Intraocular pressure regulation and control system based on ultrasonic technology

Abstract

The invention provides an intraocular pressure regulation and control system based on an ultrasonic technology, a positioning module is deployed on the outer side of a target human eyelid and used for positioning a pupil center point of a human eyeball in a first posture, and a measurement module is deployed on the outer side of the target human eyelid and used for measuring the real-time resonant frequency of the human eyeball in the first posture. The ultrasonic module is deployed on the outer side of a target human eyelid, a plurality of array elements of the ultrasonic module are arranged opposite to a human eye trabecular meshwork tissue coverage area, and the ultrasonic module is used for applying ultrasonic energy matched with the human eyeball real-time intraocular pressure parameter to the human eye trabecular meshwork tissue, so that a human eye aqueous humor outflow channel is dredged, and the human eye intraocular pressure parameter is calculated in real time. And human intraocular pressure parameters are adjusted. According to the invention, the intraocular pressure regulation and control system is not in direct contact with the human eyeball tissue, the intraocular pressure parameter is indirectly measured and obtained through the vibration frequency of the human eyeball, and the function of accurately and individually regulating the intraocular pressure of the human body is met by applying ultrasonic energy to the human eye trabecular meshwork tissue.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ultrasonic systems, and particularly relates to an intraocular pressure regulating system based on ultrasonic technology. BACKGROUND

[0002] Intraocular pressure elevation is the most important and intervenable risk factor leading to optic nerve damage. Although the damage to the optic nerve is irreversible, the development of the relevant disease course can be effectively slowed down by controlling the intraocular pressure, and the residual visual function is protected. At present, the main ways to control the intraocular pressure include drug treatment, laser treatment and surgical treatment. The drug treatment has poor compliance, and the patient needs to take medicine for a lifetime. If the medicine is not taken regularly or drug resistance is generated, the intraocular pressure will still fluctuate and the disease will worsen. The treatment schemes of the drug treatment and the laser treatment are difficult to be customized individually, and it is difficult to achieve precise control of the intraocular pressure due to individual differences. The surgical treatment has high risk (such as trabeculectomy, drainage implantation and minimally invasive surgery) and serious complications. In addition, the conventional intraocular pressure detection methods include anesthesia, impact on the cornea or use of air flow to impact the cornea, which have high human discomfort and risk. SUMMARY

[0003] The application provides an intraocular pressure regulating system based on ultrasonic technology to solve the technical problem that the conventional intraocular pressure regulating method is difficult to achieve individualized and precise regulation according to the physiological parameters of different human bodies and effectively reduce the discomfort and risk of the patient.

[0004] To solve the above problems, the technical scheme of the application is as follows: an intraocular pressure regulating system based on ultrasonic technology, comprising: A positioning module is arranged on the outer side of the eyelid of the target human body and is configured to position the pupil center point of the eyeball of the human body in the first posture. A measurement module is arranged on the outer side of the eyelid of the target human body and is configured to measure the real-time resonant frequency of the eyeball of the human body in the first posture and to calculate the intraocular pressure parameter of the human body in real time. An ultrasonic module is arranged on the outer side of the eyelid of the target human body, a plurality of array elements of the ultrasonic module are arranged opposite to the coverage area of the trabecular meshwork tissue of the human eye, and the ultrasonic module is configured to apply ultrasonic energy suitable for the real-time intraocular pressure parameter of the eyeball of the human body to the trabecular meshwork tissue of the human eye, to dredge the aqueous humor outflow channel of the human eye and to regulate the intraocular pressure parameter of the human body.

[0005] Preferably, the positioning module comprises a positioning ring and an auxiliary positioning screen, a through hole is arranged at the center of the positioning ring, and the auxiliary positioning screen is arranged in the through hole area at the center of the positioning ring. The auxiliary positioning screen center is displayed with a fixation icon, and when the human eye is set to fixate on the fixation icon, the human eyeball is in a first posture, and the pupil center point of the human eye is horizontally coaxially arranged with the center point of the positioning module, and the direction from the center point of the positioning module to the pupil center point of the human eye is a first direction; The positioning ring moves along the first direction to abut against the outside of the human eyelid, so that the positioning ring and the human eyeball maintain a relative fixed posture.

[0006] Preferably, when the positioning ring abuts against the outside of the human eyelid of the human eyeball in the first posture, the corneal convex tissue of the human eye is located in the central through-hole region of the positioning ring; The central through-hole region or the circumferential side wall of the positioning ring is provided with a pressure sensor configured to detect the long-time reaction force generated by the human eyeball passing through the human eyelid and facing the positioning ring, and when the reaction force at any moment exceeds a preset threshold range, the human eyeball is marked as deviating from the first posture.

[0007] Preferably, the measurement module includes a driving motor, the output shaft of the driving motor is coupled with the positioning ring, and the driving motor is used to drive the positioning ring to generate periodic micro-vibration of a preset vibration frequency facing the human eye, so as to make the human eyeball generate vibration response of a corresponding frequency; The ultrasonic module emits ultrasonic signals of a preset frequency to the human eye, the measurement module receives echo signals, and after pre-processing the echo signals, the real-time resonance frequency of the human eyeball is obtained; The measurement module inputs the real-time resonance frequency of the human eyeball into a frequency-intraocular pressure relationship model, and the frequency-intraocular pressure relationship model outputs the real-time intraocular pressure parameter of the human eyeball.

[0008] Preferably, the measurement module performs pre-processing on the echo signals, including: IQ demodulation is performed on the echo signals to extract baseband signals, window function processing is performed on the baseband signals, and Fourier transform is performed to obtain the signal spectrum in the frequency range of 200-900 Hz, and the peak value in the signal spectrum is selected as the real-time resonance frequency of the human eyeball.

[0009] Preferably, the frequency-intraocular pressure relationship model is constructed in the following manner: For a subject group, the intraocular pressure parameters of different human bodies are measured respectively to train data; The measurement module drives the human eye to generate a preset vibration response, the ultrasonic module emits ultrasonic signals of a preset frequency to the human eye, and receives echo signals to obtain real-time resonance frequency training data of the human eyeball; The frequency-intraocular pressure relationship model is used for generating the corresponding human intraocular pressure parameter according to the resonance frequency of the eyeball of the human body.

[0010] Preferably, the frequency-intraocular pressure relationship model is constructed in the following manner: For a subject group, the human eyeball is adjusted to a first posture, the ultrasonic module emits ultrasonic signals of a preset frequency to the human eye, and the double-peak time interval of the echo of the front and back surfaces of the cornea, sclera and anterior chamber tissue of the human body is collected, and the thickness feature training data of the cornea, sclera and anterior chamber tissue of the human body is calculated and obtained based on the ultrasonic time delay ranging algorithm; The ultrasonic module emits ultrasonic signals to the human eye from different angles, and the ultrasonic echo reflected by the human eyeball is collected, and the average sound speed distribution training data of the human eyeball is calculated and obtained; The frequency-intraocular pressure relationship model is used for generating the corresponding human intraocular pressure parameter according to the resonance frequency of the eyeball of the human body.

[0011] Preferably, the frequency-intraocular pressure relationship model includes a combination of long short-term memory network LSTM and spiking neural network SNN, recurrent neural network RNN, neural network Transformer based on self-attention mechanism, convolutional neural network CNN or graph neural network GNN.

[0012] Preferably, the measurement module and the ultrasonic module realize output control of ultrasonic energy through a PID control algorithm, and the expression of the PID control algorithm is: wherein, Kp is a proportional coefficient for quickly responding to the deviation of the intraocular pressure of the human body; Ki is an integral coefficient for eliminating steady-state error and making the intraocular pressure of the human body finally stable in the target range; Kd is a differential coefficient for suppressing rapid fluctuations in the adjustment process of the intraocular pressure of the human body.

[0013] Preferably, the output parameter adjustment category of the ultrasonic module based on the PID control algorithm includes output power, duty cycle, pulse width or frequency.

[0014] Preferably, the PID control algorithm is equipped with saturation constraints and anti-integral saturation mechanisms, which are used to automatically limit the output value of the PID control algorithm that exceeds the preset range and to correct the integral term of the PID control algorithm.

[0015] Preferably, the depth of focused ultrasound energy applied by the ultrasound module to the trabecular meshwork of the human eye is limited to the sum of the thickness of the eyelid, the thickness of the conjunctiva, the thickness of the outer layer of the cornea, and the thickness of the superficial layer where the trabecular meshwork is located. The spatial peak time-averaged acoustic intensity of the ultrasound energy applied by the ultrasound module to the trabecular meshwork of the human eye is limited to less than 2 W / cm². 2 .

[0016] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art: This invention provides an intraocular pressure (IOP) regulation system based on ultrasound technology, comprising a positioning module, a measurement module, and an ultrasound module. The positioning module locates the pupil center point of the human eye in a first posture, maintaining the target posture. The measurement module measures the real-time resonant frequency of the human eye in the first posture and calculates the IOP parameters in real time using a frequency-IOP relationship model. Under the negative feedback regulation of a PID control algorithm, the ultrasound module applies ultrasound energy adapted to the real-time IOP parameters to the trabecular meshwork of the eye, clearing the outflow channels of aqueous humor and thus regulating the IOP parameters. With this invention, the IOP regulation system does not directly contact the human eye tissue; it indirectly measures IOP parameters through the vibration frequency of the human eye and achieves precise and personalized IOP regulation by applying ultrasound energy to the trabecular meshwork. Attached Figure Description

[0017] Figure 1 This invention provides a schematic diagram of a module for an intraocular pressure control system based on ultrasound technology; Figure 2 This invention provides a first structural schematic diagram of an intraocular pressure regulation system based on ultrasound technology; Figure 3 This invention provides a schematic diagram of the second structure of an intraocular pressure control system based on ultrasound technology; Figure 4 This invention provides a schematic diagram of the third structure of an intraocular pressure regulation system based on ultrasound technology; Figure 5 This invention provides a schematic diagram of an intraocular pressure regulation system based on ultrasound technology applied to the human eye.

[0018] Explanation of reference numerals in the attached diagram: 1: Positioning ring; 2: Auxiliary positioning screen; 3: Fixed view marker; 4: Ultrasonic transducer array element. Detailed Implementation

[0019] The intraocular pressure regulation system based on ultrasound technology proposed in this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of this invention will become clearer from the following description and claims.

[0020] See Figures 1-5 This embodiment provides an intraocular pressure regulation system based on ultrasound technology, which is used to regulate human intraocular pressure through ultrasound technology. The main structure of the intraocular pressure regulation system includes a positioning module, a measurement module and an ultrasound module. In one embodiment, the intraocular pressure regulation system can also be integrated into an ultrasound transducer device.

[0021] The positioning module is deployed on the outer side of the target human eyelid and is configured to locate the center point of the pupil of the human eyeball in the first posture, thereby realizing the position and posture positioning of the human eyeball. In this embodiment, the first posture of the human eyeball refers to the human eyeball facing the intraocular pressure control system, and the center point of the pupil and the center point of the intraocular pressure control system are arranged horizontally and coaxially.

[0022] The measurement module is deployed on the outer side of the target human eyelid and is configured to measure the real-time resonant frequency of the human eyeball in the first posture and calculate the human intraocular pressure parameters in real time by means of non-direct contact with the human eyeball.

[0023] The ultrasound module is deployed on the outer side of the target human eyelid. Several ultrasound transducer elements of the ultrasound module are arranged opposite to the area covered by the trabecular meshwork of the human eye. It is configured to penetrate the human eyelid and apply ultrasound energy adapted to the real-time intraocular pressure parameters of the human eye to the trabecular meshwork, thereby clearing the outflow channels of aqueous humor in the human eye and regulating the intraocular pressure parameters.

[0024] The trabecular meshwork, located in the anterior chamber angle where the cornea and iris meet, has a sieve-like structure and is the main channel for aqueous humor to flow from inside the eye to outside. In simpler terms, the trabecular meshwork is located in the peripheral area of ​​the pupil; its location can be confirmed by locating the center of the pupil. When the trabecular meshwork is blocked, aqueous humor outflow is impaired, leading to increased intraocular pressure and increasing the risk of diseases such as glaucoma. Applying external force to the trabecular meshwork loosens it due to vibration, thereby clearing the outflow channels of aqueous humor and regulating intraocular pressure.

[0025] In addition, it includes a main control module, which is electrically connected to the positioning module, measurement module, and ultrasonic module, and is used to process and calculate measurement data, output parameters, etc.

[0026] Therefore, this embodiment provides an intraocular pressure regulation system based on ultrasound technology. All components of the intraocular pressure regulation system are deployed on the outer side of the human eyelid and do not directly contact the human eyeball. First, the distribution position of the human eyeball structure is determined by the positioning module. Then, the real-time resonant frequency of the human eyeball is measured to indirectly calculate and obtain the real-time intraocular pressure parameters of the human eyeball. Finally, the ultrasound module is used to apply corresponding ultrasound energy to the trabecular meshwork of the human eye. Through biomechanical stimulation, the outflow of aqueous humor and the dynamic regulation of intraocular pressure are assisted.

[0027] The following will provide a more detailed description of the specific composition and functions of the intraocular pressure control system based on ultrasound technology provided in this embodiment: Preferably, in one embodiment, the positioning module includes a positioning ring 1 and an auxiliary positioning screen 2. The positioning ring 1 is a ring structure with a through hole in the center. The auxiliary positioning screen 2 is located in the through hole area in the center of the positioning ring 1. The positioning ring 1 and the auxiliary positioning screen 2 are arranged coaxially.

[0028] The auxiliary positioning screen 2 displays a fixed view icon 3 in the center. The fixed view icon 3 represents the center point of the positioning module. When the human eye is focused on the fixed view icon 3, the human eyeball is in the first posture. At this time, the center point of the human eye's pupil and the center point of the positioning module are arranged horizontally and coaxially. The direction from the center point of the positioning module to the center point of the human eye's pupil is set as the first direction.

[0029] Once the human eyeball is adjusted and rotated to the first posture, the user maintains the posture of the human eyeball and closes the eyelids. Then, the positioning ring 1 moves along the first direction and comes into contact with the outer side of the human eyelid, so that the positioning ring 1 and the human eyeball maintain a relatively fixed posture.

[0030] The positioning ring 1 has a flexible pad on the side facing the human eyeball. The positioning ring 1 is driven by a micro stepper motor to achieve precise movement. The positioning ring 1 has a central through hole area with a circular structure. The human eyeball has an ellipsoidal structure, and the anteroposterior diameter of the human eyeball is slightly larger than its horizontal and vertical diameters. That is, the human cornea has a certain convex curvature in the human eyeball. Therefore, when the positioning ring 1 abuts against the outer side of the human eyelid in the first posture, the convex tissue of the human cornea will be locked in the central through hole area of ​​the positioning ring 1. The positioning ring 1 can achieve the initial limitation of the human eyeball, preventing the human eyeball from rotating excessively during the subsequent intraocular pressure adjustment process, which would cause the ultrasonic energy application position to deviate.

[0031] Furthermore, in one embodiment, a plurality of pressure sensors are provided in the central through-hole area or circumferential sidewall of the positioning ring 1. The pressure sensors are configured to detect the long-term reaction force generated by the human eyeball as it passes the human eyelid towards the positioning ring 1. Since the human cornea has a convex structure, the reaction force generated by different positions of the human eyeball on the corresponding positions of the positioning ring 1 is different. Compared with other positions of the human eyeball, the human cornea generates a stronger reaction force on the pressure sensors in the positioning ring 1. When the human eyeball rotates, the reaction force exerted by the human cornea on each pressure sensor in the positioning ring 1 changes. When the reaction force at any moment exceeds the preset threshold range, it indicates that the human eyeball rotation amplitude is too large, and the human eyeball is marked as deviating from the first posture. At this time, the human eyeball needs to be repositioned.

[0032] Preferably, in one embodiment, the measurement module includes a drive motor, the output shaft of which is coupled to the positioning ring 1 via a flexible connector. The drive motor is used to drive the positioning ring 1 to generate periodic micro-amplitude vibrations of 200Hz–900Hz facing the human eye, thereby triggering a mechanical vibration response of the entire human eyeball at the corresponding frequency.

[0033] Then, the ultrasound module emits a 5MHz ultrasound signal to the human eye, and the measurement module receives the echo signal. After preprocessing the echo signal, the real-time resonant frequency of the human eyeball is obtained. The human eyeball is an elastic tissue. When the intraocular pressure is higher, the tension of the eyeball wall is greater, so the measured resonant frequency of the human eyeball is higher. Theoretically, there is a linear transformation relationship between the resonant frequency of the human eyeball and the intraocular pressure.

[0034] Finally, the measurement module inputs the real-time resonant frequency of the human eyeball into the frequency-intraocular pressure relationship model, and the frequency-intraocular pressure relationship model outputs the real-time intraocular pressure parameters of the human eyeball.

[0035] Specifically, the measurement module performs preprocessing on the echo signal, including the following steps: The measurement module performs IQ demodulation on the echo signal and extracts the baseband signal. Then, it performs window function processing and Fourier transform on the baseband signal to obtain the signal spectrum in the 200-900Hz frequency range. The peak value in the signal spectrum is selected as the real-time resonant frequency of the human eyeball.

[0036] In one embodiment, the frequency-intraocular pressure relationship model is constructed by including: During the debugging phase of the intraocular pressure regulation system, training data on intraocular pressure parameters of different subjects were measured in advance using a planometry tonometer, a dynamic profilometry tonometer, or the Goldmann planometry method for the subject group to collect training data.

[0037] Subsequently, the measurement module drives the human eye to generate a preset vibration response, causing the ultrasound module to emit ultrasound signals of a preset frequency to the human eye and receive echo signals, thereby obtaining real-time resonant frequency training data of the human eyeball under different intraocular pressure conditions.

[0038] A frequency-intraocular pressure (IOP) relationship model is established. Training data of human intraocular pressure parameters and corresponding real-time resonant frequency training data are input into the frequency-intraocular pressure relationship model to perform model training steps. The correlation between human intraocular pressure and human eye resonant frequency is established. The trained frequency-intraocular pressure relationship model can be used to generate corresponding human intraocular pressure parameters based on the resonant frequency of the human eye.

[0039] In another embodiment, the construction of the frequency-intraocular pressure relationship model further includes: During the debugging phase of the intraocular pressure regulation system, the human eyeball was adjusted to the first posture and the ultrasound module emitted a 5 MHz ultrasound signal to the human eye. The time interval between the double peaks of the echoes from the anterior and posterior surfaces of the cornea, sclera, and anterior chamber tissue was collected. Based on the ultrasound time delay ranging algorithm, the thickness feature training data of the human cornea, sclera, and anterior chamber tissue were calculated.

[0040] The ultrasound module is adjusted to emit ultrasound signals to the human eye from different angles, and the ultrasound echoes reflected by the human eyeball are collected to calculate and obtain training data on the average sound velocity distribution inside the human eyeball.

[0041] A frequency-intraocular pressure (IOP) relationship model was established. Training data on IOP parameters of the human eye, as well as training data on the thickness characteristics of the cornea, sclera, and anterior chamber tissues, training data on the average sound velocity distribution inside the human eyeball, and training data on the real-time resonant frequency of the human eyeball were all input into the frequency-intraocular pressure (IOP) relationship model to perform model training steps. The frequency-intraocular pressure (IOP) relationship model is used to further generate corresponding human IOP parameters based on the resonant frequency and geometric parameters of the human eyeball.

[0042] In this embodiment, the multidimensional acoustic and geometric parameters of the human eyeball are used as input features for the frequency-intraocular pressure relationship model. The model is comprehensively modeled from the structural and dynamic dimensions, which can realize auxiliary prediction for different individuals and different intraocular pressure states and adaptive output in complex situations. This further improves the accuracy and personalized adjustment function of human intraocular pressure. It can also support personalized training on the physiological data of the same fixed individual, and meet the long-term tracking and personalized adjustment function of specified human intraocular pressure parameters.

[0043] Among them, the frequency-intraocular pressure relationship model includes a combination of long short-term memory network LSTM and spiking neural network SNN, recurrent neural network RNN, neural network based on self-attention mechanism Transformer, convolutional neural network CNN or graph neural network GNN.

[0044] Preferably, in one embodiment, the measurement module and the ultrasound module control the output of ultrasound energy through a PID control algorithm, and the intraocular pressure regulation system uses the real-time measured intraocular pressure value. Compared with the preset reference intraocular pressure value The difference is used as the control error. The expression for the PID control algorithm is: in, This is a proportionality coefficient used for rapid response to deviations in human intraocular pressure. The integral coefficient is used to eliminate steady-state errors, so that the intraocular pressure in the human body can eventually stabilize within the target range; The differential coefficient is used to suppress rapid fluctuations in intraocular pressure during the human intraocular pressure regulation process.

[0045] The ultrasound module adjusts output parameters based on a PID control algorithm, including output power, duty cycle, pulse width, or frequency, thereby achieving precise ultrasound stimulation of the trabecular meshwork, improving aqueous humor outflow, and dynamically maintaining stable intraocular pressure.

[0046] Furthermore, to ensure the safety of ultrasound use in the intraocular pressure regulation system, saturation constraints and anti-integral saturation mechanisms are set for the PID control algorithm. These mechanisms are used to automatically limit the output value of the PID control algorithm that exceeds the preset range and to correct the integral term of the PID control algorithm, thereby avoiding damage to human eye tissues caused by excessive ultrasound energy output or overshoot.

[0047] Preferably, in one embodiment, the depth of focused ultrasound energy applied by the ultrasound module to the trabecular meshwork of the human eye is limited to the sum of the thickness of the eyelid, the conjunctiva, the outer layer of the cornea, and the superficial layer where the trabecular meshwork is located, ensuring that the ultrasound stimulation generated by the ultrasound module can reach 2 mm subcutaneously and have an axial coverage depth of 2 mm.

[0048] The spatial peak time-averaged intensity of the ultrasound energy applied by the ultrasound module to the trabecular meshwork of the human eye is limited to less than 2 W / cm². 2 To prevent excessive damage to human eye tissues.

[0049] In summary, this invention provides an intraocular pressure (IOP) regulation system based on ultrasound technology, comprising a positioning module, a measurement module, and an ultrasound module. The positioning module locates the pupil center point of the human eye in a first posture, maintaining the target posture. The measurement module measures the real-time resonant frequency of the human eye in the first posture and calculates the IOP parameters in real time using a frequency-IOP relationship model. Under the negative feedback regulation of a PID control algorithm, the ultrasound module applies ultrasound energy adapted to the real-time IOP parameters to the trabecular meshwork of the human eye, thereby clearing the outflow channels of aqueous humor and regulating the IOP parameters. Through this invention, none of the components in the IOP regulation system directly contact the human eye tissue. IOP parameters are indirectly measured by the vibration frequency of the human eye, and by applying ultrasound energy to the trabecular meshwork, the system achieves precise and personalized IOP regulation. This also effectively reduces discomfort and adverse risks during IOP regulation.

[0050] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. An intraocular pressure regulation system based on ultrasound technology, characterized in that, The application relates to a device for measuring intraocular pressure of a human eye, comprising: a positioning module arranged outside the eyelid of the target human eye and configured to position the pupil center of the human eyeball in a first posture; a measuring module arranged outside the eyelid of the target human eye and configured to measure the real-time resonant frequency of the human eyeball in the first posture and to calculate the intraocular pressure parameter of the human eyeball in real time; an ultrasonic module arranged outside the eyelid of the target human eye, a plurality of array elements of the ultrasonic module being oppositely arranged with the coverage area of the human eye trabecular meshwork tissue, and the ultrasonic module being configured to apply ultrasonic energy suitable for the real-time intraocular pressure parameter of the human eyeball to the human eye trabecular meshwork tissue, to dredge the outflow channel of the human eye aqueous humor and to adjust the intraocular pressure parameter of the human eye.

2. The ultrasonic technology-based eye pressure regulation system of claim 1, wherein, The positioning module comprises a positioning ring and an auxiliary positioning screen, the positioning ring is provided with a through hole in the center, and the auxiliary positioning screen is arranged in the center through hole area of the positioning ring; The auxiliary positioning screen is provided with a fixation icon in the center, when the human eye gazes at the fixation icon, the human eyeball is in the first posture, the pupil center of the human eye is coaxially arranged with the center point of the positioning module, and the direction from the center point of the positioning module to the pupil center of the human eye is the first direction; The positioning ring is moved along the first direction and abuts against the outside of the human eyelid, so that the positioning ring and the human eyeball maintain a relative fixed posture.

3. The ultrasonic technology-based eye pressure regulation system of claim 2, wherein, When the positioning ring abuts against the outside of the human eyelid of the human eyeball in the first posture, the corneal convex tissue of the human eye is located in the center through hole area of the positioning ring; A pressure sensor is arranged in the center through hole area or the circumferential side wall of the positioning ring, the pressure sensor is configured to detect the long-time reaction force generated by the human eyeball passing through the human eyelid and facing the positioning ring, and when the reaction force at any moment exceeds a preset threshold range, the human eyeball is marked as deviating from the first posture.

4. The ultrasonic technology-based eye pressure regulation system of claim 1, wherein, The measuring module comprises a driving motor, the output shaft of the driving motor is coupled with the positioning ring, and the driving motor is used for driving the positioning ring to generate periodic micro-amplitude vibration of a preset vibration frequency and facing the human eye, so that the human eyeball generates vibration response of a corresponding frequency; The ultrasonic module emits ultrasonic signals of a preset frequency to the human eye, the measuring module receives echo signals, performs pretreatment on the echo signals, and obtains the real-time resonant frequency of the human eyeball; The measuring module inputs the real-time resonant frequency of the human eyeball into a frequency-intraocular pressure relationship model, and the frequency-intraocular pressure relationship model outputs the real-time intraocular pressure parameter of the human eyeball.

5. The ultrasonic technology-based eye pressure regulation system of claim 4, wherein, The pretreatment of the measuring module on the echo signals comprises: IQ demodulation is performed on the echo signals to extract a baseband signal, a window function is processed on the baseband signal to perform Fourier transform, the signal spectrum in the 200-900 Hz frequency band range is obtained, and the peak value in the signal spectrum is selected as the real-time resonant frequency of the human eyeball.

6. The ultrasonic technology-based eye pressure regulation system of claim 4, wherein, The frequency-intraocular pressure relationship model is constructed in the following manner: In view of a subject group, the intraocular pressure training data of different human eyes are measured in advance respectively; The measurement module drives the human eye to generate a preset vibration response, the ultrasonic module emits an ultrasonic signal of a preset frequency to the human eye, receives a return signal, and obtains real-time resonance frequency training data of the human eyeball; The frequency-intraocular pressure relationship model is established, and the intraocular pressure parameter training data of the human body and the real-time resonance frequency training data of the corresponding human body are input into the frequency-intraocular pressure relationship model to perform a model training step, and the frequency-intraocular pressure relationship model is used to generate the corresponding intraocular pressure parameter of the human body according to the resonance frequency of the human eyeball.

7. The ultrasonic technology-based eye pressure regulation system of claim 6, wherein, The frequency-intraocular pressure relationship model is established, and the intraocular pressure parameter training data of the human body and the real-time resonance frequency training data of the corresponding human body are input into the frequency-intraocular pressure relationship model to perform a model training step, and the frequency-intraocular pressure relationship model is used to generate the corresponding intraocular pressure parameter of the human body according to the resonance frequency of the human eyeball. The frequency-intraocular pressure relationship model is established, and the intraocular pressure parameter training data of the human body and the real-time resonance frequency training data of the corresponding human body are input into the frequency-intraocular pressure relationship model to perform a model training step, and the frequency-intraocular pressure relationship model is used to generate the corresponding intraocular pressure parameter of the human body according to the resonance frequency of the human eyeball. The frequency-intraocular pressure relationship model includes a combination of a long short-term memory network LSTM and a spiking neural network SNN, a recurrent neural network RNN, a neural network Transformer based on a self-attention mechanism, a convolutional neural network CNN, or a graph neural network GNN. The measurement module and the ultrasonic module realize output control of ultrasonic energy through a PID control algorithm, and the expression of the PID control algorithm is:

8. The ultrasonic technology-based eye pressure regulation system of claim 7, wherein, The output parameter adjustment category of the ultrasonic module based on the PID control algorithm includes output power, duty cycle, pulse width, or frequency.

9. The ultrasonic technology-based eye pressure regulation system of claim 1, wherein, The PID control algorithm is provided with a saturation constraint and an anti-integral saturation mechanism, which is used to automatically limit the output value of the PID control algorithm that exceeds the preset range, and corrects the integral term of the PID control algorithm. wherein, is a proportionality coefficient for fast response to the deviation of the intraocular pressure of the human body; is the integral coefficient, used to eliminate steady-state error, so that the intraocular pressure of the human body is finally stabilized in the target range; is the differential coefficient, used to dampen rapid fluctuations in the regulation of intraocular pressure in the human body.

10. The ultrasonic technology-based eye pressure regulation system of claim 9, wherein, The ultrasonic energy focusing depth applied by the ultrasonic module to the human body's trabecular meshwork tissue is limited to the sum of the human eyelid thickness, the conjunctival thickness, the corneal outer layer thickness, and the thickness of the shallow layer where the trabecular meshwork tissue is located; 11. The ultrasonic technology-based eye pressure regulation system of claim 9, wherein, ​ 12. The ultrasonic technology-based eye pressure regulation system of claim 1, wherein, ​ The spatial peak time average acoustic intensity of the ultrasound energy applied by the ultrasound module to the human eye trabecular meshwork tissue is limited to less than 2 W / cm 2 .

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