Thulium fiber laser therapeutic machine with infrared induction device

Abstract

The application relates to the technical field of medical instruments and discloses an ultrapulse thulium fiber laser treatment machine with an infrared induction device, which comprises a supporting seat, a mechanical arm, a laser module, a display module and a control module, wherein one end of the mechanical arm is fixedly connected to the top of the supporting seat, the laser module is fixedly connected to the end of the mechanical arm away from the supporting seat, the laser module comprises a laser connecting plate, a laser connecting block, a laser device and an infrared module, the side of the laser device is fixedly connected to the infrared module, the infrared module comprises an infrared upper protective shell, an infrared lower protective shell and an infrared probe, the infrared upper protective shell is fixedly connected to the infrared probe, the display module comprises a display supporting rod and a display module, the display module is sleeved on the display supporting rod, the control module is electrically connected to the mechanical arm and the laser module, and the control module is used for controlling the operation of the mechanical arm and the laser module. The reliability of laser illumination intensity is ensured through the infrared probe and the control module.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an ultrapulse thulium fiber laser therapy machine with an infrared sensing device. Background Technology

[0002] Ultrapulse thulium fiber lasers, due to their wavelength characteristics, can be efficiently absorbed by water in biological tissues and have a small thermal damage range, and have been widely used in medical aesthetics and surgical treatments. However, existing ultrapulse thulium fiber laser therapy machines rely on the naked eye of medical staff or the use of auxiliary rulers to determine the laser intensity. Furthermore, the penetration depth of laser energy in tissue is related to the distance between the laser head and the tissue surface, and existing treatment machines cannot detect this distance in real time. If the patient's position changes slightly during treatment, the actual laser energy may be too high, causing tissue carbonization, or too low, affecting the therapeutic effect, thus increasing the risk of complications.

[0003] Therefore, it is necessary to design an ultrapulse thulium fiber laser therapy machine with an infrared sensing device to solve the problems existing in the current technology. Summary of the Invention

[0004] In view of this, the present invention proposes an ultrapulse thulium fiber laser therapy machine with an infrared sensing device, which aims to solve the above-mentioned problems.

[0005] This invention proposes an ultrapulse thulium fiber laser therapy machine with an infrared sensing device, comprising:

[0006] Support base;

[0007] A robotic arm, one end of which is fixedly connected to the top of the support base;

[0008] A laser module is fixedly connected to one end of the robotic arm away from the support base. The laser module includes a laser connection plate, a laser connection block, a laser, and an infrared module. The laser connection plate is fixedly connected to the laser connection block, the laser connection block and the laser are fixedly connected, and the infrared module is fixedly connected to the side of the laser. The infrared module includes an upper infrared housing, a lower infrared housing, and an infrared probe. The upper infrared housing and the lower infrared housing are slidably connected. The upper infrared housing has a groove, and the upper infrared housing is fixedly connected to the infrared probe.

[0009] The display module is fixedly connected to the top of the support base. The display module includes a display support rod and a display module, and the display module is sleeved on the display support rod.

[0010] A control module is electrically connected to the robotic arm and the laser module, and the control module is used to control the operation of the robotic arm and the laser module;

[0011] The control module includes an acquisition and analysis module, which is configured to acquire the detection distance between the infrared probe and the target and the infrared image of the first target, and determine the laser illumination intensity of the laser based on the detection distance, the infrared image of the first target and the power output model.

[0012] Furthermore, the display module also includes:

[0013] Display rotating axis, display support arm, display connecting base, display support block and display screen;

[0014] The display rotation axis and one end of the display support arm are rotatably connected. The display rotation axis has a blind hole. The end of the display support arm away from the display rotation axis is rotatably connected to the display connection seat. The display connection seat is fixedly connected to the display support block. The display support block and the display screen are slidably connected. The display screen is equipped with several buttons.

[0015] Furthermore, the ultrapulse thulium fiber laser therapy machine with infrared sensing device also includes:

[0016] The side of the support base is provided with a protective cover plate, and the protective cover plate has a number of heat dissipation holes, which are distributed in a circular pattern.

[0017] An emergency stop knob is provided on the top of the support base;

[0018] The laser module also includes a counterweight and a laser head;

[0019] The laser is inserted through the counterweight, and the laser head is located at the bottom of the laser.

[0020] Furthermore, when determining the laser illumination intensity of the laser based on the detection distance, the infrared image of the first target, and the power output model, the process includes:

[0021] The acquisition and analysis module obtains the laser therapy dataset and divides the laser therapy dataset into a training set and a test set.

[0022] A random forest model is pre-acquired, trained on the training set, and tested on the trained random forest model using a test set. Finally, the input is determined to be the detection distance and the infrared image of the first target, and the output is the power output model of the laser light intensity of the laser.

[0023] Furthermore, the control module also includes:

[0024] The sensing and judgment module is configured to determine the second target infrared image per unit time based on the acquisition time period, perform image segmentation on the second target infrared image to determine the environmental infrared image, extract the infrared pixels of the environmental infrared image, cluster all the infrared pixels to determine the clustering range, and sense whether the environment of the target causes a loss to the laser light intensity based on the clustering range.

[0025] The control adjustment module is configured to, if it senses that the environment of the target causes a loss in the laser light intensity, reduce the cluster range to determine the range of differences in influence, determine an adjustment factor for the laser light intensity based on the range of differences in influence, adjust the laser light intensity according to the adjustment factor, and irradiate the target with the adjusted laser light intensity.

[0026] Furthermore, when extracting infrared pixels from the environmental infrared image, clustering all infrared pixels to determine the clustering range, and sensing whether the environment of the target causes a loss in the laser illumination intensity based on the clustering range, the process includes:

[0027] The sensing and judgment module determines the clustering distance between each infrared pixel and the infrared clustering center point, and retains infrared pixels whose clustering distance is less than the preset clustering distance to determine the clustering range;

[0028] Determine the standard environmental infrared image corresponding to the environmental infrared image, and determine the standard clustering range of the standard environmental infrared image;

[0029] When the clustering range is not equal to the standard clustering range, the environment of the target is sensed to cause a loss in the intensity of the laser light.

[0030] When the clustering range is equal to the standard clustering range, the environment of the target is not affected by the loss of laser light intensity, and the target is irradiated with the current laser light intensity.

[0031] Furthermore, if the environment of the target is sensed to cause a loss in the laser light intensity, the clustering range is reduced to determine the range of differences in influence. When determining the adjustment factor for the laser light intensity based on this range of differences in influence, the following steps are included:

[0032] The control adjustment module deletes the overlapping part between the clustering range and the standard clustering range, determines the difference influence range based on the deletion result, obtains the pixel value of each infrared pixel in the difference influence range, and determines the average pixel value of all pixel values ​​in the difference influence range.

[0033] Infrared pixels with pixel values ​​greater than or equal to the average pixel value are divided into a first pixel set, and infrared pixels with pixel values ​​less than the average pixel value are divided into a second pixel set. The number of first pixels in the first pixel set is counted, and the number of second pixels in the second pixel set is counted.

[0034] The adjustment factor for the laser illumination intensity is determined based on the first number of pixels and the second number of pixels.

[0035] Furthermore, when determining the adjustment factor for the laser illumination intensity based on the first pixel count and the second pixel count, the following steps are included:

[0036] The control adjustment module determines the ratio of the number of the first pixel to the number of the second pixel.

[0037] Establish a rectangular coordinate system with time as the X-axis and quantity ratio as the Y-axis, and substitute the quantity ratio of all unit time into the rectangular coordinate system to determine the time-temperature curve;

[0038] Obtain the slope of the time-temperature curve, and determine the adjustment factor of the laser illumination intensity based on the slope.

[0039] Furthermore, when determining the adjustment factor for the laser illumination intensity based on the slope, the process includes:

[0040] When the slope is greater than or equal to 0, the control adjustment module sets a first slope and a second slope, wherein the first slope is greater than the second slope;

[0041] If the slope is greater than the first slope, then the first adjustment factor is determined as the adjustment factor for the laser illumination intensity;

[0042] If the slope is less than or equal to the first slope and greater than the second slope, then the second adjustment factor is determined as the adjustment factor for the laser illumination intensity.

[0043] If the slope is less than the second slope, then the third adjustment factor is determined as the adjustment factor for the laser illumination intensity;

[0044] Where 0 < first adjustment factor < second adjustment factor < third adjustment factor < 1.

[0045] Furthermore, when adjusting the laser illumination intensity according to the adjustment factor, the following steps are included:

[0046] The laser illumination intensity is directly proportional to the adjustment factor.

[0047] Compared with existing technologies, the advantages of this invention are as follows: The infrared module fixedly connected to the side of the laser module can detect the distance between the laser head and the target in real time, avoiding the blindness of relying on human judgment by the naked eye or ruler. With the real-time response of the control module, when the target's position changes slightly, causing a change in distance, the control module can quickly adjust the laser energy output of the laser, avoiding the risk of excessive or insufficient energy due to distance deviation. At the same time, the emergency stop knob on the top of the support provides emergency braking protection for sudden situations, further enhancing the safety of operation. One end of the robotic arm is fixedly connected to the support, and the other end is fixedly connected to the laser module, allowing the laser module to flexibly adjust its spatial position and angle, ensuring that the laser head is accurately aligned with the treatment site. The rigid fixing structure of the laser connecting plate and the laser connecting block ensures the stability of the relative position of the laser and the infrared module. The electrical connection between the control module, the robotic arm, and the laser module realizes closed-loop control, further improving the stability of operation. The upper and lower infrared protective shells of the infrared module are slidably connected and cooperate with the groove structure, which not only protects the infrared probe from external interference, but also facilitates quick disassembly and calibration during later maintenance. Attached Figure Description

[0048] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0049] Figure 1 This is a schematic diagram of the structure of an ultrapulse thulium fiber laser therapy machine with an infrared sensing device provided in an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of the structure of a laser module provided in an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of the structure of a laser module without a laser connection plate provided in an embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram of the structure of the infrared module provided in an embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram of the structure of the display module provided in an embodiment of the present invention;

[0054] Figure 6 This is a functional block diagram of the control module provided in an embodiment of the present invention.

[0055] The components are as follows: 1. Support base; 10. Emergency stop knob; 11. Heat dissipation hole; 12. Protective cover plate; 2. Robotic arm; 3. Laser module; 30. Laser connection plate; 31. Laser connection block; 32. Counterweight block; 33. Laser; 34. Laser head; 35. Infrared module; 350. Infrared upper protective shell; 351. Infrared lower protective shell; 352. Groove; 353. Infrared probe; 4. Display module; 40. Display support rod; 41. Display module; 410. Display rotation axis; 411. Blind hole; 412. Display support arm; 413. Display connection base; 414. Display support block; 415. Display screen; 416. Button. Detailed Implementation

[0056] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] See Figure 1-6 As shown in some embodiments of this application, an ultrapulse thulium fiber laser therapy machine with an infrared sensing device includes: a support base 1, a robotic arm 2, one end of which is fixedly connected to the top of the support base 1, a laser module 3, which is fixedly connected to the end of the robotic arm 2 away from the support base 1. The laser module 3 includes a laser connection plate 30, a laser connection block 31, a laser 33, and an infrared module 35. The laser connection plate 30 is fixedly connected to the laser connection block 31, and the laser connection block 31 and the laser 33 are fixedly connected. The side of the laser 33 is fixedly connected to the infrared module 35. The infrared module 35 includes an upper infrared protective shell 350, a lower infrared protective shell 351, and an infrared probe 353. The upper infrared protective shell 350 and the lower infrared protective shell 351 are fixedly connected to the upper infrared protective shell 351. The housing 350 is slidably connected, and the upper infrared housing 350 is provided with a groove 352. The upper infrared housing 350 is fixedly connected to the infrared probe 353. The display module 4 is fixedly connected to the top of the support base 1. The display module 4 includes a display support rod 40 and a display module 41. The display module 41 is fitted with the display support rod 40. The control module is electrically connected to the robotic arm 2 and the laser module 3. The control module is used to control the operation of the robotic arm 2 and the laser module 3. The control module includes an acquisition and analysis module. The acquisition and analysis module is configured to acquire the detection distance between the infrared probe 353 and the target and the infrared image of the first target. Based on the detection distance, the infrared image of the first target and the power output model, the laser illumination intensity of the laser 33 is determined.

[0058] Specifically, the support base 1 is the load-bearing structure of the ultrapulse thulium fiber laser therapy machine, providing stable support for the entire system. One end of the robotic arm 2 is fixed to the top of the support base 1, and the other end is connected to the laser module 3. The robotic arm 2 has multi-degree-of-freedom motion capabilities, allowing for flexible adjustment of the spatial position and angle of the laser module 3, so that the laser head 34 can be precisely aligned with the target (the patient) treatment area, thereby meeting the operational needs of different body positions and treatment areas. The laser module 3 is the treatment component of the ultrapulse thulium fiber laser therapy machine, fixed to the robotic arm 2. The laser module 3 consists of a laser connection plate 30, a laser connection block 31, a laser 33, and an infrared module 35. The laser connection plate 30 is fixedly connected to the laser connection block 31, providing a good structural foundation for subsequent components. The laser connection block 31 is fixedly connected to the laser 33 and is used to transmit the supporting force of the robotic arm 2 to ensure the laser 33's stability. With the position of laser 33 stable, after the position of laser 33 is selected, laser 33 generates an ultrapulse thulium fiber laser. Laser head 34, as the output terminal of laser 33, can guide the ultrapulse thulium fiber laser to the target tissue surface. Infrared module 35 consists of infrared upper shell 350, infrared lower shell 351, and infrared probe 353. Infrared upper shell 350 and infrared lower shell 351 are slidably connected. Furthermore, infrared upper shell 350 is provided with a groove 352, which allows personnel to separate infrared upper shell 350 and infrared lower shell 351 for maintenance of infrared module. Infrared probe 353 detects its distance from the target tissue surface in real time, providing data support for the control module to adjust laser energy. The display module 4 is fixed to the top of the support base 1. The display module 4 is the core of the human-computer interaction and consists of a display support rod 40 and a display module 41. The display module 41 is fitted with the display support rod 40 to facilitate its movement. The control module is electrically connected to the robotic arm 2 and the laser module 3 to control their operation. The control module achieves real-time environmental perception through the acquisition and analysis module, ensuring the reliability of the laser energy. The acquisition and analysis module acquires the real-time distance to the target (detection distance) and the first target infrared image through the infrared probe 353. The first target infrared image reflects the target's skin characteristics and environmental information. Based on the determined power output model, the detection distance and the first target infrared image are used as input to calculate the laser illumination intensity suitable for the current treatment scenario, avoiding the blindness of human experience. The real-time distance detection by the infrared module 35 ensures the matching degree between the laser energy penetration of the laser 33 and the distance, thereby reducing the risk of treatment complications.

[0059] In some embodiments of this application, the display module 41 further includes: a display rotation axis 410, a display support arm 412, a display connector 413, a display support block 414, and a display screen 415. One end of the display rotation axis 410 and the display support arm 412 are rotatably connected. The display rotation axis 410 has a blind hole 411. The end of the display support arm 412 away from the display rotation axis 410 is rotatably connected to the display connector 413. The display connector 413 is fixedly connected to the display support block 414. The display support block 414 and the display screen 415 are slidably connected. The display screen 415 is provided with several buttons 416.

[0060] Specifically, the display module 41 consists of a display rotation shaft 410, a display support arm 412, a display connector 413, a display support block 414, and a display screen 415. The display rotation shaft 410 is rotatably connected to one end of the display support arm 412, allowing the display support arm 412 to bend freely in the horizontal direction. A blind hole 411 is provided on the display rotation shaft 410, and the surface of the blind hole 411 is provided with a thread that cooperates with the display support rod 40, so that the display support rod 40 can fix the display rotation shaft 410 well. The display support arm 412 is rotatably connected to the display connector 413 at the end furthest from the display rotation axis 410, allowing the display connector 413 to move freely in the horizontal direction. The display connector 413 is fixedly connected to the display support block 414, which has a "gripper" design to hold the display screen 415 and allow it to slide within it, facilitating cleaning and other operations. The display screen 415 also has four buttons 416 for manual operation of the rotation of the robotic arm 2 and the display module 41. Through the rotatable connection between the display rotation axis 410 and the display support arm 412, and the rotatable connection between the display support arm 412 and the display connector 413, the display screen 415 can be adjusted in multiple horizontal dimensions, meeting the observation habits and operating positions of different medical personnel and improving operational reliability.

[0061] In some embodiments of this application, the ultrapulse thulium fiber laser therapy machine with infrared sensing device further includes: a protective cover plate 12 is provided on the side of the support base 1, the protective cover plate 12 has a plurality of heat dissipation holes 11, the plurality of heat dissipation holes 11 are distributed in a circular manner, an emergency stop knob 10 is provided on the top of the support base 1, the laser module 3 further includes a counterweight 32 and a laser head 34, the laser 33 passes through the counterweight 32, and the laser head 34 is provided at the bottom of the laser 33.

[0062] Specifically, a protective cover plate 12 is provided on the side of the support base 1. The protective cover plate 12 can protect the electrical equipment inside the support base 1 to prevent the electrical equipment from being affected by the ambient humidity and temperature, thus affecting its service life. Several heat dissipation holes 11 are provided on the protective cover plate 12 in a circular distribution. The circular distribution of heat dissipation holes 11 can make the air circulate more evenly and efficiently dissipate the heat generated by the operation of the ultrapulse thulium fiber laser therapy machine, maintain its internal temperature stability, and ensure the long-term reliable operation of the equipment. An emergency stop knob 10 is provided on the top of the support base 1. The emergency stop knob 10 provides a means of quick braking in case of emergencies, thereby improving the safety of operation. In the laser module 3, the counterweight 32 can balance the weight of the laser 33, so that the robotic arm 2 can move the laser 33 more smoothly, ensuring the stability of the laser 33, thereby improving the positioning accuracy of the laser head 34.

[0063] In some embodiments of this application, when determining the laser illumination intensity of laser 33 based on detection distance, first target infrared image and power output model, the process includes: acquiring and analyzing a laser treatment dataset, dividing the laser treatment dataset into a training set and a test set, pre-acquiring a random forest model, training the random forest model based on the training set, and testing the trained random forest model using the test set, and finally determining the power output model with the detection distance and first target infrared image as input and the laser illumination intensity of laser 33 as output.

[0064] Specifically, traditional methods for determining laser intensity cannot dynamically adapt to changes in detection distance and individual differences in the target tissue, such as body temperature and wound size, which can easily lead to discrepancies between laser intensity and actual needs. In contrast, the random forest model excels at processing multi-dimensional data and capturing nonlinear relationships, constructing a precise mapping relationship for laser intensity based on treatment data, thus providing a reliable foundation for laser irradiation. The laser therapy dataset contains data on various detection distances, infrared images of the first target, laser illumination intensity, body temperature and wound size at different stages. The dataset is divided into training and testing sets. The training set is used for model learning, while the testing set is used to verify the accuracy of the trained model. The model is iteratively trained using the training set to learn the intrinsic relationship between detection distance, first target infrared image features, and laser intensity. The testing set is then used to verify the model's accuracy, recall, and other parameters until the accuracy requirements are met. Finally, a power output model is determined, with the input being the detection distance and the first target infrared image, and the output being the laser illumination intensity. This ensures that the power output model can output laser illumination intensity adapted to the current scene based on the real-time collected detection distance and first target infrared image, reducing scene adaptation errors. Furthermore, it eliminates the need to rely on the experience and judgment of medical personnel, reducing human error and further ensuring the safety and stability of laser therapy.

[0065] In some embodiments of this application, the control module further includes: a sensing and judgment module configured to determine a second target infrared image per unit time based on the acquisition time period, perform image segmentation on the second target infrared image to determine an environmental infrared image, extract infrared pixels from the environmental infrared image, and cluster all infrared pixels to determine a clustering range, and sense whether the target's environment causes a loss in laser light intensity based on the clustering range; and a control adjustment module configured to, if it is sensed that the target's environment causes a loss in laser light intensity, reduce the clustering range to determine a difference influence range, determine an adjustment factor for the laser light intensity based on the difference influence range, adjust the laser light intensity according to the adjustment factor, and irradiate the target with the adjusted laser light intensity.

[0066] Specifically, the sensing and judgment module is responsible for identifying whether the environment is causing energy loss to eliminate environmental interference. Based on the first target infrared image, the module determines the acquisition time period. If the wound or treatment area of ​​the target is large, the acquisition time period will be extended accordingly; conversely, it will be appropriately shortened. Based on the acquisition time period, a second target infrared image is determined per unit time, set to be acquired every five seconds. The second target infrared image is essentially still the first target infrared image, but it is multiple acquisitions within a continuous unit time to assess environmental changes. The second target infrared image also includes information such as the target's skin features. The infrared information of the target and its surrounding environment is used to segment the target from the second target infrared image using an image segmentation algorithm. This ensures that the environmental infrared image only contains areas that are not part of the target tissue, such as air, equipment, and obstructions. All infrared pixels in the environmental infrared image are extracted, each representing the infrared radiation intensity at that location. These infrared pixels are then grouped using a clustering algorithm to determine a cluster range, which is a set of regions in the environment with similar infrared characteristics. By analyzing the infrared characteristics of the cluster range, it is possible to determine whether there are factors in the environment that absorb or scatter the laser, such as high humidity, and thus whether the environment causes a loss in laser light intensity. The control and adjustment module is used to compensate for the laser light intensity. If the sensing and judgment module detects that the target's environment is causing a loss in laser light intensity, the control and adjustment module will reduce the cluster range, removing interfering infrared pixels, accurately locating the area of ​​difference in influence, i.e., the area that truly causes energy loss. Based on the infrared characteristics of the area of ​​difference in influence, an adjustment factor is determined, and finally, the adjustment factor is used to correct the laser light intensity, thereby ensuring the target's energy requirements are met.

[0067] Understandably, by acquiring real-time detection distance, infrared images of the first and second targets, and combining them with a power output model to determine the laser illumination intensity, the accuracy of energy is improved. Based on the environmental sensing and dynamic compensation for loss of the infrared probe 353, the laser energy is always matched with the actual needs of the target, avoiding insufficient or excessive laser energy caused by environmental interference, reducing risks such as tissue carbonization. Furthermore, it can automatically identify and compensate for environmental influences without human intervention, avoiding the blindness of human experience, reducing reliance on operator experience, and realizing a closed loop of sensing, judgment, and adjustment, thus ensuring the reliability of the laser.

[0068] In some embodiments of this application, when extracting infrared pixels from an ambient infrared image, clustering all infrared pixels to determine a clustering range, and sensing whether the environment of the target causes a loss in laser light intensity based on the clustering range, the process includes: a sensing judgment module determining the clustering distance between each infrared pixel and the infrared cluster center point, retaining infrared pixels whose clustering distance is less than a preset clustering distance to determine a clustering range, determining a standard ambient infrared image corresponding to the ambient infrared image, and determining a standard clustering range for the standard ambient infrared image; when the clustering range is not equal to the standard clustering range, the environment of the target is sensed to cause a loss in laser light intensity; when the clustering range is equal to the standard clustering range, the environment of the target is sensed not to cause a loss in laser light intensity, and the target is irradiated with the current laser light intensity.

[0069] Specifically, the methods for determining clustering distance and infrared clustering center points are lengthy and well-established, and will not be elaborated upon here. The sensing and judgment module determines the clustering distance between each infrared pixel in the environmental infrared image and the infrared clustering center point, retaining infrared pixels whose clustering distance is less than the preset clustering distance, thus initially screening effective environmental infrared information and eliminating meaningless noise points. Subsequently, a standard environmental infrared image is retrieved. The standard environmental infrared image is determined by taking pictures in a laboratory environment according to the temperature requirements of the laser 33. Similarly, a standard clustering range is determined by clustering. By comparing the clustering range with the standard clustering range, if the two are not equal, it indicates that there are interfering factors in the current environment, such as local temperature anomalies caused by other instruments, resulting in a loss of laser light intensity. If the two are equal, it is considered that the environment has no interference effect on the laser light intensity. At this time, the target can be directly irradiated with the current laser light intensity. Using the standard environmental infrared image as a reference, it is possible to intuitively and objectively determine whether the environment has a loss effect on the laser light intensity. Subsequent adjustments are triggered only when there is environmental loss, while the current intensity is maintained when there is no loss. This ensures the stability of laser energy transmission, avoids unnecessary adjustments, and improves the safety of treatment.

[0070] In some embodiments of this application, when the environment of the target is sensed to cause a loss in the laser light intensity, the clustering range is reduced to determine the range of difference influence, and the adjustment factor of the laser light intensity is determined based on the range of difference influence. This includes: controlling the adjustment module to delete the overlapping part between the clustering range and the standard clustering range, determining the range of difference influence based on the deletion result, obtaining the pixel value of each infrared pixel in the range of difference influence, determining the average pixel value of all pixel values ​​in the range of difference influence, dividing the infrared pixels with pixel values ​​greater than or equal to the average pixel value into a first pixel set, dividing the infrared pixels with pixel values ​​less than the average pixel value into a second pixel set, counting the number of first pixels in the first pixel set, counting the number of second pixels in the second pixel set, and determining the adjustment factor of the laser light intensity based on the number of first pixels and the number of second pixels.

[0071] Specifically, the control adjustment module first removes the overlapping portion between the clustering range and the standard clustering range. The remaining non-overlapping area is the actual range of difference in influence causing loss. The pixel values ​​of all infrared pixels within this range are obtained. These pixel values ​​correspond to infrared radiation intensity, indirectly reflecting the degree of laser energy loss due to the environment. The average pixel value of all pixels is determined, and this value is used as a boundary to divide the infrared pixels into a first set of high pixel values ​​(high temperature case) and a second set of low pixel values ​​(low temperature case). The number of infrared pixels in these two sets is then counted, i.e., the number of first pixels and the number of second pixels. The number of first pixels reflects the degree of laser energy loss due to high temperature, while the number of second pixels reflects the degree of laser energy loss due to low temperature. Removing the overlapping portion eliminates lossless interference areas, ensuring the accuracy of the range of difference in influence. Dividing the pixel sets by average pixel value clearly distinguishes the difference in laser energy loss due to high and low temperatures. Combined with the corresponding number of pixels, the loss distribution is quantified, allowing the adjustment factor to be determined based on objective data. Ultimately, this makes the compensation for laser light intensity more closely match the actual loss situation, both compensating for energy loss and avoiding energy redundancy, thus ensuring the safety of treatment.

[0072] In some embodiments of this application, when determining the adjustment factor of laser illumination intensity based on the number of first pixels and the number of second pixels, the method includes: controlling the adjustment module to determine the ratio of the number of first pixels and the number of second pixels, establishing a rectangular coordinate system with time as the X-axis and the ratio of the number of pixels as the Y-axis, substituting the ratio of the number of pixels per unit time into the rectangular coordinate system to determine the time-temperature curve, obtaining the slope of the time-temperature curve, and determining the adjustment factor of laser illumination intensity based on the slope.

[0073] In some embodiments of this application, when determining the adjustment factor of laser illumination intensity based on the slope, the method includes: when the slope is greater than or equal to 0, controlling the adjustment module to set a first slope and a second slope, wherein the first slope is greater than the second slope; if the slope is greater than the first slope, then the first adjustment factor is determined as the adjustment factor of laser illumination intensity; if the slope is less than or equal to the first slope and greater than the second slope, then the second adjustment factor is determined as the adjustment factor of laser illumination intensity; if the slope is less than the second slope, then the third adjustment factor is determined as the adjustment factor of laser illumination intensity, wherein 0 < first adjustment factor < second adjustment factor < third adjustment factor < 1.

[0074] Specifically, the control adjustment module determines the ratio of the number of first pixels to the number of second pixels. This ratio directly reflects the proportion of the impact of high and low temperatures on the degree of laser energy loss. A rectangular coordinate system is established with time as the X-axis and the quantity ratio as the Y-axis. Substituting the quantity ratios of each unit of time into the rectangular coordinate system generates a time-temperature curve. The slope of the time-temperature curve visually reflects the change in the proportion of laser energy loss due to high and low temperatures over time. When the slope is greater than or equal to 0, it indicates that the high temperature environment causes greater laser energy loss. High temperatures can damage the chip of laser 33 and cause thermal deformation of the lens of laser head 34. The larger the slope, the more severe the high temperature situation, meaning the quantity ratio of the first pixel and the second pixel shows an upward trend. Therefore, adjustment factors less than 1 (first, second, and third) are selected to adjust the laser intensity. After reducing the laser intensity, the irradiation time can be increased accordingly to compensate for the reduced laser energy. Conversely, when the slope is less than 0, the control adjustment module sets a third and fourth slope, with the third slope being greater than the fourth slope. If the slope is greater than the third slope... The fourth adjustment factor is determined as the adjustment factor for laser intensity. If the slope is less than or equal to the third slope and greater than the fourth slope, the fifth adjustment factor is determined as the adjustment factor for laser intensity. If the slope is less than the fourth slope, the sixth adjustment factor is determined as the adjustment factor for laser intensity. Here, 1 < fourth adjustment factor < fifth adjustment factor < sixth adjustment factor < 2. When the slope is less than 0, it indicates that the low temperature of the environment causes greater loss of laser energy. For example, in a low temperature (-5℃) environment, fog in the air will cause the intensity loss after laser propagation. At this time, the laser intensity needs to be increased to offset the scattering loss of fog. Therefore, the smaller the slope, the worse the low temperature condition, that is, the ratio of the number of first pixels to the number of second pixels shows a decreasing trend. Therefore, the fourth, fifth and sixth adjustment factors with a value greater than 1 are selected to adjust the laser intensity, thereby achieving reliable adjustment of laser intensity under different environments.

[0075] In some embodiments of this application, when adjusting the laser illumination intensity according to the adjustment factor, the laser illumination intensity is proportional to the adjustment factor.

[0076] Specifically, the laser intensity is adjusted according to the adjustment factor. Assuming the laser intensity is C and the adjustment factor is J, the adjusted laser intensity is determined to be C*J. By establishing a direct proportional relationship between the laser intensity and the adjustment factor, the precise adjustment of the laser intensity by the environment is achieved, ensuring the stability of laser energy transfer and thus improving the safety of treatment.

[0077] In summary, the beneficial effects of this invention are as follows: The infrared module fixedly connected to the side of the laser module can detect the distance between the laser head and the target in real time, avoiding the blindness of relying on human judgment by the naked eye or a ruler. With the real-time response of the control module, when the target's position changes slightly, causing a change in distance, the control module can quickly adjust the laser energy output of the laser, avoiding the risk of excessive or insufficient energy due to distance deviation. At the same time, the emergency stop knob on the top of the support provides emergency braking protection for sudden situations, further enhancing the safety of operation. One end of the robotic arm is fixedly connected to the support, and the other end is fixedly connected to the laser module, allowing the laser module to flexibly adjust its spatial position and angle, ensuring that the laser head is accurately aligned with the treatment site. The rigid fixing structure of the laser connecting plate and the laser connecting block ensures the stability of the relative position of the laser and the infrared module. The electrical connection between the control module, the robotic arm, and the laser module realizes closed-loop control, further improving the stability of operation. The upper and lower infrared protective shells of the infrared module are slidably connected and cooperate with the groove structure, which not only protects the infrared probe from external interference, but also facilitates quick disassembly and calibration during later maintenance.

[0078] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0079] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0080] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0081] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A superpulse thulium fiber laser therapy machine with an infrared sensing device, characterized in that, include: Support base; A robotic arm, one end of which is fixedly connected to the top of the support base; A laser module is fixedly connected to one end of the robotic arm away from the support base. The laser module includes a laser connection plate, a laser connection block, a laser, and an infrared module. The laser connection plate is fixedly connected to the laser connection block, the laser connection block and the laser are fixedly connected, and the infrared module is fixedly connected to the side of the laser. The infrared module includes an upper infrared housing, a lower infrared housing, and an infrared probe. The upper and lower infrared housings are slidably connected. The upper infrared housing has a groove, and the upper infrared housing is fixedly connected to the infrared probe. The display module is fixedly connected to the top of the support base. The display module includes a display support rod and a display module, and the display module is sleeved on the display support rod. A control module, electrically connected to the robotic arm and the laser module, is used to control the operation of the robotic arm and the laser module; The control module also includes: The acquisition and analysis module is configured to acquire the detection distance between the infrared probe and the target and the infrared image of the first target, and to determine the laser illumination intensity of the laser based on the detection distance, the infrared image of the first target and the power output model; The sensing and judgment module is configured to determine the second target infrared image per unit time based on the acquisition time period, perform image segmentation on the second target infrared image to determine the environmental infrared image, extract the infrared pixels of the environmental infrared image, cluster all the infrared pixels to determine the clustering range, and sense whether the environment of the target causes a loss to the laser light intensity based on the clustering range. The control adjustment module is configured to, if it senses that the environment of the target causes a loss in the laser light intensity, reduce the cluster range to determine the range of differences in influence, determine an adjustment factor for the laser light intensity based on the range of differences in influence, adjust the laser light intensity according to the adjustment factor, and irradiate the target with the adjusted laser light intensity.

2. The ultrapulse thulium fiber laser therapy machine with an infrared sensing device according to claim 1, characterized in that, The display module further includes: Display rotating axis, display support arm, display connecting base, display support block and display screen; The display rotation axis and one end of the display support arm are rotatably connected. The display rotation axis has a blind hole. The end of the display support arm away from the display rotation axis is rotatably connected to the display connection seat. The display connection seat is fixedly connected to the display support block. The display support block and the display screen are slidably connected. The display screen is equipped with several buttons.

3. The ultrapulse thulium fiber laser therapy machine with an infrared sensing device according to claim 2, characterized in that, Also includes: The side of the support base is provided with a protective cover plate, and the protective cover plate has a number of heat dissipation holes, which are distributed in a circular pattern. An emergency stop knob is provided on the top of the support base; The laser module also includes a counterweight and a laser head; The laser is inserted through the counterweight, and the laser head is located at the bottom of the laser.

4. The ultrapulse thulium fiber laser therapy machine with an infrared sensing device according to claim 1, characterized in that, Determining the laser illumination intensity of the laser based on the detection distance, the infrared image of the first target, and the power output model includes: The acquisition and analysis module obtains the laser therapy dataset and divides the laser therapy dataset into a training set and a test set. A random forest model is pre-acquired, trained on the training set, and tested on the trained random forest model using a test set. Finally, the input is determined to be the detection distance and the infrared image of the first target, and the output is the power output model of the laser light intensity of the laser.

5. The ultrapulse thulium fiber laser therapy machine with an infrared sensing device according to claim 4, characterized in that, When extracting infrared pixels from the environmental infrared image, clustering all infrared pixels to determine the clustering range, and sensing whether the environment of the target causes a loss in the laser illumination intensity based on the clustering range, the process includes: The sensing and judgment module determines the clustering distance between each infrared pixel and the infrared clustering center point, and retains infrared pixels whose clustering distance is less than the preset clustering distance to determine the clustering range; Determine the standard environmental infrared image corresponding to the environmental infrared image, and determine the standard clustering range of the standard environmental infrared image; When the clustering range is not equal to the standard clustering range, the environment of the target is sensed to cause a loss in the intensity of the laser light. When the clustering range is equal to the standard clustering range, the environment of the target is not affected by the loss of laser light intensity, and the target is irradiated with the current laser light intensity.

6. The ultrapulse thulium fiber laser therapy machine with an infrared sensing device according to claim 5, characterized in that, If the environment of the target is sensed to cause a loss in the laser light intensity, the clustering range is reduced to determine the range of differences in influence. When determining the adjustment factor for the laser light intensity based on this range of differences in influence, the process includes: The control adjustment module deletes the overlapping part between the clustering range and the standard clustering range, determines the difference influence range based on the deletion result, obtains the pixel value of each infrared pixel in the difference influence range, and determines the average pixel value of all pixel values ​​in the difference influence range. Infrared pixels with pixel values ​​greater than or equal to the average pixel value are divided into a first pixel set, and infrared pixels with pixel values ​​less than the average pixel value are divided into a second pixel set. The number of first pixels in the first pixel set is counted, and the number of second pixels in the second pixel set is counted. The adjustment factor for the laser illumination intensity is determined based on the first number of pixels and the second number of pixels.

7. The ultrapulse thulium fiber laser therapy machine with an infrared sensing device according to claim 6, characterized in that, When determining the adjustment factor for the laser illumination intensity based on the first pixel count and the second pixel count, the following steps are included: The control adjustment module determines the ratio of the number of the first pixel to the number of the second pixel. Establish a rectangular coordinate system with time as the X-axis and quantity ratio as the Y-axis, and substitute the quantity ratio of all unit time into the rectangular coordinate system to determine the time-temperature curve; Obtain the slope of the time-temperature curve, and determine the adjustment factor of the laser illumination intensity based on the slope.

8. The ultrapulse thulium fiber laser therapy machine with an infrared sensing device according to claim 7, characterized in that, When determining the adjustment factor for the laser illumination intensity based on the slope, the following steps are included: When the slope is greater than or equal to 0, the control adjustment module sets a first slope and a second slope, wherein the first slope is greater than the second slope; If the slope is greater than the first slope, then the first adjustment factor is determined as the adjustment factor for the laser illumination intensity; If the slope is less than or equal to the first slope and greater than the second slope, then the second adjustment factor is determined as the adjustment factor for the laser illumination intensity. If the slope is less than the second slope, then the third adjustment factor is determined as the adjustment factor for the laser illumination intensity; Where 0 < first adjustment factor < second adjustment factor < third adjustment factor < 1.

9. The ultrapulse thulium fiber laser therapy machine with an infrared sensing device according to claim 8, characterized in that, When adjusting the laser illumination intensity according to the adjustment factor, the following is included: The laser illumination intensity is directly proportional to the adjustment factor.

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