A tissue treatment system based on dual-wavelength picosecond pulse synergism

Abstract

The application discloses a kind of tissue treatment systems based on dual-wavelength picosecond pulse synergism, comprising: laser light path component, light regulation module, beam combination and focusing device, multimodal sensor acquisition module and control unit, laser light path component includes laser source, frequency doubling crystal and beam splitter;Laser source, frequency doubling crystal and beam splitter are sequentially arranged, laser source emits laser to frequency doubling crystal, generates second harmonic, then the light beam is separated after passing through beam splitter, forms two laser beams, light beam is shot into light regulation module, light regulation module is shot into beam combination and focusing device after regulating laser beam, beam combination and focusing device are shot to target area, multimodal sensor acquisition module collects the signal feedback of target area, and control unit processes the signal collected.The application emits fundamental frequency light, is regulated by light regulation module, accurately controls pulse emission timing, according to the signal feedback of multimodal sensor acquisition module, real-time dynamic fine-tuning pulse timing and energy.

Description

Technical Field

[0001] This invention relates to the field of laser medical equipment technology, specifically to a tissue treatment system based on the synergistic effect of dual-wavelength picosecond pulses. Background Technology

[0002] Currently, picosecond lasers refer to lasers with pulse widths on the picosecond scale (10⁻¹² seconds). Because their pulse duration is significantly shorter than the thermal relaxation time of common target chromophores in skin tissue (such as melanin, with a thermal relaxation time of approximately 0.5-1 microseconds), their mechanism of action has shifted from being dominated by the traditional "photothermal effect" to being dominated by the "photomechanical effect." In the photomechanical effect, laser energy is rapidly absorbed by the target, generating localized micro-plasma through a photo-induced fragmentation process, which in turn triggers shock waves and cavitation effects, thereby physically shattering pigment particles or causing controllable microscopic tissue damage. This characteristic has led to revolutionary advancements in the treatment of pigmented lesions and tattoo removal, offering potential advantages such as fewer treatment sessions, reduced risk of epidermal damage, and shorter recovery periods.

[0003] However, with the deepening of clinical applications, the fundamental limitations of single-pulse picosecond laser technology have become increasingly apparent. The efficiency of picosecond lasers depends on the optical absorption coefficient of the target at a specific wavelength. To generate effective cavitation on weakly absorbing targets, the single-pulse energy must be significantly increased. However, high energy density not only increases the risk of accidental optical breakdown of the epidermis (leading to pinpoint bleeding and crusting), but the excessively large cavitation and shock waves generated may also cause unnecessary mechanical damage to surrounding normal tissue, leading to side effects such as post-inflammatory hyperpigmentation or hypopigmentation. In other words, with a narrow treatment window (the balance between efficacy and safety), the single-pulse mode struggles to balance safety and effectiveness.

[0004] Current technologies, such as simple dual-pulse or pulse train techniques, do not fundamentally solve the problem. These solutions typically focus on increasing the total energy deposition through pulse accumulation or using fixed, empirical nanosecond-level delays, aiming to accumulate thermal effects or prolong the duration of action, rather than actively manipulating the physical processes of photomechanical effects. Summary of the Invention

[0005] To address the aforementioned issues, single-pulse treatment has limited effectiveness. While some treatments use dual pulses, these are often simply superimposed or have fixed delays, failing to precisely control the tissue cavitation lifecycle from a physical perspective. This invention aims to propose a tissue treatment system based on the synergistic effect of dual-wavelength picosecond pulses. A controllable initial cavitation is "seeded" in the tissue by a first beam, and a second beam is emitted after a precisely calculated delay. This allows the energy of the second beam to interact optimally with the cavitation, thereby significantly enhancing the photomechanical effect, reducing the total treatment energy, and broadening the picosecond laser's ability to treat non-pigment targets.

[0006] The following technical solution achieves a tissue treatment system based on the synergistic effect of dual-wavelength picosecond pulses, comprising: a laser optical path assembly, an optical control module, a beam combining and focusing device, a multimodal sensor acquisition module, and a control unit. The laser optical path assembly includes a laser source, a frequency doubling crystal, and a beam splitter. The laser source, frequency doubling crystal, and beam splitter are arranged sequentially. After the laser source emits a laser beam to the frequency doubling crystal, a second harmonic is generated. The beam is then separated by the beam splitter into two laser beams. The beams are injected into the optical control module, which controls the laser beams before injecting them into the beam combining and focusing device. The beam combining and focusing device directs the laser beams to the target area. The multimodal sensor acquisition module collects signal feedback from the target area. The control unit processes the collected signals and adjusts the delay time and laser pulse energy of the beams.

[0007] Preferably, the laser source emits fundamental frequency light. After passing through a frequency doubling crystal, the fundamental frequency light generates a second harmonic. This second harmonic then passes through a beam splitter, which separates the fundamental frequency light from the frequency-doubled beam generated by the second harmonic, forming two independent optical paths. The beams corresponding to these two paths are designated as a first beam and a second beam, respectively. The first beam serves as a seed pulse, and the second beam as the master pulse. Using fundamental frequency light to generate the second harmonic maximizes the consistency of phase, pulse width, and other characteristics between the fundamental frequency light and the frequency-doubled light (i.e., the first beam and the second beam), minimizing differences in characteristics between the first and second beams except for wavelength.

[0008] Preferably, the optical control module includes a moving mechanism, an adjustable optical delay line, and two energy pulse control modules. The moving mechanism, adjustable optical delay line, and two energy pulse control modules are electrically connected to the control unit. The adjustable optical delay line is mounted on the moving mechanism, which controls the physical displacement of the adjustable optical delay line. The adjustable optical delay line and the first energy pulse control module are sequentially arranged with the beam splitter. The first beam passes through the adjustable optical delay line to adjust its transmission path, and then passes through the first energy pulse control module to adjust the final output laser pulse energy E1 of the first beam. The second beam passes through the second energy pulse control module to adjust the final output laser pulse energy E2 of the second beam. Both beams have independent optical paths and energy pulse control modules, which improves the independent control capability of the two beams. With a single energy pulse control module, it is necessary to ensure that both beams pass through the same module. Typically, when adjusting the energy, the first and second beams are adjusted simultaneously. For example, if the energy of the first beam is increased, the energy of the second beam will necessarily increase simultaneously, making it impossible to achieve a more flexible energy output combination.

[0009] Preferably, the beam combining and focusing device includes a beam combiner, a reflector, a light guide arm, and a focusing handpiece. The beam combiner, light guide arm, and focusing handpiece are sequentially arranged with the first energy pulse control module. The second energy pulse control module is located on one side of the beam combiner, and the reflector is located between the beam combiner and the second energy pulse control module. The reflector reflects the second beam to the beam combiner, the beam combiner directs the beam into the light guide arm, the light guide arm guides the beam to the focusing handpiece, and the focusing handpiece focuses the beam onto the target area. Before entering the light guide arm, the beam combiner ensures that the two beams are output coaxially before entering the light guide arm. In practical applications, this can save the adjustment time of the external optical path (i.e., the light guide arm) and also avoid the offset of the two optical paths on the treatment target area.

[0010] Preferably, the beam combiner has two optical receiving inlets. The first beam passes perpendicularly through the beam combiner; the second beam, after being adjusted by a reflector, enters the beam combiner at a set angle. The beam combiner outputs the first and second beams coaxially, acting on the same spatial target area. The beam combiner enables two beams to be output coaxially, acting on a single target area.

[0011] Preferably, the multimodal sensor acquisition module includes a photoelectric sensor, an acoustic sensor, an image sensor, and a position sensor. The photoelectric sensor detects the plasma flash signal generated by the first beam, the acoustic sensor acquires the sound signal of the initial cavitation formed by the first beam, the image sensor detects the image information of the first beam's effect on the skin surface, and the position sensor detects the physical offset information of the first beam. The photoelectric sensor, acoustic sensor, and image sensor are located at the focusing handpiece end to acquire target area information and provide feedback to the control unit. The position sensor is located on the moving mechanism and feeds the displacement of the moving mechanism back to the control unit. Multiple sensors can acquire information about the target area in real time.

[0012] Preferably, the control unit has preset parameters for laser pulse energy E1, laser pulse energy E2, and delay time τ. The control unit includes a processor, a high-speed digital delay generator, and a user interface. The user interface is electrically connected to the processor and the high-speed digital delay generator. The processor controls the high-speed digital delay generator, the user interface is used to input signals, and the processor feeds the signals back to the high-speed digital delay generator. Operating the processor through the user interface enables a simpler human-computer interaction, and the preset parameters allow users to quickly select the appropriate initial treatment parameters, reducing the uncertainty of parameter settings for novice operators.

[0013] Preferably, the control unit calculates the path change corresponding to the target delay time τ based on the real-time feedback signal, drives the moving mechanism to generate a corresponding physical displacement of the adjustable optical delay line, and the position sensor feeds back the physical displacement, thus setting a precise delay time τ from picosecond to nanosecond for the first beam. This introduces a closed-loop feedback control. Compared to open-loop control or a fixed delay line, this closed-loop feedback control, through the acquisition, feedback, calculation, and correction of position signals, can improve the accuracy of the delay time setting and the system safety (by detecting and feeding back the position signals, abnormal treatment damage to the treatment surface caused by abnormal delayed beam output when displacement fails can be avoided).

[0014] Preferably, characteristic parameters of the first beam are extracted from the multimodal sensor acquisition module. These characteristic parameters include the peak light intensity and rise time of the photoelectric sensor; the sound pressure amplitude, dominant frequency of the sound signal, and photo-acoustic time difference of the acoustic sensor; image information from the image sensor; and the physical displacement of the position sensor. The control unit determines the initial run-through size, expansion state, and spatial position based on these characteristic parameters. Based on the determination results, it calculates the extension time correction Δτ and energy correction ΔE2 of the second beam and applies the corrected parameters to the subsequent pulse sequence. The extension time of the second beam is accurately determined based on these parameters.

[0015] Preferably, the high-speed digital delay generator controls two energy pulse control modules and an adjustable optical delay line respectively, so that the first beam and the second beam are emitted precisely with the set laser pulse energy and delay time τ.

[0016] The beneficial effects of this invention compared to the prior art are: The technical solution of this invention involves "seeding" a controllable initial vacuole in tissue with a first beam. This vacuole is then controlled by a photomodulation module, and a second beam is emitted after a precisely calculated delay. This allows the energy of the second beam to interact optimally with the vacuole, significantly enhancing the photomechanical effect, reducing the total treatment energy, and broadening the therapeutic capabilities of picosecond lasers for non-pigmented targets. This invention precisely controls the pulse emission timing, dynamically fine-tuning the pulse timing and energy in real time based on signals from a multi-mode sensor acquisition module. Attached Figure Description

[0017] Figure 1 A flowchart of a tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses provided by the present invention; Detailed Implementation

[0018] The following will be combined with the present invention Figure 1 The technical solutions in the embodiments of the present invention will be described in detail below.

[0019] like Figure 1As shown, a tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses includes a laser optical path assembly, an optical modulation module, a beam combining and focusing device, a multimodal sensor acquisition module, and a control unit. The laser beam from the laser optical path assembly is injected into the optical modulation module. After modulation, the laser beam is injected into the beam combining and focusing device, which directs the laser beam to the target area. The multimodal sensor acquisition module collects signal feedback from the target area. The control unit processes the collected signals and modulates the beam delay time and laser pulse energy. Figure 1 As shown, the multimodal sensor acquisition module includes a real-time sensor for receiving optical signals.

[0020] The laser optical path assembly includes a laser source, a frequency-doubling crystal, and a beam splitter. These components are arranged sequentially. The laser source emits a laser beam, which, upon reaching the frequency-doubling crystal, generates a second harmonic. The beam splitter then separates the emitted laser beam. For example... Figure 1 As shown, the laser source is a picosecond laser; The laser source of the laser optical path component outputs a fundamental frequency light with a wavelength of 1064nm. After passing through a frequency doubling crystal, the fundamental frequency light generates a second harmonic with a wavelength of 532nm. Subsequently, it enters a beam splitter, which separates the original 1064nm wavelength beam from the newly generated 532nm wavelength beam to form two laser beams. The two beams are divided into a first beam and a second beam. The first beam is a seed pulse with a wavelength of 532nm, and the second beam is a main pulse with a wavelength of 1064nm.

[0021] The control unit is electrically connected to the light control module and the multimodal sensor acquisition module. The multimodal sensor acquisition module feeds back the signal from the target area to the control unit. The control unit processes the acquired signal and outputs the signal to the light control module.

[0022] The optical control module includes a moving mechanism, an adjustable optical delay line, and two energy pulse control modules. The moving mechanism, adjustable optical delay line, and two energy pulse control modules are electrically connected to the control unit. The adjustable optical delay line is mounted on the moving mechanism, which is used to adjust the physical displacement of the adjustable optical delay line. The two energy pulse control modules are defined as a first energy pulse control module and a second energy pulse control module, corresponding to the first beam and the second beam, respectively. Figure 1 As shown, the adjustable optical delay line is a programmable optical delay line.

[0023] The adjustable optical delay line and the first energy pulse control module are arranged sequentially with the beam splitter. The first beam after passing through the beam splitter first passes through the adjustable optical delay line to adjust the transmission path of the beam, and then passes through the first energy pulse control module to adjust the final output laser pulse energy E1 of the first beam. The first beam after passing through the beam splitter is directly controlled by the second energy pulse control module to adjust the final output laser pulse energy E2 of the second beam.

[0024] The moving mechanism uses a structure that can perform physical displacement using current technology, such as a high-precision motor.

[0025] The multimodal sensor acquisition module includes a photoelectric sensor, an acoustic sensor, an image sensor, and a position sensor. The photoelectric sensor, acoustic sensor, image sensor, and position sensor respectively feed the acquired signals back to the control unit. The photoelectric sensor, acoustic sensor, and image sensor are located at the focusing handpiece end. The photoelectric sensor is used to detect the plasma flash signal generated by the first beam, the acoustic sensor collects the sound signal formed by the initial cavitation generated by the first beam, the image sensor is used to detect the image information of the first beam acting on the skin surface, and the position sensor is located on the moving mechanism to detect the position offset information of the moving mechanism.

[0026] The control unit includes a processor, a high-speed digital delay generator, and a user interface. The operator first selects the treatment mode on the user interface according to the needs. The processor in the control unit feeds the signal back to the high-speed digital delay transmitter according to the treatment mode. The high-speed digital delay generator controls the light modulation module.

[0027] The user interface of the control unit allows users to select treatment modes as needed, such as removing red tattoos or skin rejuvenation. It also calls preset optimized parameters, including laser output energy E1, laser output energy E2, and delay time τ. The digital delay transmitter of the control unit sends out two high-precision trigger signals, which control the adjustable optical delay line, the first energy pulse control module, and the second energy pulse control module, respectively, so that the two pulse control modules and the adjustable optical delay line can accurately emit laser output energy and delay time τ.

[0028] The control unit calculates the optical path change corresponding to the target delay time τ based on the preset mode or real-time feedback signal, drives the moving mechanism to generate a corresponding physical displacement of the adjustable optical delay line, and feeds back the displacement of the adjustable optical delay line in real time through the position sensor on the moving mechanism to adjust the transmission path of the beam and achieve precise control delay from fur to nanoseconds.

[0029] The optical control module directs the separated first and second beams into a beam combining and focusing device. The beam combining and focusing device includes a beam combiner, a reflector, a light guide arm, and a focusing hand. The beam combiner, light guide arm, and focusing hand are sequentially arranged with the first energy pulse control module. The second energy pulse control module is located on one side of the beam combiner. The reflector is located between the beam combiner and the second energy pulse control module. The reflector reflects the second beam to the beam combiner. The beam combiner has two optical receiving inlets. The first beam enters perpendicularly and passes through the beam combiner. The second beam, after being adjusted by the reflector, enters the beam combiner at a set angle. The beam combiner outputs the first and second beams coaxially and directs them into the light guide arm. The light guide arm guides the beam to the focusing hand, which focuses the beam onto the target area.

[0030] After the direction is adjusted by the reflector, the second beam enters the beam combiner at a set angle. The beam combiner has an angle that matches the reflector. The set angle of the reflector can be a standard 45° or other customized angles.

[0031] The information from the first beam applied to the target area is collected. The multimodal sensor acquisition module feeds back the collected light signal, sound signal, image information, and position information to the control unit. The processor of the control unit processes the data and compares it with preset information based on the strength of the photoelectric conversion signal and the real-time reaction of the skin epidermis. It selects an appropriate delay time and laser pulse energy, feeds it back to the delay generator, dynamically fine-tunes the delay time τ and output energy E2 of the second beam, and controls the adjustable optical delay line and energy pulse control module to perform personalized dose optimization by controlling the delay time and laser pulse energy output.

[0032] The first beam characteristic parameters are extracted from the multimodal sensor acquisition module. These parameters include the peak light intensity and rise time of the light signal from the photoelectric sensor; the sound pressure amplitude, dominant frequency of the sound signal, and photo-acoustic time difference from the acoustic sensor; image information from the image sensor; and the physical displacement from the position sensor. Based on these characteristic parameters, the initial cavitation bubble size, expansion state, and spatial position are determined. Based on the judgment results, the extension time correction Δτ and energy correction ΔE2 of the second beam are calculated, and the corrected parameters are applied to the subsequent pulse sequence for closed-loop control. There are two possibilities for the subsequent beam sequence: The first scenario is as follows: after the first beam is emitted for the first time, the second beam is used for correction. Then, during subsequent treatments, the delay and energy of the first and second beams are fixed until the treatment is completed. At this point, the subsequent pulse sequence is the complete combination of two pulses (first beam + second beam) of the treatment process. This method is more often used for plain scan treatment of the treatment area (i.e., each treatment area is treated only once). The second scenario is as follows: After the first beam is emitted for the first time, information is collected and compared with the system's preset information. Then, the second beam is emitted with a delay. Based on the collected information, it is compared with the system's pre-review information. The first beam is emitted again, the signal is collected again, and the second beam is emitted again with correction. The signal is collected and corrected continuously. At this time, the output of each set of dual pulse combinations will be adjusted according to the collected signal. The cycle is repeated until the treatment is completed (i.e., each treatment area is treated multiple times).

[0033] The first beam enters the target region and generates an initial cavitation bubble. After a predetermined delay time τ, a second beam is emitted towards a spatially overlapping target region. The first beam passes through an adjustable optical delay line. The control unit calculates the optical path change corresponding to the target delay time τ based on a preset treatment mode, adjusts the light control module to generate physical displacement, and adds a position sensor along the movement path to collect position data in real time and feed back the displacement of the light control module. This achieves precise adjustable delay from picosecond to nanosecond levels, allowing for precise adjustment of the beam path. The delay time τ is set based on the expansion rate of the initial cavitation induced by the first beam, the time it takes for the cavitation to reach its maximum volume, in vitro experimental data, and clinical target requirements. The delay time τ is set differently depending on the initial cavitation volume required during treatment for different indications.

[0034] Based on the pulse energy density E1 obtained from the first beam and the corresponding target tissue absorption coefficient, the change of the initial cavitation radius over time is theoretically calculated. Then, the theoretical calculation data is verified by in vitro experiments. Finally, the results obtained by combining theory and experiment are converted into a preset parameter table and stored in the system database, becoming the clinically adjustable preset parameter of the delay time τ.

[0035] The delay time τ is configured to match a specific phase in the initial cavitation lifetime, so that the energy of the second beam interacts with the initial cavitation at that specific phase, applying different enhancement effects, thereby producing an optomechanical effect compared to single-pulse enhancement.

[0036] The first beam is designed for effective absorption by hemoglobin, melanin, or specific tattoo inks; the second beam is designed for low scattering and deep penetration within the tissue, and for efficient coupling with the initial cavitation. When the treatment goal is to generate a strong shock wave to pulverize hard particles (such as tattoo ink or pigment particles), the delay time τ is preferably 1 to 10 nanoseconds. During this time period, the initial cavitation is in the early stage of rapid expansion, i.e., the cavitation undergoes an initial expansion phase, a maximum volume phase, and a collapse phase from its generation; the energy injection of the second beam can drive the generation of a stronger shock wave. When the treatment goal is to generate a larger cavitation volume to induce tissue remodeling (such as skin rejuvenation or scar treatment), the delay time τ is preferably 10 to 100 nanoseconds. During this time period, the initial cavitation approaches its maximum volume, and the energy of the second beam can cause more intense secondary expansion and collapse, generating widespread mechanical stimulation.

[0037] The wavelength of the first beam is effectively absorbed by the chromophore or medium in the target area. After the wavelength of the first beam acts on the target area, it induces the generation of plasma and forms an initial cavitation bubble. After a preset delay time τ, a second beam is emitted into the target area that overlaps in the same space. The second beam has a deeper penetration depth in the target area. The delay time τ ranges from 100 picoseconds to 100 nanoseconds and is set according to different clinical goals.

[0038] For example: when the delay is 0, the two beams enter the beam combiner at the same time and are output from the focusing hand at the same time. When the delay is -20ns, the first beam enters the beam combiner 20ns before the second beam and is output from the focusing hand 20ns before the second beam.

[0039] Method of using the treatment system based on the present invention: S1: Select the mode through the user interface. S2: The control unit outputs a signal to the adjustable optical delay line and the first energy pulse control module and the second energy pulse control module; S3: The laser source emits 1064 nm fundamental frequency light. The fundamental frequency light passes through a frequency doubling crystal to generate a 532 nm second harmonic. Then, a beam splitter separates the 1064 nm fundamental frequency light and the 532 nm frequency doubling beam generated by the second harmonic, forming two independent optical paths. S4: The first beam passes through the adjustable optical delay line and then through the first energy pulse control module to the beam combiner; the beam combiner guides and transmits the first beam through the light guide arm and then converges it into the target area through the focusing hand. S5: The multimodal sensor acquisition module uses information from the target area after the first beam acts on it, and confirms the delay time τ and the laser pulse output energy according to the preset mode. S6: The second beam outputs laser energy according to the delay time τ, controlled by the second energy pulse control module, and then passes through the reflector to the beam combiner at a set angle. S7: The beam combiner outputs two beams coaxially to the target area. After being guided and transmitted by the beam guide arm, the beam combiner converges the two beams into the target area through the focusing hand.

[0040] The above embodiments are merely illustrative of the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solutions based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

Claims

1. A tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses, characterized in that, include: The system comprises a laser optical path assembly, an optical control module, a beam combiner and focusing device, a multimodal sensor acquisition module, and a control unit. The laser optical path assembly includes a laser source, a frequency doubling crystal, and a beam splitter. The laser source, frequency doubling crystal, and beam splitter are arranged sequentially. After the laser source emits a laser beam to the frequency doubling crystal, a second harmonic is generated. The beam splitter then separates the laser beam into two laser beams. The beams are injected into the optical control module, which controls the laser beams before they are injected into the beam combiner and focusing device. The beam combiner and focusing device directs the laser beams to the target area. The multimodal sensor acquisition module collects the signal feedback from the target area. The control unit processes the collected signals and adjusts the delay time and laser pulse energy of the beams.

2. The tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses according to claim 1, characterized in that: The laser source emits fundamental frequency light. After passing through a frequency doubling crystal, the fundamental frequency light generates a second harmonic. Then, it passes through a beam splitter, which separates the fundamental frequency light from the frequency doubling beam generated by the second harmonic, forming two independent optical paths. The beams corresponding to the two optical paths are the first beam and the second beam, respectively. The first beam is the seed pulse, and the second beam is the main pulse.

3. The tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses according to claim 1, characterized in that: The optical control module includes a moving mechanism, an adjustable optical delay line, and two energy pulse control modules. The moving mechanism, the adjustable optical delay line, and the two energy pulse control modules are electrically connected to the control unit. The adjustable optical delay line is mounted on the moving mechanism, which controls the physical displacement of the adjustable optical delay line. The adjustable optical delay line and the first energy pulse control module are sequentially arranged with the beam splitter. The first beam passes through the adjustable optical delay line to adjust the beam's transmission path, and then passes through the first energy pulse control module to adjust the final output laser pulse energy E1 of the first beam. The second beam passes through the second energy pulse control module to adjust the final output laser pulse energy E2 of the second beam.

4. The tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses according to claim 1, characterized in that: The beam combining and focusing device includes a beam combiner, a reflector, a light guide arm, and a focusing hand. The beam combiner, light guide arm, and focusing hand are arranged sequentially with the first energy pulse control module. The second energy pulse control module is located on one side of the beam combiner. The reflector is located between the beam combiner and the second energy pulse control module. The reflector reflects the second beam to the beam combiner. The beam combiner directs the beam into the light guide arm. The light guide arm guides the beam to the focusing hand. The focusing hand focuses the beam onto the target area.

5. The tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses according to claim 4, characterized in that: The beam combiner has two optical receiving inlets. The first beam passes through the beam combiner perpendicularly; the second beam, after being adjusted by a reflector, enters the beam combiner at a set angle. The beam combiner outputs the first and second beams coaxially, acting on the same spatial target area.

6. The tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses according to claim 1, characterized in that: The multimodal sensor acquisition module includes photoelectric sensors, acoustic sensors, image sensors, and position sensors. A photoelectric sensor is used to detect the plasma flash signal generated by the first beam, an acoustic sensor collects the sound signal of the initial cavitation generated by the first beam, an image sensor is used to detect image information of the first beam's effect on the skin surface, and a position sensor detects the physical offset information of the first beam. Photoelectric sensors, acoustic sensors, and image sensors are located at the focusing handpiece end to collect information about the target area and feed it back to the control unit. Position sensors are located on the moving mechanism and feed the displacement of the moving mechanism back to the control unit.

7. The tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses according to claim 1, characterized in that: The control unit has preset parameters such as laser pulse energy E1, laser pulse energy E2, and delay time τ. The control unit includes a processor, a high-speed digital delay generator, and a user interface. The user interface is electrically connected to the processor and the high-speed digital delay generator. The processor controls the high-speed digital delay generator, and the user interface is used to input signals. The processor feeds the signals back to the high-speed digital delay generator.

8. The tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses according to claim 1, characterized in that: The control unit calculates the path change corresponding to the target delay time τ based on the real-time feedback signal, drives the moving mechanism to generate the corresponding physical displacement of the adjustable optical delay line, and the position sensor feeds back the physical displacement to achieve a precise delay time τ from picosecond to nanosecond for the first beam.

9. The tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses according to claim 1, characterized in that: The first beam's characteristic parameters are extracted from the multimodal sensor acquisition module. These parameters include the peak light intensity and rise time of the photoelectric sensor; the sound pressure amplitude, dominant frequency of the acoustic signal, and photo-acoustic time difference of the acoustic sensor; the image information of the image sensor; and the physical displacement of the position sensor. Based on these characteristic parameters, the control unit determines the initial run-through size, expansion state, and spatial position. Based on the determination results, the control unit calculates the extension time correction Δτ and energy correction ΔE2 of the second beam and applies the corrected parameters to the subsequent pulse sequence.

10. The tissue therapy system based on the synergistic effect of dual-wavelength picosecond pulses according to claim 7, characterized in that: The high-speed digital delay generator controls two energy pulse control modules and an adjustable optical delay line, enabling the first and second beams to be emitted precisely with the set laser pulse energy and delay time τ.

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