Output power intelligent control method and device and ultrasonic therapeutic apparatus

Abstract

According to the intelligent control method and device for the output power and the ultrasonic therapeutic apparatus, whether the operation mode of a user is correct or not can be judged by collecting data in real time through a sensor, and intelligent control over the ultrasonic therapeutic apparatus is carried out on the basis; on one hand, whether the user performs treatment operation according to the specific operation mode can be judged through the movement mode, and if the control unit judges that the user does not perform operation according to the target mode in the treatment process based on the actual movement track, the user is reminded to adjust to the optimal operation mode; the output power is controlled in real time according to the real-time movement speed of the handle of the ultrasonic therapeutic apparatus operated by the user, so that the poor therapeutic effect caused by too high movement speed of the handle or the scalding risk caused by too low movement speed can be avoided; and on the other hand, the user can conveniently perform quick operation by corresponding to corresponding control instructions of start-stop control, mode switching and the like according to the recognized knocking actions of the user, such as single-click, double-click and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an ultrasonic therapeutic apparatus and an intelligent output power control method thereof. Background Art

[0002] Ultrasound therapy devices are medical devices that utilize the physical properties of ultrasound (such as mechanical, thermal, and cavitation effects) to treat diseases. They emit ultrasound waves of a specific frequency and intensity, acting on human tissue to achieve therapeutic effects such as relieving pain, promoting blood circulation, eliminating inflammation, and accelerating tissue repair. Therefore, ultrasound therapy technology has gained widespread recognition in the medical community for its unique efficacy. It is renowned for its safety and long-term efficacy without toxic side effects. This non-invasive, in vitro physical therapy method is suitable for medical applications such as cancer treatment and urinary lithotripsy in hospitals, and is increasingly being recognized and adopted in a wide range of clinical settings, including rehabilitation and cosmetic procedures.

[0003] Ultrasound therapy devices work by focusing ultrasound waves emitted from outside the body onto a targeted subcutaneous location. The thermal effect of ultrasound waves heats and even deforms tissue at the focal point, rapidly increasing the temperature within the target focal threshold. Temperatures outside the focal threshold are minimally affected and do not damage tissue. Different tissues in the body absorb ultrasound energy to varying degrees, with the greatest effect occurring in tissues where the energy is effectively absorbed. Highly dense connective tissue (collagen), such as ligaments, tendons, fascia, joint capsules, and scar tissue, is particularly effective for ultrasound therapy. If the temperature in the tissue reaches 40-45°C, a thermal effect occurs, promoting metabolism, cell proliferation and remodeling, stimulating fibroblast activity, increasing protein synthesis, and promoting tissue recovery. When the temperature in the dermis and fascia reaches 50-75°C, a thermal coagulation point forms, activating the body's repair mechanisms and driving the repair of a large amount of normal tissue surrounding the coagulation point. This repair process triggers new collagen formation, ultimately achieving tissue lifting and wrinkle reduction.

[0004] Modern ultrasound therapeutic devices are developing towards precision, intelligence, and minimally invasive treatments. Intelligent control that automatically adjusts ultrasound parameters based on individual patient differences is a current development direction. For example, Chinese patent application CN 116492612A discloses a control method for an ultrasound therapeutic device, comprising the steps of determining movement control parameters and energy output parameters based on a target treatment mode and the target treatment parameters; and then, based on the movement control parameters and the energy output parameters, controlling the transducer to output ultrasound according to the target treatment mode. However, this control method lacks the ability to adjust relevant parameters in real time based on actual conditions.

[0005] For example, Chinese patent application CN 116251306A discloses another control method for an ultrasonic therapeutic device, which includes the steps of adjusting the ultrasonic frequency based on the depth of the target beneath the skin, comparing the acquired depth with a preset depth, and determining whether the acquired depth meets the requirements based on the comparison result; if the acquired depth meets the requirements, determining the ultrasonic frequency range and ultrasonic power based on the acquired depth; and adjusting the ultrasonic frequency based on the determined ultrasonic power within the determined ultrasonic frequency range. Similarly, this control method lacks the function of adjusting parameters in real time or issuing warnings based on actual conditions.

[0006] Because the power of ultrasonic therapeutic devices is relatively high, during treatment, the probe needs to be moved in a certain treatment mode to treat the target tissue. This mode is generally preset, including movement control parameters and the energy output parameters. For example, in facial beauty treatment, the user needs to operate the transducer end face to the target area skin surface at a certain speed to achieve uniform heating of the entire area of ​​tissue and maintain a certain temperature range. If the movement speed is too fast, the temperature of one location will not be able to reach the target temperature and achieve the treatment effect. If the movement speed is too slow, the local temperature will be too high and burn the tissue. In addition, the handle needs to be operated along a certain trajectory according to the shape of the target tissue at different locations. The output power required to achieve the best treatment effect at different movement speeds is different. At slow speeds, a relatively small output power may be required, while at fast speeds, a relatively large output power is required. In this case, if the user relies solely on personal experience to achieve treatment according to a specific operation mode, it is difficult to achieve the ideal effect. Therefore, it is necessary to provide a control method to assist the user in adjusting the control parameters in real time within the range of the treatment mode. Summary of the Invention

[0007] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an ultrasonic therapeutic apparatus and an apparatus for intelligently controlling the output power of the ultrasonic therapeutic apparatus.

[0008] The purpose of the present invention is achieved through the following technical solutions: An output power intelligent control method comprises the following steps: Obtaining a target treatment mode of the ultrasonic therapeutic apparatus and matching corresponding movement control parameters and energy output parameters; controlling the transducer of the ultrasonic therapeutic apparatus to output ultrasound according to the energy output parameters of the target treatment mode; receiving the collected motion posture, motion pattern and real-time moving speed of the handle of the ultrasonic therapeutic device; Determine whether the movement posture, movement mode and real-time movement speed of the handle meet the requirements of the target treatment mode. When they do not meet the requirements of the target treatment mode, send a reminder signal to remind the user to adjust to the optimal operation mode and control the output power according to the real-time movement speed.

[0009] Preferably, the “receiving the collected motion posture, motion pattern and real-time moving speed of the handle of the ultrasonic therapeutic apparatus” specifically includes: Reading real-time data from sensors in the handle and performing data preprocessing, the real-time data including linear acceleration, angular velocity, motion direction, and attitude angle; Using a fusion algorithm to combine the linear acceleration, angular velocity, motion direction and attitude angle data to estimate the motion posture of the controller, wherein the motion posture includes pitch, roll and yaw angles; Integrate the linear acceleration over time to get the real-time moving speed:

[0010] Then, the real-time moving speed is integrated over time to obtain the position:

[0011] The motion trajectory of the handle can be determined based on the position. The motion trajectory includes linear motion or circular motion. The motion mode of the handle can be determined based on the linear acceleration and angular velocity. The motion mode includes the motion mode under the motion trajectory. The motion mode includes uniform speed, acceleration or deceleration. Output the controller's motion posture, motion mode, and real-time movement speed.

[0012] Preferably, the sensor includes an accelerometer and a gyroscope; The data preprocessing includes Sensor calibration steps to eliminate bias and noise to ensure accurate data from accelerometers and gyroscopes; The coordinate system alignment step is used to convert the data of the accelerometer and gyroscope into the same coordinate system.

[0013] Preferably, the “issuing a reminder signal to remind the user to adjust to the optimal operating mode” includes When it is determined that the movement posture or movement pattern of the handle does not meet the requirements of the target treatment mode, a reminder signal is sent to remind the user to adjust to the optimal operation mode.

[0014] Preferably, the “issuing a reminder signal to remind the user to adjust to the optimal operating mode” also includes When judging the real-time moving speed V of the handle R Greater than the maximum value V of the movement control parameter in the target treatment mode N, or is less than the minimum value V1 of the movement control parameter in the target treatment mode, the energy output is stopped first and a reminder signal is issued to remind the user to adjust the movement speed.

[0015] Preferably, the “controlling output power according to real-time moving speed” specifically includes Determine the real-time moving speed V of the handle R The minimum value V1 and the maximum value V of the movement control parameter in the target treatment mode are N When between, the real-time moving speed V R According to V1~V N Compare the speed range (V M , V M+1 ), where V1~V N is the speed threshold set {V1, V2...V N} in the speed threshold; V M and V M+1 are adjacent speed thresholds in the speed threshold set and satisfy V M ≤V R <V M+1 ; According to the power threshold set {P1, P2...P N} and the following calculation formula

[0016] The real-time output power Pt is calculated and output, where α and β are power coefficients.

[0017] Preferably, the intelligent control method further includes the steps of receiving and identifying the collected knocking signal. If the knocking signal is determined to be a single click, the start / stop state is switched; if the knocking signal is determined to be a double click, the target treatment mode is switched. A neural network algorithm is used to identify the knocking signal, and the neural network algorithm is an RNN, LSTM, or Transformer algorithm model.

[0018] The present invention also discloses an output power intelligent control device, which is applied to ultrasonic therapeutic apparatus. The ultrasonic therapeutic apparatus has a transducer disposed inside the treatment handle. The ultrasonic therapeutic apparatus includes multiple treatment modes, and the energy output mode of the transducer is different in different treatment modes. The ultrasonic output control device of the ultrasonic therapeutic apparatus includes: An acquisition module is used to acquire a target treatment mode of the ultrasonic therapeutic apparatus and match corresponding movement control parameters and energy output parameters; and control the transducer of the ultrasonic therapeutic apparatus to output ultrasound according to the target treatment mode; A data acquisition module is used to receive the acquired motion posture, motion mode and real-time moving speed of the handle of the ultrasonic therapeutic device; The data processing module is used to determine whether the movement posture, movement mode and real-time movement speed of the handle meet the requirements of the target treatment mode. When they do not meet the requirements of the target treatment mode, a reminder signal is sent to remind the user to adjust to the optimal operation mode and the output power is controlled according to the real-time movement speed.

[0019] The present invention also discloses an ultrasonic therapeutic apparatus, comprising: A treatment handle, wherein a transducer is disposed inside the treatment handle; the ultrasonic therapeutic device includes multiple treatment modes, and the energy output mode of the transducer is different in different treatment modes; A control host, the control host is electrically connected to the treatment handle, the control host includes a memory and a processor, the memory stores a computer program that can be run on the processor, and the processor implements the output power intelligent control method according to any one of claims 1 to 8 when executing the computer program.

[0020] The beneficial effects of the present invention are mainly reflected in: 1. The optimal output power of the current treatment mode is output through real-time movement speed, thereby achieving the best treatment effect under different exercise modes, while ensuring that users will not suffer from poor treatment effects due to excessively fast movement, or the risk of burns due to excessively slow movement speed; 2. By acquiring real-time data from the sensors in the ultrasonic therapeutic device's handle and fusing this data to calculate the handle's motion posture, motion pattern, and real-time movement speed, the system can determine whether the user's operation mode is correct and intelligently control the ultrasonic therapeutic device based on this data. Furthermore, the system can identify the user's tapping actions, such as single-click and double-click, and generate corresponding start / stop control and mode switching commands, facilitating quick operation for the user. 3. Preset commonly used operation modes for users to choose, and allow users to customize operation modes. Users can choose preset or customized operation modes, and can switch intelligently through the handle tapping action. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings: Figure 1 : A schematic structural diagram of an ultrasonic therapeutic apparatus according to the present invention; Figure 2 : A cross-sectional view of the structure of the handle of the ultrasonic therapeutic instrument of the present invention; Figure 3 : Schematic diagram of the flow chart of the intelligent control method of the ultrasonic therapeutic apparatus of the present invention. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0023] like Figure 1 As shown, the present invention discloses an ultrasonic therapeutic device, including a control host 1 and a treatment handle 3, which are electrically connected. The distal end of the treatment handle 3 is a probe 2, and the two are fixed together. The control host 1 includes an energy generator and a control unit. The energy generator is used to generate ultrasonic imaging and ultrasonic treatment excitation signals, and the control unit is used to control the generation of positioning ultrasonic energy excitation signals, the reception of imaging echo signals, and the start and stop of ultrasonic treatment signals. The control unit can be ARM, DSP, FPGA, ASIC, CPU, GPU, etc., and may run a software operating system inside. The system software control logic and algorithm mainly run in the main control chip. The control unit presets commonly used operating modes for users to choose, and allows users to customize operating modes. Users can select preset or customized operating modes through the user interface. The user interface may include a touch screen operating interface or an operating knob, etc.

[0024] like Figure 2 As shown, the treatment handle 3 includes a handle housing 301 with a handheld structure and an internal circuit module 302, and the internal circuit module 302 includes a sensor. Its probe 2 includes a probe housing 201 and a transducer 202. The probe housing 201 is used to wrap and support the internal components of the probe; the transducer 202 is used to receive the excitation signal to generate ultrasonic waves, which are emitted through the window on the end face of the probe to treat the human skin; the ultrasonic therapeutic device includes multiple treatment modes, and the energy output mode of the transducer is different in different treatment modes. The interior of the probe end face cavity is filled with a sound-conducting medium, such as water or an organic solvent. The end face generally needs to be coated with a coupling agent, which mainly contains water, glycerin, polyethylene glycol and other ingredients. It can effectively transmit ultrasonic waves to the patient's skin surface to avoid air reflection. The ultrasonic signal emitted by the focusing transducer will eventually focus on the target tissue site. The target tissue absorbs the ultrasonic energy to generate a thermal effect and quickly heats up to achieve the treatment effect.

[0025] like Figure 3 As shown, the present invention also discloses an output power intelligent control method of an ultrasonic therapeutic apparatus, comprising the following steps: Step 1: obtaining a target treatment mode of the ultrasonic therapeutic apparatus and matching corresponding movement control parameters and energy output parameters; controlling the transducer of the ultrasonic therapeutic apparatus to output ultrasound according to the energy output parameters of the target treatment mode; Step 2: receiving the collected motion posture, motion mode and real-time moving speed of the handle of the ultrasonic therapeutic device; Step three, determine whether the movement posture, movement mode and real-time movement speed of the handle meet the requirements of the target treatment mode. When it does not meet the requirements of the target treatment mode, send a reminder signal to remind the user to adjust to the optimal operation mode and control the output power according to the real-time movement speed.

[0026] The following is a detailed introduction to each step.

[0027] The user first selects a target treatment mode based on the characteristics of the treatment area. This mode then matches at least the corresponding treatment handle movement parameters and transducer energy output parameters. Once the target treatment mode is selected, preparatory procedures such as applying coupling agent to the probe tip and fitting it to the skin are completed. Once these procedures are complete, treatment can begin.

[0028] The transducer of the ultrasonic therapeutic device outputs ultrasound according to the energy output parameters of the target treatment mode, and the user starts to operate the handle along the first trajectory T1 at a first speed V1 against the target skin tissue. 1、 The first trajectory T1 corresponds to the target treatment mode. The sensors in the handle collect motion state data in real time. The sensors include accelerometers, gyroscopes, and magnetometers. The gyroscope can be used to collect information such as motion direction angle, angular acceleration, and attitude angle in real time, and the accelerometer is used to collect linear acceleration information in real time. The magnetometer can be used as a Hall effect sensor for position detection, but of course, the magnetometer can also be omitted. It is well known to those skilled in the art that the sensor can include the above-mentioned motion sensor or other sensors with similar functions.

[0029] The control unit of the ultrasonic therapeutic device reads the real-time data of the sensor in the treatment handle and performs data preprocessing. In the embodiment of the present invention, the preprocessing includes: Sensor calibration steps to ensure accurate data from the accelerometer, gyroscope, and magnetometer and to eliminate bias and noise; A coordinate system alignment step is used to transform the data of the accelerometer, gyroscope, and magnetometer into the same coordinate system.

[0030] Next, a fusion algorithm is used to combine the linear acceleration, angular velocity, motion direction and attitude angle data to estimate the motion posture of the handle. The fusion algorithm includes Kalman filtering, complementary filtering or Madgwick algorithm. The motion posture includes pitch, roll and yaw angles.

[0031] Integrate the linear acceleration over time to get the real-time moving speed:

[0032] Then, the real-time moving speed is integrated over time to obtain the position:

[0033] Integration will accumulate errors, which need to be corrected through filtering algorithms (such as the extended Kaltzmann filter) or zero velocity update (ZUPT).

[0034] Then, the handle's motion trajectory can be determined based on the position. The motion trajectory includes linear motion or circular motion. The linear acceleration and angular velocity are then combined to determine the handle's motion mode. The motion mode includes the motion mode under the motion trajectory, which includes uniform speed, acceleration, or deceleration. For example, if the linear acceleration persists in a certain direction and the angular velocity is close to zero (no obvious rotation), it is linear motion; if there is a continuous angular velocity (rotation around a certain axis), the relationship between the centripetal acceleration and angular velocity satisfies a=ω. 2 r (a is the centripetal acceleration, ω is the angular velocity, and r is the radius), then the motion trajectory is circular motion.

[0035] Finally, the control unit outputs the handle's motion posture, motion pattern, and real-time movement speed. In the present invention, a sensor is located within the treatment handle and can move with it, sampling signals such as linear acceleration, angular velocity, motion direction, and posture angle in real time and transmitting them to the control unit. The control unit stores the sampled information and, based on a pattern recognition algorithm model, can determine the actual motion trajectory of the handle and whether it is moving in a specific motion pattern. The data is accurate and effective.

[0036] In the present invention, step three, "determining whether the handle's motion posture, motion pattern, and real-time movement speed meet the requirements of the target treatment mode; if not, issuing a reminder signal to alert the user to adjust to the optimal operation mode, and controlling the output power based on the real-time movement speed," is also a key aspect of the present invention. For example, in facial cosmetic procedures, a common manipulation involves moving the treatment head in a circular motion at a specific speed over the target area. Circular motion characteristics include speed, angular velocity, and radius. These parameters may be related to the patient's body location and body type. For example, the apple cheeks, which are characterized by more muscle and fat, may require a slower, larger-radius circular motion, while the forehead or jawline may require a faster, elliptical trajectory motion. These different motion trajectory characteristics (speed, angular velocity, radius, etc.) are stored in the host as commonly used treatment modes, and the user can select the appropriate treatment mode. Upon initiation of the procedure, the sensor collects and stores all raw data, which is then fed into a neural network algorithm. The neural network algorithm calculates and predicts the implemented motion speed, angular velocity, position, and trajectory radius, and determines whether the motion meets the user's selected target mode characteristics.

[0037] When it is determined that the movement posture or movement pattern of the handle does not meet the requirements of the target treatment mode, or the real-time movement speed V of the handle R Greater than the maximum value V of the movement control parameter in the target treatment mode N , or is less than the minimum value V1 of the movement control parameter in the target treatment mode, the control unit will automatically stop the ultrasound treatment energy output and prompt the user how to adjust the operation according to the real-time movement speed and trajectory deviation. The prompt method can be interface pictures, text or voice.

[0038] After the user obtains the operation mode adjustment instruction, he can restart the treatment or switch the target treatment mode by tapping the corresponding area of ​​the handle. Preferably, the intelligent control method of the present invention also includes the steps of receiving the collected tapping signal and identifying the tapping signal. When the tapping signal is judged to be a single click, the start-stop state is switched; when the tapping signal is judged to be a double click, the target treatment mode is switched. The present invention adopts a neural network algorithm to identify the tapping signal, and the neural network algorithm is an algorithm model such as RNN, LSTM, Transformer. The user's control action can be effectively identified by the algorithm model such as RNN, LSTM, Transformer. The control host presets commonly used treatment modes for users to choose, and allows users to customize the operation mode. Users can choose preset or customized operation modes, and can switch intelligently by tapping the handle. After the user adjusts, the treatment handle is controlled to operate the handle along the trajectory T2 at a second speed V2 until the treatment is completed.

[0039] During the treatment process, the ultrasonic therapeutic device needs to slowly move the probe in a certain pattern to treat the target tissue. For example, in facial beauty treatment, the user needs to operate the transducer end face to move at a certain speed against the skin surface of the target area to achieve uniform heating of the entire area of ​​tissue and maintain a certain temperature range. If the movement speed is too fast, one location will not be able to heat up to the target temperature and achieve the treatment effect. If the movement speed is too slow, the local temperature will be too high and burn the tissue. In addition, the handle needs to be operated along a certain trajectory according to the shape of the target tissue at different locations. This places particularly high demands on the real-time movement speed of the user-controlled handle in different target treatment modes and the matching ultrasonic energy output. The control unit of the present invention outputs a speed threshold set {V1, V2...V N}, compare the real-time moving speed with the threshold and adjust the output power in real time.

[0040] When judging the real-time moving speed V of the handle R The speed thresholds V1 and V2 of the movement control parameters in the target treatment mode are the minimum and maximum values, respectively. N When between, the real-time moving speed VR According to V1~V N Compare them in order from small to large to get the speed range (V M , V M+1 ), where V M and V M+1 are adjacent speed thresholds in the speed threshold set and satisfy V M ≤V R <V M+1 .

[0041] According to the power threshold set {P1, P2...P N} and the following calculation formula

[0042] The real-time output power Pt is calculated and output, where α and β are power coefficients.

[0043] In the present invention, the power threshold set {P1, P2...P N} is obtained through simulation and experimental testing, corresponding to different speeds V1~V in the speed threshold set N The optimal output power value under .

[0044] α and β are built-in mode switching coefficients, ranging from 0 to 1, used to set the appropriate output mode, which can be standard treatment mode, rapid treatment mode, or comfortable treatment mode. Generally speaking, if both α and β are 0.5, the standard output mode is selected. If the user selects rapid treatment mode, a smaller α and a larger β are selected, such as α = 0.2 and β = 0.8. If the user selects comfortable treatment mode, a larger α and a smaller β are selected, such as α = 0.7 and β = 0.3. In this way, the real-time output power Pt can be calculated and adjusted based on the user's selected output mode and real-time motion speed.

[0045] Through the above steps, the best treatment effect in different output modes can be achieved, while ensuring that the user will not suffer from poor treatment effect due to too fast movement or the risk of burns due to too slow movement.

[0046] The present invention also discloses an output power intelligent control device, which is applied to ultrasonic therapeutic apparatus. The ultrasonic therapeutic apparatus has a transducer disposed inside the treatment handle. The ultrasonic therapeutic apparatus includes multiple treatment modes, and the energy output mode of the transducer is different in different treatment modes. The ultrasonic output control device of the ultrasonic therapeutic apparatus includes: An acquisition module is used to acquire a target treatment mode of the ultrasonic therapeutic apparatus and match corresponding movement control parameters and energy output parameters; and control the transducer of the ultrasonic therapeutic apparatus to output ultrasound according to the target treatment mode; A data acquisition module is used to receive the acquired motion posture, motion mode and real-time moving speed of the handle of the ultrasonic therapeutic device; The data processing module is used to determine whether the movement posture, movement mode and real-time movement speed of the handle meet the requirements of the target treatment mode. When they do not meet the requirements of the target treatment mode, a reminder signal is sent to remind the user to adjust to the optimal operation mode and the output power is controlled according to the real-time movement speed.

[0047] The present invention can determine whether the user's operation mode is correct through sensor collection data, and based on this, perform intelligent control of the ultrasonic therapeutic device. On the one hand, the motion mode can be used to determine whether the user is performing the treatment operation in accordance with a specific operation mode. For example, in facial beauty treatment, the user needs to operate the transducer end face to move in a circular motion at a certain speed against the skin surface of the target part to achieve the ideal treatment effect. If the control unit determines based on the actual motion trajectory that the user does not operate in accordance with the target mode during the treatment process, it will remind the user to adjust to the optimal operation mode and control the output power in real time according to the user's actual movement speed; on the other hand, it can identify the user's tapping actions, such as single-click, double-click, etc., and correspond to corresponding start-stop control and mode switching control instructions, so that the user can perform quick operations.

[0048] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0049] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. An output power intelligent control method, characterized in that: Includes the following steps Obtaining a target treatment mode of the ultrasonic therapeutic apparatus and matching corresponding movement control parameters and energy output parameters; controlling the transducer of the ultrasonic therapeutic apparatus to output ultrasound according to the energy output parameters of the target treatment mode; receiving the collected motion posture, motion pattern and real-time moving speed of the handle of the ultrasonic therapeutic device; Determine whether the movement posture, movement mode and real-time movement speed of the handle meet the requirements of the target treatment mode. When they do not meet the requirements of the target treatment mode, send a reminder signal to remind the user to adjust to the optimal operation mode and control the output power according to the real-time movement speed.

2. The output power intelligent control method according to claim 1, characterized in that: The "receiving and collecting the motion posture, motion pattern and real-time moving speed of the handle of the ultrasonic therapeutic device" specifically includes: Reading real-time data from sensors in the handle and performing data preprocessing, the real-time data including linear acceleration, angular velocity, motion direction, and attitude angle; Using a fusion algorithm to combine the linear acceleration, angular velocity, motion direction and attitude angle data to estimate the motion posture of the controller, wherein the motion posture includes pitch, roll and yaw angles; Integrate the linear acceleration over time to get the real-time moving speed: , and then perform time integration on the real-time moving speed to obtain the position: ; The motion trajectory of the handle can be determined based on the position, and the motion trajectory includes linear motion and / or circular motion. The motion mode of the handle can be determined by combining the linear acceleration and angular velocity. The motion mode includes the motion mode under the motion trajectory, and the motion mode includes uniform speed, acceleration or deceleration. Output the controller's motion posture, motion mode, and real-time movement speed.

3. The output power intelligent control method according to claim 2, characterized in that: The sensor includes an accelerometer and a gyroscope; The data preprocessing includes Sensor calibration steps to eliminate bias and noise to ensure accurate data from accelerometers and gyroscopes; The coordinate system alignment step is used to convert the data of the accelerometer and gyroscope into the same coordinate system.

4. The output power intelligent control method according to claim 1, characterized in that: The “issuing a reminder signal to remind the user to adjust to the optimal operating mode” includes When it is determined that the movement posture or movement pattern of the handle does not meet the requirements of the target treatment mode, a reminder signal is sent to remind the user to adjust to the optimal operation mode.

5. The output power intelligent control method according to claim 1, characterized in that: The "issuing a reminder signal to remind the user to adjust to the optimal operating mode" also includes When judging the real-time moving speed V of the handle R Greater than the maximum value V of the movement control parameter in the target treatment mode N , or is less than the minimum value V1 of the movement control parameter in the target treatment mode, the energy output is stopped first and a reminder signal is issued to remind the user to adjust the movement speed of the treatment handle.

6. The output power intelligent control method according to claim 5, characterized in that: The "controlling output power according to real-time moving speed" specifically includes Determine the real-time moving speed V of the handle R The minimum value V1 and the maximum value V of the movement control parameter in the target treatment mode are N When between, the real-time moving speed V R According to V1~V N Compare the speed range (V M , V M+1 ), where V1~V N is the speed threshold set {V1, V2...V N } in the speed threshold; V M and V M+1 are adjacent speed thresholds in the speed threshold set and satisfy V M ≤V R <V M+1 ; According to the power threshold set {P1, P2...P N } and the following calculation formula The real-time output power Pt is calculated and output, where α and β are power coefficients.

7. The output power intelligent control method according to claim 1, characterized in that: It also includes the steps of receiving the collected knocking signal and identifying the knocking signal. When the knocking signal is judged to be a single click, the start-stop state is switched; when the knocking signal is judged to be a double click, the target treatment mode is switched.

8. The output power intelligent control method according to claim 7, characterized in that: A neural network algorithm is used to identify the knocking signal, and the neural network algorithm is an RNN, LSTM, and Transformer algorithm model.

9. Output power intelligent control device, characterized by: Used in ultrasonic therapeutic equipment, A transducer is provided inside the treatment handle of the ultrasonic therapeutic device. The ultrasonic therapeutic device includes multiple treatment modes, and the energy output mode of the transducer is different in different treatment modes. The ultrasonic output control device of the ultrasonic therapeutic instrument includes: An acquisition module is used to acquire a target treatment mode of the ultrasonic therapeutic apparatus and match corresponding movement control parameters and energy output parameters; and control the transducer of the ultrasonic therapeutic apparatus to output ultrasound according to the target treatment mode; A data acquisition module is used to receive the acquired motion posture, motion mode and real-time moving speed of the handle of the ultrasonic therapeutic device; The data processing module is used to determine whether the movement posture, movement mode and real-time movement speed of the handle meet the requirements of the target treatment mode. When they do not meet the requirements of the target treatment mode, a reminder signal is sent to remind the user to adjust to the optimal operation mode and the output power is controlled according to the real-time movement speed.

10. An ultrasonic therapeutic apparatus, characterized in that: include: A treatment handle, wherein a transducer is disposed inside the treatment handle; the ultrasonic therapeutic device includes multiple treatment modes, and the energy output mode of the transducer is different in different treatment modes; A control host, the control host is electrically connected to the treatment handle, the control host includes a memory and a processor, the memory stores a computer program that can be run on the processor, and the processor implements the output power intelligent control method according to any one of claims 1 to 8 when executing the computer program.

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