Output power intelligent control device and ultrasonic therapeutic apparatus

Abstract

The application discloses an output power intelligent control method and device and an ultrasonic therapeutic instrument. The application can judge whether the operation mode of a user is correct through real-time data collection of a sensor and perform intelligent control of the ultrasonic therapeutic instrument based on the same. On one hand, the operation mode of the user can be judged through a motion mode. If the control unit judges that the user does not operate according to a target mode in a treatment process based on an actual motion track, the user is reminded to adjust to an optimal operation mode. The output power is controlled in real time according to the real-time motion speed of the handle of the ultrasonic therapeutic instrument manipulated by the user, so that the treatment effect caused by too fast motion speed of the handle is avoided, or the scalding risk caused by too slow motion speed is avoided. On the other hand, the user's tapping action, such as single click, double click and the like, can be recognized, corresponding control instructions, such as start-stop control and mode switching, are provided, and the user can be facilitated to perform quick operation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to an ultrasonic therapy device and its intelligent output power control device. Background Technology

[0002] Ultrasound therapy is a medical device that utilizes the physical properties of ultrasound waves (such as mechanical, thermal, and cavitation effects) to treat diseases. It emits ultrasound waves of specific frequencies and intensities, which act on human tissues 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 therapeutic effects and is known for its safety and lack of toxic side effects during long-term treatment. Its non-invasive external physical therapy is suitable for medical applications such as cancer treatment and urinary system lithotripsy in hospitals, and is increasingly valued and adopted in clinical applications such as rehabilitation and cosmetic procedures.

[0003] The working principle of ultrasound therapy is that the device emits ultrasound waves from outside the body, focusing them on the target location under the skin. The thermal effect of the ultrasound waves causes a thermal effect and even tissue deformation at the focal point, rapidly raising the temperature within the target focal threshold. The effect on the temperature outside the focal threshold is minimal and does not damage the tissue. Different tissues in the human body absorb ultrasound energy to varying degrees. The maximum effect of ultrasound occurs in tissues where the energy is effectively absorbed. Highly dense connective tissues (collagen), such as ligaments, tendons, fascia, joint capsules, and scar tissue, show particularly significant effects during ultrasound therapy. If the temperature in the tissue reaches 40-45℃, a thermal effect occurs, which can promote metabolism, cell proliferation and remodeling, stimulate fibroblast activity, increase protein synthesis, and promote tissue recovery. In the dermis and fascia layers, the instantaneous temperature reaches 50℃-75℃, forming a thermal coagulation point. This triggers the body's repair mechanism, mobilizing a large amount of normal tissue around the coagulation point to participate in the repair process. This process induces new collagen formation, ultimately achieving tissue lifting and wrinkle reduction.

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

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

[0006] Because ultrasound therapy devices have relatively high power, the probe needs to be moved according to a specific treatment mode to treat the target tissue during treatment. This mode is generally preset, including movement control parameters and energy output parameters. For example, in facial aesthetic treatment, the user needs to operate the transducer end face against the skin surface of the target area at a certain speed to achieve uniform heating of the entire area and maintain a certain temperature range. If the movement speed is too fast, a certain area may not reach the target temperature, failing to achieve the treatment effect. If the movement speed is too slow, the local temperature may be too high, burning the tissue. Furthermore, the handle needs to be operated along a specific trajectory according to the shape of the target tissue at different locations. Different movement speeds require different output power to achieve the best treatment effect; slower speeds may require relatively lower output power, while faster speeds require relatively higher output power. In this situation, relying solely on the user's personal experience to perform treatment according to a specific operating mode is unlikely to achieve the desired effect. Therefore, a control method is needed to assist the user in adjusting the control parameters in real time within the operating range of the treatment mode. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an intelligent control device for the output power of an ultrasonic therapy device and an ultrasonic therapy device.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] An intelligent output power control device is applied to an ultrasound therapy instrument.

[0010] The ultrasonic therapy device has a transducer installed inside its treatment handle. The ultrasonic therapy device includes multiple treatment modes, and the transducer outputs energy differently in each of these modes. The ultrasonic output control device of the ultrasonic therapy device includes:

[0011] The acquisition module is used to acquire the target treatment mode of the ultrasound therapy device and match the corresponding movement control parameters and energy output parameters; and control the transducer of the ultrasound therapy device to output ultrasound according to the target treatment mode.

[0012] The data acquisition module is used to receive the motion posture, motion mode, and real-time movement speed of the ultrasonic therapy device's handpiece.

[0013] The data processing module is used to determine whether the motion posture, motion 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, it issues a reminder signal to remind the user to adjust to the best operation mode and controls the output power according to the real-time movement speed.

[0014] The "issuing a reminder signal to remind the user to adjust to the optimal operating mode" also includes

[0015] When determining 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 If the speed of the movement control parameter is less than the minimum value V1 in the target treatment mode, the energy output will be stopped and a reminder signal will be issued to remind the user to adjust the movement speed of the treatment handle.

[0016] The phrase "controlling output power based on real-time movement speed" specifically includes:

[0017] Determine the real-time moving speed V of the handle R The minimum and maximum values ​​of the movement control parameters V1 and V1 located in the target treatment mode N During this period, the real-time movement speed V will be... R According to V1~V N By comparing the speeds in ascending order, we can obtain the speed range (V). M V M+1 ), where V1~V N The set of velocity thresholds {V1, V2, ..., V} output by the velocity threshold calculation model is given. N The velocity threshold in}; V M and V M+1 Let V be an adjacent velocity threshold in the velocity threshold set, and satisfy V M ≤V R <V M+1 ;

[0018] Based on the power threshold set {P1, P2, ..., P...} N} and the following calculation formula

[0019]

[0020] The real-time output power Pt is calculated and output, where α and β are power coefficients.

[0021] The present invention also discloses an ultrasound therapy device, comprising:

[0022] The treatment handpiece contains a transducer; the ultrasound therapy device includes multiple treatment modes, and the transducer outputs energy differently in different treatment modes.

[0023] A control host is electrically connected to the treatment handpiece. The control host includes a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements an intelligent output power control method. The intelligent output power control method includes the following steps:

[0024] The target treatment mode of the ultrasound therapy device is obtained, and the corresponding movement control parameters and energy output parameters are matched; the transducer of the ultrasound therapy device is controlled to output ultrasound according to the energy output parameters of the target treatment mode.

[0025] The device receives and collects the motion posture, motion pattern, and real-time movement speed of the ultrasonic therapy device's handpiece.

[0026] The system determines whether the motion posture, motion mode, and real-time movement speed of the handle meet the requirements of the target treatment mode. If they do not meet the requirements of the target treatment mode, a reminder signal is issued to remind the user to adjust to the optimal operation mode, and the output power is controlled according to the real-time movement speed.

[0027] The "issuing a reminder signal to remind the user to adjust to the optimal operating mode" also includes

[0028] When determining 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 If the speed of the movement control parameter is less than the minimum value V1 in the target treatment mode, the energy output will be stopped and a reminder signal will be issued to remind the user to adjust the movement speed of the treatment handle.

[0029] The phrase "controlling output power based on real-time movement speed" specifically includes:

[0030] Determine the real-time moving speed V of the handle R The minimum and maximum values ​​of the movement control parameters V1 and V1 located in the target treatment mode N During this period, the real-time movement speed V will be... R According to V1~V N By comparing the speeds in ascending order, we can obtain the speed range (V). M V M+1 ), where V1~V N The set of velocity thresholds {V1, V2, ..., V} output by the velocity threshold calculation model is given. N The velocity threshold in}; V M and V M+1Let V be an adjacent velocity threshold in the velocity threshold set, and satisfy V M ≤V R <V M+1 ;

[0031] Based on the power threshold set {P1, P2, ..., P...} N} and the following calculation formula

[0032]

[0033] The real-time output power Pt is calculated and output, where α and β are power coefficients.

[0034] Preferably, the "receiving and collecting the motion posture, motion mode, and real-time movement speed of the ultrasonic therapy device's handle" specifically includes:

[0035] Read real-time data from the sensors inside the handle and perform data preprocessing. The real-time data includes linear acceleration, angular velocity, direction of motion, and attitude angle.

[0036] The motion attitude of the handle is estimated by combining the linear acceleration, angular velocity, motion direction and attitude angle data using a fusion algorithm. The motion attitude includes pitch, roll and yaw angles.

[0037] Integrating the linear acceleration over time yields the real-time velocity:

[0038] By integrating the real-time moving speed over time, the position can be obtained:

[0039] The movement trajectory of the handle can be determined based on its position. The movement trajectory includes linear motion and / or circular motion. The movement mode of the handle can be determined by combining linear acceleration and angular velocity. The movement mode includes the movement method under the movement trajectory. The movement method includes uniform speed, acceleration or deceleration.

[0040] Output handle's motion posture, motion mode, and real-time movement speed.

[0041] Preferably, the sensor includes an accelerometer and a gyroscope;

[0042] The data preprocessing includes

[0043] Sensor calibration steps eliminate zero bias and noise to ensure the accuracy of data from accelerometers and gyroscopes.

[0044] The coordinate system alignment step is used to convert the data from the accelerometer and gyroscope into the same coordinate system.

[0045] Preferably, the "issuing a reminder signal to remind the user to adjust to the optimal operating mode" includes

[0046] If the movement posture or movement mode of the handle does not meet the requirements of the target treatment mode, a reminder signal is issued to remind the user to adjust to the optimal operation mode.

[0047] Preferably, the method further includes the steps of receiving and identifying the tapping signal; when the tapping signal is determined to be a single tap, the start / stop state is switched; when the tapping signal is determined to be a double tap, the target treatment mode is switched.

[0048] Preferably, a neural network algorithm is used to identify the tapping signal, wherein the neural network algorithm is an RNN, LSTM, or Transformer algorithm model.

[0049] The beneficial effects of this invention are mainly reflected in:

[0050] 1. By outputting the optimal output power in the current treatment mode through real-time movement speed, the best treatment effect can be achieved in different movement modes, while ensuring that the user will not suffer from poor treatment effect due to excessive movement speed, or burn risk due to excessive movement speed.

[0051] 2. By acquiring real-time data from the sensors inside the ultrasonic therapy device handpiece and fusing this data to calculate the handpiece's motion posture, motion mode, and real-time movement speed, it is possible to determine whether the user's operating mode is correct and to perform intelligent control of the ultrasonic therapy device based on this. At the same time, it can also recognize the user's tapping actions, such as single-click and double-click operations, and provide corresponding start / stop control and mode switching control commands to facilitate quick operation for the user.

[0052] 3. Pre-set commonly used operation modes for users to choose from, and allow users to customize operation modes. Users can choose preset or custom operation modes and can switch intelligently through the tap action of the controller. Attached Figure Description

[0053] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0054] Figure 1 : A schematic diagram of the structure of the ultrasonic therapy device of the present invention;

[0055] Figure 2 : A cross-sectional view of the handle of the ultrasonic therapy device of the present invention;

[0056] Figure 3 : A flowchart illustrating the intelligent control method of the ultrasonic therapy device of the present invention. Detailed Implementation

[0057] The present invention will now be described in detail 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 included within the scope of protection of the present invention.

[0058] like Figure 1 As shown, this invention discloses an ultrasound therapy 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 generates ultrasound imaging and ultrasound therapy excitation signals, and the control unit controls the generation of positioning ultrasound energy excitation signals, the reception of imaging echo signals, and the start and stop of ultrasound therapy signals. The control unit can be an ARM, DSP, FPGA, ASIC, CPU, GPU, etc., and may run an internal software operating system. The system software control logic and algorithms mainly run in the main control chip. The control unit has preset commonly used operating modes for user selection and allows users to customize operating modes. Users can select preset or customized operating modes through a user interface, which may include a touchscreen interface or an operation knob.

[0059] like Figure 2 As shown, the treatment handle 3 includes a handle housing 301 with a handheld structure and an internal circuit module 302, the internal circuit module 302 containing a sensor. Its probe 2 includes a probe housing 201 and a transducer 202. The probe housing 201 is used to enclose and support the internal components of the probe; the transducer 202 is used to receive excitation signals and generate ultrasonic waves, which are emitted through a window on the probe end face to treat the human skin. The ultrasonic therapy device includes multiple treatment modes, and the energy output method of the transducer differs in different treatment modes. The cavity inside the probe end face 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, etc., which can effectively transmit ultrasonic waves to the patient's skin surface, avoiding air reflection. The ultrasonic signal emitted by the focusing transducer will ultimately be focused on the target tissue. The target tissue absorbs the ultrasonic energy, generating a thermal effect and rapidly heating up to achieve the therapeutic effect.

[0060] like Figure 3 As shown, the present invention also discloses an intelligent control method for the output power of an ultrasonic therapy device, comprising the following steps:

[0061] Step 1: Obtain the target treatment mode of the ultrasound therapy device and match the corresponding movement control parameters and energy output parameters; control the transducer of the ultrasound therapy device to output ultrasound according to the energy output parameters of the target treatment mode;

[0062] Step 2: Receive and collect the motion posture, motion mode, and real-time movement speed of the ultrasonic therapy device's handle;

[0063] Step 3: Determine whether the motion posture, motion mode, and real-time movement speed of the handle meet the requirements of the target treatment mode. If they do not meet the requirements of the target treatment mode, issue 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.

[0064] The following is a detailed description of each step.

[0065] The user first selects the target treatment mode based on the characteristics of the area to be treated. The target treatment mode must then be matched with the corresponding movement control parameters of the treatment handpiece and the energy output parameters of the transducer. Once the target treatment mode is selected, preparatory steps such as applying coupling agent to the probe tip and fitting it to the skin are completed. Treatment then begins.

[0066] The transducer of the ultrasound therapy device outputs ultrasound according to the energy output parameters of the target treatment mode. Simultaneously, the user begins to operate the handle along a first trajectory T1 at a first speed V1, while keeping it in contact with the target skin tissue. 1、 The first trajectory T1 corresponds to and matches the target treatment mode. Sensors within the handle collect motion data in real time. These 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. The accelerometer is used to collect linear acceleration information in real time. The magnetometer can be used for Hall effect position detection, but it is not always necessary. As is well known to those skilled in the art, sensors can include the aforementioned motion sensors or other sensors with similar functions.

[0067] The control unit of the ultrasound therapy device reads real-time data from the sensors within the treatment handpiece and performs data preprocessing. In this embodiment of the invention, the preprocessing includes:

[0068] Sensor calibration steps are used to ensure the accuracy of data from accelerometers, gyroscopes, and magnetometers, and to eliminate their zero bias and noise;

[0069] The coordinate system alignment step is used to convert the data from the accelerometer, gyroscope, and magnetometer into the same coordinate system.

[0070] Next, the motion attitude of the handle is estimated by combining the linear acceleration, angular velocity, motion direction and attitude angle data using a fusion algorithm, which includes Kalman filtering, complementary filtering or Madgwick algorithm, and the motion attitude includes pitch, roll and yaw angle.

[0071] Integrating the linear acceleration over time yields the real-time velocity:

[0072] By integrating the real-time moving speed over time, the position can be obtained:

[0073] Integration accumulates errors, which need to be corrected using filtering algorithms (such as extended Karl von Schulzman filter) or Zero Velocity Update (ZUPT).

[0074] Subsequently, the movement trajectory of the handle can be determined based on its position. This trajectory can be either linear or circular. The movement mode of the handle is then determined by combining linear acceleration and angular velocity. The movement mode includes the motion pattern following the defined trajectory, which can be uniform speed, acceleration, or deceleration. For example, if linear acceleration persists in a certain direction while the angular velocity is close to zero (no obvious rotation), then it is linear motion. If there is a sustained angular velocity (rotation around an axis), the relationship between centripetal acceleration and angular velocity satisfies a = ω. 2 If r (a is the centripetal acceleration, ω is the angular velocity, and r is the radius), then the trajectory is circular motion.

[0075] Finally, the control unit outputs the motion posture, motion mode, and real-time movement speed of the handle. In this invention, the sensor is located inside the treatment handle and can move with the handle, 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 according to a specific motion mode, ensuring accurate and effective data.

[0076] In this invention, step three, "determining whether the motion posture, motion mode, and real-time movement speed of the handle meet the requirements of the target treatment mode, and issuing a reminder signal to remind the user to adjust to the optimal operation mode when they do not meet the requirements of the target treatment mode, and controlling the output power according to the real-time movement speed," is also a key aspect of this invention. For example, in facial beauty procedures, a commonly used technique is to move the treatment head in a circular motion at a specific speed on the target area. The characteristics of this circular motion include speed, angular velocity, and radius of motion. These parameters may be related to the patient's location and body shape. For instance, the cheek area, which has more muscle and fat, requires slow, larger-radius circular motions, while the forehead or jaw area may require faster elliptical trajectory motions. These different motion trajectory characteristics (speed, angular velocity, radius of motion, etc.) are stored in the host as commonly used treatment modes, and the user selects the appropriate treatment mode. After the operation begins, the sensor collects and stores all the raw data, which is then input into a neural network algorithm. The neural network algorithm can calculate and predict the implemented motion speed, angular velocity, motion position, and trajectory radius, and determine whether it meets the characteristics of the target mode selected by the user.

[0077] When it is determined that the motion posture or motion 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 If the speed of movement is less than or equal to the minimum value V1 of the movement control parameter in the target treatment mode, the control unit will automatically stop the output of ultrasound treatment energy and prompt the user on how to adjust the operation based on the real-time movement speed and trajectory deviation. The prompts can be in the form of interface images, text or voice.

[0078] After receiving the operation mode adjustment instruction, the user 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 further includes the steps of receiving and identifying the collected tapping signals. When the tapping signal is determined to be a single tap, the start / stop state is switched; when the tapping signal is determined to be a double tap, the target treatment mode is switched. The present invention uses a neural network algorithm to identify the tapping signals, such as RNN, LSTM, and Transformer algorithm models. RNN, LSTM, and Transformer algorithm models can effectively identify the user's control actions. The control host has preset commonly used treatment modes for the user to choose from and allows the user to customize the operation mode. The user can choose preset or custom operation modes and can intelligently switch between them by tapping the handle. After the user adjusts, the treatment handle is operated at a second speed V2 along the trajectory T2 until the treatment is completed.

[0079] Ultrasonic therapy devices require the probe to be moved slowly in a specific pattern to treat the target tissue during treatment. For example, in facial aesthetic treatments, 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, some areas may not reach the target temperature, resulting in ineffective treatment. If the movement speed is too slow, the local temperature may be too high, causing tissue burns. Furthermore, the handle needs to be operated along a specific 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 and the matching ultrasonic energy output for different target treatment modes. The control unit of this invention outputs a set of speed thresholds {V1, V2, ..., V...} based on a fusion algorithm model. N The system compares the real-time movement speed with a threshold and adjusts the output power accordingly.

[0080] When determining the real-time moving speed V of the handle R The minimum and maximum speed thresholds V1 and V of the movement control parameters located in the target treatment mode. N During this period, the real-time movement speed V will be... R According to V1~V N By comparing the values ​​in ascending order, the velocity range (V) is obtained. M V M+1 ), where V M and V M+1 Let V be an adjacent velocity threshold in the velocity threshold set, and satisfy V M ≤V R <V M+1 .

[0081] Based on the power threshold set {P1, P2, ..., P...} N} and the following calculation formula

[0082]

[0083] The real-time output power Pt is calculated and output, where α and β are power coefficients.

[0084] In this invention, the power threshold set {P1, P2, ..., P} is defined as follows: N} represents the different speeds V1~V1 in the corresponding speed threshold set obtained through simulation and experimental testing. N The optimal output power value.

[0085] Here, α and β are built-in mode switching coefficients, ranging from 0 to 1, used to set the appropriate output mode. The output mode can be standard treatment mode, rapid treatment mode, comfortable treatment mode, etc. Generally: α and β are both 0.5, which is the standard output mode; if the user selects rapid treatment mode, a smaller α and a larger β will be selected, for example, α=0.2 and β=0.8; if the user selects comfortable treatment mode, a larger α and a smaller β will be selected, for example, α=0.7 and β=0.3. Thus, the real-time output power Pt can be calculated and adjusted based on the user's selected output mode and real-time movement speed.

[0086] By following the steps above, the best therapeutic effect can be achieved under different output modes, while ensuring that the user will not experience poor therapeutic effect due to moving too fast, or risk of burn due to moving too slowly.

[0087] This invention also discloses an intelligent output power control device, applied to an ultrasonic therapy instrument.

[0088] The ultrasonic therapy device has a transducer installed inside its treatment handle. The ultrasonic therapy device includes multiple treatment modes, and the transducer outputs energy differently in each of these modes. The ultrasonic output control device of the ultrasonic therapy device includes:

[0089] The acquisition module is used to acquire the target treatment mode of the ultrasound therapy device and match the corresponding movement control parameters and energy output parameters; and control the transducer of the ultrasound therapy device to output ultrasound according to the target treatment mode.

[0090] The data acquisition module is used to receive the motion posture, motion mode, and real-time movement speed of the ultrasonic therapy device's handpiece.

[0091] The data processing module is used to determine whether the motion posture, motion 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, it issues a reminder signal to remind the user to adjust to the optimal operation mode and controls the output power according to the real-time movement speed.

[0092] This invention uses sensors to collect data and determine whether the user's operating mode is correct. Based on this, it performs intelligent control of the ultrasound therapy device. On one hand, it can determine whether the user is performing the treatment according to a specific operating mode based on the motion 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 area to achieve the ideal treatment effect. If the control unit determines that the user is not operating according to the target mode during the treatment based on the actual motion trajectory, it will remind the user to adjust to the optimal operating mode and control the output power in real time according to the user's actual motion speed. On the other hand, it can recognize the user's tapping actions, such as single clicks and double clicks, and provide corresponding start / stop control and mode switching control commands to facilitate quick operation for the user.

[0093] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0094] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. An output power intelligent control device, characterized in that: Be applied to ultrasonic therapeutic instrument, The ultrasonic therapeutic instrument is provided with a transducer inside a treatment handle, the ultrasonic therapeutic instrument includes multiple treatment modes, and the energy output mode of the transducer is different under different treatment modes; The ultrasonic output control device of the ultrasonic therapeutic instrument includes: An acquisition module is configured to acquire a target treatment mode of the ultrasonic therapeutic instrument, match corresponding movement control parameters and energy output parameters, and control the transducer of the ultrasonic therapeutic instrument to perform ultrasonic output according to the energy output parameters of the target treatment mode; A data acquisition module is configured to receive collected movement postures, movement modes and real-time movement speeds of a handle of the ultrasonic therapeutic instrument; A data processing module is configured to determine whether the movement postures, movement modes and real-time movement speeds of the handle meet the requirements of the target treatment mode, and send a reminding signal to remind a user to adjust to an optimal operation mode when the requirements of the target treatment mode are not met, and control output power according to the real-time movement speed; The "sending a reminding signal to remind a user to adjust to an optimal operation mode" further includes When determining 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 If the speed of the movement control parameter is less than the minimum value V1 in the target treatment mode, the energy output will be stopped and a reminder signal will be issued to remind the user to adjust the movement speed of the treatment handle. The "controlling output power according to the real-time movement speed" specifically includes Determine the real-time moving speed V of the handle R The minimum and maximum values ​​of the movement control parameters V1 and V1 located in the target treatment mode N In between, the real-time movement speed V R According to V1~V N By comparing the speeds in ascending order, we can obtain the speed range (V). M V M+1 ), where V1~V N The set of velocity thresholds {V1, V2, ..., V} output by the velocity threshold calculation model is given. N The velocity threshold in}; V M and V M+1 Let V be an adjacent velocity threshold in the velocity 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 a and β are power coefficients.

2. An ultrasonic therapeutic apparatus characterized by comprising: It includes: A treatment handle is provided with a transducer inside the treatment handle; the ultrasonic therapeutic instrument includes multiple treatment modes, and the energy output mode of the transducer is different under different treatment modes; A control host is electrically connected with 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 an output power intelligent control method when executing the computer program; the output power intelligent control method includes the following steps Acquiring a target treatment mode of the ultrasonic therapeutic instrument, matching corresponding movement control parameters and energy output parameters, and controlling the transducer of the ultrasonic therapeutic instrument to perform ultrasonic output according to the energy output parameters of the target treatment mode; Receiving collected movement postures, movement modes and real-time movement speeds of a handle of the ultrasonic therapeutic instrument; Determining whether the movement postures, movement modes and real-time movement speeds of the handle meet the requirements of the target treatment mode, and sending a reminding signal to remind a user to adjust to an optimal operation mode when the requirements of the target treatment mode are not met, and controlling output power according to the real-time movement speed; The "sending a reminding signal to remind a user to adjust to an optimal operation mode" further includes When determining 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 If the speed of the movement control parameter is less than the minimum value V1 in the target treatment mode, the energy output will be stopped and a reminder signal will be issued to remind the user to adjust the movement speed of the treatment handle. The "controlling output power according to the real-time movement speed" specifically includes Determine the real-time moving speed V of the handle R The minimum and maximum values ​​of the movement control parameters V1 and V1 located in the target treatment mode N In between, the real-time movement speed V R According to V1~V N By comparing the speeds in ascending order, we can obtain the speed range (V). M V M+1 ), where V1~V N The set of velocity thresholds {V1, V2, ..., V} output by the velocity threshold calculation model is given. N The velocity threshold in}; V M and V M+1 Let V be an adjacent velocity threshold in the velocity 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 a and β are power coefficients.

3. The ultrasonic therapy apparatus of claim 2, wherein: The "receiving collected movement postures, movement modes and real-time movement speeds of a handle of the ultrasonic therapeutic instrument" specifically includes: Reading real-time data of a sensor inside the handle and performing data preprocessing, the real-time data includes linear acceleration, angular velocity, movement direction and attitude angle; Using a fusion algorithm to combine the linear acceleration, angular velocity, movement direction and attitude angle data to estimate the movement posture of the handle, the movement posture includes pitch, roll and yaw angle; Time-integrating the linear acceleration to obtain the real-time movement speed: The position is obtained by time integration of the real-time velocity: According to the position, the movement trajectory of the handle can be determined, the movement trajectory comprising linear movement and / or circular movement, in combination with linear acceleration and angular velocity, the movement mode of the handle can be determined, the movement mode comprising movement modes under the movement trajectory, the movement modes comprising uniform speed, acceleration or deceleration; Outputting the movement postures, movement modes and real-time movement speeds of the handle.

4. The ultrasonic therapeutic instrument according to claim 3, wherein: The sensor includes an accelerometer and a gyroscope; The data preprocessing includes A sensor calibration step to eliminate zero offset and noise to ensure the accuracy of the data of the accelerometer and gyroscope; A coordinate system alignment step to convert the data of the accelerometer and gyroscope into the same coordinate system.

5. The ultrasonic therapy apparatus of claim 2, wherein: The "sending a reminder signal to remind the user to adjust to the optimal operation mode" includes When it is judged that the motion posture or motion mode 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.

6. The ultrasonic therapy apparatus of claim 2, wherein: It also includes the steps of receiving the collected knocking signal and identifying the knocking signal, and when it is judged that the knocking signal is a single click, the start-stop state is switched; when it is judged that the knocking signal is a double click, the target treatment mode is switched.

7. The ultrasonic therapy apparatus of claim 6, wherein: The neural network algorithm for identifying the knocking signal is RNN, LSTM or Transformer algorithm model.

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