Laser focus zero point calibration method and device, laser treatment instrument and storage medium

Abstract

The application discloses a laser focus zero point calibration method and device, a laser treatment instrument and a storage medium, and relates to the technical field of laser control. The method comprises the following steps: controlling a focusing lens to move at equal distances according to a preset step length; acquiring a discrete light spot image group corresponding to the focusing lens at each movement stopping point; and performing focusing zero point calibration based on the discrete light spot image group. Therefore, the focusing lens can be controlled to move at equal distances, and the discrete light spot image group composed of the light spot images collected at each movement stopping point can be used for focusing zero point calibration, so that the actual focusing zero point of the treatment instrument after calibration can be positioned on the surface of the skin, and the accuracy of laser focusing is ensured.

Description

Technical Field

[0001] This application relates to the field of laser control technology, and in particular to a laser focusing zero-point calibration method, device, laser therapy instrument, and storage medium. Background Technology

[0002] Variable focus laser therapy devices achieve precise focusing of the laser into the subcutaneous dermis by adjusting the focal length. The epidermis is approximately 0.2 mm thick, while the dermis is about 1 mm thick; both are relatively small. Therefore, to accurately focus the laser into the dermis, in addition to requiring extremely high focusing precision, it is also essential to ensure that the zero point of focus is precisely located on the skin surface. Accurate positioning of the zero point of focus is crucial for achieving precise treatment.

[0003] However, the focusing lens of existing treatment handpieces often experiences changes in focal length due to installation errors and lens focal length tolerances, resulting in errors in the zero-point of focus. Therefore, how to effectively calibrate the laser focusing zero point to ensure the accuracy of laser focusing is a pressing technical challenge that needs to be addressed. Summary of the Invention

[0004] The main objective of this application is to provide a laser focusing zero-point calibration method, device, laser therapy instrument, and storage medium, aiming to solve the technical problem of how to effectively calibrate the laser focusing zero point to ensure the accuracy of laser focusing.

[0005] To achieve the above objectives, this application proposes a laser focusing zero-point calibration method, which includes: controlling the focusing lens to move at equal distances according to a preset step size;

[0006] Acquire discrete spot image groups corresponding to each moving stop point of the focusing lens;

[0007] Zero-point focusing calibration is performed based on the discrete spot image group.

[0008] In one embodiment, the step of performing zero-point focus calibration based on the discrete spot image group includes:

[0009] Perform preset image processing on the discrete spot image group to obtain the target spot parameters corresponding to the discrete spot image group;

[0010] Determine the target calibration distance based on the target spot parameters;

[0011] The focusing lens is controlled to perform zero-point focusing calibration based on the target calibration distance.

[0012] In one embodiment, the step of determining the target calibration distance based on the target spot parameters includes:

[0013] Based on the target spot parameters, a preset curve fitting calibration is performed to obtain the target calibration parameters;

[0014] The target calibration distance is determined based on the motor motion step length corresponding to the target calibration parameters.

[0015] In one embodiment, the target spot parameters include a group of spot sizes; the step of performing preset curve fitting calibration based on the target spot parameters to obtain target calibration parameters includes:

[0016] A first fitted curve is obtained by fitting a preset curve based on the light spot size group;

[0017] Perform extreme value analysis on the first fitted curve, and determine the spot with the smallest spot size as the target calibration parameter.

[0018] In one embodiment, the target spot parameters further include: a spot intensity group; the step of performing preset curve fitting calibration based on the target spot parameters to obtain target calibration parameters further includes:

[0019] A second fitted curve is obtained by fitting a preset curve based on the light spot intensity group;

[0020] An extremum analysis was performed on the second fitted curve, and the maximum light intensity value was determined as the target calibration parameter.

[0021] In one embodiment, the step of obtaining the light spot intensity group includes:

[0022] Obtain the center position of the discrete spot image group;

[0023] Calculate the gray value at the center position and use the gray value as the value of the light spot intensity group.

[0024] In one embodiment, the step of controlling the focusing lens to move at equal distances according to a preset step size includes:

[0025] Control the focusing motor to move to the preset start position;

[0026] After receiving the start signal from the limit switch located at the preset start position, the focusing motor is controlled to drive the focusing lens to move at equal distances according to the preset step size.

[0027] Furthermore, to achieve the above objectives, this application also proposes a laser focusing zero-point calibration device, which includes:

[0028] The lens movement control module is used to control the focusing lens to move at equal distances according to a preset step size;

[0029] The image acquisition module is used to acquire discrete spot image groups corresponding to each moving stop point of the focusing lens;

[0030] The zero-point calibration module is used to perform focus zero-point calibration based on the discrete spot image group.

[0031] In addition, to achieve the above objectives, this application also proposes a laser therapy device, which includes: a memory, a processor, a focusing motion mechanism, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the laser focusing zero-point calibration method described above;

[0032] The focusing motion mechanism includes: a focusing motor, an encoder, motion mechanical components, and limit switches.

[0033] In addition, to achieve the above objectives, this application also proposes a storage medium that stores a laser focusing zero-point calibration program. When the laser focusing zero-point calibration program is executed by a processor, it implements the steps of the laser focusing zero-point calibration method described above.

[0034] This application provides a laser focusing zero-point calibration method, apparatus, laser therapy device, and storage medium. The method includes: controlling a focusing lens to move at equal distances according to a preset step size; acquiring a set of discrete spot images corresponding to each stopping point of the movement; and performing focusing zero-point calibration based on the discrete spot image set. Therefore, this application can control the focusing lens to move at equal distances, and then perform focusing zero-point calibration based on the discrete spot image set composed of the spot images acquired at each stopping point, ensuring that the actual focusing zero point of the therapy device can be located on the skin surface after calibration, thereby guaranteeing the accuracy of laser focusing. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating the first embodiment of the laser focusing zero-point calibration method of this application;

[0038] Figure 2 This is a schematic diagram of the laser handle structure of the first embodiment of the laser focusing zero-point calibration method of this application;

[0039] Figure 3 This is a schematic diagram of the focusing effect of the first embodiment of the laser focusing zero-point calibration method of this application;

[0040] Figure 4 This is a schematic diagram illustrating the surface focusing and subcutaneous focusing effects of the first embodiment of the laser focusing zero-point calibration method of this application;

[0041] Figure 5 This is a flowchart illustrating the second embodiment of the laser focusing zero-point calibration method of this application;

[0042] Figure 6 This is a schematic diagram of the laser lens focusing system model of the second embodiment of the laser focusing zero-point calibration method of this application;

[0043] Figure 7 This is a schematic diagram of the first fitting curve of the second embodiment of the laser focusing zero-point calibration method of this application;

[0044] Figure 8 This is a schematic diagram of the second fitting curve of the second embodiment of the laser focusing zero-point calibration method of this application;

[0045] Figure 9 This is a schematic diagram of the module structure of the laser focusing zero-point calibration device according to an embodiment of this application;

[0046] Figure 10 This is a schematic diagram of the hardware operating environment involved in the laser focusing zero-point calibration method in this application embodiment.

[0047] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0049] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0050] The main solution of this application is: controlling the focusing lens to move at equal distances according to a preset step size; acquiring discrete spot image groups corresponding to each moving stop point of the focusing lens; and performing zero-point calibration based on the discrete spot image groups.

[0051] Currently, due to factors such as installation errors of the focusing lens in the treatment handpiece and focal length tolerances, the distance from the lens to the scanning plane (skin surface) cannot be determined, which is equivalent to adding a random error to the focal length. However, the epidermis is only about 0.2mm thick, and the dermis is about 1mm thick, making them very small. Therefore, the treatment handpiece requires high beam focusing accuracy (error within 20µm). Thus, it is urgent to calibrate the error of the focusing zero point to ensure the accuracy of laser focusing.

[0052] To address the aforementioned issues, this application controls the focusing lens to move at equal distances and captures images of the lens spot at each stopping point. Then, it performs zero-point focusing calibration based on the acquired discrete spot image set, thereby ensuring that the actual zero-point of the treatment device after zero-point focusing calibration can be located on the skin surface, thus guaranteeing the accuracy of laser focusing.

[0053] It should be noted that the executing entity in this embodiment can be a laser focusing zero-point calibration system, or a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or a laser therapy device capable of performing the above functions. This embodiment does not specifically limit it in this way. The following uses a laser therapy device (hereinafter referred to as the therapy device) as the executing entity to describe this embodiment and the following embodiments.

[0054] Based on this, the embodiments of this application provide a laser focusing zero-point calibration method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the laser focusing zero-point calibration method of this application.

[0055] In this embodiment, the laser focusing zero-point calibration method includes steps S10 to S30:

[0056] Step S10: Control the focusing lens to move at equal distances according to a preset step size;

[0057] It should be understood that the aforementioned focusing lens is a lens configured inside the variable focus laser handle. This focusing lens can move along with the focusing motion mechanism inside the laser handle. In this embodiment, the focusing lens can be controlled to perform equidistant interval movements based on the focusing motion mechanism, i.e., the aforementioned equidistant movement.

[0058] For ease of understanding, please refer to Figure 2 The movement of the focusing lens is illustrated with an example. Figure 2 This is a schematic diagram of the laser handle structure of the first embodiment of the laser focusing zero-point calibration method of this application. Figure 2As shown, the laser handpiece may contain a laser galvanometer, a camera, a focusing mechanism, and a focusing lens. The focusing mechanism can move the focusing lens up and down to achieve zoom functionality. After the aiming light passes through the focusing lens, it can generate a focused spot P on the scanning plane, and simultaneously focus subcutaneously. The focusing effect is as follows: Figure 3 As shown, Figure 3 This is a schematic diagram of the focusing effect of the first embodiment of the laser focusing zero-point calibration method of this application. Figure 3 The focal point 'q' is the subcutaneous focal point. The technical effect of the laser focusing zero point in this scheme is also explained here. (Refer to...) Figure 4 In the right-hand diagram, spot 3 is located in the dermis, 1mm from the skin surface. If the laser needs to be focused precisely on spot 3, its location is difficult to observe because it's inside the body. Therefore, after focusing the laser on the observable skin surface, the focusing mechanism is adjusted to move the focus downwards by 1mm to spot 3. This solution achieves the effect of adjusting the parameters of the focusing mechanism when calibrating the spot to focus on the skin surface—that is, the parameters of the zero-point calibration position. Then, based on the required treatment area, the movement distance of the focusing mechanism is adjusted to focus the laser to the specified depth, achieving accurate treatment and improving focusing precision.

[0059] It is easy to understand that the calibration of the zero-point focusing error in this embodiment relies on, for example, Figure 2 The focusing mechanism shown can be composed of a focusing motor, an encoder, a motion mechanical component, and a limit switch. In this embodiment, the motion mechanical component can be a lead screw, and the corresponding limit switch can be a lead screw start-point contact switch. It is easy to understand that, in addition to rotating components such as the lead screw, this embodiment can also drive the focusing lens to move through a translational component.

[0060] Specifically, in this embodiment, the focusing lens can be moved by a focusing motor to make the laser beam waist exactly coincide with the skin surface, thereby achieving zero-point calibration. Therefore, in a feasible implementation, step S10 may include steps S00 to S01:

[0061] Step S00: Control the focusing motor to move to the preset start position;

[0062] Step S01: After receiving the start signal from the limit switch located at the preset start position, control the focusing motor to drive the focusing lens to move at equal distances according to the preset step length.

[0063] It is important to understand that since the encoder in the focusing mechanism can only detect a single rotation angle, and the focusing motor needs to rotate multiple times to move the lens, the lead screw position needs to be calibrated before performing zero-point focusing calibration. Specifically, in this embodiment, a lead screw zero-position touch switch can be added and placed at the start end of the lead screw. Each time the therapeutic device is started, the focusing motor automatically moves the focusing lens to the start end of the lead screw, i.e., the preset start position mentioned above. Simultaneously, when the focusing motor collides with the lead screw zero-position touch switch (i.e., the aforementioned limit switch), the therapeutic device receives a start signal, saves the encoder value at the moment of collision, uses this as the lead screw start point, and sets the encoder angle to zero. Then, the therapeutic device can control the focusing motor to move the focusing lens at equal distances according to a preset step size. In one embodiment, the focusing motor is a stepper motor.

[0064] Step S20: Obtain the discrete spot image group corresponding to each moving stop point of the focusing lens;

[0065] Step S30: Perform zero-point focusing calibration based on the discrete spot image group.

[0066] It is easy to understand that the aforementioned equidistant movement is an interval movement performed according to a preset step length. The therapeutic device can turn on the therapeutic light and, through... Figure 2 The camera shown captures images of light spots on the skin surface at intervals corresponding to the stopping points of the movement, obtaining a set of discrete light spot images containing several images at different positions of the corresponding focusing lens.

[0067] Specifically, in this embodiment, after the handle is fixed in place, a white, non-reflective sheet of paper is placed on the scanning plane at the end of the handle, and the aiming light is positioned as follows: Figure 2 The light is directed directly onto the center of the white paper located on the scanning plane. Then, the focusing lens is moved from the starting point of the lead screw to the end of the lead screw. Assuming the effective length of the lead screw is 4mm, the preset step size corresponding to the focusing motor can be set to 200um. The camera takes a picture and saves the image every time it reaches the stopping point after moving one step. 20 images can be acquired from the starting point to the end, and each image contains the aiming spot. These 20 images can constitute the discrete spot image group mentioned above.

[0068] In one feasible implementation, step S30 may include steps A1 to A2:

[0069] Step A1: Determine the target calibration distance based on the discrete spot image group;

[0070] Step A2: Control the focusing lens to perform zero-point focusing calibration according to the target calibration distance.

[0071] It is understood that in this embodiment, the point where the laser beam is exactly focused on the skin surface is defined as the zero-focus point, and the normal focusing range is the skin surface and subcutaneous tissue. For ease of understanding, this is based on... Figure 4 Examples of different focusing results are provided. Figure 4 This diagram illustrates the surface focusing and subcutaneous focusing effects of the first embodiment of the laser focusing zero-point calibration method of this application. Figure 4 As shown in the middle left image, the laser beam is focused precisely on the skin surface at the laser beam waist position, i.e., spot 3, which corresponds to the aforementioned zero-point of focus; and Figure 4 Although the laser beam is still focused at spot 3 in the right-hand image, it is no longer focused on the skin surface, indicating an error in the zero-point of focus. Since the focusing handle requires high beam focusing accuracy (within 20µm), this embodiment requires zero-point calibration. Therefore, after acquiring the discrete spot image, this embodiment determines the calibration distance corresponding to the zero-point of focus, i.e., the aforementioned target calibration distance. Based on this target calibration distance, the focusing motor is controlled to move the focusing lens to a position where the actual zero-point of focus can be located on the skin surface, thus achieving zero-point calibration and ensuring the accuracy of laser focusing. It is easy to understand that for any treatment device, the above-mentioned zero-point calibration can be performed once without changing the internal components. If the internal components of the handle are subsequently disassembled, the zero-point of focus can be recalibrated according to the calibration method proposed in this embodiment.

[0072] In summary, this embodiment proposes a method for locating the zero point of a variable focus handle. It combines optical principles and discrete spot image analysis to identify the error corresponding to the zero point of focus, and then achieves accurate calibration of the zero point of focus based on the target calibration distance corresponding to the error.

[0073] This embodiment provides a laser focusing zero-point calibration method, which includes: controlling a focusing motor to move to a preset start position; after receiving a start signal from a limit switch located at the preset start position, controlling the focusing motor to drive the focusing lens to move at equal distances according to a preset step size; acquiring discrete spot image sets corresponding to each movement stop point of the focusing lens; determining a target calibration distance based on the discrete spot image sets; and controlling the focusing lens to perform focusing zero-point calibration according to the target calibration distance. This embodiment proposes a method for locating the focusing zero point of a variable focus handle, combining optical principles and discrete spot image analysis to identify the error corresponding to the focusing zero point, and then achieving accurate focusing zero-point calibration based on the target calibration distance corresponding to the error.

[0074] Based on the first embodiment of this application, in the second embodiment of this application, the same or similar content as the first embodiment described above can be referred to the above description, and will not be repeated hereafter.

[0075] Based on the first embodiment, please refer to Figure 5 , Figure 5This is a flowchart illustrating the second embodiment of the laser focusing zero-point calibration method of this application. In one feasible implementation, step A1 may include steps A11 to A12:

[0076] Step A11: Perform preset image processing on the discrete spot image group to obtain the target spot parameters corresponding to the discrete spot image group;

[0077] Step A12: Determine the target calibration distance based on the target spot parameters.

[0078] It's easy to understand that after the laser beam passes through the focusing lens, it forms a waist; the specific process can be found in [reference needed]. Figure 6 , Figure 6 This is a schematic diagram of the laser lens focusing system model of the second embodiment of the laser focusing zero-point calibration method of this application, as shown below. Figure 6 As shown, the beam reaches its maximum concentration point and has the smallest diameter at the waist, where the laser spot intensity is at its maximum. After passing the waist, the beam begins to diverge again, becoming wider as it moves forward. On the Z-axis, the distance from the waist to the lens is equal to the focal length. The beam diameter at different positions on the Z-axis follows a quadratic curve, with the smallest diameter at the waist. Therefore, the laser waist position can be used as the actual zero-point of focus for the zoom handle.

[0079] Based on the above principles, this embodiment can perform preset image processing on each aiming spot image in the discrete spot image group, and then obtain the target spot parameters from them, thereby determining the target spot parameters based on the target spot parameters. Figure 6 The image information corresponding to the position of the laser beam waist is shown, and then the target calibration distance that the focusing lens needs to be adjusted is determined.

[0080] In one feasible implementation, step A12 may include steps A121 to A122:

[0081] Step A121: Perform preset curve fitting calibration based on the target spot parameters to obtain target calibration parameters;

[0082] Step A122: Determine the target calibration distance based on the motor motion step length corresponding to the target calibration parameters.

[0083] It is easy to understand that, since the aforementioned discrete spot image sequence consists of a series of spot images acquired through a preset step size, the preset step size (usually 200 micrometers) may not meet the positioning accuracy requirements of the zero-point of focus (usually 20 micrometers). Therefore, in order to avoid the spot image corresponding to the beam waist position not being included in the aforementioned discrete spot image group, and to ensure the calibration accuracy of the zero-point of focus, this embodiment proposes a method for fitting a preset curve based on the target spot parameters, and determines the target calibration parameters through the fitted calibration curve, and then determines the target calibration distance based on the motor movement step size of the focusing motor corresponding to the calibrated target calibration parameters.

[0084] Specifically, when the focusing motor moves toward the end of the lead screw, the encoder will accumulate multiple turns of angle. Therefore, this embodiment can obtain the encoder rotation angle corresponding to the target calibration parameter, and then combine it with the encoder initial value collected when the start signal is received to determine the absolute running step size of the focusing motor. Then, based on the absolute displacement of the zero point of the focusing lens moving to the skin surface, the target calibration distance can be obtained.

[0085] In a first feasible implementation, the target spot parameters include a spot size group; in this embodiment, step A121 may include steps B1 to B2:

[0086] Step B1: Perform a preset curve fitting based on the light spot size group to obtain a first fitting curve;

[0087] Step B2: Perform extreme value analysis on the first fitted curve and determine the spot with the smallest spot size as the target calibration parameter.

[0088] Understandably, the method for analyzing the laser beam waist position in this embodiment can be determined by the spot size corresponding to each aiming spot image in a discrete spot image group. Figure 6 As shown, the beam reaches its maximum concentration point and has the smallest diameter at the beam waist; therefore, the spot size corresponding to the zero-focus point should be the smallest. At this point, the therapeutic instrument can perform image segmentation and area calculation analysis on the discrete spot image group to obtain the spot size corresponding to each aiming spot image, thus obtaining a spot size group. Then, based on... Figure 6 As shown in the laser characteristics, this embodiment can perform quadratic curve fitting based on the spot size group and the focusing motor movement step size corresponding to each aiming spot image to obtain the aforementioned first fitting curve. The effect of this first fitting curve is as follows: Figure 7 As shown, Figure 7 This is a schematic diagram of the first fitting curve of the second embodiment of the laser focusing zero-point calibration method of this application. Figure 7As shown, in this embodiment, the minimum value is traversed through the first fitting curve to obtain the minimum spot size Smin, which is the target calibration parameter mentioned above. Subsequently, in this embodiment, the distance Zg of the focusing motor moving in the Z-axis direction corresponding to Smin in the first fitting curve can be determined as the target calibration distance.

[0089] In a second feasible implementation, the target spot parameters further include: a spot intensity group; step A121 may include steps C1 to C2:

[0090] Step C1: Fit a preset curve based on the light spot intensity group to obtain a second fitting curve;

[0091] Step C2: Perform extreme value analysis on the second fitted curve and determine the maximum light intensity value as the target calibration parameter.

[0092] It is easy to understand that the method for analyzing the laser beam waist position in this embodiment can be determined by the beam intensity corresponding to each aiming beam image in a discrete beam image group. Figure 6 As shown, the beam concentration is highest at the waist of the beam, corresponding to the strongest light intensity. Therefore, the light intensity of the spot corresponding to the zero-focus point should be the greatest. At this time, the therapeutic instrument can perform grayscale value analysis on the discrete spot image group. The lower the grayscale value, the greater the light intensity, thereby obtaining the spot light intensity corresponding to the aiming spot image under different focusing displacements, and obtaining the spot intensity group.

[0093] Meanwhile, since the acquired discrete images have a certain preset step size, there may be cases where the maximum intensity spot image is not acquired. Therefore, to improve the analysis accuracy, this application can perform quadratic curve fitting based on the spot intensity group acquired from the discrete spot image group, and determine the precise maximum intensity value as the target calibration parameter based on the maximum value of the obtained second fitting curve. In this embodiment, the effect of the second fitting curve is as follows: Figure 8 As shown, Figure 8 This is a schematic diagram of the second fitting curve of the second embodiment of the laser focusing zero-point calibration method of this application. Figure 8 As shown, in this embodiment, the maximum value is traversed through the second fitting curve to obtain the maximum spot intensity Imax laser focusing zero-point calibration, which is the above-mentioned target calibration parameter. Subsequently, in this embodiment, the distance Zg of the focusing motor moving in the Z-axis direction corresponding to the Imax laser focusing zero-point calibration in the second fitting curve can be determined as the target calibration distance.

[0094] In one embodiment, the step of obtaining a group of light spot intensities includes:

[0095] Obtain the center position of the discrete spot image group;

[0096] Calculate the gray value at the center position and use the gray value as the value of the light spot intensity group.

[0097] In this embodiment, the camera is fixed inside the laser handle. During the laser focusing zero-point calibration method of this embodiment, the scanning plane and the camera remain relatively fixed. Therefore, even when the focusing lens is in different positions during movement, the camera always captures a complete image of the light spot on the scanning plane. The center point of each light spot in the multiple light spot images in the discrete light spot image group is at the same position. Since the laser handle typically projects the laser onto the center of the scanning plane, this embodiment obtains the center position of the discrete light spot image group to obtain the brightest position of the light spot. Depending on the position of different focusing lenses, the diameter of the corresponding light spot may be different values ​​such as 5µm or 10µm. In this embodiment, the center position is a circle with a diameter of 1µm at the center position of the corresponding light spot image, that is, obtaining the most central position of each light spot. Then, the gray value of this center position is calculated and used as the value of the light spot intensity group.

[0098] It should be understood that the above-mentioned target spot parameters can also be spot brightness. The above are only two feasible implementation methods of step A121 provided in this embodiment. This embodiment does not specifically limit the specific implementation method of step A121.

[0099] In this embodiment, image processing is performed on discrete spot images to obtain target spot parameters such as spot size or spot intensity corresponding to different focusing displacements. Based on the target spot parameters, a preset curve fitting calibration is performed, thereby determining the motor movement step length corresponding to the accurate target calibration parameters after calibration as the target calibration distance. Then, based on the accurate target calibration distance, the focusing zero point calibration is performed to ensure that the actual focusing zero point of the treatment device after focusing zero point calibration can be located on the skin surface, further effectively ensuring the accuracy of laser focusing.

[0100] This embodiment discloses a method for performing preset image processing on a set of discrete light spot images to obtain target light spot parameters corresponding to the discrete light spot image set; performing preset curve fitting calibration based on the target light spot parameters to obtain target calibration parameters; the target light spot parameters include a light spot size group; performing preset curve fitting based on the light spot size group to obtain a first fitting curve; performing extremum analysis on the first fitting curve to determine the light spot with the smallest light spot size as the target calibration parameter. The target light spot parameters also include a light spot intensity group; performing preset curve fitting based on the light spot intensity group to obtain a second fitting curve; performing extremum analysis on the second fitting curve to determine the maximum light intensity value as the target calibration parameter. The target calibration distance is determined based on the motor motion step size corresponding to the target calibration parameters. This embodiment processes discrete spot images to obtain target spot parameters such as spot size or spot intensity corresponding to different focusing displacements. Based on the target spot parameters, a preset curve fitting calibration is performed. The motor movement step length corresponding to the accurate target calibration parameters after calibration is determined as the target calibration distance. Then, the zero-point focusing is calibrated based on the accurate target calibration distance to ensure that the actual zero-point focusing of the treatment device after zero-point focusing calibration can be located on the skin surface, further effectively ensuring the accuracy of laser focusing.

[0101] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the laser focusing zero-point calibration method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0102] This application also provides a laser focusing zero-point calibration device, please refer to... Figure 9 , Figure 9 This is a schematic diagram of the module structure of the laser focusing zero-point calibration device according to an embodiment of this application. In this embodiment, the laser focusing zero-point calibration device includes:

[0103] The lens jog control module T1 is used to control the focusing lens to move at equal distances according to a preset step size;

[0104] Image acquisition module T2 is used to acquire discrete spot image groups corresponding to each moving stop point of the focusing lens;

[0105] The zero-point calibration module T3 is used to perform focus zero-point calibration based on the discrete spot image group.

[0106] As one possible implementation, in this embodiment, the zero-point calibration module T3 is also used to determine the target calibration distance based on the discrete spot image group;

[0107] The zero-point calibration module T3 is also used to control the focusing lens to perform zero-point focusing calibration according to the target calibration distance.

[0108] As one possible implementation, in this embodiment, the zero-point calibration module T3 is also used to perform preset image processing on the discrete spot image group to obtain the target spot parameters corresponding to the discrete spot image group;

[0109] The zero-point calibration module T3 is also used to determine the target calibration distance based on the target spot parameters.

[0110] As one possible implementation, in this embodiment, the zero-point calibration module T3 is also used to perform preset curve fitting calibration based on the target spot parameters to obtain target calibration parameters;

[0111] The zero-point calibration module T3 is also used to determine the target calibration distance based on the motor motion step length corresponding to the target calibration parameters.

[0112] As one possible implementation, the target spot parameters include a spot size group; in this embodiment, the zero-point calibration module T3 is also used to perform preset curve fitting based on the spot size group to obtain a first fitting curve;

[0113] The zero-point calibration module T3 is also used to perform extreme value analysis on the first fitted curve and determine the spot with the smallest spot size as the target calibration parameter.

[0114] As one possible implementation, the target spot parameters further include: a spot intensity group; in this embodiment, the zero-point calibration module T3 is also used to perform preset curve fitting based on the spot intensity group to obtain a second fitting curve;

[0115] The zero-point calibration module T3 is also used to perform extreme value analysis on the second fitted curve and determine the maximum light intensity value as the target calibration parameter.

[0116] As one possible implementation, in this embodiment, the lens jog control module T1 is also used to control the focusing motor to move to a preset start position;

[0117] The lens jog control module T1 is also used to control the focusing motor to drive the focusing lens to move at a predetermined distance according to a preset step size after receiving a start signal sent by the limit switch located at the preset start position.

[0118] The laser focusing zero-point calibration device provided in this application, employing the laser focusing zero-point calibration method in the above embodiments, can solve the technical problem of laser focusing zero-point calibration. Compared with the prior art, the beneficial effects of the laser focusing zero-point calibration device provided in this application are the same as those of the laser focusing zero-point calibration method provided in the above embodiments, and other technical features in the laser focusing zero-point calibration device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0119] This application also proposes a laser therapy device, comprising: at least one processor; a memory communicatively connected to the at least one processor; and a focusing motion mechanism. The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to perform the laser focusing zero-point calibration method described in the above embodiments.

[0120] The focusing motion mechanism includes: a focusing motor, an encoder, motion mechanical components, and limit switches.

[0121] like Figure 10 As shown, the laser therapy device may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the laser therapy device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; communication devices 1009; and focusing motion mechanisms 1101. Communication device 1009 allows the laser therapy device to communicate wirelessly or wiredly with other devices to exchange data. Although a laser therapy device with various systems is shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0122] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0123] The laser therapy device provided in this application, employing the laser focusing zero-point calibration method described in the above embodiments, can solve the technical problem of laser focusing zero-point calibration. Compared with the prior art, the beneficial effects of the laser therapy device provided in this application are the same as those of the laser focusing zero-point calibration method provided in the above embodiments, and other technical features of this laser therapy device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0124] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0125] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0126] This application provides a storage medium having computer-readable program instructions (i.e., a laser focusing zero-point calibration program) stored thereon, the computer-readable program instructions being used to execute the laser focusing zero-point calibration method in the above embodiments.

[0127] The storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of the storage medium may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0128] The aforementioned storage medium may be included in the laser therapy device; or it may exist independently and not be assembled into the laser therapy device.

[0129] The aforementioned storage medium carries one or more programs, which, when executed by the laser therapy device, cause the laser therapy device to perform the aforementioned laser focusing zero-point calibration method.

[0130] Laser focusing zero-point calibration program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0131] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and laser focusing zero-point calibration procedure products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0132] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0133] The readable storage medium provided in this application is a storage medium that stores computer-readable program instructions (i.e., a laser focusing zero-point calibration program) for executing the above-described laser focusing zero-point calibration method. This solves the technical problem of effectively performing laser focusing zero-point calibration and ensuring laser focusing accuracy. Compared with the prior art, the beneficial effects of the storage medium provided in this application are the same as those of the laser focusing zero-point calibration method provided in the above embodiments, and will not be repeated here.

[0134] The above are only some embodiments of this application and do not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A laser focusing zero-point calibration method, characterized in that, The method includes: Control the focusing lens to move at equal distances according to a preset step size; Acquire discrete spot image groups corresponding to each moving stop point of the focusing lens; Zero-point focusing calibration is performed based on the discrete spot image group.

2. The laser focusing zero-point calibration method as described in claim 1, characterized in that, The step of performing zero-point focus calibration based on the discrete spot image group includes: Perform preset image processing on the discrete spot image group to obtain the target spot parameters corresponding to the discrete spot image group; Determine the target calibration distance based on the target spot parameters; The focusing lens is controlled to perform zero-point focusing calibration based on the target calibration distance.

3. The laser focusing zero-point calibration method as described in claim 2, characterized in that, The step of determining the target calibration distance based on the target spot parameters includes: Based on the target spot parameters, a preset curve fitting calibration is performed to obtain the target calibration parameters; The target calibration distance is determined based on the motor motion step length corresponding to the target calibration parameters.

4. The laser focusing zero-point calibration method as described in claim 3, characterized in that, The target spot parameters include a spot size group; the step of performing preset curve fitting calibration based on the target spot parameters to obtain target calibration parameters includes: A first fitted curve is obtained by fitting a preset curve based on the light spot size group; Perform extreme value analysis on the first fitted curve, and determine the spot with the smallest spot size as the target calibration parameter.

5. The laser focusing zero-point calibration method as described in claim 3, characterized in that, The target spot parameters further include: a spot intensity group; the step of performing preset curve fitting calibration based on the target spot parameters to obtain target calibration parameters further includes: A second fitted curve is obtained by fitting a preset curve based on the light spot intensity group; An extremum analysis was performed on the second fitted curve, and the maximum light intensity value was determined as the target calibration parameter.

6. The laser focusing zero-point calibration method as described in claim 5, characterized in that, The step of obtaining the light spot intensity group includes: Obtain the center position of the discrete spot image group; Calculate the gray value at the center position and use the gray value as the value of the light spot intensity group.

7. The laser focusing zero-point calibration method as described in claim 1, characterized in that, The step of controlling the focusing lens to move at equal distances according to a preset step size includes: Control the focusing motor to move to the preset start position; After receiving the start signal from the limit switch located at the preset start position, the focusing motor is controlled to drive the focusing lens to move at equal distances according to the preset step size.

8. A laser focusing zero-point calibration device, characterized in that, The laser focusing zero-point calibration device includes: The lens movement control module is used to control the focusing lens to move at equal distances according to a preset step size; The image acquisition module is used to acquire discrete spot image groups corresponding to each moving stop point of the focusing lens; The zero-point calibration module is used to perform focus zero-point calibration based on the discrete spot image group.

9. A laser therapy device, characterized in that, The laser therapy device includes: a memory, a processor, a focusing motion mechanism, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the laser focusing zero-point calibration method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores a laser focusing zero-point calibration program, which, when executed by a processor, implements the steps of the laser focusing zero-point calibration method as described in any one of claims 1 to 7.

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