Light output control method and device of intense pulsed light treatment handpiece and storage medium

Abstract

The application discloses a light emission control method and device of an intense pulsed light treatment hand tool and a storage medium, and relates to the field of medical instruments. The application collects the three-dimensional movement speed and three-dimensional attitude angle of the intense pulsed light treatment hand tool in real time through an inertial navigation unit. Then, the light emission interval is determined based on the spot size of a light source emitting assembly and the three-dimensional movement speed, and a light emission instruction is generated. If the attitude angle of each dimension of the three-dimensional attitude angle is within a preset effective attitude angle range, the light emission instruction is sent to the light source emitting assembly to control the light source emitting assembly to emit pulsed light at the light emission interval. If the attitude angle of any dimension exceeds the preset effective attitude angle range, the light emission instruction is temporarily suspended from being sent to the light source emitting assembly, and the light emission interval is recalculated after the attitude angle of each dimension enters the preset effective attitude angle range. The light emission control method of the intense pulsed light treatment hand tool can balance the spot uniformity, the effectiveness and safety of light emission control.

Description

Technical Field

[0001] This application relates to the field of medical device control technology, specifically to a method, device, and storage medium for controlling the light output of a strong pulsed light therapy handpiece. Background Technology

[0002] Intense pulsed light (IPL) is a broadband pulsed light (500-1200 nm) that selectively targets melanin, hemoglobin, or water molecules in the skin through photothermal action. It is used to treat pigmentation, vascular lesions, hair removal, acne, and photoaging. Its core advantages lie in its non-invasive nature, broad applicability, and ability to stimulate collagen regeneration. Traditional IPL treatment handpieces primarily employ two light emission control modes: a sliding mode and a spot-application mode. The sliding mode requires the operator to move the handpiece at a constant speed; otherwise, speed fluctuations can lead to overlapping or missed spots. Energy overlap can cause cumulative burns, while missed spots result in ineffective treatment. The spot-application mode provides precise, layered treatment for focal lesions (such as dark spots and large blood vessels), requiring manual, point-by-point operation. This method is less efficient, relies heavily on the operator's experience, and makes it difficult to ensure uniform spot coverage. Furthermore, when the handpiece is tilted, raised, or flipped, the instantaneous speed load requirement and the light emission window not effectively adhering to the skin will still trigger ineffective light emission, making it difficult for the light spot to act on the treatment area, resulting in energy waste and reduced treatment efficiency. Traditional light emission control modes such as sliding mode and fixed-point application mode have problems such as poor light emission accuracy, high ineffective light emission rate, and greater treatment safety risks. Summary of the Invention

[0003] The purpose of this application is to provide a method, device, and storage medium for controlling the light output of an intense pulsed light therapy handpiece, in order to solve the problems of poor light output accuracy, high ineffective light output rate, and high treatment safety risks in the traditional light output control mode of intense pulsed light therapy handpieces.

[0004] To achieve the above objectives, the first aspect of this application provides a light emission control method for an intense pulsed light therapy handpiece, applied to the handpiece, which includes an inertial navigation unit, a light source emitting assembly, and a controller. The light emission control method includes:

[0005] The inertial navigation unit collects the three-dimensional moving speed and three-dimensional attitude angle of the intense pulsed light therapy handpiece in real time.

[0006] The light emission interval is determined based on the light spot size of the light source emitting component and the three-dimensional moving speed, and a light emission command is generated, wherein the light emission interval is matched with the light spot size;

[0007] The three-dimensional attitude angles are compared with a preset effective attitude angle range. If the attitude angles of each dimension of the three-dimensional attitude angles are within the preset effective attitude angle range, the light emission command is sent to the light source emission component to control the light source emission component to emit pulse light at the light emission interval.

[0008] If the attitude angle in any dimension exceeds the preset effective attitude angle range, the sending of the light emission command to the light source emitting component is paused until the attitude angle in each dimension enters the preset effective attitude angle range, and then the light emission interval is recalculated.

[0009] A second aspect of this application provides a light emission control device for an intense pulsed light (IPL) therapy handpiece, applied to the IPL therapy handpiece, wherein the IPL therapy handpiece includes an inertial navigation unit, a light source emitting assembly, and a controller, and the light emission control device includes:

[0010] The acquisition module is used to acquire the three-dimensional moving speed and three-dimensional attitude angle of the intense pulsed light therapy handpiece in real time through the inertial navigation unit;

[0011] A generation module is used to determine the light emission interval based on the light spot size of the light source emitting component and the three-dimensional moving speed, and to generate a light emission command, wherein the light emission interval matches the light spot size;

[0012] The sending module is used to compare the three-dimensional attitude angle with a preset effective attitude angle range. If the attitude angle of each dimension of the three-dimensional attitude angle is within the preset effective attitude angle range, the light emission command is sent to the light source emitting component to control the light source emitting component to emit pulse light according to the light emission interval.

[0013] The pause module is used to pause sending the light emission command to the light source emitting component if the attitude angle in any dimension exceeds the preset effective attitude angle range, until the attitude angle in each dimension enters the preset effective attitude angle range, and then recalculate the light emission interval.

[0014] A third aspect of this application provides a computer-readable storage medium storing a program that can be loaded by a processor and executed by the above-described method for controlling the light output of an intense pulsed light therapy handpiece.

[0015] The beneficial effects of this application are:

[0016] This application first integrates an accelerometer, gyroscope, and magnetometer into the inertial navigation unit of an intense pulsed light (IPL) therapy handpiece to obtain the three-dimensional movement speed and attitude angle. Then, based on the spot size of the light source emitting component and the three-dimensional movement speed, the light emission interval is determined, and a light emission command is generated. Through the direct correlation between spot size, three-dimensional movement speed, and light emission interval, the light emission interval is no longer a fixed value but is adjusted in real time according to the movement speed of the IPL therapy handpiece to improve spot uniformity. By dynamically adjusting the light emission interval, the interval automatically lengthens when the speed decreases, reducing the occurrence of multiple light exposures to the same area in a short period, thus lowering the risk of burns caused by overlapping. Conversely, shortening the light emission interval when the speed is too high reduces the possibility of missed spots and ineffective treatment. Next, the attitude angles are compared with a preset effective attitude angle range. If all attitude angles are within the preset effective attitude angle range, a light emission command is sent to the light source emitting component to control the light source emitting component to emit pulsed light according to the light emission interval. If any posture angle exceeds the preset effective posture angle range, the transmission of light emission commands to the light source emitting component is paused until the posture angle returns to the preset effective posture angle range, at which point the light emission interval is recalculated. By comparing the posture angle with the preset effective range, light emission commands are sent only when all posture angles are valid, which reduces invalid light emission in abnormal scenarios such as handpiece tilting or lifting. This ensures that the light emission window effectively contacts the skin during each light emission, and the light spot accurately targets the treatment area, reducing energy waste and improving treatment efficiency. Therefore, the light emission control method of the intense pulsed light therapy handpiece in this application can balance light spot uniformity, the effectiveness of light emission control, and safety.

[0017] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] Figure 1 This is a schematic diagram illustrating an application scenario of a light emission control method for a high-intensity pulsed light therapy handpiece provided in this application embodiment;

[0019] Figure 2 This is a flowchart illustrating a light emission control method for an intense pulsed light therapy handpiece provided in one embodiment of this application;

[0020] Figure 3 This is a flowchart illustrating a light emission control method for an intense pulsed light therapy handpiece provided in another embodiment of this application;

[0021] Figure 4 This is a schematic diagram of the light emission control device of a high-intensity pulsed light therapy handpiece provided in one embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the light emission control device of a high-intensity pulsed light therapy handpiece provided in another embodiment of this application.

[0023] Explanation of reference numerals in the attached figures

[0024] 1. Intense pulsed light therapy handpiece; 11. Inertial navigation unit; 12. Light source emitting assembly; 13. Controller. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified. Details are set forth in the following description for illustrative purposes. It should be understood that those skilled in the art will recognize that this application can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid unnecessarily obscuring the description of this application. Therefore, this application is not intended to be limited to the embodiments shown, but rather to be consistent with the broadest scope of the principles and features disclosed herein.

[0027] like Figure 1 As shown, Figure 1 This is a schematic diagram illustrating an application scenario of a light emission control method for an intense pulsed light therapy handpiece provided in this application embodiment. The light emission control method for an intense pulsed light therapy handpiece in this application embodiment is applied to an intense pulsed light therapy handpiece 1. The intense pulsed light therapy handpiece 1 includes an inertial navigation unit 11, a light source emitting component 12, and a controller 13. The controller 13 communicates with the inertial navigation unit 11 and the light source emitting component 12.

[0028] The inertial navigation unit 11 is a miniature integrated sensing unit with built-in accelerometer, gyroscope, and magnetometer. It is the core of the three-dimensional state perception of the intense pulsed light therapy handpiece 1, and can collect and output motion and attitude data of the handpiece 1 in three-dimensional space in real time. Specifically, the accelerometer collects acceleration data in three dimensions of the handpiece 1, and the three-dimensional velocity can be obtained through integration. The gyroscope collects angle increment data of the handpiece 1, and the basic attitude information such as roll and pitch angles can be obtained after integration. The magnetometer collects ambient magnetic field data, corrects the drift error of the gyroscope, accurately calculates the heading angle, and finally outputs the complete three-dimensional attitude angles. The inertial navigation unit 11 can synchronously output displacement data, providing a basis for velocity verification for the controller 13 and reducing calculation errors caused by sensor drift.

[0029] The light source emitting component 12 is the pulsed light output terminal of the intense pulsed light therapy handpiece 1. It is the core execution component for realizing intense pulsed light therapy and includes a xenon lamp light source, an optical filter, a treatment window, and a xenon lamp controller. Upon receiving a control command, the xenon lamp light source emits a 500-1200nm broadband intense pulsed light, targeting skin lesions through selective photothermal action. The optical filter filters out unwanted wavelengths according to the treatment indications, focusing the effective therapeutic light band. The treatment window, as the output channel for the pulsed light, ensures that the light energy is precisely applied to the treatment area while isolating the skin from internal components. The xenon lamp controller receives light output commands (such as light output interval, energy, and pulse width parameters) from the controller 13, driving the xenon lamp light source to emit pulsed light according to preset parameters, ensuring the stability and accuracy of the light output.

[0030] The controller 13 is the central processing and control hub of the intense pulsed light therapy handpiece 1. It can integrate a microprocessor, storage module, and signal transmission interface, and is the component that connects data acquisition and pulse emission. The light emission control method of the intense pulsed light therapy handpiece in this embodiment can be executed based on the controller 13.

[0031] Understandable, Figure 1 The electronic devices in the application scenario of the light emission control method of the intense pulsed light therapy handpiece, or the devices contained in the electronic devices, do not constitute a limitation on the embodiments of this application. That is, the number or type of devices in the application scenario of the light emission control method of the intense pulsed light therapy handpiece, or the number or type of devices contained in each device, do not affect the overall implementation of the technical solution in the embodiments of this application, and can all be considered as equivalent substitutions or derivatives of the technical solutions claimed in the embodiments of this application.

[0032] Those skilled in the art will understand that Figure 1The application scenarios shown are merely one application scenario corresponding to the technical solution of this application, and do not constitute a limitation on the application scenarios of the technical solution of this application. Other application scenarios may include more than one application scenario. Figure 1 The number of more or fewer electronic devices shown, or the network connectivity of electronic devices, for example Figure 1 Only one electronic device is shown in the diagram. It is understood that the scenario of the light emission control method of the intense pulsed light therapy handpiece may also include one or more other electronic devices, which are not limited here. The controller 13 may also include a memory and a processor. The memory is used to store information related to the light emission control method of the intense pulsed light therapy handpiece.

[0033] It should be noted that, Figure 1 The application scenario of the light emission control method of the intense pulsed light therapy handpiece shown is merely an example. The application scenario of the light emission control method of the intense pulsed light therapy handpiece described in the embodiments of this application is to more clearly illustrate the technical solution of the embodiments of this application, and does not constitute a limitation on the technical solution provided in the embodiments of this application.

[0034] Based on the application scenarios of the light emission control method for the aforementioned intense pulsed light (IPL) therapy handpiece, an embodiment of the light emission control method for the IPL therapy handpiece is proposed. A detailed description is provided below with reference to the accompanying drawings.

[0035] Figure 2 This is a flowchart illustrating a method for controlling the light output of an intense pulsed light therapy handpiece according to one embodiment of this application. Figure 2 As shown, the light emission control method can execute steps 201-204 through the processor in the controller 13, which will be described in detail below.

[0036] Step 201: The three-dimensional moving speed and three-dimensional attitude angle of the intense pulsed light therapy handpiece are collected in real time through the inertial navigation unit.

[0037] The three-dimensional movement speed is the real-time movement rate of the intense pulsed light (IPL) therapy handpiece in a three-dimensional coordinate system. This system can include the X-axis for lateral movement, the Y-axis for vertical movement, and the Z-axis for longitudinal movement. The three-dimensional attitude angles are three parameters describing the spatial attitude of the IPL therapy handpiece, including roll, pitch, and yaw angles, which together determine the relative attitude between the IPL therapy handpiece's light emission window and the skin.

[0038] In this embodiment, the inertial navigation unit may include an accelerometer, a gyroscope, and a magnetometer. In one example, a button may be provided on the intense pulsed light (IPL) therapy handpiece. Upon receiving a command from the operator to press the button, a data acquisition start signal is sent to the inertial navigation unit, triggering the data acquisition process. The accelerometer, gyroscope, and magnetometer built into the inertial navigation unit can operate synchronously. The accelerometer acquires the three-dimensional acceleration of the IPL therapy handpiece, the gyroscope synchronously acquires the three-dimensional angle increments, and the magnetometer acquires the ambient magnetic field data to correct for drift. The acquired raw data is then processed.

[0039] Specifically, the three-dimensional acceleration of the intense pulsed light (IPL) therapy handpiece can be acquired first using an accelerometer. The triaxial accelerometer built into the inertial navigation unit can acquire the raw acceleration data of the IPL therapy handpiece in the three-dimensional coordinate system in real time. During the acquisition process, high-frequency noise, such as interference signals caused by slight vibrations, can be filtered out simultaneously. In addition, the acquired three-dimensional acceleration data can be zero-drift calibrated to eliminate the static error of the accelerometer itself. At the same time, considering the usage scenario of the IPL therapy handpiece, the component of gravitational acceleration in the non-motion direction can be filtered out, retaining the effective acceleration data related to the movement of the IPL therapy handpiece.

[0040] Then, the three-dimensional acceleration is integrated to obtain the three-dimensional moving velocity of the intense pulsed light therapy handpiece. For example, the trapezoidal integral method can be used to perform time integration on the preprocessed three-dimensional acceleration data, with a fixed sampling interval (e.g., 10ms) as the step size. The acceleration values ​​at each time point are accumulated to obtain the real-time moving velocity of the intense pulsed light therapy handpiece in three axis directions. After completing a set number of samples, such as 5 times (i.e., 50ms), the final three-dimensional moving velocity data is output to ensure data stability.

[0041] Next, the angle increments acquired by the gyroscope and the magnetic field data acquired by the magnetometer are obtained. The angle increments and magnetic field data are then calculated to obtain the three-dimensional attitude angles of the intense pulsed light (IPL) therapy handpiece. These three-dimensional attitude angles can include roll, pitch, and yaw angles. For example, the controller can integrate the angle increments acquired by the gyroscope to obtain the initial values ​​of the roll and pitch angles of the IPL therapy handpiece. These initial values ​​reflect the real-time rotation state of the handpiece, but gyroscope drift error exists. Therefore, the magnetic field data acquired by the magnetometer is substituted into the attitude calculation algorithm. For example, the attitude calculation algorithm can be an Attitude and Heading Reference System (AHRS) algorithm. By calibrating the gyroscope drift error through the magnetic field direction, accurate three-dimensional attitude angles are obtained.

[0042] By acquiring data in all three dimensions—including 3D movement speed and 3D attitude angles—data support is provided for subsequent precise control. Furthermore, by correcting gyroscope drift using a magnetometer, acceleration integration errors can be reduced, thus decreasing the deviation rate of the acquired data.

[0043] Step 202: Determine the light emission interval based on the light spot size and three-dimensional movement speed of the light source emitting component, and generate a light emission command. The light emission interval is matched with the light spot size.

[0044] The spot size is the effective irradiation range of the pulsed light output by the light source emitting component through the treatment window. It can be set to a fixed value (e.g., 2cm) or a preset adjustable value (1-3cm), and is the baseline parameter determining the spot spacing. The light emission interval is the time difference between two pulse light emissions, a control variable for achieving equidistant light emission, and can vary with the movement speed. For example, the faster the movement speed, the shorter the light emission interval; conversely, the slower the movement speed, the longer the light emission interval. The light emission command is the execution instruction issued by the controller to the light source emitting component, and can include key parameters such as light emission timing, energy, and pulse width.

[0045] Specifically, the controller extracts the acquired three-dimensional movement velocity and determines the light emission interval based on this velocity to ensure dynamic adaptation between the light emission interval and the spot size and movement speed. The light emission command can include the light emission interval, basic energy parameters, and pulse width parameters. In one example, based on the logic of time = distance / velocity, the light emission interval can satisfy the following formula:

[0046] ;

[0047] in, The light emission interval, The size of the light spot. This refers to the three-dimensional movement speed. The light emission interval is the time required for the intense pulsed light (IPL) handpiece to move a distance the size of one light spot. The faster the IPL handpiece moves, the shorter the light emission interval, reducing the possibility of missed light spots during rapid movement. Conversely, the slower the IPL handpiece moves, the longer the light emission interval, reducing the risk of light spot overlap and energy superposition causing skin burns during slow movement.

[0048] In another example, a superposition rate can be introduced, which is the percentage of the area of ​​a single beam that overlaps between two adjacent beams. Therefore, the beam emission interval can satisfy the following formula:

[0049] ;

[0050] in, This is the superposition rate. Therefore... The correction term is to achieve controllable overlap of the light spot to meet the treatment needs of different indications. For example, when This indicates that adjacent light spots do not overlap, making it suitable for scenarios requiring rapid coverage, such as large-area skin rejuvenation and hair removal. When... This indicates that the overlap rate of adjacent light spots is 50%, which can be applied to scenarios that require enhanced energy, such as pigmentation spots and vascular diseases, and can improve the local treatment effect through overlap.

[0051] Unlike traditional fixed-frequency light emission methods, this approach establishes a quantitative correlation between spot size, three-dimensional movement speed, and light emission interval using the aforementioned formula, ensuring that the spot spacing always matches the spot size. The energy parameters in the light emission command are coordinated with the spot size, reducing energy imbalance per unit area caused by spot adjustments (large spots disperse energy, small spots concentrate energy), thus guaranteeing treatment efficacy and safety. Furthermore, the operator can maintain a constant movement speed, and the handpiece's speed can be flexibly adjusted according to operating habits, reducing clinical training costs.

[0052] Step 203: Compare the three-dimensional attitude angles with the preset effective attitude angle range. If the attitude angles of each dimension in the three-dimensional attitude angles are within the preset effective attitude angle range, then send the light emission command to the light source emission component to control the light source emission component to emit pulse light at the light emission interval.

[0053] The preset effective posture angle range refers to the safe posture range set based on clinical treatment needs. It is the standard for determining whether the intense pulsed light (IPL) handpiece is in an effective treatment posture, ensuring that the light emission window is perpendicular to the skin without tilting, lifting, or directional deviation. The three-dimensional posture angles include roll angle, pitch angle, and yaw angle. The preset effective posture angle range can include the preset effective posture angle ranges for roll angle, pitch angle, and yaw angle.

[0054] In one example, the controller can independently compare the roll, pitch, and yaw angles with their corresponding preset effective attitude angle ranges. Only when all three attitude angles remain within their respective ranges and there are no abrupt changes can the attitude be determined as effective. At this point, the controller can send a light emission command via the control bus to the xenon lamp controller in the light source emission assembly. Upon receiving the command, the controller pre-charges the lamp and drives the xenon lamp's emission pulse tubes according to the light emission interval. Simultaneously, it can also send a signal back to the controller indicating successful light emission.

[0055] By determining the posture angle in all dimensions, the emission of light is reduced when the handpiece for intense pulsed light therapy is tilted, raised, or deviated, ensuring that each pulse of light accurately targets the treatment area and reduces energy waste. Emitting pulses only when the posture is effective reduces the risk of light scattering due to the light emission window not fitting properly against the skin, or irradiating non-target areas (such as around the eyes). Stable posture also ensures that the light spot shape remains unchanged and the energy distribution is uniform, reducing light spot deformation caused by abnormal posture.

[0056] Step 204: If the attitude angle in any dimension exceeds the preset effective attitude angle range, then pause sending the light emission command to the light source emission component until the attitude angle in each dimension enters the preset effective attitude angle range, and then recalculate the light interval.

[0057] If any of the roll, pitch, or yaw angles exceeds the preset effective attitude angle range, the controller immediately triggers the pause mechanism, ceasing the transmission of light emission commands to the light source emitting component. Simultaneously, the operator is alerted to any abnormal attitude via the indicator lights and vibration motors built into the intense pulsed light therapy handpiece. Abnormal attitudes may include the handpiece tipping over, tilting forward or backward, or deviating from its intended direction.

[0058] Once the controller detects that the attitude angles in each dimension have entered the preset effective attitude angle range, it can trigger the inertial navigation unit to continuously collect multiple sets of three-dimensional moving speed data, extract the maximum and minimum values, take the average value as the current effective speed, then recalculate the optical interval, update the light output command, and resume transmission to ensure that the light spot spacing is uniform after the light output is resumed.

[0059] Immediately pausing light emission when the posture is abnormal reduces skin burns or ineffective treatment caused by light spot deviation, addressing the core pain point of traditional equipment lacking posture monitoring. Recalculating the light emission interval using multiple speed averages filters out speed fluctuations, ensuring that the light spots remain evenly distributed after emission resumes. Real-time status feedback allows operators to understand the cause of the abnormality without repeatedly confirming the posture, reducing operational difficulty and minimizing ineffective light emission due to accidental touches.

[0060] This application embodiment directly correlates the light spot size, three-dimensional movement speed, and light emission interval, making the light emission interval no longer a fixed value but adjusted in real time according to the movement speed of the intense pulsed light therapy handpiece, thereby improving the uniformity of the light spot. By dynamically adjusting the light emission interval, the light emission interval automatically lengthens when the speed slows down, reducing the occurrence of multiple light exposures to the same area in a short period of time from the source, thus reducing the risk of burns caused by superposition. Conversely, shortening the light emission interval when the speed is too fast can reduce the occurrence of light spot omissions and ineffective treatment. By comparing the posture angle with a preset effective range, the light emission command is sent only when both posture angles are effective, which can reduce ineffective light emission in abnormal scenarios such as handpiece tilting or lifting, ensuring that the light emission window effectively contacts the skin every time light is emitted, and the light spot accurately acts on the treatment area, reducing energy waste and improving treatment efficiency. Therefore, the light emission control method of the intense pulsed light therapy handpiece in this application embodiment can balance light spot uniformity, the effectiveness of light emission control, and safety.

[0061] In step 202, the three-dimensional movement speed can be compared with a preset speed threshold. The preset speed threshold is a critical speed value set based on clinical treatment safety standards. It serves as a quantitative benchmark for distinguishing between effective movement and stagnant / ineffective movement. The value needs to balance treatment efficiency and safety, reducing repeated light emission in the same area due to excessively slow speed. For example, it can be set to 0.1cm / s-0.5cm / s, and can be flexibly adjusted according to the treatment site. The controller can retrieve the preset speed threshold from a preset parameter library.

[0062] If the three-dimensional movement speed is greater than or equal to the preset speed threshold, the intense pulsed light therapy handpiece is determined to be in an effective movement state. Then, the light emission interval is determined based on the light spot size of the light source emitting component and the three-dimensional movement speed, and a light emission command is generated. The light emission command may include the light emission interval, energy parameters, and pulse width parameters.

[0063] If the three-dimensional movement speed is less than the preset speed threshold, the intense pulsed light therapy handpiece is determined to be in a stagnant or slow-moving state. The controller immediately triggers the pause mechanism, which pauses the generation of light emission commands and stops generating new light emission commands until the three-dimensional movement speed is greater than or equal to the preset speed threshold. Then the process of light emission interval calculation and command generation is restarted.

[0064] If the intense pulsed light (IPL) handpiece stops or moves too slowly, continuing to emit light according to the normal procedure can easily lead to the same treatment area receiving multiple pulses of light in a short period, causing energy superposition and potentially resulting in skin burns. By pausing light emission when the speed is deemed insufficient, safety risks can be reduced, and the safety of the treatment can be improved.

[0065] In step 202, the abrupt change value of the three-dimensional movement speed at adjacent time points can also be calculated, and the abrupt change value is compared with a preset abrupt change threshold. The abrupt change value of the three-dimensional movement speed is the absolute difference between the three-dimensional movement speeds at two adjacent sampling time points, and is a quantitative indicator of the instantaneous fluctuation degree of the movement speed of the intense pulsed light therapy handpiece. An excessively large abrupt change value usually indicates that the operation of the intense pulsed light therapy handpiece is unstable, such as sudden shaking, rapid acceleration, or rapid deceleration. The preset abrupt change threshold is a critical value set based on clinical operating experience and equipment control precision, used to distinguish between acceptable stable speed fluctuations and speed abrupt changes that require correction. Its value needs to take into account both control sensitivity and stability.

[0066] In one example, the most recent M displacement-verified 3D movement velocity values ​​can be stored in a velocity buffer in chronological order, where M is a preset number of times. The buffer follows a first-in, first-out (FIFO) principle; when new data is stored, the oldest data is automatically removed to ensure that the buffered data is always the latest continuous sampling values. The effective 3D movement velocity values ​​at the current and previous moments are extracted, and the velocity mutation values ​​between adjacent moments are calculated, reflecting the instantaneous fluctuation amplitude of the intense pulsed light therapy handpiece's movement velocity. A preset mutation threshold is retrieved from a preset parameter library, and the calculated mutation value is compared with the preset mutation threshold.

[0067] If the mutation value is less than or equal to the preset mutation threshold, it indicates that the mutation value has not exceeded the standard, and the light interval can be calculated normally. If the mutation value is greater than the preset mutation threshold, it is determined that the intense pulsed light therapy handpiece has experienced a speed mutation. The average of the three-dimensional movement speed over the previous set number of times N can be used as the current three-dimensional movement speed, and the light interval can be recalculated. The set number of times refers to the range of historical speed values ​​used to replace the current three-dimensional movement speed. This set number of times N is less than the set number of times M in the speed buffer mentioned above. After completing one judgment and calculation, the current speed value can be stored in the speed buffer, and the speed data for the next moment can continue to be collected according to the sampling frequency to achieve real-time monitoring and dynamic correction of speed fluctuations.

[0068] By controlling the instantaneous fluctuations in filtering speed, the occurrence of overlapping or missing light spots due to sudden changes in light spot spacing can be reduced. Mean correction ensures a smooth transition in the resulting light spacing, guaranteeing that the light spots are always evenly distributed according to the preset spacing.

[0069] Since sensor drift may cause errors in the calculation of the light emission interval, in this embodiment of the application, the accuracy of the three-dimensional moving speed can also be verified in reverse based on the displacement data between steps 201 and 202, forming a closed-loop logic of acquisition, verification, correction and calculation. Figure 3 This is a flowchart illustrating a light emission control method for an intense pulsed light therapy handpiece provided in another embodiment of this application. Figure 3 As shown, in another embodiment, the light emission control method may further include steps 205-207.

[0070] Step 205: The displacement of the intense pulsed light therapy handpiece is collected in real time through the inertial navigation unit.

[0071] Displacement is the cumulative distance traveled by the intense pulsed light (IPL) therapy handpiece in three-dimensional space from the start of treatment. It is a core parameter reflecting the actual trajectory of the handpiece, focusing on cumulative changes. The inertial navigation unit can simultaneously perform displacement calculation and acquisition while acquiring three-dimensional acceleration, angle increment, and magnetic field data. The displacement is then calculated; for example, a second integral can be performed on the three-dimensional acceleration data to obtain the cumulative displacement of the IPL therapy handpiece in the three-dimensional coordinate system. Furthermore, the attitude angle corrected by the magnetometer can be combined to eliminate the interference of attitude changes on the displacement calculation.

[0072] Step 206: Compare the differential result of displacement with respect to time with the three-dimensional movement speed.

[0073] The derivative of displacement with respect to time is the velocity derived from the displacement changes between adjacent time points; essentially, it is an indirect quantification of the actual velocity. Because displacement is affected by attitude corrections, the derived velocity is closer to the true value than the velocity derived solely by acceleration integration. In one example, the controller can extract displacement from two consecutive frames and calculate the derivative. Then, it aligns the current frame's 3D velocity and the derivative result using timestamps, ensuring that the comparison is of velocity data from the same time point. Next, it calculates the deviation between the derivative result and the 3D velocity; this deviation directly reflects the degree of difference between the velocity obtained from acceleration integration and the velocity derived from actual displacement.

[0074] Step 207: If the deviation between the differential result and the three-dimensional movement speed exceeds the preset deviation threshold, then correct the three-dimensional movement speed.

[0075] The preset deviation threshold is the critical value that distinguishes between acceptable velocity errors and drift errors requiring correction, necessitating a balance between the sensitivity and stability of the verification. If the deviation between the differential result and the 3D movement velocity does not exceed the preset deviation threshold, the 3D movement velocity can be directly used. Conversely, if the deviation exceeds the preset deviation threshold, a correction strategy needs to be implemented. For example, a weighted correction algorithm can be used to correct the 3D movement velocity. By using weighting coefficients, the more accurate displacement-derived velocity is prioritized, while retaining some of the instantaneous response characteristics of the acceleration integral velocity, reducing the possibility of sudden velocity changes after correction.

[0076] The velocity obtained by integrating a single accelerometer is prone to drift errors over long periods due to sensor zero drift and noise accumulation, leading to inaccuracies in the calculation of the light emission interval. By using the true velocity derived from the displacement differential for reverse verification, this drift can be detected and corrected in a timely manner, improving velocity accuracy and providing reliable data for the calculation of the light emission interval.

[0077] In this embodiment, the light emission command may include energy parameters and pulse width parameters. The energy parameter is the total energy value of the intense pulsed light (IPL) treatment, and is the core parameter determining the intensity of the photothermal effect. Too high an energy parameter can easily lead to skin burns, while too low an energy parameter will not achieve the desired therapeutic effect; therefore, it needs to be dynamically adjusted in conjunction with the movement speed. The pulse width parameter is the duration of a single IPL emission, i.e., the duration of the pulse. A longer pulse width results in a gentler photothermal effect and stronger targeting. A shorter pulse width results in a more concentrated photothermal effect, suitable for rapid, large-area treatment.

[0078] In step 203, if the three-dimensional movement speed is greater than or equal to the first speed, then the energy parameter is determined as the first energy, and the pulse width parameter is determined as the first pulse width. If the three-dimensional movement speed is less than the first speed but greater than or equal to the second speed, then the energy parameter is determined as the second energy, and the pulse width parameter is determined as the second pulse width. Wherein, the second speed is less than the first speed, the second energy is less than the first energy, and the second pulse width is greater than the first pulse width.

[0079] The first and second velocities are critical values ​​for classifying the movement state of the intense pulsed light (IPL) handpiece, serving as the criterion for energy-pulse width parameter grading and matching. The first velocity corresponds to a fast movement state, and the second velocity corresponds to a medium-speed movement state. If the three-dimensional movement velocity is greater than or equal to the first velocity, it indicates a fast movement state, requiring high energy and a narrow pulse width to compensate for the short skin exposure time during fast movement and ensure energy density labeling per unit area. If the three-dimensional movement velocity is less than the first velocity but greater than or equal to the second velocity, the IPL handpiece is determined to be in a focal precision treatment scenario, i.e., a medium-speed movement scenario. In this case, low energy and a wide pulse width are required to reduce energy superposition issues during medium-speed movement, while simultaneously improving the targeting of photothermal effects through a wide pulse width.

[0080] Traditional devices typically use fixed energy and pulse width parameters. When the handpiece moves rapidly during intense pulsed light (IPL) therapy, insufficient light exposure to the skin can easily lead to ineffective treatment, while at medium speeds, energy superposition can increase the risk of burns. This application's embodiment, through speed range division, can selectively match parameters for high-energy, narrow-pulse-width or low-energy, wide-pulse-width pulses, ensuring a constant photothermal dose per unit area of ​​skin at different movement speeds, thus improving safety.

[0081] To further improve the accuracy of light output control, after the light output execution logic in step 203, closed-loop calibration can be used to ensure that the light spots are evenly spaced. For example... Figure 3 As shown, in another embodiment, the light emission control method may further include steps 208-209.

[0082] Step 208: Each time the light source emitting component emits a pulse of light, record the displacement value at the current moment and calculate the actual light spot distance between two adjacent moments.

[0083] The actual spot spacing is the effective displacement difference of the high-intensity pulsed light therapy handpiece along the treatment direction during two adjacent pulse light emission events. It directly corresponds to the center-to-center distance between two spots in the treatment area and is a direct indicator of the uniformity of spot distribution. Simultaneously with sending the light emission command to the light source emitting component, the controller triggers a displacement value recording command, extracting the three-dimensional displacement value of the high-intensity pulsed light therapy handpiece corresponding to the current pulse light emission moment and timestamping it according to the number of light emission events. By calculating the difference in displacement values ​​between two adjacent light emission events, the actual spot spacing between two adjacent moments can be obtained, laying the data foundation for determining whether the spot distribution is uniform.

[0084] Step 209: If the deviation between the actual light spot spacing and the set spacing exceeds the set deviation value, then fine-tune the light emission interval between the next moment and the current moment to ensure that the light spots are distributed at equal intervals.

[0085] The preset spacing is an ideal spot spacing based on treatment needs. It can be calculated from the spot size and overlap rate and serves as the target benchmark for uniform spot distribution. The preset deviation value is the critical value that distinguishes between acceptable spacing error and error requiring calibration. The deviation value is calculated based on the difference between the actual spot spacing and the preset spacing, and then compared with the preset deviation value.

[0086] If the deviation value does not exceed the set deviation value, the current spot spacing is determined to meet the requirement of uniform distribution, and no adjustment is needed; the output interval calculated in step 202 can be directly used. Conversely, if the deviation value exceeds the set deviation value, the spot spacing deviation is determined to be excessive, and it can be fine-tuned in the reverse direction of the deviation to correct the next output interval. In one example, the reverse fine-tuning logic can include the following two methods. If the actual spot spacing is greater than the set spacing, it indicates that the spacing is too large and there is a risk of spot omission; in this case, it can be adjusted according to... Shortening the light emission interval and increasing the light emission frequency to reduce the spacing, among which, This is the adjusted light emission interval. The light emission interval before fine-tuning This is the fine-tuning coefficient. If the actual spot spacing is smaller than the set spacing, it indicates that the spacing is too small, posing a risk of energy superposition. Therefore, it can be adjusted according to... Extending the light emission interval and reducing the light emission frequency increases the spacing. Using the fine-tuned light emission interval as the interval parameter for the next light emission ensures that subsequent light emission is performed according to the calibrated interval. Repeating the calibration process of steps 208-209 for each light emission enables real-time closed-loop control of light emission, calibration, and fine-tuning.

[0087] By monitoring the actual spot spacing in real time and fine-tuning the subsequent light emission interval, the deviation in spot spacing is reduced, improving the uniform coverage of the treatment area. Real-time calibration reduces deviations between actual displacement and theoretical calculations caused by factors such as operator hand tremors, uneven skin surface, and changes in friction between the intense pulsed light therapy handpiece and the skin.

[0088] The light emission control method for the dynamic frequency mode intense pulsed light (IPL) handpiece provided in this application can dynamically adjust the light emission interval according to the real-time movement speed and automatically calculate the light spot spacing to ensure uniform coverage. Furthermore, it can automatically stop light emission when the speed exceeds the limit by real-time monitoring, improving treatment efficiency while reducing safety risks. In addition, the automatic control logic reduces reliance on operator skill. This light emission control method also provides precise coverage, reduces repetitive treatments, and shortens the treatment cycle. It can also be integrated into existing IPL equipment, requiring only an upgrade to the IPL handpiece and control software, making it widely applicable.

[0089] Figure 4 This is a schematic diagram of the light emission control device 400 of a high-intensity pulsed light therapy handpiece provided in one embodiment of this application. Figure 4 As shown, the light emission control device 400 of the intense pulsed light therapy handpiece is applied to the intense pulsed light therapy handpiece. The light emission control device may include a acquisition module 401, a generation module 402, a transmission module 403, and a pause module 404.

[0090] The acquisition module 401 is used to acquire the three-dimensional moving speed and three-dimensional attitude angle of the intense pulsed light therapy handpiece in real time through the inertial navigation unit.

[0091] The generation module 402 is used to determine the light emission interval based on the light spot size and three-dimensional moving speed of the light source emitting component, and to generate a light emission command, wherein the light emission interval matches the light spot size.

[0092] The sending module 403 is used to compare the three-dimensional attitude angle with the preset effective attitude angle range. If the attitude angle of each dimension in the three-dimensional attitude angle is within the preset effective attitude angle range, the light emission command is sent to the light source emitting component to control the light source emitting component to emit pulse light at the light emission interval.

[0093] The pause module 404 is used to pause sending light emission commands to the light source emission component if the attitude angle in any dimension exceeds the preset effective attitude angle range, until the attitude angle in each dimension enters the preset effective attitude angle range, and then recalculates the light interval.

[0094] In this embodiment of the application, the generation module 402 may include a first comparison unit, a generation unit, and a pause unit.

[0095] The first comparison unit is used to compare the three-dimensional movement speed with a preset speed threshold.

[0096] The generation unit is used to determine the light emission interval based on the light spot size of the light source emitting component and the three-dimensional movement speed if the three-dimensional movement speed is greater than or equal to a preset speed threshold, and to generate a light emission command.

[0097] The pause unit is used to pause the generation of light commands if the three-dimensional movement speed is less than a preset speed threshold, until the three-dimensional movement speed is greater than or equal to the preset speed threshold.

[0098] In this embodiment of the application, the generation module 402 may further include a second comparison unit and a recalculation unit.

[0099] The second comparison unit is used to calculate the abrupt change value of the three-dimensional movement speed at adjacent time points and compare the abrupt change value with a preset abrupt change threshold.

[0100] The recalculation unit is used to take the average of the three-dimensional movement speeds of the previous set number of times as the three-dimensional movement speed at the current moment if the mutation value is greater than the preset mutation threshold, and recalculate the optical interval.

[0101] In this embodiment, the light emission interval satisfies the following formula:

[0102] ;

[0103] in, The light emission interval, The size of the light spot. This refers to the three-dimensional movement speed.

[0104] Figure 5 This is a schematic diagram of the light emission control device of a high-intensity pulsed light therapy handpiece provided in another embodiment of this application. Figure 5 As shown in this embodiment, the light emission control device 400 of the intense pulsed light therapy handpiece may further include a correction module 405. The correction module 405 may include a first acquisition unit, a third comparison unit, and a correction unit.

[0105] The first acquisition unit is used to collect the displacement of the intense pulsed light therapy handpiece in real time through the inertial navigation unit.

[0106] The third comparison unit is used to compare the differential result of displacement with respect to time with the three-dimensional movement speed.

[0107] The correction unit is used to correct the three-dimensional movement speed if the deviation between the differential result and the three-dimensional movement speed exceeds a preset deviation threshold.

[0108] In this embodiment, the inertial navigation unit may include an accelerometer, a gyroscope, and a magnetometer. The acquisition module 401 may include a second acquisition unit, an integration unit, a third acquisition unit, and a calculation unit.

[0109] The second acquisition unit is used to acquire the three-dimensional acceleration of the intense pulsed light therapy handpiece collected by the accelerometer.

[0110] The integrator unit is used to integrate the three-dimensional acceleration to obtain the three-dimensional moving speed of the intense pulsed light therapy handpiece.

[0111] The third acquisition unit is used to acquire the angle increments collected by the gyroscope and the magnetic field data collected by the magnetometer.

[0112] The calculation unit is used to calculate the angle increment and magnetic field data to obtain the three-dimensional attitude angles of the intense pulsed light therapy handpiece. The three-dimensional attitude angles include roll angle, pitch angle and yaw angle.

[0113] In this embodiment, the light emission command includes energy parameters and pulse width parameters. The transmitting module 403 may include a first determining unit and a second determining unit.

[0114] The first determining unit is used to determine the energy parameter as the first energy and the pulse width parameter as the first pulse width if the three-dimensional moving speed is greater than or equal to the first speed.

[0115] The second determining unit is used to determine the energy parameter as the second energy and the pulse width parameter as the second pulse width if the three-dimensional moving speed is less than the first speed and greater than or equal to the second speed, wherein the second speed is less than the first speed, the second energy is less than the first energy, and the second pulse width is greater than the first pulse width.

[0116] like Figure 5 As shown in this embodiment, the light emission control device 400 of the intense pulsed light therapy handpiece may further include a verification module 406. The verification module 406 may include a recording unit and a fine-tuning unit.

[0117] The recording unit is used to record the displacement value at the current moment each time the light source emitting component emits a pulse of light, and to calculate the actual light spot distance between two adjacent moments.

[0118] The fine-tuning unit is used to fine-tune the light emission interval between the next moment and the current moment if the deviation between the actual light spot spacing and the set spacing exceeds the set deviation value, so as to ensure that the light spots are distributed at equal intervals.

[0119] This application also provides a computer-readable storage medium storing a program that can be loaded by a processor and executed as a light emission control method for an intense pulsed light therapy handpiece, as described in any of the embodiments of this application.

[0120] Those skilled in the art will understand that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, which may include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to achieve the above functions. For example, the program can be stored in the memory of a device, and when the program in the memory is executed by the processor, all or part of the above functions can be achieved. In addition, when all or part of the functions in the above embodiments are implemented by computer programs, the program can also be stored in a server, another computer, disk, optical disk, flash drive, or external hard drive, etc., and can be downloaded or copied to the memory of a local device, or the system of the local device can be updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be achieved.

[0121] The above examples illustrate this application only to aid understanding and are not intended to limit its scope. Those skilled in the art to which this application pertains can make various simple deductions, modifications, or substitutions based on the ideas presented.

Claims

1. A light emission control device for a high-intensity pulsed light therapy handpiece, characterized in that, The application is applied to an intense pulsed light treatment hand tool, and the intense pulsed light treatment hand tool comprises an inertial navigation unit, a light source emitting assembly and a controller, and the light emitting control device comprises: a collection module, configured to collect three-dimensional movement speed and three-dimensional attitude angle of the intense pulsed light treatment hand tool in real time through the inertial navigation unit; a generation module, configured to determine a light emitting interval based on a light spot size of the light source emitting assembly and the three-dimensional movement speed, and generate a light emitting instruction, the light emitting interval being matched with the light spot size; a sending module, configured to compare the three-dimensional attitude angle with a preset effective attitude angle range, if the attitude angle in each dimension of the three-dimensional attitude angle is within the preset effective attitude angle range, then send the light emitting instruction to the light source emitting assembly to control the light source emitting assembly to emit pulsed light at the light emitting interval; a pause module, configured to if the attitude angle in any dimension exceeds the preset effective attitude angle range, then pause sending the light emitting instruction to the light source emitting assembly, until the attitude angle in each dimension enters the preset effective attitude angle range, then continuously collect a plurality of groups of three-dimensional movement speed data, take the maximum value and the minimum value and then take the average value as a current effective speed, and re-calculate the light emitting interval.

2. The light emission control device according to claim 1, wherein The generation module comprises: a first comparison unit, configured to compare the three-dimensional movement speed with a preset speed threshold value; a generation unit, configured to if the three-dimensional movement speed is greater than or equal to the preset speed threshold value, then determine a light emitting interval based on a light spot size of the light source emitting assembly and the three-dimensional movement speed, and generate a light emitting instruction; a pause unit, configured to if the three-dimensional movement speed is less than the preset speed threshold value, then pause generating the light emitting instruction, until the three-dimensional movement speed is greater than or equal to the preset speed threshold value.

3. The light emission control device according to claim 1, wherein The generation module further comprises: a second comparison unit, configured to calculate a mutation value of the three-dimensional movement speed at adjacent time instants, and compare the mutation value with a preset mutation threshold value; a re-calculation unit, configured to if the mutation value is greater than the preset mutation threshold value, then take an average value of the three-dimensional movement speed in a preset number of times as the three-dimensional movement speed at a current time instant, and re-calculate the light emitting interval.

4. The light emission control device according to claim 1, wherein The light emitting interval satisfies the following formula: ； wherein, is the light-out interval, is the spot size, is the three-dimensional movement speed.

5. The light emission control device according to claim 1, wherein The light emitting control device further comprises a correction module, and the correction module comprises: a first acquisition unit, configured to collect a displacement amount of the intense pulsed light treatment hand tool in real time through the inertial navigation unit; a third comparison unit, configured to compare a differential result of the displacement amount with respect to time with the three-dimensional movement speed; a correction unit, configured to if a deviation of the differential result from the three-dimensional movement speed exceeds a preset deviation threshold value, then correct the three-dimensional movement speed.

6. The light emission control device according to claim 1, wherein The inertial navigation unit comprises an accelerometer, a gyroscope and a magnetometer, and the collection module comprises: a second acquisition unit, configured to acquire three-dimensional acceleration of the intense pulsed light treatment hand tool collected by the accelerometer; an integration unit, configured to integrate the three-dimensional acceleration to obtain the three-dimensional movement speed of the intense pulsed light treatment hand tool; a third acquisition unit, configured to acquire an angle increment collected by the gyroscope and magnetic field data collected by the magnetometer; A solving unit is configured to solve the angle increment and the magnetic field data to obtain the three-dimensional attitude angle of the intense light treatment hand tool, and the three-dimensional attitude angle includes a roll angle, a pitch angle, and a yaw angle.

7. The light emission control device according to claim 1, wherein The light emission instruction includes an energy parameter and a pulse width parameter, and the sending module includes: A first determining unit is configured to determine the energy parameter as a first energy and the pulse width parameter as a first pulse width if the three-dimensional movement speed is greater than or equal to a first speed. A second determining unit is configured to determine the energy parameter as a second energy and the pulse width parameter as a second pulse width if the three-dimensional movement speed is less than the first speed and greater than or equal to a second speed, the second speed is less than the first speed, the second energy is less than the first energy, and the second pulse width is greater than the first pulse width.

8. The light emission control device according to claim 1, wherein The light emission control device further includes a verification module, and the verification module includes: A recording unit is configured to record a displacement value at a current time and calculate an actual light spot interval between two adjacent times each time the light source emission assembly emits pulsed light. A fine adjustment unit is configured to fine adjust the light emission interval between the next time and the current time if a deviation value between the actual light spot interval and a set interval exceeds a set deviation value, so as to ensure that the light spots are distributed at equal intervals.

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