method of a treatment laser chip and an indicator light chip. The emitted light of the laser chip is shaped into a circular uniform light spot by the shaping lens.

3. A rehabilitation laser therapy apparatus according to claim 2, characterized in that: The therapeutic laser adopts a single wavelength or multiple wavelengths, the average power of the therapeutic laser output laser is greater than 30W, and the wavelength range is 800nm-1000nm; the indicator light adopts visible light, the indicator light luminous power is 4.5mW, and the wavelength is 520nm or 632nm.

4. A rehabilitation laser therapy apparatus according to claim 2, characterized in that: The diameter of the circular uniform light spot is 5 cm to 20 cm.

5. A rehabilitation laser therapy apparatus according to claim 1, characterized in that: The support arm adopts a multi-link movable structure or a flexible arm structure, and the bending direction of the support arm can be flexibly adjusted manually, so as to control the treatment head to point the indication light to the central area of ​​the disease, locate the central position of the disease, and determine the origin of the automatic scanning area. The support arm is a hollow structure.

6. A rehabilitation laser therapy apparatus according to claim 1, characterized in that: The dual prism module includes a first prism, a second prism, a first motor, a second motor, a first angle encoder, a second angle encoder and a support member. The first prism and the second prism are cylindrical structures and have the same wedge angle. The first motor and the second motor are hollow motors, and the hollow parts clamp the prisms to drive the first and second prisms to rotate respectively. The first angle encoder and the second angle encoder output the rotation angles of the first prism and the second prism respectively.

7. The rehabilitation laser therapy apparatus according to claim 1, characterized in that: The control module includes a touch display screen, which receives a light beam scanning curve and a set temperature set by a user. The control module solves the set light beam scanning curve into a specific motion relationship between two prisms, controls the rotation angle of the first prism and the second prism, and corrects the error of the rotation angle of the first prism and the second prism through the first angle encoder and the second angle encoder, thereby ensuring that the set light beam scanning curve is consistent with the actual light beam scanning curve.

8. A rehabilitation laser therapy apparatus according to claim 7, characterized in that: The touch display screen outputs the actual temperature of the irradiated area, and the control module controls the temperature of the irradiated area through two levels by comparing the set temperature and the actual temperature. The first level controls the temperature of the irradiated area by controlling the scanning speed of the light beam by controlling the rotation speed of the dual prism. The higher the beam scanning speed, the smaller the temperature rise. The beam scanning speed is controlled at about 3-10cm / s; when increasing the beam scanning speed still cannot increase the temperature to the set temperature, the control module reduces the temperature of the irradiated area by controlling the laser output power. The set temperature value must be lower than the tolerance temperature of human skin, but higher than the body surface temperature. The body temperature value is obtained by a thermal imager.

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