A dynamic temperature control method, system, and medium for a cryotherapy device

Abstract

A dynamic temperature control method, system and medium for a cryotherapy device, comprising: in response to a rapid cooling start instruction, triggering entering a rapid cooling phase, and triggering entering a steady state maintenance phase after the rapid cooling phase is completed; or in response to a conversion instruction, triggering entering a controllable rewarming phase; if the current treatment phase is the rapid cooling phase or the steady state maintenance phase, executing a first control mode: based on the current treatment phase, obtaining a corresponding preset target temperature, and configuring control parameters corresponding to a PID control algorithm and pulse width modulation signal frequency parameters; obtaining a temperature measurement value of a treatment area; based on a Kalman filtering algorithm, filtering the temperature measurement value to obtain a temperature estimate value; calculating a temperature error; based on the temperature error and the PID control algorithm, generating a control signal; adjusting the output parameters of the pulse width modulation signal according to the control signal; if the current treatment phase is the controllable rewarming phase, executing a second control mode.

Description

Technical Field

[0001] This invention relates to the field of medical cryotherapy device control technology, and in particular to a dynamic temperature control method, system and medium for cryotherapy equipment. Background Technology

[0002] Cryotherapy is a common medical procedure that uses low temperatures to destroy diseased tissue and is widely used to treat superficial lesions such as warts and actinic keratosis. Its effectiveness depends heavily on precise control of the freezing temperature, duration of action, and depth of penetration.

[0003] However, in traditional liquid nitrogen cryotherapy, the lack of real-time and accurate monitoring and feedback of the temperature of the treatment area means that the cryotherapy equipment cannot be dynamically adjusted based on the actual treatment status, thus affecting the treatment effect and safety. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a dynamic temperature control method for cryotherapy equipment, comprising the following steps: In response to a rapid cooling start command, the system is triggered to enter the rapid cooling phase, and after the rapid cooling phase is completed, it is triggered to enter the steady-state maintenance phase; or, in response to a switching command, it is triggered to enter the controllable temperature recovery phase. If the current treatment phase is the rapid cooling phase or the steady-state maintenance phase, then the first control mode is executed, including: Based on the current treatment stage, obtain the corresponding preset target temperature, and configure the control parameters and pulse width modulation signal frequency parameters corresponding to the PID control algorithm; Obtain temperature measurements of the treatment area; The temperature measurement value is filtered using the Kalman filter algorithm to obtain the temperature estimate. Based on the preset target temperature and the estimated temperature, the temperature error is calculated; based on the temperature error and the PID control algorithm, a control signal is generated. According to the control signal, the output parameters of the pulse width modulation signal are adjusted to drive the temperature regulation process; If the current treatment stage is the controllable warming stage, then the second control mode is executed: the cryotherapy device is controlled to stop cooling and wait for the temperature to return to the preset safe temperature.

[0005] Optionally, the control parameters include proportional coefficient, integral coefficient, and derivative coefficient; During the rapid cooling phase, the configured proportional coefficient is greater than that configured during the steady-state maintenance phase, the configured integral coefficient is less than that configured during the steady-state maintenance phase, and the configured pulse width modulation signal frequency parameter is higher than that configured during the steady-state maintenance phase.

[0006] Optionally, the temperature measurement value is filtered based on the Kalman filter algorithm, including: Based on preset parameters of process noise covariance, observation noise covariance, and estimation error covariance, the temperature estimate and estimation error covariance are iteratively predicted and updated.

[0007] Optionally, based on the temperature error and the PID control algorithm, a control signal is generated, including: When the absolute value of the temperature error is less than a first preset threshold, the temperature error is integrated to generate an integral term; When the absolute value of the temperature error is greater than or equal to the first preset threshold, the integral term is reset.

[0008] Optionally, generating a control signal based on the temperature error and the PID control algorithm further includes: Based on the time interval between the current moment and the previous moment, the rate of change of the temperature error is calculated to generate a differential term.

[0009] Optionally, adjusting the output parameters of the pulse width modulation signal according to the control signal includes: The control signal is mapped to the duty cycle of the pulse width modulation signal, and the duty cycle is limited. The frequency of the pulse width modulation signal is dynamically switched based on the absolute value of the temperature error.

[0010] Optionally, dynamically switching the frequency of the pulse width modulation signal based on the absolute value of the temperature error includes: When the absolute value of the temperature error is less than the second preset threshold, the frequency of the pulse width modulation signal is set to the first frequency value; When the absolute value of the temperature error is greater than or equal to the second preset threshold, the frequency of the pulse width modulation signal is set to the second frequency value.

[0011] Optionally, the method further includes: The estimated temperature value is compared with a preset temperature protection threshold. When the estimated temperature value is greater than the preset temperature protection threshold, a thermal management start command is generated; when the estimated temperature value is less than or equal to the preset temperature protection threshold, a thermal management stop command is generated.

[0012] Corresponding to the aforementioned dynamic temperature control method for cryotherapy equipment, the present invention provides a dynamic temperature control system for cryotherapy equipment, comprising: The treatment phase determination module is used to respond to the rapid cooling start command, trigger the entry into the rapid cooling phase, and trigger the entry into the steady-state maintenance phase after the rapid cooling phase is completed; or, respond to the conversion command, trigger the entry into the controllable warming phase; if the current treatment phase is the rapid cooling phase or the steady-state maintenance phase, the first control mode is executed; if the current treatment phase is the controllable warming phase, the second control mode is executed. The first control module, used to execute the first control mode, includes: The parameter configuration unit, based on the treatment stage, obtains the corresponding preset target temperature and configures the control parameters corresponding to the PID control algorithm; Temperature measurement unit, used to acquire temperature measurement values ​​of the treatment area; The filtering unit filters the temperature measurement value based on the Kalman filtering algorithm to obtain the temperature estimate. The calculation unit calculates the temperature error based on the preset target temperature and the estimated temperature value; The control signal generation unit generates a control signal based on the temperature error and the PID control algorithm. The pulse modulation unit adjusts the output parameters of the pulse width modulation signal according to the control signal to drive the temperature regulation process; The second control module is used to execute the second control mode: control the cryotherapy device to stop cooling and wait for it to warm up to the preset safe temperature.

[0013] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a dynamic temperature control program for a cryotherapy device, wherein the dynamic temperature control program for a cryotherapy device, when executed by a processor, implements the steps of the dynamic temperature control method for a cryotherapy device as described above.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) Corresponding treatment modes are set for different treatment stages, and users only need to input the rapid cooling start command or the conversion command to trigger the corresponding stage. After the rapid cooling stage is completed, the steady-state maintenance stage is triggered, which simplifies the user operation process. At the same time, by obtaining the temperature measurement value of the treatment area, the temperature measurement value is filtered by the Kalman filter algorithm to obtain the temperature estimate value. Then, the temperature error is calculated based on the preset target temperature and the temperature estimate value. Then, the control signal is generated based on the temperature error and the PID control algorithm. Finally, the output parameters of the pulse width modulation signal are adjusted according to the control signal to drive the temperature regulation process. It can realize real-time and accurate monitoring and feedback control of the temperature of the treatment area, thereby improving the effect and safety of cryotherapy.

[0015] (2) The control parameters of the PID control algorithm and the frequency parameters of the pulse width modulation signal are configured according to different treatment stages. The control algorithm and filter can be optimized and adjusted according to specific treatment needs, which improves the versatility and configurability of the entire temperature control system and enables it to better adapt to different application scenarios and treatment requirements.

[0016] (3) Based on the preset process noise covariance, observation noise covariance and estimation error covariance parameters, the temperature estimate and estimation error covariance are iteratively predicted and updated, which can effectively reduce the noise interference in the temperature measurement value, improve the accuracy of the temperature estimate, and thus provide a more reliable data basis for subsequent temperature error calculation and control signal generation, thereby enhancing the stability and accuracy of the entire temperature control system.

[0017] (4) When the absolute value of the temperature error is less than the first preset threshold, the temperature error is integrated to generate an integral term; when the absolute value of the temperature error is greater than or equal to the first preset threshold, the integral term is reset; the anti-integral saturation mechanism can effectively prevent the integral term from accumulating excessively when the error is large, avoid system instability caused by excessive control signal due to integral saturation, and improve the adaptability and reliability of PID control algorithm in dynamic temperature control process.

[0018] (5) Based on the time interval between the current moment and the previous moment, the rate of change of temperature error is calculated to generate a differential term, which can predict and compensate for the trend of temperature error change, enhance the PID control algorithm’s ability to respond quickly to temperature changes, enable the system to adjust the control signal more timely, and further improve the accuracy and dynamic performance of temperature control.

[0019] (6) By mapping the control signal to the duty cycle of the pulse width modulation signal and limiting the duty cycle, it is possible to ensure that the output parameters of the pulse width modulation signal are within a safe range, thus avoiding equipment damage or control failure caused by excessive control signal. At the same time, by dynamically switching the frequency of the pulse width modulation signal according to the absolute value of the temperature error, the output effect of the control signal can be optimized under different temperature error conditions, further improving the efficiency and accuracy of the temperature regulation process.

[0020] (7) The dynamic frequency switching mechanism can reduce the frequency to improve control accuracy when the temperature is close to the target temperature, and increase the frequency to speed up the adjustment when the temperature deviation is large, thus realizing fine control of the temperature adjustment process and improving the overall performance and adaptability of the system.

[0021] (8) By comparing the estimated temperature value with the preset temperature protection threshold and generating thermal management start or stop commands based on the comparison results, the equipment can be effectively protected to operate normally under extreme temperature conditions, preventing equipment damage or poor treatment effect caused by excessively high or low temperatures, and further improving the safety and reliability of cryotherapy equipment. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a simplified flowchart of an embodiment of the dynamic temperature control method for cryotherapy equipment according to the present invention; Figure 2 This is a framework diagram of an embodiment of the dynamic temperature control system for cryotherapy equipment according to the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] like Figure 1 As shown, a dynamic temperature control method for a cryotherapy device according to the present invention includes the following steps: In response to a rapid cooling start command, the system is triggered to enter the rapid cooling phase, and after the rapid cooling phase is completed, it is triggered to enter the steady-state maintenance phase; or, in response to a switching command, it is triggered to enter the controllable temperature recovery phase. If the current treatment phase is a rapid cooling phase or a steady-state maintenance phase, then the first control mode is executed, including: Based on the current treatment stage, obtain the corresponding preset target temperature, and configure the control parameters and pulse width modulation signal frequency parameters corresponding to the PID control algorithm; Acquire temperature measurements of the treatment area; preferably, periodically read temperature data of the treatment area using a temperature sensor; The temperature measurement value is filtered using the Kalman filter algorithm to obtain the temperature estimate. Based on the preset target temperature and the temperature estimate, the temperature error is calculated; based on the temperature error and the PID control algorithm, a control signal is generated. Based on the control signal, adjust the output parameters of the pulse width modulation signal to drive the temperature regulation process; If the current treatment phase is the controllable warming phase, then execute the second control mode: control the cryotherapy equipment to stop cooling and wait for the temperature to warm up to the preset safe temperature.

[0025] Preferably, the steps of the above dynamic temperature control method are repeatedly executed in a control loop, which has a fixed control period (e.g., 100 milliseconds).

[0026] This invention sets corresponding treatment modes for different treatment stages, and users only need to input a rapid cooling start command or a switch command to trigger the corresponding stage. After the rapid cooling stage is completed, it triggers the steady-state maintenance stage, simplifying the user operation process. At the same time, by acquiring the temperature measurement value of the treatment area, the temperature measurement value is filtered using a Kalman filter algorithm to obtain a temperature estimate value. Then, the temperature error is calculated based on the preset target temperature and the temperature estimate value. Subsequently, a control signal is generated based on the temperature error and a PID control algorithm. Finally, the output parameters of the pulse width modulation signal are adjusted according to the control signal to drive the temperature regulation process. This enables real-time and accurate monitoring and feedback control of the temperature of the treatment area, thereby improving the effectiveness and safety of cryotherapy.

[0027] In this embodiment, the control parameters of the PID control algorithm include the proportional coefficient Kp, the integral coefficient Ki, and the derivative coefficient Kd. According to the needs of different treatment stages, the corresponding preferred values ​​of the control parameters can be preset.

[0028] During the rapid cooling phase, the configured proportional coefficient is greater than that configured during the steady-state maintenance phase, the configured integral coefficient is less than that configured during the steady-state maintenance phase, and the configured pulse width modulation signal frequency parameter is higher than that configured during the steady-state maintenance phase.

[0029] It should be noted that during the rapid cooling phase, the semiconductor cooling chip needs to be driven with higher power, with the goal of reducing the treatment area from room temperature to the required treatment temperature (i.e., the preset target temperature corresponding to the rapid cooling phase) in the shortest possible time. Therefore, a more aggressive set of control parameters is required (i.e., a larger proportional coefficient Kp needs to be configured), and the PWM frequency should be kept at the second frequency value (preferably 1000Hz) to pursue the fastest cooling rate.

[0030] Once the rapid cooling phase is complete (i.e., after the desired treatment temperature is reached), the system automatically enters the steady-state maintenance phase. The control objective then shifts to precisely and stably maintaining the temperature near the desired treatment temperature. At this point, the control system needs to switch to another set of optimized control parameters (i.e., a larger integral coefficient Ki needs to be configured to eliminate steady-state error), and the PWM frequency may be switched to a first frequency value (preferably 500Hz) to improve the smoothness and accuracy of control, ensuring therapeutic efficacy while avoiding temperature overshoot.

[0031] Upon receiving the user's conversion command, the system responds by triggering a controlled warming phase, stopping the cryotherapy equipment from cooling until the temperature returns to a preset safe temperature to prevent tissue adhesion and promote postoperative recovery. Preferably, the preset safe temperature is 5°C.

[0032] This invention configures the control parameters of the PID control algorithm and the frequency parameters of the pulse width modulation signal according to different treatment stages. It can optimize and adjust the control algorithm and filter according to specific treatment needs, thereby improving the versatility and configurability of the entire temperature control system and enabling it to better adapt to different application scenarios and treatment requirements.

[0033] In this embodiment, the filtering parameters of the Kalman filter include the process noise covariance Q, the observation noise covariance R, and the initial estimation error covariance P. The temperature measurement values ​​are filtered based on the Kalman filter algorithm, including: Based on preset parameters for process noise covariance, observation noise covariance, and estimation error covariance, the temperature estimate and estimation error covariance are iteratively predicted and updated. Preferably, the preset parameters for process noise covariance, observation noise covariance, and estimation error covariance are: Q=0.01, R=0.25, P=1.0.

[0034] Preferably, iterative prediction and updating includes an iterative prediction step and an iterative update step; The iterative prediction steps are as follows: Based on the temperature estimate and error covariance of the previous time step, predict the temperature estimate for the current time step. And error covariance; specifically, using the temperature estimate from the previous time step as the temperature estimate for the current time step. In the absence of new temperature measurements, the estimated temperature at the current moment. The temperature estimate is the same as the previous time step; the error covariance at the current time step is... =P+Q; The iterative update steps are: calculate the Kalman gain K, calculate the temperature estimate. And update the estimated error covariance P; where K = ; = +K(z- (), where z is the measured temperature value; P = (1-K) .

[0035] Based on preset parameters of process noise covariance, observation noise covariance, and estimation error covariance, this invention iteratively predicts and updates the temperature estimate and estimation error covariance, which can effectively reduce noise interference in temperature measurements, improve the accuracy of temperature estimates, and thus provide a more reliable data foundation for subsequent temperature error calculation and control signal generation, thereby enhancing the stability and accuracy of the entire temperature control system.

[0036] In this embodiment, a control signal is generated based on temperature error and a PID control algorithm, including: When the absolute value of the temperature error is less than the first preset threshold, the temperature error is integrated to generate an integral term; When the absolute value of the temperature error is greater than or equal to a first preset threshold, the integral term is reset. Preferably, the first preset threshold is 5°C.

[0037] This invention effectively prevents the integral term from accumulating excessively when the error is large through an anti-integral saturation mechanism, avoiding system instability caused by excessively large control signals due to integral saturation, and improving the adaptability and reliability of the PID control algorithm in the dynamic temperature control process.

[0038] In this embodiment, the control signal is generated based on temperature error and a PID control algorithm, and the method further includes: Based on the time interval between the current moment and the previous moment, the rate of change of temperature error is calculated to generate a differential term.

[0039] This invention calculates the rate of change of temperature error based on the time interval between the current moment and the previous moment to generate a differential term. It can predict and compensate for the changing trend of temperature error, enhance the rapid response capability of PID control algorithm to temperature changes, enable the system to adjust the control signal more timely, and further improve the accuracy and dynamic performance of temperature control.

[0040] In this embodiment, adjusting the output parameters of the pulse width modulation signal according to the control signal includes: The control signal is mapped to the duty cycle of the pulse width modulation signal, and the duty cycle is limited to a preset range (preferably 0%-100%). The frequency of the pulse width modulation signal is dynamically switched based on the absolute value of the temperature error.

[0041] This invention maps the control signal to the duty cycle of a pulse width modulation (PWM) signal and limits the duty cycle, ensuring that the output parameters of the PWM signal remain within a safe range and preventing equipment damage or control failure due to excessively large control signals. Furthermore, by dynamically switching the frequency of the PWM signal based on the absolute value of the temperature error, the output effect of the control signal can be optimized under different temperature error conditions, further improving the efficiency and accuracy of the temperature regulation process.

[0042] In this embodiment, dynamically switching the frequency of the pulse width modulation signal based on the absolute value of the temperature error includes: When the absolute value of the temperature error is less than the second preset threshold, the frequency of the pulse width modulation signal is set to the first frequency value; the second preset threshold is preferably 2℃. When the absolute value of the temperature error is greater than or equal to the second preset threshold, the frequency of the pulse width modulation signal is set to the second frequency value.

[0043] This invention utilizes a dynamic frequency switching mechanism to reduce the frequency when the temperature approaches the target temperature to improve control accuracy, and to increase the frequency when the temperature deviation is large to accelerate the adjustment speed. This achieves refined control of the temperature regulation process and improves the overall performance and adaptability of the system.

[0044] In this embodiment, the method further includes: The estimated temperature value is compared with a preset temperature protection threshold; preferably, the preset temperature protection threshold is 50°C. When the estimated temperature is greater than the preset temperature protection threshold, a thermal management start command is generated; when the estimated temperature is less than or equal to the preset temperature protection threshold, a thermal management stop command is generated.

[0045] In this embodiment, the thermal management start command controls the heat dissipation module to start, and the thermal management stop command controls the heat dissipation module to stop; preferably, the heat dissipation module is a fan.

[0046] This invention compares the estimated temperature value with a preset temperature protection threshold and generates a thermal management start or stop command based on the comparison result. This effectively protects the equipment from operating normally under extreme temperature conditions, prevents equipment damage or poor treatment effect caused by excessively high or low temperatures, and further improves the safety and reliability of cryotherapy equipment.

[0047] like Figure 2 As shown, the present invention also provides a dynamic temperature control system for cryotherapy equipment, comprising: The treatment phase determination module 10 is used to respond to the rapid cooling start command, triggering the entry into the rapid cooling phase, and after the rapid cooling phase is completed, triggering the entry into the steady-state maintenance phase; or, responding to the conversion command, triggering the entry into the controllable warming phase; if the current treatment phase is the rapid cooling phase or the steady-state maintenance phase, the first control mode is executed; if the current treatment phase is the controllable warming phase, the second control mode is executed. The first control module 20 is used to execute the first control mode, including: The parameter configuration unit 21 obtains the corresponding preset target temperature based on the current treatment stage and configures the control parameters corresponding to the PID control algorithm. Temperature measurement unit 22 is used to acquire temperature measurement values ​​of the treatment area; The filtering processing unit 23 filters the temperature measurement value based on the Kalman filtering algorithm to obtain the temperature estimate. Calculation unit 24 calculates the temperature error based on the preset target temperature and the estimated temperature value; The control signal generation unit 25 generates a control signal based on the temperature error and the PID control algorithm. The pulse modulation unit 26 adjusts the output parameters of the pulse width modulation signal according to the control signal to drive the temperature regulation process; The second control module 30 is used to execute the second control mode: control the cryotherapy device to stop cooling and wait for it to warm up to the preset safe temperature.

[0048] In this embodiment, the system further includes: The thermal management module is used to compare the estimated temperature value with a preset temperature protection threshold; preferably, the preset temperature protection threshold is 50°C. When the estimated temperature is greater than the preset temperature protection threshold, a thermal management start command is generated; when the estimated temperature is less than or equal to the preset temperature protection threshold, a thermal management stop command is generated.

[0049] In this embodiment, the thermal management start command controls the heat dissipation module to start, and the thermal management stop command controls the heat dissipation module to stop.

[0050] This invention also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the memory described in the above embodiments; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores at least one instruction, which is loaded and executed by a processor to implement... Figure 1 The method for dynamic temperature control of a cryotherapy device is shown. The computer-readable storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0051] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments and storage medium embodiments, since they are basically similar to method embodiments, the descriptions are relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0052] Furthermore, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0053] The foregoing description illustrates and describes preferred embodiments of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept by means of the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A dynamic temperature control method for cryotherapy equipment, characterized in that, Includes the following steps: In response to the rapid cooling start command, the system is triggered to enter the rapid cooling phase, and after the rapid cooling phase is completed, it is triggered to enter the steady-state maintenance phase. Alternatively, in response to a conversion command, it may trigger the entry into a controlled reheating phase; If the current treatment phase is the rapid cooling phase or the steady-state maintenance phase, then the first control mode is executed, including: Based on the current treatment stage, obtain the corresponding preset target temperature, and configure the control parameters and pulse width modulation signal frequency parameters corresponding to the PID control algorithm; Obtain temperature measurements of the treatment area; The temperature measurement value is filtered using the Kalman filter algorithm to obtain the temperature estimate. The temperature error is calculated based on the preset target temperature and the estimated temperature. Based on the temperature error and the PID control algorithm, a control signal is generated; According to the control signal, the output parameters of the pulse width modulation signal are adjusted to drive the temperature regulation process; If the current treatment stage is the controllable warming stage, then the second control mode is executed: the cryotherapy device is controlled to stop cooling and wait for the temperature to return to the preset safe temperature.

2. The dynamic temperature control method for cryotherapy equipment according to claim 1, characterized in that, The control parameters include proportional coefficient, integral coefficient, and derivative coefficient; During the rapid cooling phase, the configured proportional coefficient is greater than that configured during the steady-state maintenance phase, the configured integral coefficient is less than that configured during the steady-state maintenance phase, and the configured pulse width modulation signal frequency parameter is higher than that configured during the steady-state maintenance phase.

3. The dynamic temperature control method for cryotherapy equipment according to claim 1, characterized in that, The temperature measurement value is filtered based on the Kalman filter algorithm, including: Based on preset parameters of process noise covariance, observation noise covariance, and estimation error covariance, the temperature estimate and estimation error covariance are iteratively predicted and updated.

4. The dynamic temperature control method for cryotherapy equipment according to claim 1, characterized in that, Based on the temperature error and the PID control algorithm, a control signal is generated, including: When the absolute value of the temperature error is less than a first preset threshold, the temperature error is integrated to generate an integral term; When the absolute value of the temperature error is greater than or equal to the first preset threshold, the integral term is reset.

5. The dynamic temperature control method for cryotherapy equipment according to claim 4, characterized in that, Based on the aforementioned temperature error and PID control algorithm, a control signal is generated, further comprising: Based on the time interval between the current moment and the previous moment, the rate of change of the temperature error is calculated to generate a differential term.

6. The dynamic temperature control method for cryotherapy equipment according to claim 1, characterized in that, Adjusting the output parameters of the pulse width modulation signal according to the control signal includes: The control signal is mapped to the duty cycle of the pulse width modulation signal, and the duty cycle is limited. The frequency of the pulse width modulation signal is dynamically switched based on the absolute value of the temperature error.

7. The dynamic temperature control method for cryotherapy equipment according to claim 6, characterized in that, Dynamically switching the frequency of the pulse width modulation signal based on the absolute value of the temperature error includes: When the absolute value of the temperature error is less than the second preset threshold, the frequency of the pulse width modulation signal is set to the first frequency value; When the absolute value of the temperature error is greater than or equal to the second preset threshold, the frequency of the pulse width modulation signal is set to the second frequency value.

8. The dynamic temperature control method for cryotherapy equipment according to claim 1, characterized in that, Also includes: The estimated temperature value is compared with a preset temperature protection threshold. When the estimated temperature value is greater than the preset temperature protection threshold, a thermal management start command is generated; When the estimated temperature value is less than or equal to the preset temperature protection threshold, a thermal management shutdown command is generated.

9. A dynamic temperature control system for cryotherapy equipment, characterized in that, include: The treatment phase determination module is used to respond to the rapid cooling start command, trigger the entry into the rapid cooling phase, and trigger the entry into the steady state maintenance phase after the rapid cooling phase is completed. Alternatively, in response to a conversion command, the system can be triggered to enter a controllable temperature recovery phase; if the current treatment phase is the rapid cooling phase or the steady-state maintenance phase, then the first control mode is executed; if the current treatment phase is the controllable temperature recovery phase, then the second control mode is executed. The first control module, used to execute the first control mode, includes: The parameter configuration unit obtains the corresponding preset target temperature based on the current treatment stage and configures the control parameters corresponding to the PID control algorithm. Temperature measurement unit, used to acquire temperature measurement values ​​of the treatment area; The filtering unit filters the temperature measurement value based on the Kalman filtering algorithm to obtain the temperature estimate. The calculation unit calculates the temperature error based on the preset target temperature and the estimated temperature value; The control signal generation unit generates a control signal based on the temperature error and the PID control algorithm. The pulse modulation unit adjusts the output parameters of the pulse width modulation signal according to the control signal to drive the temperature regulation process; The second control module is used to execute the second control mode: control the cryotherapy device to stop cooling and wait for it to warm up to the preset safe temperature.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a dynamic temperature control program for a cryotherapy device, which, when executed by a processor, implements the steps of the dynamic temperature control method for a cryotherapy device as described in any one of claims 1 to 8.

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