Actuating mechanism and device of laser diagnosis and treatment device and control method

Abstract

The invention provides an executing mechanism and device of a laser diagnosis and treatment device and a control method. The mechanism comprises a laser assembly, a sound wave detector, a universal joint and a supporting frame. The laser assembly comprises a pulse laser, a diagnosis and treatment laser and a connecting rod; one end of the connecting rod is connected with the first connecting part of the pulse laser, and the other end of the connecting rod is connected with the diagnosis and treatment laser; a first movable part of the universal joint is connected with the supporting frame, and a second movable part of the universal joint is connected with a first connecting part of the pulse laser or connected with the connecting rod; the pulse laser is configured to emit pulse laser to a target object; the diagnosis and treatment laser is configured to emit thermal therapy laser to a target object; the sound wave detector is arranged on the supporting frame and is configured to detect sound waves generated by the target object under the action of the pulse laser. According to the mechanism, the pulse laser and the diagnosis and treatment laser are arranged on the supporting frame through the universal joint, and the application range and convenience of the executing mechanism of the laser diagnosis and treatment device are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of diagnosis and treatment equipment, in particular, relates to an execution mechanism of a laser diagnosis and treatment device, a device and a control method. BACKGROUND

[0002] Obtaining the temperature distribution and imaging features inside an object can provide assistance for laser diagnosis and treatment. Main laser diagnosis and treatment methods include thermal effects (i.e. a therapy that directly acts on the target object by using the thermal effect or photo-mechanical effect of laser), photodynamic and photochemical internalization (i.e. a therapy that makes a certain substance sensitive to heating laser band adhere to the target object by injection, and then performs laser heating), photobiomodulation (i.e. a laser medical method that regulates the physiological environment in the target area by using the sensitivity of certain cells or tissues in the object to heating laser), etc.

[0003] The main technology for obtaining the temperature inside an object is photoacoustic detection technology, that is, a pulsed laser is emitted to the target object, and the temperature is measured by collecting the ultrasonic wave generated by the object based on the photoacoustic effect.

[0004] At present, although there are devices or execution mechanisms of devices that integrate laser diagnosis and treatment and photoacoustic temperature measurement. However, the diagnosis and treatment laser and pulsed laser used to respectively realize laser diagnosis and treatment and photoacoustic temperature measurement usually need to irradiate the target object with laser in a specific way. However, most of the devices or execution mechanisms of devices that integrate laser diagnosis and treatment and photoacoustic temperature measurement can only ensure that the target sample is irradiated with laser in the expected irradiation way when they are used for a specific type of target object. For example: when the target object has different surface curvatures, these devices or execution mechanisms of devices cannot emit laser to the object at the best incident angle.

[0005] That is, the devices or execution mechanisms of devices that integrate laser diagnosis and treatment and photoacoustic temperature measurement have not enough wide application range and high convenience when they face different types of target objects. SUMMARY

[0006] The purpose of the present application is to provide a laser diagnosis and treatment device execution mechanism, device and control method, through the diagnosis and treatment laser for emitting diagnosis and treatment laser and the pulse laser for emitting pulse laser through the universal joint movable setting on the support frame, so that the laser diagnosis and treatment device execution mechanism can be adjusted according to different types of target objects, so as to irradiate the target object with the best incidence angle and the best "focus" (multi-beam laser irradiation at the same position) state, so as to improve the application range and convenience of the laser diagnosis and treatment device execution mechanism.

[0007] In the first aspect, the present application provides a laser diagnosis and treatment device execution mechanism, comprising a laser assembly, an acoustic detector, a universal joint and a support frame; the laser assembly comprises a pulse laser, a diagnosis and treatment laser and a connecting rod; one end of the connecting rod is connected with the first connecting part of the pulse laser, and the other end of the connecting rod is connected with the diagnosis and treatment laser; the first movable end of the universal joint is connected with the support frame, and the second movable end of the universal joint is connected with the first connecting part of the pulse laser or the connecting rod; the pulse laser is configured to emit pulse laser to the target object; the diagnosis and treatment laser is configured to emit heat therapy laser to the target object; the acoustic detector is arranged on the support frame and is configured to detect the acoustic wave generated by the target object under the action of the pulse laser.

[0008] The laser diagnosis and treatment device execution mechanism described above is movable through the universal joint and is arranged on the support frame, so that the laser diagnosis and treatment device execution mechanism can be adjusted according to different types of target objects, so as to irradiate the target object with the best incidence angle and the best "focus" (multi-beam laser irradiation at the same position) state, thereby improving the application range and convenience of the laser diagnosis and treatment device execution mechanism.

[0009] In conjunction with the first aspect, optionally, the mechanism further includes a first drive assembly and a second drive assembly; the universal joint includes a first movable portion, a second movable portion, and a cross universal joint fork; wherein the cross universal joint fork has a transverse axis portion and a longitudinal axis portion; the first movable end is located in the first movable portion, and the second movable end is located in the second movable portion; the first movable portion is rotatably connected to the longitudinal axis portion; wherein the first rotation axis of the first movable portion is parallel to the axial direction of the longitudinal axis portion; the second movable portion is rotatably connected to the transverse axis portion; wherein the second rotation axis of the second movable portion is parallel to the axial direction of the transverse axis portion; the first drive assembly is configured to output a first torque to the transverse axis portion for rotation about the first rotation axis; the second drive assembly is configured to output a second torque to the transverse axis portion for rotation about the second rotation axis.

[0010] The actuator of the aforementioned laser diagnostic device uses a first drive component and a second drive component to drive the transverse and longitudinal axes of the universal joint fork, respectively, thereby achieving angle adjustment of the laser assembly in two dimensions and thus realizing "universal adjustment." Ultimately, this achieves automatic adjustment of the laser assembly and, compared to manual adjustment, improves the accuracy of the adjustment.

[0011] In conjunction with the first aspect, optionally, the number of laser components is at least two; the number of gimbals is the same as the number of laser components; the number of the first drive components is the same as the number of the second drive components; the number of the first drive components is one; or the number of the first drive components is the same as the number of laser components.

[0012] The actuator of the aforementioned laser diagnostic and treatment device, by equipping each laser component + universal joint combination with a first drive component + second drive component, allows each laser component to be adjusted independently and simultaneously, improving adjustment efficiency and thus enhancing the ease of use of the actuator. By configuring only one first drive component + second drive component for all laser component + universal joint combinations and adjusting each laser component in turn, the structure of the actuator is simplified, and the space occupied by the actuator is reduced.

[0013] In conjunction with the first aspect, optionally, the number of the first drive assembly is one; the universal joints are arranged in a circular pattern on the support frame; the first drive assembly includes a first rotary drive member and a first drive wheel; the second drive assembly includes a second rotary drive member and a second drive wheel; the universal joints are provided with a first driven wheel, a second driven wheel, and a transmission wheel; the stator of the first rotary drive member is movably connected to the support frame via a swing arm; wherein, the motion of the first rotary drive member includes oscillation and linear motion; the oscillation center coincides with the center of the circular ring, and the oscillation plane is parallel to the plane containing the circular ring; the direction of the linear motion is perpendicular to the plane containing the circular ring. The first driving wheel is disposed on the rotor of the first rotary drive member, and the first driven wheel and the transmission wheel are disposed on the transverse shaft portion of the universal joint. The first driven wheel and the transmission wheel are in transmission contact. The first driving wheel is configured to contact the transmission wheel and drive the transverse shaft portion to rotate around the first rotation axis through contact transmission. The stator of the second rotary drive member is connected to the rotor of the first rotary drive member through a linkage rod. The second driving wheel is disposed on the rotor of the second rotary drive member, and the second driven wheel is disposed on the longitudinal shaft portion of the universal joint. The second driving wheel is configured to contact the second driven wheel and drive the longitudinal shaft portion to rotate around the second rotation axis through contact transmission.

[0014] The actuator of the aforementioned laser diagnostic device connects the rotor of the first rotary drive component and the stator of the second rotary drive component via a linkage rod. When the first rotary drive component adjusts one degree of freedom of the laser assembly, the second rotary drive component, connected to the second driving wheel, moves along with the second driven wheel, ensuring continuous contact between the two wheels and preventing the transmission from ending. This ensures the effectiveness of adjusting the laser assembly in the other degree of freedom via the second rotary drive component. Furthermore, this ingenious structural design eliminates the need for additional, more sophisticated mechanisms to prevent interference when the first and second drive components, through their circular motion, select the universal joint corresponding to the laser assembly requiring adjustment. This further simplifies the structure of the actuator of the laser diagnostic device.

[0015] In conjunction with the first aspect, optionally, the mechanism further includes a third rotary drive and a linear drive; the stator of the third rotary drive is connected to the support frame, the rotor of the third rotary drive is connected to the stator of the linear drive, and the mover of the linear drive is connected to the swing arm; or the stator of the linear drive is connected to the support frame, the mover of the linear drive is connected to the stator of the third rotary drive, and the rotor of the third rotary drive is connected to the swing arm; the third rotary drive is configured to drive the first rotary drive to swing via the swing arm; the linear drive is configured to drive the first rotary drive to move linearly along a direction perpendicular to the plane containing the ring via the swing arm.

[0016] The actuator of the aforementioned laser diagnostic device drives the entire assembly of "first rotary drive + second rotary drive" to oscillate and move up and down via a third rotary drive and a linear drive, respectively. This achieves full automation of the process of "selecting and adjusting the laser component that needs adjustment," thereby further improving the applicability and convenience of the actuator of the laser diagnostic device.

[0017] In conjunction with the first aspect, optionally, the acoustic detector is mounted on the support frame and surrounded by the ring.

[0018] The actuator of the aforementioned laser diagnostic device improves the accuracy, resolution, and reliability of photoacoustic thermometry and temperature imaging by placing the acoustic detector inside the ring where the laser assembly is located.

[0019] In conjunction with the first aspect, optionally, the acoustic wave detector has an acoustic wave detection end; the acoustic wave detection end is oriented perpendicular to the plane where the ring is located and toward the target object.

[0020] The actuator of the aforementioned laser diagnostic device, with its acoustic wave detector end perpendicular to the plane of the ring, allows the acoustic wave detector to detect sound waves in the direction with the strongest echo energy and the highest signal-to-noise ratio, thereby improving the accuracy of temperature measurement based on the photoacoustic effect.

[0021] In conjunction with the first aspect, optionally, the connecting rod includes a first connecting rod and a second connecting rod; one end of the first connecting rod is connected to the pulsed laser, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, and the other end of the second connecting rod is connected to the diagnostic laser.

[0022] The actuator of the aforementioned laser diagnostic and treatment device, through a rotatable connection between the first and second links, allows for adjustment of the relative position between the pulsed laser and the diagnostic and treatment laser within the laser assembly. This adjustment enables the pulsed laser and the diagnostic and treatment laser to more accurately irradiate the same location on the target object, thereby improving the diagnostic and treatment effect.

[0023] Secondly, this application provides a laser diagnostic and treatment device, including a controller and an actuator of the laser diagnostic and treatment device described in the first aspect; the controller is electrically connected to the pulsed laser, the diagnostic laser, and the acoustic wave detector of the actuator of the laser diagnostic and treatment device; the controller is configured to control the diagnostic laser to emit a thermotherapy laser towards a target object, control the pulsed laser to emit a pulsed laser towards the target object, and control the acoustic wave detector to detect the acoustic waves generated by the target object under the action of the pulsed laser, and determine the temperature of the target object based on the acoustic waves.

[0024] The aforementioned laser diagnostic and treatment device has the same beneficial effects as the actuator of the laser diagnostic and treatment device described in the first aspect or any optional embodiment of the first aspect, and will not be repeated here.

[0025] Thirdly, this application provides a control method for the actuator of a laser diagnostic and treatment device, applied to the actuator of the laser diagnostic and treatment device described in the first aspect; the method includes: controlling a linear drive member of the actuator to output a pulling force and controlling a third rotary drive member to output a first oscillating torque; wherein the direction of the pulling force is the direction in which the first driving wheel of the actuator moves away from the first driven wheel; controlling the linear drive member to output a thrust; wherein the direction of the thrust is opposite to the direction of the pulling force; controlling the first rotary drive member of the actuator to output a first adjusting torque and controlling the second rotary drive member to output a second adjusting torque; controlling the linear drive member to output the pulling force again and controlling the third rotary drive member to output a second oscillating torque.

[0026] The control method for the actuator of the laser diagnostic and treatment device described above has the same beneficial effects as the actuator of the laser diagnostic and treatment device described in the first aspect or any optional embodiment of the first aspect, and will not be repeated here. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A first perspective view of the actuator of the laser diagnostic and treatment device provided in the embodiments of this application; Figure 2 A second perspective view of the actuator of the laser diagnostic and treatment device provided in the embodiments of this application; Figure 3 A perspective view of the universal joint in the actuator of the laser diagnostic and treatment device provided in the embodiments of this application; Figure 4 A third perspective view of the actuator of the laser diagnostic and treatment device provided in the embodiments of this application; Figure 5 A flowchart illustrating the control method for the actuator of the laser diagnostic and treatment device provided in this application embodiment.

[0029] Icons: 100, Actuator of laser diagnostic and treatment device; 110, Pulsed laser; 120, Diagnostic laser; 130, Connecting rod; 131, First connecting rod; 132, Second connecting rod; 140, Acoustic detector; 150, Universal joint; 151, First movable part; 152, Second movable part; 153, Cross universal joint fork; 1531, Horizontal axis; 1532, Vertical axis; 154, First driven wheel; 155, Second driven wheel; 156, Transmission wheel; 160, Support frame; 170, First drive assembly; 171, First rotary drive component; 172, First driving wheel; 180, Second drive assembly; 181, Second rotary drive component; 182, Second driving wheel; 191, Swing arm; 192, Linkage rod; 193, Third rotary drive component; 194, Linear drive component. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0034] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0035] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] Please refer to Figure 1 , Figure 1 This is a first perspective view of the actuator 100 of the laser diagnostic and treatment device provided in this application embodiment. The actuator 100 of the laser diagnostic and treatment device provided in this application embodiment may include a laser assembly, an acoustic wave detector 140, a universal joint 150, and a support frame 160.

[0037] The laser assembly may include a pulsed laser 110, a therapeutic laser 120, and a connecting rod 130.

[0038] One end of the connecting rod 130 can be connected to the first connecting part of the pulsed laser 110, and the other end of the connecting rod 130 can be connected to the diagnostic laser 120. The connecting rod 130 can be straight, bent, or adjustable, for example, the two ends of the rod can be movably connected.

[0039] The first movable part 151 of the universal joint 150 can be connected to the support frame 160, and the second movable part 152 of the universal joint 150 can be connected to the first connecting part of the pulsed laser 110, or the second movable part 152 of the universal joint 150 can be connected to the connecting rod 130. That is to say, the laser assembly is connected to the support frame 160 through the universal joint 150, so that the laser assembly can be adjusted at multiple angles on the support frame 160.

[0040] The pulsed laser 110 can be configured to emit pulsed laser light toward a target object. That is, the therapeutic laser 120 is used to emit therapeutic laser light toward a target object, such as a laser that directly acts on the target object through thermal or photomechanical effects, or a laser that uses a photosensitizer to produce physical and biochemical reactions with tumor cells under the excitation of a specific light source.

[0041] The therapeutic laser 120 can be configured to emit a thermotherapy laser toward a target object. That is, the pulsed laser 110 is used to emit a pulsed laser toward the target object so that the target object generates sound waves based on the photoacoustic effect.

[0042] The acoustic wave detector 140 can be mounted on the support frame 160 and configured to detect the acoustic waves generated by the target object under the action of a pulsed laser. That is, the acoustic waves detected by the acoustic wave detector 140 are typically the acoustic waves generated by the target object under the action of a pulsed laser, based on the photoacoustic effect. The acoustic wave detector 140 can send the detected acoustic waves to a controller to determine the temperature of the target object based on the acoustic waves.

[0043] In the above implementation process, the diagnostic laser 120 for emitting diagnostic laser and the pulse laser 110 for emitting pulsed laser are movably mounted on the support frame 160 via the universal joint 150. This allows the actuator 100 of the laser diagnostic device to adjust the diagnostic laser 120 and the pulse laser 110 according to different types of target objects, thereby irradiating the target object with the best incident angle and the best "focus" (multiple laser beams irradiating the same position), thus improving the applicability and convenience of the actuator 100 of the laser diagnostic device.

[0044] Please refer to Figure 2 and Figure 3 , Figure 2 This is a second perspective view of the actuator 100 of the laser diagnostic and treatment device provided in the embodiments of this application; Figure 3 This is a perspective view of the universal joint 150 in the actuator 100 of the laser diagnostic device provided in this application embodiment. In some optional embodiments, the actuator 100 of the laser diagnostic device provided in this application embodiment may further include a first drive assembly 170 and a second drive assembly 180.

[0045] The universal joint 150 may include a first movable part 151, a second movable part 152, and a cross universal joint 150 fork. The cross universal joint 150 fork may have a horizontal axis part 1531 and a vertical axis part 1532. That is, the cross universal joint 150 fork may be a "cross fork" shaped part.

[0046] The first movable end can be located in the first movable part 151, and the second movable end can be located in the second movable part 152. The first movable part 151 can be rotatably connected to the longitudinal axis part 1532. The first axis of rotation of the first movable part 151 can be parallel to the axial direction of the longitudinal axis part 1532. The second movable part 152 can be rotatably connected to the transverse axis part 1531. The second axis of rotation of the second movable part 152 can be parallel to the axial direction of the transverse axis part 1531.

[0047] The first drive assembly 170 can be configured to output a first torque about a first rotation axis to the transverse shaft portion 1531. The first drive assembly 170 may include a corresponding drive member, or it may also include a corresponding transmission member. For example, the first drive assembly 170 may include a first rotary drive member 171 and a first drive wheel 172, with the first rotary drive member 171 outputting the first torque to the transverse shaft portion 1531 via the first drive wheel 172; or the first drive assembly 170 may include a first linear member and a first rack, with the first rack meshing with a gear provided on the transverse shaft portion 1531, thereby converting the tension or thrust output by the first linear member into a first torque, which is then output to the transverse shaft portion 1531. Based on these two examples, those skilled in the art can adopt other forms of the first drive assembly 170 to output the first torque to the transverse shaft portion 1531, using the same concept and the properties of the corresponding drive member and transmission member.

[0048] The second drive assembly 180 can be configured to output a second torque about a second rotation axis to the longitudinal axis portion 1532. The second drive assembly 180 may include a corresponding drive member, or it may also include a corresponding transmission member. For example, the second drive assembly 180 may include a second rotary drive member 181 and a second drive wheel 182, with the second rotary drive member 181 outputting the second torque to the longitudinal axis portion 1532 via the second drive wheel 182; or the second drive assembly 180 may include a second linear member and a second rack, with the second rack meshing with a gear provided on the longitudinal axis portion 1532, thereby converting the tension or thrust output by the second linear member into a second torque, which is then output to the longitudinal axis portion 1532. Based on these two examples, those skilled in the art can also adopt other forms of the second drive assembly 180 to output the second torque to the longitudinal axis portion 1532, using the same concept and the properties of the corresponding drive member and transmission member.

[0049] Alternatively, the controller mentioned above can also be used to control the first drive component 170 and the second drive component 180.

[0050] In the above implementation process, the horizontal axis 1531 and the vertical axis 1532 of the universal joint 150 are driven by the first drive component 170 and the second drive component 180 respectively, thereby realizing the angle adjustment of the laser component in two dimensions, and thus achieving "universal adjustment". Ultimately, this achieves automatic adjustment of the laser component, and also improves the adjustment accuracy compared to manual adjustment.

[0051] Please refer to Figure 4 , Figure 4 This is a third perspective view of the actuator 100 of the laser diagnostic and treatment device provided in this application embodiment. In some optional embodiments, the number of laser components can be at least two. The number of gimbals 150 can be the same as the number of laser components. That is, each laser component is equipped with a gimbal 150.

[0052] The number of first drive components 170 and the number of second drive components 180 can be the same. There can be only one first drive component 170. Alternatively, the number of first drive components 170 can be the same as the number of laser components. That is, for each universal joint 150 configured with a laser component, a combination of a corresponding number of first drive components 170 and second drive components 180 can drive the cross joint 150 forks of each universal joint 150 one-to-one. Alternatively, only one combination of first drive components 170 and second drive components 180 can drive the cross joint 150 forks of each universal joint 150.

[0053] In the design involving only one set of first drive assembly 170 and second drive assembly 180, the first drive assembly 170 and the second drive assembly 180 can be movably connected to the support frame 160 as a whole, or movably connected to the support frame 160 separately. Based on the mobility of the first drive assembly 170 and the second drive assembly 180 on the support frame 160, after adjusting the angle of one laser assembly, the first drive assembly 170 and the second drive assembly 180 can be moved to the adjustment position of the universal joint 150 corresponding to the next laser assembly, and then the angle of the laser assembly can be adjusted. This process continues until the angles of all laser assemblies are adjusted.

[0054] In the above implementation process, by configuring a first drive component 170 and a second drive component 180 for each combination of laser components and universal joints 150, each laser component can be adjusted independently and simultaneously, improving adjustment efficiency and thus enhancing the ease of use of the actuator 100 of the laser diagnostic and treatment device. By configuring only one first drive component 170 and a second drive component 180 for all combinations of laser components and universal joints 150, and adjusting each laser component in turn, the structure of the actuator 100 of the laser diagnostic and treatment device is simplified, and the space occupied by the actuator 100 of the laser diagnostic and treatment device is reduced.

[0055] Please continue to refer to Figure 4 In some alternative implementations, the number of first drive components 170 can be one. Correspondingly, the number of second drive components 180 is also one. That is, only one set of first drive components 170 + second drive components 180 is configured for all combinations of laser components + gimbal 150.

[0056] Universal joints 150 can be arranged in a circular pattern on the support frame 160. The support frame 160 may include a disc-shaped mounting portion, on which each universal joint 150 can be arranged along the edge of the disc-shaped mounting portion.

[0057] The first drive assembly 170 may include a first rotary drive 171 and a first drive wheel 172. The second drive assembly 180 may include a second rotary drive 181 and a second drive wheel 182. The universal joint 150 may be provided with a first driven wheel 154, a second driven wheel 155, and a transmission wheel 156. The first rotary drive 171 may be a first servo motor, and the second rotary drive 181 may be a second servo motor.

[0058] The stator of the first rotary drive 171 can be movably connected to the support frame 160 via the swing arm 191. The stator of the first rotary drive 171 can be the housing of the first servo motor. The motion of the first rotary drive 171 can include oscillation and linear motion. The oscillation center can coincide with the center of the ring, and the oscillation plane can be parallel to the plane containing the ring. The direction of the linear motion can be perpendicular to the plane containing the ring. That is, the first rotary drive 171 can perform circular motion around the perpendicular line to the center of the disc-shaped mounting portion.

[0059] The first driving wheel 172 can be disposed on the rotor of the first rotary drive member 171, and the first driven wheel 154 and the transmission wheel 156 can be disposed on the transverse shaft portion 1531 of the universal joint 150. The first driven wheel and the transmission wheel are in driving contact. Specifically, the transmission wheel 156 and the first driven wheel 154 can be rotatably connected to the transverse shaft portion 1531 of the universal joint 150. For example, they can be rotatably connected to the transverse shaft portion 1531 of the universal joint 150 by means of a rotating pin. Alternatively, other methods known to those skilled in the art can be used to achieve rotatable connection between the transmission wheel 156 and the first driven wheel 154 and the transverse shaft portion 1531, respectively.

[0060] It is worth mentioning that the diameters of the first driving wheel 172 and the first driven wheel 154 should be the same to ensure that the angular velocities of the first driving wheel 172 and the first driven wheel 154 are equal under the transmission of the transmission wheel 156. The rotor of the first rotary drive member 171 can be the output shaft of the first servo motor and can be keyed to the first driving wheel 172. The first driving wheel 172 can be configured to contact the transmission wheel 156 and can drive the horizontal shaft portion 1531 to rotate around the first rotation axis through contact transmission. The rims of the first driving wheel 172 and the first driven wheel 154 can be made of anti-slip materials, such as silicone or rubber, to increase the friction between their contact surfaces, reduce the probability of slippage between the first driving wheel 172 and the first driven wheel 154, and improve the accuracy of controlling the adjustment angle of the laser assembly by controlling the rotation angle of the rotor of the first rotary drive member 171.

[0061] The stator of the second rotary drive 181 can be connected to the rotor of the first rotary drive 171 via a linkage 192. The linkage 192 can be straight, bent, or curved. When the stator of the second rotary drive 181 is connected to the rotor of the first rotary drive 171 via the linkage 192, the second rotary drive 181 as a whole can oscillate around the rotor of the first rotary drive 171. Moreover, the oscillation angle of the second rotary drive 181 can be the same as the rotation angle of the first driven wheel 154. Consequently, under the drive of the first rotary drive 171, the change in the relative position between the second driven wheel 155 and the second driving wheel 182 will be synchronized with the change in the relative position between the first movable part 151 and the second movable part 152. That is, although the position of the second driven wheel 155 changes under the action of the first driving member, the position of the second driving wheel 182 connected to the second driving member also changes accordingly under the action of the first driving member, thereby ensuring the continuous contact between the second driving wheel 182 and the second driven wheel 155 and avoiding the failure of adjusting the laser assembly through the second rotation driving member 181.

[0062] The second driving wheel 182 can be disposed on the rotor of the second rotary drive 181, and the second driven wheel 155 can be disposed on the longitudinal shaft portion 1532 of the universal joint 150. The rotor of the second rotary drive 181 can be the output shaft of the second servo motor and can be keyed to the first driving wheel 172. The second driving wheel 182 can be configured to contact the second driven wheel 155 and can drive the longitudinal shaft portion 1532 to rotate around the second rotation axis through contact transmission. The rims of the second driving wheel 182 and the second driven wheel 155 can be made of anti-slip materials, such as silicone or rubber, to increase the friction between their contact surfaces, reduce the probability of slippage between the second driving wheel 182 and the second driven wheel 155, and improve the accuracy of controlling the adjustment angle of the laser assembly by controlling the rotation angle of the rotor of the second rotary drive 181.

[0063] It is worth mentioning that the diameters of the second driving wheel 182 and the second driven wheel 155 can be equal, but the diameters of the second driving wheel 182 and the first driving wheel 172 can be unequal, and the diameters of the second driven wheel 155 and the first driving wheel 172 can also be unequal.

[0064] In the above implementation process, the rotor of the first rotary drive 171 and the stator of the second rotary drive 181 are respectively connected to the two ends of the linkage 192. When the first rotary drive 171 adjusts the laser assembly in one degree of freedom, the second rotary drive 181, connected to the second driving wheel 182, can move with the movement of the second driven wheel 155, thereby ensuring continuous contact between the second driving wheel 182 and the second driven wheel 155, avoiding the transmission termination between the second driving wheel 182 and the second driven wheel 155, that is, ensuring the effectiveness of adjusting the laser assembly in another degree of freedom through the second rotary drive 181. Based on this, through this ingenious structural design, when the first drive assembly 170 and the second drive assembly 180 select the universal joint 150 corresponding to the laser assembly to be adjusted through their circumferential movement, the engagement between the first drive assembly 170 and the second drive assembly 180 and the first driven wheel 154 and the second driven wheel 155 on each universal wheel does not require additional, more refined moving mechanisms for interference elimination. In other words, the structure of the actuator 100 of the laser diagnostic device is further simplified.

[0065] Please continue to refer to Figure 4 In some alternative embodiments, the mechanism may further include a third rotary drive 193 and a linear drive 194. The third rotary drive 193 may specifically be a third servo motor, and the linear drive 194 may specifically be an electromagnetic vertical brake.

[0066] The stator of the third rotary drive 193 can be connected to the support frame 160, the rotor of the third rotary drive 193 can be connected to the stator of the linear drive 194, and the mover of the linear drive 194 can be connected to the swing arm 191; alternatively, the stator of the linear drive 194 can be connected to the support frame 160, the mover of the linear drive 194 can be connected to the stator of the third rotary drive 193, and the rotor of the third rotary drive 193 can be connected to the swing arm 191. In other words, torque and linear tension or thrust can be output to the swing arm 191 through the third rotary drive 193 and the linear drive 194 respectively. This achieves the circular and vertical motion of the entire system of "first rotary drive 171 + second rotary drive 181".

[0067] The third rotary drive 193 can be configured to drive the first rotary drive 171 to swing via the swing arm 191. The linear drive 194 can be configured to drive the entire "first rotary drive 171 + second rotary drive 181" to move linearly along a direction perpendicular to the plane containing the ring via the swing arm 191.

[0068] In practical applications, the initial state is that the first driving wheel 172 and the second driving wheel 182 are engaged with the first driven wheel 154 and the second driven wheel 155 on the first universal joint 150, respectively. After adjusting the laser assembly corresponding to the first universal wheel, the linear drive 194 can be controlled to raise the entire assembly of the "first rotary drive 171 + second rotary drive 181" so that the first driving wheel 172 and the second driving wheel 182 are separated from the first driven wheel 154 and the second driven wheel 155 on the first universal joint 150, respectively. Then, the third rotary drive 193 is controlled to swing the entire assembly of the "first rotary drive 171 + second rotary drive 181" at a certain angle to align with the first driven wheel 154 and the second driven wheel 155 on the second universal joint 150. The linear drive 194 then lowers the entire assembly of "first rotary drive 171 + second rotary drive 181" further, causing the first drive wheel 172 and the second drive wheel 182 to approach and engage with the first driven wheel 154 and the second driven wheel 155 on the second universal joint 150, respectively. Subsequently, the laser assembly corresponding to the second universal joint 150 is adjusted. This adjustment is achieved by the first rotary drive 171 and the second rotary drive 181 outputting corresponding torques.

[0069] Alternatively, the third rotary drive 193 and the linear drive 194 can also be controlled by the controller mentioned above.

[0070] In the above-mentioned process, the entire assembly of "first rotary drive 171 + second rotary drive 181" is driven to oscillate and move up and down by the third rotary drive 193 and the linear drive 194 respectively. This achieves full automation of the process of "selecting and adjusting the laser component that needs to be adjusted", thereby further improving the applicability and convenience of the actuator 100 of the laser diagnostic and treatment device.

[0071] Please continue to refer to Figure 4 In some alternative embodiments, the acoustic detector 140 may be mounted on the support frame 160 and surrounded by a ring.

[0072] The number of acoustic detectors 140 can be one or more. When there are two laser components, the acoustic detector 140 is located between the two laser components; when there are more than two laser components, the acoustic detector 140 is surrounded by multiple laser components.

[0073] In the above implementation process, by placing the acoustic detector 140 in the inner region of the ring where the laser assembly is located, the accuracy, resolution and reliability of photoacoustic thermometry and temperature imaging are improved.

[0074] Please continue to refer to Figure 4 In some alternative embodiments, the acoustic detector 140 may have an acoustic detection end. The orientation of the acoustic detection end may be perpendicular to the plane containing the annulus and may be towards the target object. That is, the orientation of the acoustic detection end of the acoustic detector 140 may be... Figure 4 The direction that is vertically downwards.

[0075] In the above implementation process, by designing the acoustic wave detection end of the acoustic wave detector 140 to be perpendicular to the plane where the ring is located, the acoustic wave detector 140 can perform acoustic wave detection in the direction with the strongest echo energy and the highest signal-to-noise ratio, thereby improving the accuracy of temperature measurement based on photoacoustic effect.

[0076] Please continue to refer to Figure 2 In some alternative embodiments, the connecting rod 130 may include a first connecting rod 131 and a second connecting rod 132. One end of the first connecting rod 131 may be connected to the pulsed laser 110, and the other end of the first connecting rod 131 may be rotatably connected to one end of the second connecting rod 132. The other end of the second connecting rod 132 may be connected to the diagnostic laser 120. The rotatable connection between the first connecting rod 131 and the second connecting rod 132 may also be a universal joint 150 or a hinge connection.

[0077] Optionally, if the first link 131 and the second link 132 are hinged, a fourth rotary drive can be configured to drive the rotary pin between the first link 131 and the second link 132.

[0078] In the above implementation process, the rotatable connection between the first link 131 and the second link 132 allows for adjustment of the relative position between the pulsed laser 110 and the therapeutic laser 120 in the laser assembly. This adjustment enables the pulsed laser 110 and the therapeutic laser 120 to more accurately irradiate the same location on the target object, thereby improving the therapeutic effect.

[0079] Based on the same concept, this application provides a laser diagnostic device, which may include a controller and the actuator 100 of the laser diagnostic device described above.

[0080] The controller can be electrically connected to the pulsed laser 110, the diagnostic laser 120, and the acoustic detector 140 of the actuator 100 of the laser diagnostic device, respectively.

[0081] The controller can be configured to control the therapeutic laser 120 to emit thermotherapy laser to the target object, control the pulsed laser 110 to emit pulsed laser to the target object, and control the acoustic wave detector 140 to detect the acoustic waves generated by the target object under the action of the pulsed laser, and determine the temperature of the target object based on the acoustic waves.

[0082] The controller can be a microprocessor (MCU), a digital signal processor (DSP), or a programmable logic device (FPGA), etc.

[0083] The above implementation process can be the same as the actuator 100 of the laser diagnostic device described above, and will not be repeated here.

[0084] Please refer to Figure 5 , Figure 5 This is a flowchart of a control method for the actuator of a laser diagnostic and treatment device provided in an embodiment of this application. Based on the same concept, an embodiment of this application provides a control method for the actuator of a laser diagnostic and treatment device, which can be used for the actuator 100 of the laser diagnostic and treatment device described above.

[0085] The methods may include: Step S110: Control the linear drive component of the actuator to output tension and control the third rotary drive component to output the first oscillating torque.

[0086] In step S110 above, the direction of the pulling force is the direction in which the first driving wheel of the actuator moves away from the first driven wheel. With the first and second driving wheels engaged with the first and second driven wheels on the first universal joint, respectively, and the adjustment of the laser assembly corresponding to the first universal joint completed, the controller controls the linear drive to output pulling force, causing the entire assembly of "first rotary drive + second rotary drive" to rise. The controller then controls the third rotary drive to output a first swing torque, causing the entire assembly of "first rotary drive + second rotary drive" to swing at a certain angle, thus moving it away from the laser assembly corresponding to the first universal joint, and separating the first and second driving wheels from the first and second driven wheels on the first universal joint, respectively.

[0087] The swing angle is the distance the entire assembly of "first rotary drive + second rotary drive" swings from the laser component directly opposite the first gimbal to the laser component directly opposite the second gimbal. Assuming the first and second gimbals are adjacent, and there are a total of six gimbals evenly distributed on the support frame, the swing angle can be approximately 60°. The swing direction can be clockwise or counterclockwise. Furthermore, the output tension of the linear drive and the output of the first swing torque of the third rotary drive can be simultaneous or time-sequential. The order of these actions is not limited.

[0088] Of course, the first and second gimbals do not have to be adjacent. Therefore, the adjustment of each laser component can be performed sequentially according to the circular arrangement of the gimbals, or it can be performed out of order.

[0089] Step S130: Control the linear drive to output thrust.

[0090] In step S130 above, the direction of the thrust is opposite to the direction of the pull. That is, when the whole assembly of "first rotary drive + second rotary drive" is facing the second universal joint, the whole assembly of "first rotary drive + second rotary drive" can be lowered by controlling the linear drive to approach the laser assembly corresponding to the second universal joint, and the first driving wheel and the second driving wheel separate from the first driven wheel and the second driven wheel on the second universal joint, respectively.

[0091] Step S150: Control the first rotary drive component of the actuator to output a first adjusting torque and control the second rotary drive component to output a second adjusting torque.

[0092] In step S150 above, the first adjustment torque and the second adjustment torque can be determined independently according to the direction and angle that each laser component needs to be adjusted. Furthermore, the direction and angle that each laser component needs to be adjusted can be the same or different.

[0093] Step S170: Control the linear drive to output tension again and control the third rotary drive to output the second swing torque.

[0094] In step S170 above, the direction of the second swing torque and the angle at which the swing arm rotates can be the same as or different from the first swing torque. That is, when adjusting the laser assembly corresponding to the second universal joint, the linear drive can be controlled to output pulling force again, and the third rotary drive can be controlled to output the second swing torque. This allows the entire assembly of "first rotary drive + second rotary drive" to move away from the laser assembly corresponding to the second universal joint and align with the laser assembly corresponding to the third universal joint, thus adjusting the laser assembly corresponding to the third universal joint.

[0095] Repeat the above steps until all laser components that require adjustment have been adjusted.

[0096] The above implementation process can be the same as the actuator of the laser diagnostic and treatment device described above, and will not be repeated here.

[0097] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An actuator for a laser diagnostic and treatment device, characterized in that, Includes laser components, acoustic detectors, gimbals, and support frames; The laser assembly includes a pulsed laser, a therapeutic laser, and a connecting rod; One end of the connecting rod is connected to the first connecting part of the pulsed laser, and the other end of the connecting rod is connected to the diagnostic laser; The first movable end of the universal joint is connected to the support frame, and the second movable end of the universal joint is connected to the first connecting part of the pulsed laser, or to the connecting rod; The pulsed laser is configured to emit pulsed laser light toward the target object; The diagnostic laser is configured to emit a thermotherapy laser toward the target object; The acoustic wave detector is mounted on the support frame and configured to detect the acoustic waves generated by the target object under the action of the pulsed laser.

2. The actuator of the laser diagnostic and treatment device according to claim 1, characterized in that, The mechanism also includes a first drive component and a second drive component; The universal joint includes a first movable part, a second movable part, and a cross universal joint fork; wherein, the cross universal joint fork has a transverse axis part and a longitudinal axis part; The first active end is located in the first active part, and the second active end is located in the second active part; The first movable part is rotatably connected to the longitudinal axis part; wherein, the first axis of rotation of the first movable part is parallel to the axial direction of the longitudinal axis part. The second movable part is rotatably connected to the horizontal shaft part; wherein, the second rotation axis of the second movable part is parallel to the axial direction of the horizontal shaft part; The first drive component is configured to output a first torque to the transverse shaft portion to rotate about the first rotation axis; The second drive component is configured to output a second torque to the transverse shaft portion to rotate about the second rotation axis.

3. The actuator of the laser diagnostic and treatment device according to claim 2, characterized in that, The number of laser components is at least two; The number of gimbals is the same as the number of laser components; The number of the first driving components is the same as the number of the second driving components; The number of the first driving components is one; or the number of the first driving components is the same as the number of the laser components.

4. The actuator of the laser diagnostic and treatment device according to claim 3, characterized in that, The number of the first driving components is one; The universal joints are arranged in a circular pattern on the support frame; The first drive assembly includes a first rotary drive member and a first drive wheel; the second drive assembly includes a second rotary drive member and a second drive wheel; the universal joint is provided with a first driven wheel, a second driven wheel, and a transmission wheel; The stator of the first rotary drive is movably connected to the support frame via a swing arm; wherein, the motion of the first rotary drive includes oscillation and linear motion; the oscillation center coincides with the center of the ring, and the oscillation plane is parallel to the plane containing the ring; the direction of the linear motion is perpendicular to the plane containing the ring. The first driving wheel is disposed on the rotor of the first rotary drive member, and the first driven wheel and the transmission wheel are disposed on the transverse shaft portion of the universal joint. The first driven wheel and the transmission wheel are in transmission contact. The first driving wheel is configured to contact the transmission wheel and drive the transverse shaft portion to rotate around the first rotation axis through contact transmission. The stator of the second rotary drive is connected to the rotor of the first rotary drive via a linkage rod; The second driving wheel is disposed on the rotor of the second rotary drive member, and the second driven wheel is disposed on the longitudinal shaft portion of the universal joint; the second driving wheel is configured to contact the second driven wheel and drive the longitudinal shaft portion to rotate around the second rotation axis through contact transmission.

5. The actuator of the laser diagnostic and treatment device according to claim 4, characterized in that, The mechanism also includes a third rotary drive and a linear drive; The stator of the third rotary drive is connected to the support frame, the rotor of the third rotary drive is connected to the stator of the linear drive, and the mover of the linear drive is connected to the swing arm; or the stator of the linear drive is connected to the support frame, the mover of the linear drive is connected to the stator of the third rotary drive, and the rotor of the third rotary drive is connected to the swing arm. The third rotary drive is configured to drive the first rotary drive to swing via the swing arm; the linear drive is configured to drive the first rotary drive to move linearly along a direction perpendicular to the plane containing the ring via the swing arm.

6. The actuator of the laser diagnostic and treatment device according to claim 4, characterized in that, The acoustic detector is mounted on the support frame and surrounded by the ring.

7. The actuator of the laser diagnostic and treatment device according to claim 6, characterized in that, The acoustic wave detector has an acoustic wave detection end; The acoustic wave detection end is oriented perpendicular to the plane containing the ring and toward the target object.

8. The actuator of the laser diagnostic and treatment device according to any one of claims 1 to 7, characterized in that, The connecting rod includes a first connecting rod and a second connecting rod; One end of the first link is connected to the pulsed laser, the other end of the first link is rotatably connected to one end of the second link, and the other end of the second link is connected to the diagnostic laser.

9. A laser diagnostic and treatment device, characterized in that, Includes a controller and an actuator of the laser diagnostic and treatment device according to any one of claims 1 to 8; The controller is electrically connected to the pulsed laser, the diagnostic laser, and the acoustic detector of the actuator of the laser diagnostic and treatment device, respectively. The controller is configured to control the therapeutic laser to emit a thermotherapy laser toward the target object, control the pulsed laser to emit a pulsed laser toward the target object, and control the acoustic wave detector to detect the acoustic waves generated by the target object under the action of the pulsed laser, and determine the temperature of the target object based on the acoustic waves.

10. A control method for the actuator of a laser diagnostic and therapeutic device, characterized in that, An actuator used in any one of claims 4 to 8; The method includes: The linear drive component of the actuator is controlled to output a pulling force, and the third rotary drive component is controlled to output a first oscillating torque; wherein, the direction of the pulling force is the direction in which the first driving wheel of the actuator moves away from the first driven wheel; The linear drive component is controlled to output thrust; wherein the direction of the thrust is opposite to the direction of the pull. The actuator controls the first rotary drive to output a first adjusting torque and controls the second rotary drive to output a second adjusting torque; The linear drive is controlled to output the tension again, and the third rotary drive is controlled to output the second oscillating torque.

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