Handpiece, displacement calculation method and device, therapeutic instrument and storage medium

Abstract

This invention discloses a handpiece, a displacement calculation method and device, a therapeutic instrument, and a storage medium. The displacement calculation method for the handpiece includes: acquiring the tilt angle and distance of an optical flow sensor relative to the area to be treated; acquiring the initial displacement value collected by the optical flow sensor; and calculating the actual displacement value of the handpiece based on the tilt angle, distance, and the initial displacement value. Normally, the laser scanning handpiece is perpendicular to the area to be treated. This invention detects the tilt angle between the two areas to obtain the initial displacement value detected by the optical flow sensor due to the tilt angle. Then, by correcting the initial displacement value collected by the optical flow sensor based on the tilt angle and distance, the actual displacement value of the handpiece is calculated, thus completing the displacement compensation of the laser scanning handpiece. This solves the problem that when the laser handpiece is tilted, the image detected by the optical flow sensor also shifts, resulting in inaccurate displacement data.

Description

Technical Field

[0001] This invention relates to the field of laser scanning handpiece technology, and particularly to a handpiece, displacement calculation method and device, therapeutic instrument and storage medium. Background Technology

[0002] In the medical aesthetics industry, for handpieces used in energy therapy, it is typically necessary to move them over the treatment area to ensure the treatment area covers the entire area. When the handpiece moves over the treatment area, the energy output is usually controlled based on the distance traveled to avoid mismatches between the distance traveled and the energy output, which could lead to overtreatment or insufficient energy. Optical flow sensors are typically used to detect the distance the handpiece moves over the treatment area.

[0003] However, in some cases, if the handpiece tilts while moving along the plane of the treatment area, the image detected by the optical flow sensor will also shift, resulting in incorrect displacement data in the calculation. Summary of the Invention

[0004] The main objective of this invention is to provide a method for calculating the displacement of a handpiece, which aims to solve the problem of inaccurate displacement data when the laser handpiece is tilted.

[0005] To achieve the above objectives, the present invention proposes a displacement calculation method for a handpiece, wherein the handpiece is equipped with an optical flow sensor, and the displacement calculation method includes: Acquire the tilt angle and distance of the optical flow sensor relative to the area to be treated; Obtain the initial displacement value acquired by the optical flow sensor; The actual displacement value of the handpiece is calculated based on the tilt angle, distance, and initial displacement value.

[0006] Optionally, the handpiece is equipped with a gyroscope, and the step of obtaining the tilt angle of the handpiece relative to the area to be treated includes: The tilt angle collected by the gyroscope is obtained as the tilt angle.

[0007] Optionally, the acquisition of the optical flow sensor relative to the tilt angle and distance of the region to be treated then includes: If the tilt angle is greater than or equal to the tilt threshold, a warning message is issued.

[0008] Optionally, after the step of calculating the actual displacement value of the handpiece, the following steps are included: When the actual displacement value exceeds the preset displacement threshold, the control energy source host emits energy.

[0009] Optionally, the handpiece further includes an abutment portion, one side of which forms a height-limiting surface that abuts the optical flow sensor, and the other side is used to contact the area to be treated; the distance between the two sides of the abutment portion is used as the distance between the optical flow sensor and the area to be treated; the step of calculating the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value includes: Calculate the displacement difference of the handpiece based on the tilt angle and the distance; The actual displacement value of the handpiece is calculated based on the displacement difference and the initial displacement value.

[0010] Optionally, the handpiece is a laser treatment handpiece.

[0011] The present invention also proposes a hand tool, which includes an optical flow sensor, a gyroscope, a housing, and a contact part; The optical flow sensor and gyroscope are disposed in the cavity formed by the housing. The lower end of the housing is provided with the abutment part. The height limiting surface formed on one side of the abutment part abuts the optical flow sensor, and the other side is used to contact the area to be treated. The gyroscope is used to obtain the tilt angle of the optical flow sensor relative to the area to be treated; The contact portion is used to limit the distance between the optical flow sensor and the area to be treated; The processing unit is connected to the optical flow sensor and the gyroscope respectively; the processing unit is used to calculate the actual displacement value of the handpiece based on the tilt angle, distance and initial displacement value.

[0012] The present invention also proposes a therapeutic device, which includes an energy source host and the aforementioned handpiece.

[0013] The present invention also proposes a displacement calculation device, the displacement calculation device comprising: The tilt angle acquisition module is used to acquire the tilt angle of the optical flow sensor relative to the area to be treated; The distance acquisition module is used to acquire the distance between the optical flow sensor and the area to be treated; The displacement acquisition module is used to acquire the initial displacement of the handpiece movement; The calculation module is used to calculate the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value.

[0014] The present invention also proposes a storage medium storing a displacement compensation program for a laser scanning handpiece, wherein the displacement compensation program for the laser scanning handpiece, when executed by a processor, implements the steps of the displacement calculation method for the handpiece.

[0015] This invention discloses a method for calculating the displacement of a handpiece. The method includes: acquiring the tilt angle and distance of an optical flow sensor relative to the treatment area; acquiring the initial displacement value collected by the optical flow sensor; and calculating the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value. Normally, the laser scanning handpiece is perpendicular to the treatment area. This invention detects the tilt angle between the two areas to obtain the initial displacement value detected by the optical flow sensor due to the tilt angle. Then, it corrects the initial displacement value collected by the optical flow sensor based on the tilt angle and distance to calculate the actual displacement value of the handpiece, thus completing the displacement compensation of the laser scanning handpiece. This solves the problem that when the laser handpiece is tilted, the image detected by the optical flow sensor also shifts, resulting in inaccurate displacement data. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of an embodiment of the hand tool of the present invention; Figure 2 This is a detection schematic diagram of an embodiment of the displacement calculation method for the hand tool of the present invention; Figure 3 This is a detection schematic diagram of another embodiment of the displacement calculation method of the hand tool of the present invention; Figure 4 This is a schematic diagram illustrating the steps of an embodiment of the displacement calculation method for the hand tool of the present invention; Figure 5 This is a schematic diagram illustrating the steps of another embodiment of the displacement calculation method for the hand tool of the present invention.

[0018] Explanation of icon numbers:

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0024] like Figure 1 As shown, under normal use, the optical flow sensor 2 is perpendicular to the surface of human skin, and it detects the displacement of the handpiece as it moves across the skin. (Reference) Figure 2 , Figure 2 When the handpiece is perpendicular to the human skin surface, the optical flow sensor 2 follows the detection path on the skin surface as the handpiece moves. However, if the handpiece is tilted while the operator is using it, the optical flow sensor 2 will misjudge that the handpiece has moved. The optical flow sensor 2 operates based on optical principles. It uses a camera device to acquire multiple consecutive frames of images and calculates the speed and direction of the object's movement by comparing the pixel displacements between adjacent frames. When the object moves, pixels in adjacent frames will shift. By tracking these displacements, the optical flow sensor 2 can accurately capture the object's motion information. The optical flow sensor 2 includes a camera device for acquiring images. The positional relationship between the optical flow sensor 2 and the handpiece is as follows: Figure 1 As shown, the optical flow sensor 2 is arranged parallel to at least one outer wall of the handpiece, and the lens of the optical flow sensor 2 is arranged perpendicular to the reserved laser path in the handpiece, or the lens is arranged perpendicular to the central axis of the handpiece.

[0025] like Figure 3 As shown, Figure 3 The optical flow sensor 2 on the left vertically acquires images of the skin. If the handpiece is tilted relative to the skin surface, as indicated by the dashed line in the diagram, the optical flow sensor 2 detects the path on the skin surface when tilted. The image acquired in this tilted state is equivalent to the optical flow sensor 2 being positioned vertically on the right side of the skin. When the handpiece tilts from a vertical position, the lens angle of the optical flow sensor 2 changes, resulting in a change in the image captured by the lens. The collected data is equivalent to the handpiece moving from the left to the right side, thus indicating a displacement ΔX. However, the handpiece is actually still in position 1 and has not actually moved. In the laser handpiece, due to the tilt, the optical flow sensor 2 incorporates the position ΔX into the displacement value, which will be referred to as the initial displacement value.

[0026] To address the problem of inaccurate displacement data calculated when the handpiece is tilted, this invention proposes a displacement calculation method for the handpiece, wherein the handpiece is equipped with an optical flow sensor 2, and the displacement calculation method includes: Step S10: Obtain the tilt angle and distance of the optical flow sensor 2 relative to the area to be treated; Step S20: Obtain the initial displacement value collected by optical flow sensor 2; Step S30: Calculate the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value.

[0027] It should be noted that the main objective of this invention is to solve the problem of inaccurate displacement data calculated when the handpiece is tilted. Therefore, the displacement calculation method proposed in this invention is applied to a handpiece, which includes an optical flow sensor 2. Furthermore, it is easy to understand that the displacement ΔX is related to the tilt angle of the handpiece. Assuming the vertical distance between the optical flow sensor 2 and the skin is height H, the relationship between the displacement ΔX and the tilt angle can be expressed as: .in, The tilt angle is given. The displacement incorrectly acquired by the optical flow sensor 2 when the handpiece tilts can be obtained by combining the tilt angle of the handpiece with the height H. The tilt angle detection device can detect the tilt angle of the handpiece relative to the treatment area of ​​the human skin; the tilt angle detection device can include: a tilt sensor and a gyroscope 1. The tilt sensor can be a MEMS tilt sensor, a fiber optic tilt sensor, a capacitive tilt sensor, a piezoelectric tilt sensor, an inductive tilt sensor, or an accelerometer. Furthermore, since the optical flow sensor 2 has a camera device, an image of the treatment area can be acquired through the camera device, and then the tilt angle of the optical flow sensor 2 relative to the treatment area can be obtained according to a specific algorithm. It is particularly important to note that when the handpiece is perpendicular to the skin, the tilt angle is zero. For ease of description, the displacement ΔX will be referred to as the displacement difference.

[0028] In one example, the handpiece is equipped with a gyroscope 1, and the step of obtaining the tilt angle of the handpiece relative to the area to be treated includes: The tilt angle collected by the gyroscope 1 is obtained as the tilt angle.

[0029] After obtaining the tilt angle of the handpiece relative to the treatment area using the tilt angle detection device, the displacement difference of the handpiece is calculated based on this tilt angle and the distance between the optical flow sensor 2 and the treatment area; the distance between the optical flow sensor 2 and the treatment area is as follows: Figure 3 The height H in the figure can be calculated according to the formula. The displacement ΔX of the handpiece is calculated. The distance between the optical flow sensor 2 and the area to be treated can be a fixed value stored in memory. In one example, the distance between the optical flow sensor 2 and the area to be treated can be obtained through a distance sensor. It is easy to understand that, in scenarios where there is negative pressure between the handpiece and the skin, using a distance sensor allows for real-time and accurate calculation of the distance to the skin after it is attracted by negative pressure. Furthermore, considering that the optical flow sensor 2 includes a camera device, the distance between the optical flow sensor 2 and the area to be treated can be obtained through information acquired by the camera device; for example, monocular ranging methods and binocular ranging methods.

[0030] It should be noted that the handpiece also contains a processing unit, which is the main body for executing the displacement calculation method of the handpiece.

[0031] The handpiece further includes an abutment portion, one side of which forms a height-limiting surface that abuts against the optical flow sensor, and the other side is used to contact the area to be treated; the distance between the two sides of the abutment portion is used as the distance between the optical flow sensor and the area to be treated; the calculation of the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value includes: Step S310: Calculate the displacement difference of the handpiece based on the tilt angle and the distance; Step S320: Calculate the actual displacement value of the handpiece based on the displacement difference and the initial displacement value.

[0032] Because the displacement data detected by optical flow sensor 2 is erroneous when the handpiece is tilted, the displacement data collected by optical flow sensor 2 is compensated after obtaining the displacement difference of the handpiece. Specifically, when the direction of the displacement difference is the same as the displacement direction of the handpiece, the sum of the displacement difference and the displacement data collected by optical flow sensor 2 is used as the compensated displacement data. When the direction of the displacement difference is opposite to the displacement direction of the handpiece, the difference between the displacement data collected by optical flow sensor 2 and the displacement difference is used as the compensated displacement data.

[0033] This invention discloses a method for calculating the displacement of a handpiece. The method includes: acquiring the tilt angle and distance of an optical flow sensor 2 relative to the treatment area; acquiring the initial displacement value collected by the optical flow sensor 2; and calculating the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value. Normally, the handpiece is perpendicular to the treatment area. This invention detects the tilt angle between the two areas to obtain the initial displacement value detected by the optical flow sensor 2 due to the tilt angle. Then, it corrects the initial displacement value collected by the optical flow sensor 2 based on the tilt angle and distance to calculate the actual displacement value of the handpiece, thus completing displacement compensation. This addresses the problem that when the laser handpiece is tilted, the image detected by the optical flow sensor 2 also shifts, resulting in inaccurate displacement data.

[0034] The handpiece can be a laser scanning handpiece.

[0035] Considering that the laser scanning handpiece may tilt in any direction, not limited to the direction of its movement, in one embodiment, it should be noted that the displacement difference is a vector, and the optical flow sensor 2 calculates the displacement data of the laser scanning handpiece; the direction of the displacement difference may be at an angle to the direction of movement of the laser scanning handpiece. The displacement difference can be orthogonally decomposed, with one component located in the displacement direction of the laser scanning handpiece or in the opposite direction; the displacement direction of the laser scanning handpiece is set as the positive direction. When the orthogonally decomposed component is in the same direction as the displacement direction of the laser scanning handpiece, the component is positive; when the orthogonally decomposed component is in the opposite direction to the displacement direction of the laser scanning handpiece, the component is negative; the difference between the displacement data collected by the optical flow sensor 2 and the displacement difference in the displacement direction of the laser scanning handpiece is taken as the actual displacement value.

[0036] Additionally, it should be noted that when the laser scanning handpiece is tilted, the laser beam will also tilt. If the tilt angle is too large, the treatment effect on the skin will be somewhat reduced; that is, the incident angle affects the treatment depth penetrating the dermis. A tilt threshold can be set. When the angle exceeds this threshold, an alarm should be triggered to remind the operator of the error and to stop the light emission. In one example, the acquisition of the tilt angle and distance of the optical flow sensor 2 relative to the area to be treated includes: If the tilt angle is greater than or equal to the tilt threshold, a warning message is issued.

[0037] The tilt threshold is determined by the relevant R&D personnel or the relevant operators.

[0038] It should be noted that in practical applications, the optical flow sensor 2 in the handpiece detects the displacement data of the scanning handpiece, which is used as the basis for the energy source host to output energy. In one embodiment, the energy source outputs laser light, and emits laser light every time the laser scanning handpiece moves a set threshold distance; after the laser light is emitted, the displacement of the handpiece in a single movement is recalculated. For example, if it is set that a row of light spots is emitted when the handpiece moves 2mm, a dot matrix with a row spacing of 2mm can be achieved. In some other embodiments, the energy source can also be ultrasonic energy or radio frequency energy, or any combination of two or more.

[0039] After the step of calculating the actual displacement value of the handpiece, the following steps are included: When the actual displacement value exceeds the preset displacement threshold, the control energy source host emits energy.

[0040] It is easy to understand that the displacement threshold can be set in advance by the R&D personnel or by the operator. After the compensation of the displacement data collected by the optical flow sensor 2 is completed, the actual displacement value is obtained. If the ratio of the actual displacement value to the displacement threshold is an integer, then the laser scanning handpiece is controlled to emit light, which is equivalent to the energy source host outputting energy after the handpiece moves the displacement threshold once.

[0041] The present invention also proposes a hand tool, which includes an optical flow sensor 2, a gyroscope 1, a housing 4, and a contact part 3; The optical flow sensor 2 and the gyroscope 1 are disposed in the cavity formed by the housing 4. The lower end of the housing 4 is provided with the abutment part 3. The height limiting surface formed on one side of the abutment part 3 abuts against the optical flow sensor 2, and the other side is used to contact the area to be treated. The gyroscope is used to obtain the tilt angle of the optical flow sensor relative to the area to be treated; The contact portion is used to limit the distance between the optical flow sensor and the area to be treated; The processing unit is connected to the optical flow sensor and the gyroscope respectively; the processing unit is used to calculate the actual displacement value of the handpiece based on the tilt angle, distance and initial displacement value.

[0042] like Figure 1 As shown, the optical flow sensor 2 and the gyroscope 1 are disposed within the cavity formed by the housing 4. Specifically, the central axis of the optical flow sensor 2 is parallel to the central axis of the gyroscope 1, enabling the gyroscope 1 to acquire the tilt angle of the optical flow sensor 2. Furthermore, it is readily apparent that the central axis of the optical flow sensor 2 is parallel to the central axis of the protective device, ensuring that the tilt angle of the optical flow sensor 2 is equal to the tilt angle of the protective device. The abutment portion 3 determines the distance between the optical flow sensor 2 and the skin area to be treated, i.e., the vertical distance between the height-limiting surface and the area to be treated.

[0043] Preferably, in this solution, the protective device utilizes a mechanical connection between the contact part 3 and the optical flow sensor 2 to determine the distance between the optical flow sensor 2 and the area to be treated. Compared to solutions using a distance sensor, this solution is more stable; distance sensors may be affected by environmental factors such as temperature and humidity.

[0044] In one embodiment, the handpiece generates negative pressure for the treatment process. Because the negative pressure generated near the treatment area by the housing 4 causes the skin to be drawn into the cavity formed by the contact portion 3, the distance between the skin and the optical flow sensor is no longer equal to the height of the contact portion; calculation errors will occur. To solve this problem, a distance sensor can be used to detect the distance between the skin and the optical flow sensor in real time; using a distance sensor is unaffected by the negative pressure. In some embodiments, the distance can also be calibrated according to the degree of contact between the handpiece and the treatment area to overcome the large error in the calculated displacement caused by the change in the distance between the optical flow sensor and the treatment area due to excessive contact between the handpiece and the treatment area. The distance can be obtained by adjusting the height according to the power of the negative pressure source. In some embodiments, one or more pressure sensors are also provided on the contact portion of the handpiece, and the height is adjusted according to the pressure detected by the one or more pressure sensors between the handpiece and the treatment area to obtain the distance.

[0045] The processing unit is connected to the optical flow sensor 2 and the gyroscope 1 respectively; the gyroscope 1 is used to detect the tilt angle of the laser scanning hand relative to the area to be treated; the processing unit is used to compensate the displacement data collected by the optical flow sensor 2 after obtaining the tilt angle, in combination with the height of the height limiting surface.

[0046] It should be noted that the height of the height limiting surface refers to the distance between the optical flow sensor 2 and the skin area to be treated, that is, the vertical distance between the height limiting surface and the area to be treated.

[0047] The processing unit may include controllers such as MCU, FPGA or SOC.

[0048] Optionally, the handpiece further includes a laser emitting device; The processing unit is connected to the laser emitting device; the processing unit is also used to control the laser emitting device to emit laser towards the area to be treated based on the ratio of the compensated displacement data to a set threshold.

[0049] When the ratio of the actual displacement value to the displacement threshold is an integer value, the processing unit controls the laser emitting device to emit laser towards the area to be treated.

[0050] The present invention also proposes a therapeutic device, which includes an energy source host and the handpiece. The energy source host may include various energy source hosts that generate different types of energy, such as a radio frequency power supply, a laser source, and an ultrasound generator.

[0051] The present invention also proposes a displacement calculation device, the displacement calculation device comprising: The tilt angle acquisition module is used to acquire the tilt angle of the optical flow sensor relative to the area to be treated; The distance acquisition module is used to acquire the distance between the optical flow sensor and the area to be treated; The displacement acquisition module is used to acquire the initial displacement of the handpiece movement; The processing module is used to calculate the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value.

[0052] The present invention also proposes a storage medium storing a displacement calculation program for a handpiece, wherein when the displacement calculation program for the handpiece is executed by a processor, the steps of the displacement calculation method for the handpiece are implemented.

[0053] The specific structure of the protective device is as described in the above embodiments. Since the laser scanning handpiece adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. The above descriptions are only optional embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the description and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for calculating the displacement of a hand tool, characterized in that, The handpiece is equipped with an optical flow sensor, and the displacement calculation method includes: Acquire the tilt angle and distance of the optical flow sensor relative to the area to be treated; Obtain the initial displacement value acquired by the optical flow sensor; The actual displacement value of the handpiece is calculated based on the tilt angle, distance, and initial displacement value.

2. The displacement calculation method for the handpiece as described in claim 1, characterized in that, The handpiece is equipped with a gyroscope, and the step of obtaining the tilt angle of the handpiece relative to the area to be treated includes: The tilt angle collected by the gyroscope is obtained as the tilt angle.

3. The displacement calculation method for the handpiece as described in claim 1 or claim 2, characterized in that, The process of acquiring the optical flow sensor relative to the tilt angle and distance of the area to be treated then includes: If the tilt angle is greater than or equal to the tilt threshold, a warning message is issued.

4. The displacement calculation method for the handpiece as described in claim 1, characterized in that, After the step of calculating the actual displacement value of the handpiece, the following steps are included: When the actual displacement value exceeds the preset displacement threshold, the control energy source host emits energy.

5. The displacement calculation method for the handpiece as described in claim 1, characterized in that, The handpiece further includes an abutment portion, one side of which forms a height-limiting surface that abuts against the optical flow sensor, and the other side is used to contact the area to be treated; the distance between the two sides of the abutment portion is used as the distance between the optical flow sensor and the area to be treated; the calculation of the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value includes: Calculate the displacement difference of the handpiece based on the tilt angle and the distance; The actual displacement value of the handpiece is calculated based on the displacement difference and the initial displacement value.

6. The displacement calculation method for the handpiece as described in claim 1, characterized in that, The handpiece is a laser treatment handpiece.

7. A hand tool, characterized in that, The handpiece includes an optical flow sensor, a gyroscope, a housing, a processing unit, and a contact part; The optical flow sensor and gyroscope are disposed in the cavity formed by the housing. The lower end of the housing is provided with the abutment part. The height limiting surface formed on one side of the abutment part abuts the optical flow sensor, and the other side is used to contact the area to be treated. The gyroscope is used to obtain the tilt angle of the optical flow sensor relative to the area to be treated; The contact portion is used to limit the distance between the optical flow sensor and the area to be treated; The processing unit is connected to the optical flow sensor and the gyroscope, respectively; The processing unit is used to calculate the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value.

8. A therapeutic device, characterized in that, The therapeutic device includes an energy source host and a handpiece as described in claim 7.

9. A displacement calculation device, characterized in that, The displacement calculation device includes: The tilt angle acquisition module is used to acquire the tilt angle of the optical flow sensor relative to the area to be treated; The distance acquisition module is used to acquire the distance between the optical flow sensor and the area to be treated; The displacement acquisition module is used to acquire the initial displacement of the handpiece movement; The processing module is used to calculate the actual displacement value of the handpiece based on the tilt angle, distance, and initial displacement value.

10. A storage medium, characterized in that, The storage medium stores a displacement calculation program for the handpiece, which, when executed by a processor, implements the steps of the displacement calculation method for the handpiece as described in any one of claims 1 to 6.

Images