Thulium laser emission control system and method

Abstract

The invention relates to the technical field of laser medical treatment, and discloses a thulium laser emission control system and method.The system comprises a tissue feedback acquisition module, a parameter identification module, a control strategy module, a laser control module and an execution control module; according to the method, thermal response data of a target tissue under the action of laser are collected in real time, thermal parameters of the target tissue are dynamically calculated, a control target and constraint conditions are constructed based on the parameters, and a laser control parameter combination matched with the tissue state is determined and used for adjusting the output power, pulse width and frequency of a thulium laser. And real-time control and parameter updating in the laser emission process are realized. According to the invention, accurate matching of laser output parameters and tissue thermal states is realized, laser power, pulse width and frequency can be dynamically adjusted in the treatment process, the real-time performance and response capability of laser treatment are improved, and the safety, treatment effect and individual adaptability of urinary surgery are significantly enhanced.

Description

Technical Field

[0001] The present invention relates to the field of laser medical technology, and particularly to a thulium laser emission control system and method. Background Art

[0002] Due to the characteristics of efficient absorption in water, thulium laser (wavelength about 2.01 μm) has been widely used in the field of urology in recent years and has become an important energy tool for treating common diseases such as prostate hyperplasia, urinary system stones, and bladder tumors. Compared with traditional electrocision or holmium laser systems, thulium laser has good tissue vaporization ability, coagulation and hemostasis effects, and high tissue cutting accuracy, and is particularly suitable for urological surgeries that require both high efficiency and minimally invasive nature. Most existing thulium laser treatment devices have realized the basic setting and output control of laser parameters and can, to a certain extent, adapt to the energy requirements of different surgical procedures.

[0003] However, with the continuous development of the trend towards refinement and individuation of urological surgeries, the traditional laser control system has gradually revealed its technical limitations in variable intraoperative scenarios. First of all, the existing systems generally perform laser control based on static parameters set before surgery, lacking the ability to perceive and feedback the real-time thermal response of tissues during surgery, resulting in the difficulty of flexibly adjusting the laser output as the tissue state changes. When the thermal absorption characteristics of the treatment area change, or factors such as tissue thickness and water content are different, the system is difficult to quickly adapt, and problems such as tissue overheating, carbonization, or insufficient heat diffusion are likely to occur, affecting the surgical precision and efficacy stability.

[0004] In addition, since the traditional system usually does not have the ability to dynamically identify tissue thermal parameters, the thermal behavior differences between different patients or different tissue sites of the same patient cannot be accurately modeled and predicted, and there is uncertainty in the transmission and distribution of laser energy. This control strategy based on a unified parameter model is difficult to fully reflect the individualized treatment needs, especially when dealing with urological structures with obvious tissue stratification or diverse lesion types (such as the prostate capsule and gland, the edge of kidney stones and the renal pelvis epithelium), and its treatment precision is significantly limited.

[0005] Furthermore, due to the lack of a closed-loop control mechanism in the laser output system, the parameter adjustment in the prior art usually depends on the experience of the operator or visual feedback to complete, with a lag in response and limited regulation accuracy. In a complex intraoperative environment (such as large-volume vaporization of the prostate, heat accumulation after stone comminution), if the system cannot timely perceive the tissue thermal state and make rapid adjustments, it is extremely likely to cause concurrent risks such as thermal injury and poor bleeding control.

[0006] Therefore, the present invention proposes a thulium laser emission control system and method to solve the deficiencies of the prior art. Summary of the Invention

[0007] In view of the deficiencies of the prior art, the present invention provides a thulium laser emission control system and method, which solves the problems in the prior art that there is a lack of intraoperative tissue thermal response perception and real-time feedback regulation mechanism, resulting in difficult dynamic adaptation of laser treatment parameters to tissue states and insufficient treatment accuracy and safety.

[0008] To achieve the above objectives, the present invention is realized through the following technical solutions: A thulium laser emission control system includes: A tissue feedback acquisition module, configured to collect thermal response data of a target tissue in real time during the laser action; A parameter identification module, configured to receive the thermal response data and dynamically calculate the thermal parameters of the target tissue based on the thermal response data; A control strategy module, configured to receive the thermal parameters, construct control objectives and constraint conditions according to the thermal parameters, and then determine a laser control parameter combination adapted to the current tissue state; A laser control module, configured to adjust the output power, pulse width and pulse frequency of the thulium laser according to the laser control parameter combination; An execution control module, configured to coordinate the parameter transmission between the control strategy module and the laser control module, and to drive the thulium laser to perform real-time control and update of emission output according to the laser control parameter combination.

[0009] Preferably, the tissue feedback acquisition module includes a temperature sensing unit and an optical detection unit, configured to collect thermal response data of a target tissue in real time during the laser action, and the thermal response data at least includes temperature change and light reflection signal.

[0010] Preferably, the step of dynamically calculating the thermal parameters of the target tissue based on the thermal response data includes: Establishing a heat conduction inverse model based on the thermal response data, the heat conduction inverse model adopts an unsteady heat conduction equation, and the unsteady heat conduction equation is: wherein, T is temperature, t is time, ρ is the density of the target tissue, c is the specific heat capacity of the target tissue, is the partial derivative of temperature with respect to time, k is the thermal conductivity of the target tissue, is the second-order derivative of temperature in space, and Q is the volume heat source term; Calculating the thermal parameters of the target tissue through numerical inverse fitting of the heat conduction inverse model, and the thermal parameters of the target tissue include thermal conductivity k, specific heat capacity c, density ρ and volume heat source term Q.

[0011] Preferably, the control strategy module includes: A parameter receiving unit, configured to receive the thermal parameters of the target tissue; A strategy generation unit, configured to generate a laser control parameter combination adapted to the current tissue state according to the thermal parameters in combination with a preset control target and constraint conditions, where the laser control parameter combination includes laser power, pulse width, and pulse frequency; a parameter output unit, configured to output the laser control parameter combination.

[0012] Preferably, the step of generating a laser control parameter combination adapted to the current tissue state according to the thermal parameters in combination with a preset control target and constraint conditions includes: Establish a tissue temperature rise model under the action of laser based on the thermal parameters, and the temperature rise model is; where ΔT is the temperature rise of the target tissue, R is the surface reflectivity of the target tissue, μ a is the optical absorption coefficient, P is the laser power, τ is the laser pulse width, and d is the laser action depth; Set the control target to make the temperature rise of the target tissue satisfy ΔT≥T v -T0, where T v represents the vaporization threshold temperature of the target tissue, and T0 represents the initial temperature of the target tissue; Under the constraint condition of satisfying the safe temperature rise threshold of the target tissue, calculate the combination of laser power P, laser pulse width τ, and laser pulse frequency f to meet the control target; Output a laser control parameter combination that meets the control target and constraint conditions.

[0013] Preferably, the laser control module includes: A parameter receiving unit, configured to receive a laser control parameter combination; A drive control unit, configured to control the working state of the laser according to the laser control parameter combination; A power adjustment unit, configured to adjust the laser output power according to the laser control parameter combination.

[0014] Preferably, the execution control module includes: A communication unit, configured to receive a laser control instruction; An instruction parsing unit, configured to parse the laser control instruction; An execution instruction unit, configured to drive the laser to perform emission control according to the parsing result.

[0015] Preferably, the step of parsing the laser control instruction includes: Extract the power parameter P, pulse width parameter τ, and pulse frequency parameter f in the laser control parameter combination; Calculate the single-pulse energy according to the following formula: Among them, E represents the single-pulse laser energy, P represents the laser output power, and f is the pulse frequency; Combine the single-pulse energy with the pulse width τ to generate a drive control parameter set {E, τ, f}; Output the drive control parameter set for the instruction execution unit to control the laser emission.

[0016] The present invention also provides a thulium laser emission control method, including the following steps: Collect the thermal response data of the target tissue in real time during the laser action process; Dynamically calculate the thermal parameters of the target tissue based on the thermal response data; Construct a control target and constraint conditions according to the thermal parameters, and determine a laser control parameter combination suitable for the current tissue state; Adjust the output power, pulse width, and pulse frequency of the thulium laser according to the laser control parameter combination; Drive the thulium laser to emit output according to the laser control parameter combination, and perform real-time control and parameter update during the laser emission process.

[0017] The present invention provides a thulium laser emission control system and method. It has the following beneficial effects: 1. The present invention adopts the technical solution of collecting the thermal response data of the target tissue in real time, which can realize the dynamic regulation and real-time monitoring of the intraoperative laser output. Compared with the control mechanism that generally lacks accurate thermal feedback in the existing laser surgery systems, the present invention can adjust the laser power and pulse characteristics in real time according to the thermal response changes of the prostate and bladder target tissues during the treatment process, thereby effectively avoiding problems such as carbonization and perforation caused by sudden tissue temperature rise, and significantly improving the safety and stability of urological laser treatment.

[0018] 2. The present invention dynamically calculates the thermal parameters of the target tissue based on the thermal response data, achieving the effect of accurately modeling the thermal behavior of the target tissue. This enables the parameters of the laser emission energy, pulse width, and frequency to be highly compatible with the specific state of the current tissue. Compared with the traditional urological laser equipment that adopts a unified fixed parameter control method, the present invention solves the problems of uneven energy distribution and unsatisfactory treatment effect caused by tissue differences.

[0019] 3. The present invention adopts the technical solution of real-time control and parameter update, achieving the effect of flexibly responding to the changing requirements during the treatment process. Compared with the existing control mode of statically setting parameters, the present invention can continuously optimize the output parameters based on the intraoperative feedback, significantly improving the real-time performance of laser energy transmission and treatment accuracy, and reducing the risk of intraoperative thermal damage.

[0020] 4. The present invention realizes precise treatment of different lesion types and tissue layers by constructing a combination of laser control parameters adapted to the current state of the urinary system tissues. The system can dynamically adjust the output power, frequency, and pulse width according to the different thermal responses of tissues such as the prostate hyperplasia area, the boundary of kidney stones, and the bladder wall, so as to adapt to the absorption and diffusion characteristics of different tissues. Compared with the limitation of uneven treatment caused by the prior art's neglect of tissue stratification and lesion differences, the present invention provides a more targeted and safe energy control strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the system architecture diagram of the present invention; Figure 2 is the method flow chart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0023] Please refer to the attached Figure 1 , the embodiment of the present invention provides a thulium laser emission control system, including: A tissue feedback acquisition module for real-time acquisition of thermal response data of the target tissue during the laser action process; The tissue feedback acquisition module described in the present invention can provide key real-time data support to ensure precise response and control for different tissues during the laser treatment process. For example, during kidney stone treatment or prostate surgery, the thermal response differences of different tissues are significant, and the real-time feedback mechanism is crucial for ensuring the treatment effect and safety.

[0024] Generally, when a thulium laser irradiates the target tissue for treatment, the thermal responses caused by the thermal property differences of different tissues are different. Without a real-time feedback mechanism, it is easy to cause unreasonable parameter settings, thereby affecting the treatment safety and effect. Therefore, the tissue feedback acquisition module is the key basis for realizing closed-loop control by introducing multi-modal sensing means to obtain the local thermal response behavior of the tissue under laser irradiation in real time. In urological treatment, such as kidney stone lithotripsy or prostate treatment, this module can accurately monitor and adjust the laser output, avoid tissue overheating or damage, and ensure the treatment effect.

[0025] In this embodiment, the tissue feedback acquisition module includes two parts: a temperature sensing unit and an optical detection unit.

[0026] Specifically, the temperature sensing unit can select devices such as thermocouples, thermistors, and infrared temperature measurement probes, which are arranged near the laser irradiation area or coupled to the surface of the target tissue through a medium, and are used to collect data on the change of tissue temperature over time. In urological applications, such as prostate laser resection, this sensing unit can accurately monitor the temperature rise of the target tissue to ensure that the tissue temperature does not exceed the safety limit.

[0027] As an option, temperature acquisition can be completed through a non-contact infrared temperature measurement module to reduce external interference. In another implementation, the buried micro-thermistor array can also be used to obtain deeper thermal response characteristics to achieve higher response accuracy.

[0028] The optical detection unit is mainly used to collect the optical reflection or scattering signals of the tissue, and can be constructed using a CMOS imager, a photodiode, or a fiber optic reflection detection device. This unit can synchronously detect the local reflectivity change, light attenuation rate, and speckle interference pattern change at the laser irradiation point, etc., to reflect the structural change of the tissue after absorbing the laser. In urological treatment, optical detection can provide the immediate reflection signal change of the kidney or prostate tissue under laser irradiation, thereby helping to evaluate the absorption of the laser.

[0029] In some embodiments, the optical detection unit and the temperature sensing unit work synchronously to achieve thermo-optical collaborative acquisition, improving the dimension and accuracy of response analysis.

[0030] The thermal response data at least includes the temperature change information T(t) and the optical reflection signal intensity I r (t), and can be further extended to a multi-dimensional data vector: Among them, T(t) is the temperature of the target tissue under the time function of a certain point, and the unit is degree Celsius; is the derivative of temperature with respect to time, representing the heating rate, and the unit is degree Celsius per second; I r (t) is the optical reflection signal intensity, and the unit is arbitrary unit; is the change rate of the reflection signal, and the unit is arbitrary unit per second; Δλ(t) is the spectral drift or the change of the reflection wavelength, and the unit is nanometer.

[0031] In a possible implementation, a microprocessor is integrated inside the acquisition module for preliminary data caching, filtering, and denoising. The original signal can be preprocessed using a moving average method, wavelet transform, or Kalman filter algorithm to improve the signal-to-noise ratio.

[0032] As a further technical extension, the acquisition module can communicate with the main control module wirelessly through Bluetooth or Wi-Fi, etc., and is applicable to surgical instruments or mobile treatment platforms. In some scenarios, to adapt to a humid or bloody environment, a hydrophobic protective coating can be applied to the sensor surface to improve stability.

[0033] The feedback acquisition module described in the present invention can not only be used for single-point temperature measurement, but also be extended into a two-dimensional or three-dimensional array form to obtain a thermal distribution map, thereby providing a more spatially resolved input basis for the parameter identification module.

[0034] In some implementations, the background temperature and the initial state of the tissue can be synchronously acquired for subsequent fitting of the thermal model. The temperature response data will be used as input and substituted into the unsteady heat conduction equation, and combined with subsequent modules for tissue thermal parameter inversion. This process is particularly important in urological treatments, such as in the treatment of kidney stone lithotripsy.

[0035] Through the above structural design, the tissue feedback acquisition module can meet the requirements of real-time, accuracy, and multi-dimensional compatibility, providing sufficient basic data support for subsequent thermal modeling and control strategy design.

[0036] A parameter identification module, configured to receive the thermal response data and dynamically calculate the thermal parameters of the target tissue based on the thermal response data; The main task of the tissue feedback acquisition module is to inversely deduce the actual thermal physical properties of the tissue from the dynamic thermal response signal, laying a foundation for real-time and adaptive control. For example, in prostate tissue vaporization or bladder tumor resection, the thermal response characteristics of different tissues vary significantly. Accurately identifying their thermal parameters is particularly crucial for avoiding tissue carbonization or insufficient treatment.

[0037] Generally, different tissues have significantly different temperature rise behaviors in response to laser irradiation, which is mainly determined by their thermal properties. Therefore, it will be difficult to adapt to individual variations by simply setting parameters based on experience. The combination of physical modeling and numerical inversion has become an important approach to solve this problem.

[0038] In this embodiment, the parameter identification module receives the thermal response data from the feedback acquisition module, specifically including the temperature change curve on the tissue surface or inside and the data set related to the optical response. After the collected signal is preliminarily denoised and filtered, it is input into the established heat conduction inversion model.

[0039] Specifically, in this embodiment, the unsteady heat conduction equation is used as the mathematical basis for inversion modeling, and the equation used is as follows: Where, T represents temperature in degrees Celsius, t represents time in seconds; ρ represents the density of the target tissue in kilograms per cubic meter; c represents the specific heat capacity of the target tissue in joules per kilogram per degree Celsius; represents the partial derivative of temperature with respect to time in degrees Celsius per second; k represents the tissue thermal conductivity in watts per meter per degree Celsius; represents the second-order derivative of temperature in space in degrees Celsius per square meter; Q is the volume heat source term in watts per cubic meter.

[0040] This model assumes that the tissue is an isotropic homogeneous medium and considers the heat diffusion process under the condition of instantaneous heat source excitation. By establishing this model, the observed temperature change curve can be compared with the theoretical calculation results, so as to inversely deduce a set of optimally matched thermal parameters. This method is applicable to surgical scenarios where the urinary system has complex tissue structures and non-uniform heat diffusion paths.

[0041] As an option, the model solution is numerically simulated using the finite difference or finite element method. In the data fitting process, the nonlinear least squares method, Newton iteration method or genetic algorithm can be introduced for parameter inversion optimization.

[0042] In a possible implementation, the system presets a set of initial parameter values for different tissue parts and dynamically adjusts them through the real-time measured heat response curve, so as to quickly obtain a calculated value of the thermal properties that better fits the current actual state. For example, in the treatment of the bladder or ureteral cavity, rapid dynamic modeling helps to shorten the treatment time and reduce tissue injury.

[0043] In some embodiments, to further improve the calculation accuracy, the assumption of a double-layer tissue structure can be introduced, the shallow and deep tissues are modeled separately, and the boundary heat flux boundary condition is set to make the recognition model closer to the actual situation.

[0044] The finally calculated thermal parameters in this embodiment include but are not limited to the following items: Thermal conductivity k: reflecting the heat transfer speed in the tissue, Specific heat capacity c: reflecting the heat required for the temperature of a unit mass of tissue to rise, Density ρ: a basic physical quantity involved in heat capacity and heat transfer; Volume heat source term Q: reflecting the efficiency of converting external laser input energy into internal heat energy After completing the above inversion calculation, the identified thermal parameters will be transmitted as input to the control strategy module for subsequent temperature rise modeling and laser control parameter calculation. In urology, this parameter input helps to implement an individualized treatment strategy, such as distinguishing the heat diffusion differences between benign prostatic hyperplasia and normal tissues.

[0045] In the above manner, the parameter recognition module can achieve physical-level modeling and recognition of the individual tissue state, effectively improving the dynamic response ability and precision control level of the entire control system.

[0046] The control strategy module is used to receive the thermal parameters, construct control objectives and constraint conditions based on the thermal parameters, and then determine a combination of laser control parameters suitable for the current tissue state; The control strategy module is used to, after receiving the above thermal parameters, construct control objectives and safety constraints that conform to the law of tissue state change, and on this basis, determine the optimal combination of laser control parameters to dynamically adapt to the actual treatment environment. In urological treatment, such as prostate vaporization or kidney stone lithotripsy operations, the tissue state changes rapidly and complexly, and precise control of laser parameters is crucial for improving the surgical effect and safety.

[0047] Generally, there are significant differences in the thermal parameters of different human tissues, and the changes in tissue state during laser treatment will directly affect the characteristics of heat energy diffusion and accumulation. If the laser control parameters are set unreasonably, it is easy to cause overheating damage to the tissue or insufficient energy, which will affect the treatment effect. Therefore, constructing a reasonable control strategy to dynamically adjust the laser emission parameters is an important guarantee for achieving safe and efficient treatment.

[0048] In this embodiment, the control strategy module includes a parameter receiving unit, a strategy generating unit, and a parameter output unit.

[0049] Specifically, the parameter receiving unit is used to receive in real time the thermal parameters of the target tissue obtained from the parameter recognition module. The received parameters at least include tissue thermal conductivity k, specific heat capacity c, density ρ, and volume heat source term Q. In urological laser treatment operations, such as laser resection under cystoscopy, the real-time nature of parameter reception is directly related to the accuracy of laser energy control.

[0050] In a possible implementation manner, the strategy generating unit, based on the above thermal parameters and combined with the basic physical laws of the interaction between laser and tissue, establishes a tissue temperature rise model under laser action. This temperature rise model can be used to describe the change of tissue temperature under given laser parameter conditions, and its mathematical expression is as follows: Among them, ΔT represents the increase in the temperature of the target tissue, with the unit of degree Celsius; R represents the reflectivity of the target tissue surface, which is a dimensionless parameter, and its value range is from 0 to 1; μ a represents the optical absorption coefficient, with the unit of per meter; P represents the laser power, with the unit of watt; τ represents the laser pulse width, with the unit of second; ρ represents the density of the target tissue, with the unit of kilogram per cubic meter; c represents the specific heat capacity of the tissue, with the unit of joule per kilogram per degree Celsius; d represents the laser action depth, with the unit of meter.

[0051] Generally, to ensure the safety and effectiveness of laser therapy, based on building a temperature rise model, the strategy generation unit further sets a control target, that is, it requires the tissue temperature rise amount to meet the following conditions: ΔT≥T v -T0; where, T v represents the vaporization threshold temperature of the target tissue, with the unit of degree Celsius; T0 represents the initial temperature of the target tissue, with the unit of degree Celsius.

[0052] In the application in the urinary system, there are differences in the vaporization temperatures of the prostate and stone tissues, which need to be precisely regulated to achieve the effects of "vaporization resection" or "thermal blasting".

[0053] As an option, for the above control target, the strategy generation unit also needs to comprehensively consider the safety temperature rise threshold limit of the tissue. To avoid tissue overheating or carbonization, based on the temperature rise model, the maximum allowable temperature rise amount or the maximum allowable laser power can be set as a constraint condition to ensure the safety margin in the actual treatment process. Such strategies are especially applicable to operations in high-risk areas such as ureteral stricture and fragile urethral mucosa in urology.

[0054] On the premise of meeting the control target and safety constraints, the strategy generation unit further determines the laser control parameter combination. The laser control parameter combination at least includes the laser power P, the laser pulse width τ, and the laser pulse frequency f.

[0055] In a specific implementation manner, the strategy generation unit can construct an objective function, and in combination with the constraint conditions, use a mathematical optimization algorithm (such as linear programming, non-linear programming, or genetic algorithm, etc.) to solve and obtain the optimal parameter combination that meets the conditions. In urological treatment, a high requirement is placed on the intraoperative tissue feedback response speed, and the optimization algorithm needs to balance the calculation efficiency and response timeliness.

[0056] In some embodiments, the strategy generation unit can also preset the parameter search range according to the laser system characteristics and control requirements. For example, the laser power P can be limited between P min and P max , the laser pulse width t can be limited between τ min and τ max , and the laser pulse frequency f can be limited between f min and f max to adapt to the actual needs of different devices or treatment environments. For example, there are obvious differences in the set requirements for the laser frequency in ureteral stricture surgery and bladder stone treatment.

[0057] The parameter output unit is used to output the laser control parameter combination obtained by the above solution to the laser control module, realizing the real-time call and application of the parameters, and driving the laser system to perform emission control according to the set parameters.

[0058] Through the above technical solution, the control strategy module of the present invention can make full use of the actual thermal parameters of the tissue, dynamically construct the control objectives and constraints, determine the laser control parameter combination suitable for the current tissue state, and realize the design of an individualized and precise laser treatment control strategy. It is especially suitable for clinical scenarios that require high responsiveness and high safety in minimally invasive urological treatment.

[0059] The laser control module is used to adjust the output power, pulse width and pulse frequency of the thulium laser according to the laser control parameter combination; In the implementation process of the present invention, based on the thermal parameters of the target tissue and combined with the tissue safety temperature rise requirement and treatment effect requirement, the control strategy module has been able to determine the laser control parameter combination suitable for the current tissue state. It should be noted that the generation of this laser control parameter combination is only the result of the treatment strategy design. If it cannot accurately and efficiently act on the actual emission control of the laser, the desired treatment control effect cannot be achieved. For this reason, the present invention further sets a laser control module, which is used to adjust the output parameters of the thulium laser in real time according to the laser control parameter combination to ensure that the release of laser energy can accurately match the current tissue state. This function is particularly important in urological operations. For example, the bladder tissue has a low tolerance to laser thermal deposition, and the output needs to be adjusted in real time to prevent tissue carbonization or perforation.

[0060] Generally, as a light source device commonly used for tissue ablation, cutting or hemostasis, the output characteristics of the thulium laser are not only related to the hardware structure of the device itself, but also closely related to the input drive parameters. Reasonably controlling the output power, pulse width and pulse frequency of the laser is the key technical element for realizing safe and precise tissue treatment. Especially in the application under urological endoscopy, the surgical space is narrow, which puts higher requirements on the stability and response speed of laser control.

[0061] In this embodiment, the laser control module includes a parameter receiving unit, a drive control unit and a power adjustment unit.

[0062] Specifically, the parameter receiving unit is used to receive the laser control parameter combination output from the control strategy module, and the laser control parameter combination at least includes the laser output power P, the laser pulse width τ and the laser pulse frequency f.

[0063] Among them, P represents the output power of the thulium laser, with the unit of watt; τ represents the duration of a single laser pulse, with the unit of second; f represents the laser pulse emission frequency, with the unit of hertz.

[0064] Generally, the drive control logic of a thulium laser includes multiple parameter modulation functions such as output power control, pulse width adjustment, and pulse emission frequency regulation. Therefore, the drive control unit in this embodiment is used to dynamically adjust the working state of the laser according to the above-mentioned laser control parameter combination, and the specific control content is as follows: As an option, the drive control unit can adjust the drive current inside the laser or the laser pump power according to the set value of the output power P to achieve continuous or discrete control of the laser power.

[0065] Specifically, the following linear or non-linear mapping relationship can be used for control: P = k1·I d + k2; Where: P is the laser output power in watts; I d is the drive current of the laser in amperes; k1 and k2 are the proportional coefficient and bias coefficient in the power-current control model, with units of watts per ampere and watts respectively.

[0066] In a possible implementation, the control of the laser pulse width τ can be achieved through a drive pulse modulation signal, and the high-level duration of the modulation signal corresponds to the single pulse width of the laser. In urological treatment, a short pulse width helps to achieve refined tissue processing with low heat diffusion, which is suitable for laser operations on sensitive parts such as the prostate or ureter.

[0067] In some embodiments, the adjustment of the pulse frequency f can be configured through a timer or a pulse generation module to ensure that the number of laser pulses emitted per unit time meets the design requirements.

[0068] To further ensure the real-time performance and accuracy of laser parameter regulation, the power adjustment unit in this embodiment can adopt a closed-loop control method. By detecting the actual output power signal of the laser in real time and feeding it back to the drive control unit, stable control of the output power can be achieved. The specific feedback signal can come from the built-in power detection module of the laser or an external optical power detector. Such closed-loop control technology can be widely applied in the minimally invasive urological treatment process to ensure the stable energy in the urinary tract mucosa or renal pelvis cavity and prevent thermal damage caused by excessive output.

[0069] In a specific implementation, the power adjustment unit can adopt a proportional-integral-derivative (PID) control algorithm to dynamically adjust according to the error e(t) between the actual laser power P real and the set power P set . The adjustment algorithm can be described as: Where, Id (t) represents the laser drive current at time t, with the unit of ampere; K p represents the proportionality coefficient, with the unit of ampere per watt; K i represents the integral coefficient, with the unit of ampere per watt per second; K d represents the differential coefficient, with the unit of ampere per watt per second; e(t) represents the error value of the laser power, defined as: e(t) = P set -P real ; represents the integral value of the error within the time interval [0, t], reflecting the influence of the cumulative error on the control, with the unit of watt - second; represents the rate of change of the error e(t) with respect to time, reflecting the error change trend, with the unit of watt per second.

[0070] As an option, in this embodiment, to ensure the safety of the laser output process, the drive control unit can also combine with the safety detection mechanism within the system to monitor the working state of the laser in real - time, and automatically turn off the laser output and enter the protection state when power abnormality, temperature abnormality, or equipment failure is detected. This function is particularly crucial in the control of acute bleeding in urology or during intraoperative abnormal conditions, and can interrupt the output in a timely manner to ensure the safety of patients.

[0071] Through the above - mentioned technical solution, the laser control module of the present invention can, under the guidance of the laser control parameter combination given by the control strategy module, adjust the output power, pulse width, and pulse frequency of the thulium laser in real - time and accurately, realizing safe and precise laser treatment control of the target tissue. It is particularly suitable for the minimally invasive treatment environment in urology where extremely high requirements are placed on laser energy accuracy and tissue protection.

[0072] The execution control module is used to coordinate the parameter transmission between the control strategy module and the laser control module, and is used to drive the thulium laser to perform real - time control and update of the emission output according to the laser control parameter combination; After the aforementioned control strategy module generates a laser control parameter combination that adapts to the thermal response characteristics of the target tissue, the laser control module adjusts the working state of the thulium laser according to the parameter combination to complete the laser output control. It should be pointed out that the communication, data coordination and real-time requirements between the control strategy module and the laser control module are relatively high. If there is a lack of effective execution layer mechanism support, it is very easy to cause parameter delays, instruction parsing errors or emission control anomalies. Therefore, in order to achieve system-level parameter coordination and control execution, the present invention further provides an execution control module for coordinating parameter transmission between the control strategy module and the laser control module, and for real-time management and dynamic update of the laser emission control process. During the treatment of the urinary system, the tissue state changes rapidly and sensitively. The execution control module can effectively ensure the real-time and consistency of laser emission control, and avoid tissue thermal damage or energy deficiency caused by delays.

[0073] In general, the laser treatment process requires a high-frequency response to parameter changes and ensures data consistency and synchronization between modules. In particular, in the process of dynamically adjusting laser output according to different tissue states, parameters are updated frequently and high control accuracy is required. The establishment of the execution control module aims to achieve standardized reception, accurate analysis and efficient output of drive control signals for laser control instructions, thereby opening up the control link from treatment strategy generation to laser execution. For example, in transurethral prostate surgery, different areas of tissue have different tolerance to heat, and they rely heavily on the execution module to quickly update pulse parameters to adapt to real-time changes.

[0074] In this embodiment, the execution control module includes a communication unit, an instruction parsing unit, and an instruction execution unit.

[0075] Specifically, the communication unit is used to receive laser control instructions from the control strategy module. The laser control instructions can be encapsulated as a set of structured control data, including at least a laser output power parameter P, a laser pulse width parameter τ, and a laser pulse frequency parameter f.

[0076] In a possible implementation, the communication unit communicates via a serial communication protocol (such as SPI, I 2 High-speed data exchange with the control strategy module is maintained via a network communication protocol (e.g., Ethernet or UDP) to ensure that laser control parameter combinations are transmitted within milliseconds. During minimally invasive urological procedures, this high-speed communication enables dynamic adjustment of intraoperative parameters in milliseconds based on tissue feedback, ensuring precise energy control.

[0077] The instruction parsing unit is used to parse the received laser control instructions, extract the laser parameters set in the control strategy, and further convert and calculate the driving parameters.

[0078] Under normal circumstances, the instruction parsing unit calculates the single-pulse energy E according to the following relational expression: where: E represents the single-pulse laser energy, with the unit of joule; P represents the laser output power, with the unit of watt; f represents the laser pulse frequency, with the unit of hertz.

[0079] After the parsing is completed, the instruction parsing unit organizes the extracted and calculated parameters into a drive control parameter set: {E, τ, f}; where: τ represents the laser pulse width, with the unit of second; {E, τ, f} constitutes a complete set of laser emission control parameters, corresponding to the three dimensions of energy intensity, action time, and frequency rhythm respectively.

[0080] The instruction execution unit receives the above drive control parameter set and uses it to control the laser to perform the emission operation.

[0081] In a specific implementation, the instruction execution unit generates a corresponding control signal by controlling the DAC module or the PWM signal generation module. This control signal can act on the power regulation power supply, pulse modulation circuit, or frequency control circuit of the laser to ensure that the laser emits precisely according to the set parameters. This control signal generation mechanism can be widely applied to the urological surgery platform, and the fine control of the laser emission behavior meets the differentiated treatment requirements of different regions of the urinary system tissues.

[0082] For example, when the set values are: P = 10W; f = 20Hz; τ = 0.1s.

[0083] Then: The above drive parameters will be output to the laser control terminal to achieve laser pulse emission 20 times per second, each time for 0.1 second, and the single-pulse energy is 0.5 joule.

[0084] As an option, the instruction execution unit can also be configured with an exception handling mechanism. When the received parameter combination does not meet the safety threshold set by the system (such as exceeding the maximum power limit P max , overclocking limit f max or pulse width limit τ max ), it automatically interrupts the emission operation and issues a system alarm instruction to ensure the safe operation of laser treatment. This mechanism is of great significance in urological treatments such as ureteroscopic lithotripsy, and can avoid channel burns or thermal perforations caused by control abnormalities.

[0085] In some embodiments, the execution control module can also periodically sample and record the laser emission state, and feedback the actual emission parameters to the control strategy module to form a closed-loop control link for parameter update and optimization. This is especially applicable to the complex surgical environment with strong tissue feedback and fast rhythm during urological surgery, realizing intelligent adjustment of treatment parameters.

[0086] Please refer to Figure 2 , the present invention also provides a thulium laser emission control method, including the following steps: S1. Real-time collect the thermal response data of the target tissue during the laser action process; S2. Dynamically calculate the thermal parameters of the target tissue based on the thermal response data; S3. Construct control objectives and constraints according to the thermal parameters, and determine the laser control parameter combination suitable for the current tissue state; S4. Adjust the output power, pulse width and pulse frequency of the thulium laser according to the laser control parameter combination; S5. Drive the thulium laser to emit output according to the laser control parameter combination, and perform real-time control and parameter update during the laser emission process.

[0087] For step S1, during the urological treatment process, laser irradiation of the tissue will cause temperature changes and optical reactions. By setting temperature sensors and optical detection modules, the system can real-time collect the thermal response data of the laser irradiation area, including temperature changes and reflection signal intensity, etc. This step can be applied to parts such as the urethra, bladder, and renal pelvis to ensure the safety and feedback accuracy of laser operations.

[0088] For step S2, this step processes the real-time collected temperature and optical data to dynamically calculate the thermal parameters of the target tissue, such as thermal conductivity and specific heat capacity. These parameters can accurately reflect the response differences of different tissues to the laser. In urological applications, it is especially suitable for distinguishing prostate tissue from normal urethral mucosa, ensuring a high degree of matching between laser treatment parameters and the current tissue state, and improving treatment accuracy and individual adaptability.

[0089] For step S3, the system constructs a control model based on the identified thermal parameters, combined with the safe temperature rise limit and treatment objectives of the tissue. By setting reasonable boundaries for laser power, pulse width and frequency, dynamic optimization of the output parameters is achieved. In urological applications, this strategy helps to precisely control laser energy when treating kidney stones or bladder tumors, avoiding risks such as tissue carbonization and perforation, and ensuring treatment efficacy and tissue safety.

[0090] For step S4, in this step, the system adjusts various output settings of the thulium laser in real time according to the parameter combinations generated by the control strategy module. The adjustment process involves parameter regulation such as power level, single pulse duration, and emission frequency to ensure that the output is synchronized with the treatment requirements. This mechanism is applicable to scenarios with high requirements for energy control accuracy in urological laser surgery. For example, when operating inside the ureter, fine-tuning the pulse width can significantly reduce the range of heat diffusion.

[0091] For step S5, the laser system continuously performs the emission task according to the updated control parameter combinations, and monitors and adjusts the output status in real time through a feedback mechanism. The execution control module coordinates the communication between each unit to ensure that the emission action is synchronized with the tissue state. This mechanism can respond to tissue changes in real time during urological endoscopic operations, support closed-loop control, and improve the flexibility, accuracy, and safety of laser treatment.

[0092] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A thulium laser emission control system, characterized in that, Including: An organizational feedback acquisition module for real-time acquisition of thermal response data of the target tissue during the laser action; A parameter identification module for receiving the thermal response data and dynamically calculating the thermal parameters of the target tissue based on the thermal response data; A control strategy module for receiving the thermal parameters, constructing control objectives and constraints based on the thermal parameters, and then determining a laser control parameter combination adapted to the current tissue state; A laser control module for adjusting the output power, pulse width, and pulse frequency of the thulium laser according to the laser control parameter combination; An execution control module for coordinating the parameter transmission between the control strategy module and the laser control module and for driving the thulium laser to perform real-time control and update of the emission output according to the laser control parameter combination.

2. The thulium laser emission control system according to claim 1, wherein The organizational feedback acquisition module includes a temperature sensing unit and an optical detection unit for real-time acquisition of thermal response data of the target tissue during the laser action, and the thermal response data at least includes temperature change and light reflection signal.

3. The thulium laser emission control system according to claim 1, wherein The step of dynamically calculating the thermal parameters of the target tissue based on the thermal response data includes: Establishing an inverse heat conduction model based on the thermal response data, and the inverse heat conduction model uses an unsteady heat conduction equation, and the unsteady heat conduction equation is: where T is the temperature, t is the time, ρ is the density of the target tissue, c is the specific heat capacity of the target tissue, is the partial derivative of temperature with respect to time, k is the thermal conductivity of the target tissue, is the second-order derivative of temperature in space, and Q is the volume heat source term; Calculating the thermal parameters of the target tissue through numerical inverse fitting of the inverse heat conduction model, and the thermal parameters of the target tissue include thermal conductivity k, specific heat capacity c, density ρ, and volume heat source term Q.

4. The thulium laser emission control system according to claim 1, wherein The control strategy module includes: A parameter receiving unit for receiving the thermal parameters of the target tissue; A strategy generating unit for generating a laser control parameter combination adapted to the current tissue state according to the thermal parameters in combination with preset control objectives and constraints, and the laser control parameter combination includes laser power, pulse width, and pulse frequency; A parameter output unit for outputting the laser control parameter combination.

5. A thulium laser emission control system according to claim 4, characterized in that, The step of generating a laser control parameter combination adapted to the current tissue state according to the thermal parameters in combination with preset control objectives and constraints includes: Establishing a tissue temperature rise model under laser action based on the thermal parameters, and the temperature rise model is; where ΔT is the increase in the target tissue temperature, R is the surface reflectivity of the target tissue, μ a is the optical absorption coefficient, P is the laser power, τ is the laser pulse width, and d is the laser action depth; Set the control target to make the temperature rise of the target tissue satisfy ΔT≥T v -T0, where T v represents the vaporization threshold temperature of the target tissue, and T0 represents the initial temperature of the target tissue; Calculating the combination of laser power P, laser pulse width τ, and laser pulse frequency f under the constraint of meeting the safety temperature rise threshold of the target tissue to meet the control objective; Outputting a laser control parameter combination that meets the control objective and constraints.

6. The thulium laser emission control system according to claim 1, characterized in that, The laser control module includes: a parameter receiving unit for receiving the laser control parameter combination; A drive control unit for controlling the working state of the laser according to the laser control parameter combination; A power adjustment unit for adjusting the laser output power according to the laser control parameter combination.

7. The thulium laser emission control system according to claim 1, characterized in that The execution control module includes: a communication unit for receiving laser control instructions; An instruction parsing unit for parsing the laser control instructions; An execution instruction unit for driving the laser to perform emission control according to the parsing result.

8. The thulium laser emission control system according to claim 1, characterized in that, The step of parsing the laser control instructions includes: Extracting the power parameter P, pulse width parameter τ, and pulse frequency parameter f in the laser control parameter combination; Calculate the single-pulse energy according to the following formula: where E represents the single-pulse laser energy, P represents the laser output power, and f is the pulse frequency; Combine the single-pulse energy with the pulse width τ to generate a drive control parameter set {E, τ, f}; Output the drive control parameter set for the execution instruction unit to control the laser emission.

9. A thulium laser emission control method, applied to a thulium laser emission control system according to any one of claims 1-8, characterized in that, It includes the following steps: Collect the thermal response data of the target tissue in real time during the laser action process; Dynamically calculate the thermal parameters of the target tissue based on the thermal response data; Construct control objectives and constraints according to the thermal parameters, and determine the laser control parameter combination suitable for the current tissue state; Adjust the output power, pulse width, and pulse frequency of the thulium laser according to the laser control parameter combination; Drive the thulium laser to emit output according to the laser control parameter combination, and perform real-time control and parameter update during the laser emission process.

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