Carbon dioxide laser therapy apparatus

Abstract

The invention discloses a carbon dioxide laser therapy apparatus, and relates to the technical field of medical laser, the carbon dioxide laser therapy apparatus comprises a laser emission source and a laser adjusting assembly installed at the tail end of the laser emission source, the laser adjusting assembly is used for adjusting laser generated by the laser emission source, and the laser adjusting assembly is provided with a tunable liquid lens. The whole device realizes dynamic adjustment of light spot size, focusing depth and light beam direction by combining a tunable liquid lens with multi-specification optical lenses in the aspect of adjustment flexibility, ensures small light spot positioning error and small energy fluctuation by virtue of a closed-loop control system and micron-level displacement monitoring in the aspect of accuracy, and enables a treatment mode to be automatically matched with parameters; meanwhile, by means of the design of non-contact ultrasonic driving, magnetorheological fluid regulation and control and the like, mechanical abrasion is avoided, the overall service life is prolonged, the shape, size and focusing depth of light spots are matched with lesion characteristics in real time, and the damage rate of normal tissue is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical lasers, and specifically relates to a carbon dioxide laser therapy machine. Background Art

[0002] Lasers have the advantages of good directivity, high monochromaticity, good coherence, etc. They are widely used in the fields of laser processing technology, laser medicine and photon biology, laser detection and metrology technology, laser holography technology, laser spectral analysis technology, nonlinear optics, ultrafast laser science, laser chemistry, quantum optics, lidar, laser guidance, laser isotope separation, laser controlled nuclear fusion, and laser weapons. The laser beam required by a medical laser therapy machine needs to have different beam diameters and a small divergence angle. However, the diameter of the laser beam emitted by the same laser is constant and has a certain divergence angle, which cannot directly meet the requirements of clinical applications. The laser beam used in a medical carbon dioxide laser therapy machine generally needs to be focused to make the spot diameter of the laser beam smaller and the power density higher before it can be used for surgeries such as cutting, coagulation, and vaporization.

[0003] The principle of the carbon dioxide laser focusing lens is to select convex lenses with different focal lengths according to clinical needs, and let the laser beam emitted by the laser pass through the convex lens and be focused to obtain laser beams with different spot diameters at the focal point of the convex lens. The commonly used convex lenses are of two types with focal lengths of 50 mm and 100 mm. The laser beam obtained through the 50-mm focal length focusing lens has a small spot and a high power density, and is more suitable for fine cutting of human tissues.

[0004] Currently, the spot shapes and sizes output by most traditional carbon dioxide laser therapy machines are fixed, such as the common circular spot, which is difficult to accurately adapt to complex and irregular lesion sites, such as large facial birthmarks and irregular scars. During treatment, it may cause unnecessary damage to the surrounding normal tissues, affect the treatment effect and increase the patient's recovery period and pain. For example, when treating facial acne scars, since the scars are distributed irregularly, the fixed spot cannot closely fit the scar contour, resulting in incomplete treatment of some scars, while the surrounding normal skin is over-irradiated. Therefore, a carbon dioxide laser therapy machine needs to be proposed. Summary of the Invention

[0005] The object of the present invention is to provide a carbon dioxide laser treatment machine to solve the problems raised in the above background technology. In most traditional carbon dioxide laser treatment machines, the shape and size of the output light spot are fixed, such as the common circular light spot, which is difficult to accurately adapt to complex and irregular lesion sites, such as large-area facial birthmarks, irregular scars, etc. During treatment, it may cause unnecessary damage to the surrounding normal tissues, affecting the treatment effect and increasing the patient's recovery period and pain. For example, when treating facial acne scars, due to the irregular distribution of the scars, the fixed light spot cannot closely fit the scar contour, resulting in incomplete treatment of some scars, while the surrounding normal skin is over-irradiated.

[0006] To achieve the above object, the present invention provides the following technical solution: A carbon dioxide laser treatment machine includes a laser emission source and a laser adjustment component installed at its end, which is used to adjust the laser generated by the laser emission source. The laser adjustment component has a tunable liquid lens. A flexible mirror frame is installed on the outer circumference of the tunable liquid lens, and it is arranged non-contact with the tunable liquid lens. A plurality of groups of micro ultrasonic focusing transducers are installed around the outer circumference of the flexible mirror frame, and the tunable liquid lens and the flexible mirror frame are arranged non-contact.

[0007] Preferably, the laser adjustment component further includes a spherical sleeve and an outer sleeve. An annular multi-groove frame is installed at the top of the spherical sleeve, and different specifications of optical lenses are respectively installed inside the annular multi-groove frame. A conical condenser guide is installed inside the spherical sleeve, and the optical foci of different specifications of optical lenses are focused on one point.

[0008] Preferably, a laser beam output end is installed at the bottom of the outer sleeve. An endothermic tube is installed in the inner cavity of the outer sleeve. The bottom of the endothermic tube is connected to an annular endothermic end. An air injection and delivery pipe is installed on the side of the outer sleeve, which is used to communicate with an external air pump, and the endothermic tube is used to communicate with an external radiator.

[0009] Preferably, a laser receiving end is installed inside the outer sleeve to receive the outgoing beam of the laser emission source. A laser refraction end is installed facing the bottom of the laser receiving end to change the transmission direction of the laser beam. A refraction mirror is installed facing the side of the laser refraction end to form an optical path coupling with the laser refraction end. A short-distance moving guide rail is installed on the side of the refraction mirror, which is used to drive the refraction mirror to form distance adjustment. A guiding lens is installed facing the bottom of the refraction mirror to focus the refracted laser beam. An optical path calibration device is installed on the side of the short-distance moving guide rail.

[0010] Preferably, on both sides inside the connection cavity between the outer sleeve and the laser beam output end, a semi-circular rack guide and a multi-axial adjustment structure are respectively installed. A driving source is meshed and connected to the side end of the semi-circular rack guide. A single-axial adjustment structure is installed at the side end of the driving source. A refraction adjustment lens is installed on the frame of the single-axial adjustment structure. An optical path adjustment lens is installed on the frame of the multi-axial adjustment structure.

[0011] Preferably, an iris opening and closing structure is installed at the top of the tunable liquid lens. A driving gear is installed at the top of the iris opening and closing structure. An installation frame is installed at the top of the driving gear.

[0012] Preferably, a rack is meshed and connected to the side end of the driving gear. A displacement sliding cavity is installed outside the rack. A displacement sensor is fitted and installed inside the displacement sliding cavity. The displacement sliding cavity penetrates through the surface of the laser beam output end.

[0013] Preferably, air guide valve pipes are communicated with both the left and right ends of the displacement sliding cavity. The side ends of the air guide valve pipes are communicated with an air injection and delivery pipe.

[0014] Preferably, a multi-axis flexible joint robotic arm is installed at the side end of the laser emission source.

[0015] Preferably, a control source is installed at the side end of the multi-axis flexible joint robotic arm. The control source is used to be installed on the surface of the carbon dioxide laser therapy machine main body.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] In the present invention, with the cooperation of the laser adjustment component, in terms of the adjustment flexibility of the overall device, by combining the tunable liquid lens with multi-specification optical lenses, the dynamic adjustment of the spot size, focusing depth, and beam direction is realized. In terms of accuracy, the closed-loop control system and micron-level displacement monitoring ensure small spot positioning errors and energy fluctuations, and enable the treatment mode to automatically match parameters, reducing human intervention. At the same time, designs such as non-contact ultrasonic drive and magnetorheological fluid regulation are used to avoid mechanical wear and extend the overall service life, enabling the spot shape, size, and focusing depth to be matched with the lesion characteristics in real time, reducing the normal tissue damage rate, shortening the single treatment time for complex lesions, and reducing the number of treatment courses. In terms of safety, non-contact adjustment and intelligent closed-loop control significantly reduce the risks of mechanical failures and misoperations, and greatly reduce the incidence of postoperative complications (such as pigmentation and scar hyperplasia). At the same time, it can treat irregular and mixed lesions (such as vascular malformations combined with pigment abnormalities) that are difficult to handle by traditional techniques, broadening the clinical application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front view structural schematic diagram of a carbon dioxide laser therapy machine in the present invention;

[0019] Figure 2 It is a schematic structural diagram of a laser adjustment component in a carbon dioxide laser therapy machine of the present invention;

[0020] Figure 3 It is a schematic internal structure diagram of an outer sleeve in a carbon dioxide laser therapy machine of the present invention;

[0021] Figure 4 It is a schematic installation position structure diagram of a laser receiving end, a laser refraction end, a refraction mirror, and a guiding lens in a carbon dioxide laser therapy machine of the present invention;

[0022] Figure 5 It is a schematic partial structure separation diagram of a laser adjustment component in a carbon dioxide laser therapy machine of the present invention;

[0023] Figure 6 It is a schematic installation position structure diagram of a multi-axial adjustment structure and a single-axial adjustment structure in a carbon dioxide laser therapy machine of the present invention;

[0024] Figure 7 It is a schematic internal sectional structure diagram of a spherical sleeve in a carbon dioxide laser therapy machine of the present invention;

[0025] Figure 8 It is a schematic installation position structure diagram of a tunable liquid lens in a carbon dioxide laser therapy machine of the present invention.

[0026] In the figure: 100, laser emission source; 200, multi-axis flexible joint robotic arm; 300, control source; 400, laser adjustment component; 401, outer sleeve; 402, heat absorption tube; 403, gas injection and delivery tube; 404, laser beam output end; 405, annular heat absorption end; 406, laser receiving end; 407, laser refraction end; 408, refraction mirror; 409, guiding lens; 410, short-distance movement guide rail; 411, optical path calibration device; 412, semi-circular rack guide rail; 413, multi-axial adjustment structure; 414, optical path adjustment lens; 415, refraction adjustment lens; 416, spherical sleeve; 417, drive source; 418, annular multi-groove frame; 419, optical lens; 420, conical condenser guide; 421, outer frame connecting frame; 422, flexible mirror frame; 423, micro ultrasonic focusing transducer; 424, tunable liquid lens; 425, iris opening and closing structure; 426, drive gear; 427, rack; 428, displacement sliding cavity; 429, air guide valve tube; 430, single-axial adjustment structure. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] During the use of a carbon dioxide laser therapy machine, existing carbon dioxide laser therapy machines usually use fixed optical elements to adjust the spot size and focusing state, which have the following deficiencies:

[0029] 1. The traditional mechanical focusing method has a slow response and cannot dynamically adapt to the treatment requirements of different tissues (such as different spot energy densities are required for epidermal vaporization and dermal coagulation);

[0030] 2. When switching multiple lenses, manual replacement is required, which is prone to introducing human errors and cannot ensure the consistency of the focusing positions of different lenses;

[0031] 3. It is difficult to simultaneously achieve the direction deflection of the laser beam, the adjustment of the spot shape, and the energy homogenization.

[0032] The present invention aims to provide a carbon dioxide laser therapy machine, which solves the problems of insufficient adjustment flexibility and limited optical precision in the prior art through multi-dimensional optical path adjustment automation control, and realizes the precise control and stable transmission of laser energy.

[0033] In an embodiment of the present invention, as shown in reference to Figures 1 - 8 A carbon dioxide laser therapy machine includes a laser emission source 100 and a laser adjustment assembly 400 installed at its end, which is used to adjust the laser generated by the laser emission source 100. The laser adjustment assembly 400 has a tunable liquid lens 424. A flexible mirror frame 422 is arranged on the outer peripheral side of the tunable liquid lens 424, and it is arranged non-contact with the tunable liquid lens 424. A plurality of groups of micro ultrasonic focusing transducers 423 are arranged around the outer peripheral side of the flexible mirror frame 422, and the tunable liquid lens 424 and the flexible mirror frame 422 are arranged non-contact.

[0034] The laser adjustment assembly 400 further includes a spherical sleeve 416 and an outer sleeve 401. An annular multi-groove frame 418 is arranged at the top of the spherical sleeve 416. Different specifications of optical lenses 419 are respectively arranged inside the annular multi-groove frame 418. A conical condenser guiding member 420 is arranged inside the spherical sleeve 416, and the optical foci of different specifications of optical lenses 419 are focused on one point.

[0035] At the bottom of the outer sleeve 401, a laser beam output end 404 is installed. Inside the inner cavity of the outer sleeve 401, a heat absorption tube 402 is installed. At the bottom of the heat absorption tube 402, an annular heat absorption end 405 is connected. On the side end of the outer sleeve 401, an air injection and delivery pipe 403 is installed, which is used to communicate with an external air pump. The heat absorption tube 402 is used to communicate with an external heat radiator. The heat absorption tube 402 and the annular heat absorption end 405 are used to absorb in real time the hot air flow generated by the heat dissipation of the multi-axial adjustment structure 413, the drive source 417, and the single-axial adjustment structure 430.

[0036] Inside the outer sleeve 401, a laser receiving end 406 is installed, which is used to receive the emitted light beam of the laser emitting source 100. At the bottom of the laser receiving end 406, a laser refraction end 407 is installed towards the bottom, which is used to change the transmission direction of the laser beam. On the side end of the laser refraction end 407, a refraction mirror 408 is installed towards the side, which forms an optical path coupling with the laser refraction end 407. On the side end of the refraction mirror 408, a short-distance moving guide rail 410 is installed, which is used to drive the refraction mirror 408 to form a distance adjustment. At the bottom of the refraction mirror 408, a guiding lens 409 is installed towards the bottom, which is used to focus the refracted laser beam. On the side end of the short-distance moving guide rail 410, an optical path calibration device 411 is installed.

[0037] On both sides inside the connection cavity between the outer sleeve 401 and the laser beam output end 404, a semi-circular rack guide rail 412 and a multi-axial adjustment structure 413 are installed respectively. On the side end of the semi-circular rack guide rail 412, a drive source 417 is engaged and connected. On the side end of the drive source 417, a single-axial adjustment structure 430 is installed. On the frame of the single-axial adjustment structure 430, a refraction adjustment lens 415 is installed. On the frame of the multi-axial adjustment structure 413, an optical path adjustment lens 414 is installed.

[0038] At the top of the tunable liquid lens 424, an iris opening and closing structure 425 is installed. At the top of the iris opening and closing structure 425, a drive gear 426 is installed. At the top of the drive gear 426, a mounting bracket is installed.

[0039] On the side end of the drive gear 426, a rack 427 is engaged and connected. Outside the rack 427, a displacement sliding cavity 428 is installed. Inside the displacement sliding cavity 428, a displacement sensor is installed in an embedded manner. The displacement sliding cavity 428 penetrates through the surface of the laser beam output end 404.

[0040] Both the left and right ends of the displacement sliding cavity 428 are connected to an air guide valve pipe 429. The side end of the air guide valve pipe 429 is connected to the air injection and delivery pipe 403.

[0041] An annular gap is formed between the flexible lens holder 422 and the tunable liquid lens 424. The micro ultrasonic focusing transducers 423 are evenly distributed along the circumferential direction of the flexible lens holder 422. Each group of micro ultrasonic focusing transducers 423 includes at least one piezoelectric ceramic transducer. The tunable liquid lens 424 includes:

[0042] A first transparent substrate and a second transparent substrate, which are arranged opposite to each other and sealed at the edges;

[0043] A liquid optical magnetorheological fluid medium, which is filled between the first transparent substrate and the second transparent substrate. The refractive index of the liquid optical magnetorheological fluid medium matches the refractive indices of the first transparent substrate and the second transparent substrate;

[0044] The side of the first transparent substrate facing the flexible lens holder 422 is a curved surface, and the radius of curvature of the curved surface can be adjusted by the deformation pressure of the liquid optical magnetorheological fluid medium;

[0045] Miniature magnetic field generating devices are installed on the frames of the outer frame connecting frames 421. They are arranged on the circumferential side of the tunable liquid lens 424 and are used to adjust the optical properties of the tunable liquid lens 424 through a magnetic field.

[0046] The annular multi-groove frame 418 is a hollow annular structure. At least 6 card slots are evenly arranged inside along the circumferential direction. One specification of optical lens 419 is detachably installed in each card slot. The optical lens 419 includes convex lenses, concave lenses or band-pass filters with different degrees. The optical focus of the optical lens 419 coincides with the center position at the bottom end of the conical condenser guiding member 420. The conical surface of the conical condenser guiding member 420 is coated with a reflective film. An optical path channel is formed between the spherical sleeve 416 and the tunable liquid lens 424. The generated laser beam passes through the optical lens 419, the conical condenser guiding member 420 and the tunable liquid lens 424 in sequence and then focuses on the treatment target.

[0047] The laser receiving end 406 is connected to the laser emission source 100 through an optical fiber or a light guiding arm. The laser refraction end 407 is a right-angle prism, and the refraction mirror 408 is a curved surface reflecting mirror. The transmission direction of the laser beam is changed by an angle of 90° - 180° after passing through the laser refraction end 407 and the refraction mirror 408. The optical path calibration device 411 is composed of a laser power meter and a position sensor, and is used to monitor the energy distribution of the laser beam and the position of the refraction mirror 408 in real time, and feedback to the linkage controller to adjust the displacement of the short-distance moving guide rail 410. The driving source 417 is composed of a galvanometer motor, a sliding seat and a driving pinion. The galvanometer motor drives the driving pinion to mesh with the semi-circular rack guide rail 412, and is used to make the sliding seat displace along the track of the semi-circular rack guide rail 412.

[0048] The single-axis adjustment structure 430 is a flipping slide table that can adjust the flipping angle along a single axis in the laser beam transmission direction. The refraction adjustment lens 415 is a cylindrical lens used to adjust the direction deflection angle of the laser beam by flipping the angle. The flipping angle of the single-axis adjustment structure 430 is linked and matched with the specification parameters of the optical lens 419. The multi-axis adjustment structure 413 includes an X-axis, a Y-axis perpendicular to each other, and an adjustment gimbal for circumferential operation. The optical path adjustment lens 414 is installed on the adjustment gimbal through a universal joint frame body, and can realize the angle adjustment of the laser beam in the two-dimensional plane or the correction of the spot shape. A displacement detection sensor is installed on the inner wall of the connection cavity. The displacement detection sensor corresponds to the rotation angle of the semi-circular rack guide 412 or the displacement of the single-axis adjustment structure 430, and is used to directly feedback to the linkage controller to adjust the parameters. The drive source 417 is connected to the multi-axis adjustment structure 413 through the linkage controller. The linkage controller can synchronously control the rotation angle of the semi-circular rack guide 412 and the deflection angles of the optical path adjustment lens 414, the multi-axis adjustment structure 413, and the refraction adjustment lens 415 to achieve the composite adjustment of the laser beam.

[0049] Specifically: in the treatment preparation operation stage, first, the operator selects a treatment mode (such as vaporization, cutting, coagulation) through the control source 300, and automatically matches the preset parameters (such as laser power, spot size, scanning speed). Then, the linkage controller drives the rotation of the annular multi-groove frame 418 according to the selected mode, and switches the optical lens 419 of the corresponding specification to the optical path (for example, a short-focus convex lens is selected for the tattoo removal mode, etc.).

[0050] Next, the laser emission source 100 emits a low-power calibration beam, which is transmitted to the guiding lens 409 through the laser receiving end 406, the laser refraction end 407 and the refraction mirror 408. That is, in the laser transmission and adjustment stage, when the high-power carbon dioxide laser beam is output from the laser emission source 100 and transmitted to the laser receiving end 406 through an optical fiber or a light guide arm, the collimating lens built in the laser receiving end 406 is used to convert the divergent beam into a parallel beam to ensure the benchmark consistency of subsequent optical path adjustment. Then, after the laser beam is refracted by 90° by the laser refraction end 407, it is directed to the refraction mirror 408 and then preliminarily focused by the guiding lens 409 to ensure that the energy loss of the calibration beam (such as <0.4%). The refraction mirror 408 is a curved mirror, and its focal length can be adjusted by moving the short-distance moving guide rail 410. When the short-distance moving guide rail 410 drives the refraction mirror 408 to move along the optical axis direction, the focusing position of the beam changes accordingly. For example, when the refraction mirror 408 moves away from the guiding lens 409, the focal point moves backward and the spot diameter expands; when the refraction mirror 408 approaches the guiding lens 409, the focal point moves forward and the spot diameter shrinks, so that the spot diameter is preliminarily compressed (such as 1-5 mm). Among them, the optical path calibration device 411 is used to monitor the beam energy distribution and position in real time and feedback it to the linkage controller to adjust the short-distance moving guide rail 410, so that the linkage controller calculates the deviation amount according to the feedback data and drives the short-distance moving guide rail 410 to finely adjust the position of the refraction mirror 408 until the error between the spot center and the treatment target coordinates is ensured, and the spot center coincides with the treatment target.

[0051] After that, the micro ultrasonic focusing transducer 423 drives the tunable liquid lens 424 to be located on the flexible mirror frame 422 in a non-contact manner. Under the cooperation of the micro magnetic field generating device, pressure is applied to the liquid optical magnetorheological fluid in the tunable liquid lens 424, so that the curvature radius of the curved surface of the first transparent substrate is dynamically adjusted according to the treatment requirements (for example, increasing the curvature during superficial treatment and approaching a plane infinitely during deep treatment). Among them, the micro magnetic field generating device is a toroidal electromagnetic coil wound around the inner side of the outer frame connecting frame 421, thus forming the rapid focusing stage. First, a low magnetic field is applied to keep the liquid optical magnetorheological fluid at a low viscosity and allow the first transparent substrate to deform.

[0052] When it reaches the focal length locking stage, that is, after the deformation is in place, the magnetic field is increased to cause the viscosity of the liquid optical magnetorheological fluid to increase suddenly and solidify the current curved surface shape of the first transparent substrate.

[0053] After that, in the focal length reset stage, the magnetic field is reduced to 0, so that the liquid optical magnetorheological fluid resumes fluidity, and the first transparent substrate resets under the action of the elastic force.

[0054] Among them, the light passing aperture can be adjusted in cooperation with the iris opening and closing structure 425. The iris opening and closing structure 425 draws on the principle of a camera aperture and is composed of 6 fan-shaped blades. The edge of each blade is arc-shaped. When closed, a circular hole with a diameter of 1 mm is formed, and when fully opened, a through hole with a diameter of 10 mm is formed. That is, an external air pump is connected through the air injection and delivery pipe 403 to output pressurized gas. Under the opening control of the air guide valve pipe 429, the air flow is injected from both ends of the displacement sliding cavity 428 according to requirements, thereby pushing the rack 427 to slide along the inner side of the displacement sliding cavity 428, and then enabling the rack 427 and the driving gear 426 to engage, thereby driving the adjustment of the aperture of the iris opening and closing structure 425. For example, when the aperture needs to be reduced, the left air guide valve pipe 429 is opened, and the right air guide valve pipe 429 is closed. The air flow is injected into the displacement sliding cavity 428 from the left, pushing the rack 427 to slide to the right. At this time, the driving gear 426 rotates clockwise, and the blades of the iris opening and closing structure 425 close. When the aperture needs to be enlarged, the right air guide valve pipe 429 is opened, and the left air guide valve pipe 429 is closed. The air flow pushes the rack 427 to slide to the left. At this time, the driving gear 426 rotates counterclockwise, and the blades of the iris opening and closing structure 425 open.

[0055] After the light beam is focused and transmitted from the guiding lens 409, the multi-axial adjustment structure 413 synchronously operates. Through the X and Y-axis guide rails and circumferential rotation, the optical path adjustment lens 414 is controlled to achieve optical path correction, and then the formed optical path can be focused on the required optical lens 419. Since the annular multi-groove frame 418 is fixedly arranged and the optical lens 419 arranged on its side will produce an offset when adjusting the focusing pipeline formed by the optical path adjustment lens 414. Therefore, when the optical lens 419 arranged on the side needs to be specified, the galvanometer motor in the drive source 417 drives the driving pinion to engage with the semi-circular rack guide rail 412, so that the sliding seat displaces along the track of the semi-circular rack guide rail 412. Then, under the cooperation of the position sensor arranged on the surface of the sliding seat, the single-axial adjustment structure 430 is driven to synchronously displace to the required position point, and according to the parameters of the selected optical lens 419, the refractive adjustment lens 415 is automatically flipped to a preset angle (such as 25°) by using the single-axial adjustment structure 430, so that the refractive adjustment lens 415 deflects the laser beam at an angle, and then focuses on the other different specifications of the optical lenses 419 of the annular multi-groove frame 418. The annular multi-groove frame 418 has 6 card slots, which are respectively loaded with: two convex lenses with different degrees, two concave lenses with different degrees, a band-pass filter and a diffusion sheet.

[0056] The laser beam passes through the optical lens 419 of the annular multi-groove frame 418 and the conical condenser guiding member 420 in sequence, and the foci of all lenses converge on the central axis of the tunable liquid lens 424. After the sliding seat moves to the target lens position, the single-axial adjustment structure 430 automatically calculates the flipping angle θ according to the lens focal length:

[0057]

[0058] Where: f is the focal length of the lens; Δd is the displacement of the sliding seat; L is the distance from the lens to the axis of rotation.

[0059] For example, when it is necessary to switch to a lens with a focal length of 20 mm and a displacement of 5 mm, the flipping angle θ≈7.1°, and at this time, the refractive adjustment lens 415 flips accordingly to compensate for the beam deflection angle caused by the change in the lens position, ensuring that the focal point always falls on the center of the bottom end of the conical condenser guide 420.

[0060] The conical condenser guide 420 has a frustum of a cone structure, so that regardless of which optical lens 419 in the annular multi-groove holder 418 is required, its optical focal point is located at the cone top position (coordinate origin), such as:

[0061] The focal point of the convex lens with a focal length of 10 mm is 10 mm from the cone top;

[0062] The focal point of the convex lens with a focal length of 30 mm is 30 mm from the cone top;

[0063] Through the adjustment of the optical path adjustment lens 414 or the combined adjustment of the optical path adjustment lens 414 and the refractive adjustment lens 415, the light beams of different lenses are converged on the same treatment target after passing through different specifications of optical lenses 419.

[0064] That is, the adjustment of the optical path adjustment lens 414 or the combined adjustment of the optical path adjustment lens 414 and the refractive adjustment lens 415 can switch functions according to the treatment mode:

[0065] For example, in the vaporization mode: when the diffusion sheet is enabled, the optical path adjustment lens 414 focuses on the diffusion sheet, and then the diffusion sheet can convert the Gaussian beam into a parallel beam, ensuring energy uniformity while avoiding overheating at the center;

[0066] In the coagulation mode: when the concave lens is enabled, the optical path adjustment lens 414 focuses on a group of concave lenses, or the optical path adjustment lens 414 and the refractive adjustment lens 415 focus on another group of concave lenses with different degrees in combination, so that the concave lens can expand the light spot and reduce the energy density to achieve large-area uniform heating.

[0067] The micro magnetic field generating device finely tunes the optical characteristics of the liquid lens, combines with the displacement sensor to monitor the position of the iris opening and closing structure 425 in real time, and dynamically compensates for the focal point shift caused by the lens switching to ensure the treatment depth accuracy (such as 0.1 mm for the epidermis or 2 mm for the dermis).

[0068] At this time, the laser beam after multi-dimensional adjustment acts on the treatment target through the laser beam output end 404. By the cooperative work of the tunable liquid lens 424 and the refraction adjustment lens 415, a light spot with a predetermined shape (such as a circle with a diameter of 1 mm or an ellipse with a major axis of 5 mm) is formed on the tissue surface.

[0069] Meanwhile, the circulating cooling liquid (such as deionized water) in the heat absorption tube 402 absorbs the heat generated by the driving source 417 and the adjustment structure through the annular heat absorption end 405, ensuring that the device can continuously work for more than 4 hours without the temperature exceeding 40°C.

[0070] During the above operation process, the rotation angle of the semi-circular rack guide 412 and the displacement of the single-axis adjustment structure 430 are monitored in real time by the displacement detection sensor and fed back to the linkage controller. If the optical path deviation (such as > 0.2 mm) or energy fluctuation (such as > 5%) is detected, the position of the refractive mirror 408 or the curvature of the first transparent substrate is automatically adjusted under the feedback control of the linkage controller to maintain the treatment stability.

[0071] In terms of the adjustment flexibility of the overall device, by combining the tunable liquid lens 424 with multi-specification optical lenses 419, the dynamic adjustment of the light spot size, focusing depth, and beam direction is realized. In terms of accuracy, the closed-loop control system and micron-level displacement monitoring ensure small spot positioning error and energy fluctuation, and enable the treatment mode to automatically match parameters, reducing human intervention. At the same time, designs such as non-contact ultrasonic drive and magnetorheological fluid control are used to avoid mechanical wear and extend the overall service life.

[0072] In some embodiments, as shown in Figure 1 a multi-axis flexible joint robotic arm 200 is installed at the side end of the laser emission source 100.

[0073] A control source 300 is installed at the side end of the multi-axis flexible joint robotic arm 200, and the control source 300 is used to be installed on the surface of the carbon dioxide laser therapy machine main body.

[0074] More specifically: According to the lesion site of the patient (such as facial chloasma, superficial tumor), the operator sets the target position of the laser adjustment component 400 at the end of the robotic arm on the touch interface of the control source 300 in two ways. In the manual mode, the operator uses the direction rocker on the control source 300 to manually control the movement of each joint of the robotic arm, moves the laser beam output end 404 above the lesion area, and at the same time observes the three-dimensional coordinates (X, Y, Z axis positions and rotation angles around the three axes) on the display screen of the control source 300 to ensure accurate positioning. In the automatic mode, by importing the CT or MRI image data of the patient's lesion site, the image recognition algorithm of the control source 300 automatically marks the lesion area, combines the preset safety distance (such as 5-10 mm from the skin surface), calculates the optimal pose of the multi-axis flexible joint robotic arm 200, and automatically drives the multi-axis flexible joint robotic arm 200 to move to the target position. The whole process takes no more than 30 seconds.

[0075] When the multi-axis flexible joint robotic arm 200 moves near the target position, the control source 300 starts the attitude fine-tuning program. Based on the camera built in the laser adjustment component 400, it takes real-time images of the lesion area, and judges the relative angle between the laser beam and the lesion area through the image analysis algorithm. If the angle deviation exceeds 5°, the control source 300 drives the pitch and yaw joints of the multi-axis flexible joint robotic arm 200 to fine-tune, ensuring that the laser beam is vertically incident on the lesion site and avoiding energy loss and uneven treatment caused by oblique incidence.

[0076] After the treatment starts, the multi-axis flexible joint robotic arm 200 maintains a stable posture, and the laser emission source 100 outputs laser, which is adjusted by the laser adjustment component 400 for parameters such as spot size and focusing depth.

[0077] During this process, if the treatment mode is switched (such as from the epidermal vaporization mode to the dermal coagulation mode), the control source 300 will not only adjust the optical parameters of the laser adjustment component 400, but also fine-tune the position of the multi-axis flexible joint robotic arm 200 according to the new requirements of spot diameter and energy density, ensuring that the laser beam always covers the lesion area and does not exceed the safety boundary;

[0078] When the displacement sensor in the laser adjustment component 400 detects that the movement of the internal optical element causes the center of gravity to shift, the control source 300 automatically calculates the compensation angle, drives the joint fine-tuning of the multi-axis flexible joint robotic arm 200, and maintains the stability of the laser beam output end 404, avoiding spot offset caused by shaking.

[0079] For irregular lesions (such as large - area tattoos, complex scars), the operator can draw a scanning path on the control source 300, decompose the path into multiple tiny line segments by using the control source 300, combine with the spot size of the laser adjustment component 400, calculate the movement trajectory of each joint of the multi - axis flexible joint robotic arm 200, so that the multi - axis flexible joint robotic arm 200 moves uniformly along the preset path. At the same time, the laser adjustment component 400 adjusts the spot shape (such as switching from circular to elliptical) and energy density in real time to ensure that the lesion area is evenly treated, and the whole scanning process is smooth and coherent without pauses or jumps.

[0080] After the treatment is completed, the control source 300 drives the multi - axis flexible joint robotic arm 200 to perform a reset operation.

[0081] The wiring diagrams of the optical path calibration device 411, the micro ultrasonic focusing transducer 423, the tunable liquid lens 424, the displacement detection sensor and the displacement sensor in the present invention belong to the common general knowledge in the art. Their working principles are already known technologies, and their models are selected according to actual use. Therefore, the control methods and wiring arrangements of the optical path calibration device 411, the micro ultrasonic focusing transducer 423, the tunable liquid lens 424, the displacement detection sensor and the displacement sensor will not be explained in detail.

[0082] It should be noted that the tunable liquid lens 424 can refer to the tunable liquid lens of SCHOTT in Germany.

[0083] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A carbon dioxide laser therapy machine, characterized in that: It includes a laser emission source (100) and a laser adjustment component (400) installed at its end, which is used to adjust the laser generated by the laser emission source (100). The laser adjustment component (400) has a tunable liquid lens (424). A flexible mirror frame (422) is installed on the outer peripheral side of the tunable liquid lens (424), and it is arranged non-contact with the tunable liquid lens (424). A plurality of groups of micro ultrasonic focusing transducers (423) are installed around the outer peripheral side of the flexible mirror frame (422). The tunable liquid lens (424) and the flexible mirror frame (422) are arranged non-contact with each other.

2. The carbon dioxide laser therapy apparatus according to claim 1, wherein: The laser adjustment component (400) further includes a spherical sleeve (416) and an outer sleeve (401). An annular multi-groove frame (418) is installed at the top of the spherical sleeve (416). Different specifications of optical lenses (419) are respectively installed inside the annular multi-groove frame (418). A conical condenser guiding member (420) is installed inside the spherical sleeve (416). The optical foci of different specifications of the optical lenses (419) are focused on one point. An outer frame connecting frame (421) is installed on the outside of the flexible mirror frame (422).

3. The carbon dioxide laser therapy apparatus according to claim 2, characterized in that: A laser beam output end (404) is installed at the bottom of the outer sleeve (401). A heat absorption tube (402) is installed in the internal cavity of the outer sleeve (401). The bottom of the heat absorption tube (402) is communicated with an annular heat absorption end (405). An air injection and delivery pipe (403) is installed on the side end of the outer sleeve (401). The air injection and delivery pipe (403) is used to communicate with an external air pump. The heat absorption tube (402) is used to communicate with an external heat radiator.

4. The carbon dioxide laser therapy apparatus according to claim 2, wherein: A laser receiving end (406) is installed inside the outer sleeve (401) for receiving the outgoing beam of the laser emission source (100). A laser refraction end (407) is installed facing the bottom of the laser receiving end (406) for changing the transmission direction of the laser beam. A refraction mirror (408) is installed facing the side end of the laser refraction end (407) to form an optical path coupling with the laser refraction end (407). A short-distance moving guide rail (410) is installed on the side end of the refraction mirror (408). The short-distance moving guide rail (410) is used to drive the refraction mirror (408) to form distance adjustment. A guiding lens (409) is installed facing the bottom end of the refraction mirror (408) for focusing the refracted laser beam. An optical path calibration device (411) is installed on the side end of the short-distance moving guide rail (410).

5. The carbon dioxide laser therapy apparatus according to claim 2, characterized in that: On both sides inside the connection cavity between the outer sleeve (401) and the laser beam output end (404), a semi-circular rack guide (412) and a multi-axial adjustment structure (413) are respectively installed. A driving source (417) is meshed and connected to the side end of the semi-circular rack guide (412). A single-axial adjustment structure (430) is installed at the side end of the driving source (417). A refraction adjustment lens (415) is installed on the frame of the single-axial adjustment structure (430). An optical path adjustment lens (414) is installed on the frame of the multi-axial adjustment structure (413).

6. The carbon dioxide laser therapy apparatus according to claim 1, wherein: An iris opening and closing structure (425) is installed at the top of the tunable liquid lens (424). A driving gear (426) is installed at the top of the iris opening and closing structure (425). An installation bracket is installed at the top of the driving gear (426).

7. The carbon dioxide laser therapy apparatus according to claim 6, wherein: A rack (427) is meshed and connected to the side end of the driving gear (426). A displacement sliding cavity (428) is installed outside the rack (427). A displacement sensor is fitted and installed inside the displacement sliding cavity (428). The displacement sliding cavity (428) penetrates through the surface of the laser beam output end (404).

8. The carbon dioxide laser therapy apparatus according to claim 7, wherein: Gas guide valves (429) are communicated with both the left and right ends of the displacement sliding cavity (428). The side ends of the gas guide valves (429) are communicated with the gas injection and delivery pipe (403).

9. The carbon dioxide laser treatment apparatus according to claim 1, wherein: A multi-axis flexible joint robotic arm (200) is installed at the side end of the laser emitter (100).

10. The carbon dioxide laser therapy apparatus according to claim 9, wherein: A control source (300) is installed at the side end of the multi-axis flexible joint robotic arm (200). The control source (300) is used to be installed on the surface of the carbon dioxide laser therapy machine main body.

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