Multi-channel holmium laser cooperative output control method and system for high-power holmium laser device

Abstract

The application provides a multi-channel holmium laser cooperative output control method and system for high-power holmium laser equipment, which comprises the following steps: determining the feasibility of the emission of each laser channel in the next pulse period based on the target pulse parameters of the current treatment mode and the real-time state data of the multi-channel laser, to obtain candidate available channels; determining the current emission channel based on the historical working data, energy feedback data and real-time electrical state of each channel in the candidate available channels; adjusting the timing parameters of the laser trigger signal based on the state recovery requirements of the current emission channel, the optical path switching time consumption and the inherent delay of the system, to obtain a synchronous trigger instruction; and triggering the current emission channel to perform laser pulse emission after confirming the optical path alignment based on the optical path switching mechanism in response to the synchronous trigger instruction, and updating the energy feedback data based on the energy deviation of the current laser pulse emission. The application guarantees the accuracy and reliability of clinical treatment.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a method and system for controlling the coordinated output of multiple holmium lasers in high-power holmium laser devices. Background Technology

[0002] Holmium laser therapy systems operate in the approximately 2100nm wavelength band and are characterized by strong water absorption, precise tissue action, and the ability to transmit signals via flexible optical fibers, making them widely used in urological clinical treatment. As clinical demands for high-power output, long-term continuous operation, and multi-mode treatment capabilities continue to increase, traditional single-head high-power solutions are gradually approaching their engineering limits in terms of thermal load, output stability, device lifespan, and continuous operation capability. Therefore, to overcome the power limits of single modules and improve system reliability, existing high-power devices often employ a multi-channel (e.g., four-channel) laser module collaborative output architecture, using a common optical path switching mechanism to sequentially couple the laser pulses generated by each module to the same treatment optical fiber.

[0003] However, existing multi-channel laser coordinated output typically employs a fixed-sequence polling mechanism or a simple fault-elimination polling mechanism as its core scheduling strategy. This means the system switches laser emission channels according to a pre-set fixed logic, failing to adapt to the varying physical states of each laser channel. This results in an inability to match the physical recovery time and pulse period intervals of different channels, and an inability to differentiate the short-term energy stability of each channel. In clinical scenarios involving high-frequency optical path switching and high-power continuous operation, fixed-polling scheduling is prone to delayed channel charge reconstruction and insufficient thermal recovery, leading to drops in laser output energy. It also tends to select channels with large energy fluctuations for emission tasks, causing continuous oscillations in the overall output energy. Ultimately, this results in poor laser output stability and insufficient output energy consistency during high-power continuous treatment, severely impacting clinical treatment accuracy and efficacy, particularly failing to meet the needs of continuous clinical treatment for giant / extra-large benign prostatic hyperplasia (prostate volume greater than 80ml). Summary of the Invention

[0004] This invention provides a multi-channel holmium laser coordinated output control method and system for high-power holmium laser devices, which solves the problems of overall energy oscillation and energy drop caused by the inability of traditional fixed polling scheduling to match channel recovery characteristics and assess channel energy stability. It effectively improves the output stability and output energy consistency of holmium laser devices in high-power continuous treatment scenarios, ensuring the accuracy and reliability of clinical treatment.

[0005] In a first aspect, the present invention provides a method for coordinated output control of multiple holmium lasers in high-power holmium laser devices, comprising: Based on the target pulse parameters of the current treatment mode and the real-time status data of multiple laser channels, the feasibility of emission in the next pulse cycle of each laser channel is determined to obtain candidate usable channels. Based on the historical operating data, energy feedback data, and real-time electrical status of each channel in the candidate available channels, the current transmission channel is determined; Based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay, the timing parameters of the laser trigger signal are adjusted to obtain a synchronous trigger command; In response to the synchronization trigger command, after confirming the optical path alignment based on the optical path switching mechanism, the current emission channel is triggered to perform laser pulse emission, and the energy feedback data is updated based on the energy deviation of this laser pulse emission.

[0006] In a second aspect, the present invention also provides a multi-channel holmium laser coordinated output control system for high-power holmium laser devices, applied to the multi-channel holmium laser coordinated output control method for high-power holmium laser devices as described in the first aspect; the multi-channel holmium laser coordinated output control system for high-power holmium laser devices includes: The candidate available channel screening module is used to determine the emission feasibility of each laser channel in the next pulse cycle based on the target pulse parameters of the current treatment mode and the real-time status data of multiple laser channels, and to obtain candidate available channels. The optimal transmission channel decision module is used to determine the current transmission channel based on the historical operating data, energy feedback data and real-time electrical status of each channel among the candidate available channels; The laser trigger timing synchronization module is used to adjust the timing parameters of the laser trigger signal based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay, so as to obtain a synchronization trigger command. The laser execution and data update module is used to respond to the synchronous trigger command, trigger the current emission channel to execute laser pulse emission after confirming the optical path alignment based on the optical path switching mechanism, and update the energy feedback data based on the energy deviation of this laser pulse emission.

[0007] Thirdly, the present invention also provides an electronic device, comprising: a memory for storing computer software programs; and a processor for reading and executing the computer software programs, thereby realizing the multi-channel holmium laser coordinated output control method for high-power holmium laser devices as described above.

[0008] Fourthly, the present invention also provides a non-transitory computer-readable storage medium storing a computer software program, which, when executed by a processor, implements the multi-channel holmium laser coordinated output control method for high-power holmium laser devices as described above.

[0009] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the multi-channel holmium laser coordinated output control method for high-power holmium laser devices as described above.

[0010] The multi-channel holmium laser coordinated output control method for high-power holmium laser devices provided in this invention accurately selects candidate usable channels that meet the emission conditions for the next pulse cycle by combining the target pulse parameters of the current treatment mode with real-time status data of multiple laser channels. This avoids invalid channels with abnormal states or incomplete physical recovery. Based on the selected set of candidate usable channels, a differentiated evaluation is performed by combining historical working data, energy feedback data, and real-time electrical status of each channel. This accurately locks the current emission channel with the optimal state and best energy stability, avoiding the potential for energy fluctuations from the channel selection perspective. Based on the determined current emission channel and considering its specific state recovery requirements, optical path switching time, and inherent system delay, the laser output is adjusted accordingly. The optical trigger signal timing parameters are used to generate synchronous trigger commands, matching the optimal emission timing. This completely solves the energy drop problem caused by channel charge reconstruction lag and insufficient thermal recovery. Based on the synchronous trigger command, laser pulse emission is accurately triggered after optical path alignment, and energy feedback data is updated in real time to achieve data closed-loop iterative optimization. Ultimately, this solves the problems of overall energy oscillation and energy drop caused by the inability of traditional fixed polling scheduling to match channel recovery characteristics and assess channel energy stability. It effectively improves the output stability and treatment dose consistency of holmium laser equipment in high-power continuous treatment scenarios, ensuring the accuracy and reliability of clinical treatment, and adapting to the clinical continuous treatment needs of giant / super-large benign prostatic hyperplasia (prostate volume greater than 80ml). Attached Figure Description

[0011] Figure 1 This is a flowchart illustrating the multi-channel holmium laser coordinated output control method for high-power holmium laser devices provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a multi-channel holmium laser collaborative output control system for high-power holmium laser equipment provided in an embodiment of the present invention; Figure 3 An embodiment diagram of the electronic device provided in this invention; Figure 4 An embodiment diagram of a computer-readable storage medium provided in accordance with the present invention. Detailed Implementation

[0012] 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, and not all embodiments. 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.

[0013] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0014] In the description of this invention, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this invention is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed herein.

[0015] See Figure 1 , Figure 1 This is a flowchart illustrating the multi-channel holmium laser coordinated output control method for high-power holmium laser devices provided by the present invention. In this embodiment, the execution entity of the multi-channel holmium laser coordinated output control method for high-power holmium laser devices is the output control system. Therefore, the multi-channel holmium laser coordinated output control method for high-power holmium laser devices includes: Step 10: Based on the target pulse parameters of the current treatment mode and the real-time status data of the multiple laser channels, determine the feasibility of emission for the next pulse cycle for each laser channel to obtain candidate usable channels.

[0016] Optionally, the output control system acquires the target pulse parameters set for the current treatment mode within the high-power holmium laser device, specifically including the target single-pulse energy value and repetition frequency, and uses these as the basic indicators for this pulse emission. Simultaneously, it also collects real-time status data for each of the multiple laser channels in the high-power holmium laser device, specifically including the real-time capacitor voltage value and real-time crystal temperature value for each laser channel. The real-time crystal temperature value represents the current real-time operating temperature of the laser crystal in each laser channel, characterizing the current thermal load status of the channel.

[0017] Subsequently, for each laser channel, the hard condition for emission feasibility in the next (i.e., the current) pulse cycle is determined one by one. Laser channels that do not meet the hard constraints of multidimensional physical state are eliminated. Finally, all laser channels that have emission conditions in the current pulse cycle are summarized to form a set of candidate usable channels, as shown in steps 101 to 106.

[0018] Step 20: Determine the current transmission channel based on the historical operating data, energy feedback data, and real-time electrical status of each channel among the candidate available channels.

[0019] Optionally, the output control system extracts the corresponding stored historical operating data, energy feedback data, and real-time electrical status for each laser channel among the candidate available channels obtained in step 10. This data is pre-stored in the data storage space of the high-power holmium laser device. The historical operating data includes a historical record of the cumulative number of emitted pulses, used to characterize the long-term loss level of the channel; the energy feedback data includes a sequence of energy deviations from the most recent several emissions, used to characterize the short-term energy stability trend of the channel; and the real-time electrical status is the real-time capacitor voltage value obtained in step 10, used to characterize the current charge recovery adequacy.

[0020] Based on the historical working data, energy feedback data and real-time electrical status of each channel, the output control system determines the unique laser head module identifier and corresponding optical path switching command for this pulse emission by following a multi-level cascaded screening logic that prioritizes stability, balances lifespan, ensures energy accuracy and mechanical efficiency. This results in the current emission channel, as described in steps 201 to 208.

[0021] Step 30: Adjust the timing parameters of the laser trigger signal based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay to obtain the synchronous trigger command.

[0022] Optionally, the output control system first determines the state recovery requirement, optical path switching time, and inherent system delay of the current transmission channel based on the determined current transmission channel. The state recovery requirement represents the time required for the current transmission channel to recover from its physical state after the end of the previous pulse to be able to perform the next (i.e., current) laser emission, mainly depending on the remaining capacitor charging time and the crystal thermal relaxation time. The optical path switching time is the total time consumed by the optical path switching mechanism of the high-power holmium laser device from rotating, displacing, and aligning the original channel mirror until the mechanical structure is completely stable, which depends on the spatial difference between the previous and current transmission channels. The inherent system delay is the inherent transmission and processing delay that is fixed in the device's hardware and software links and is unaffected by channel selection, optical path switching, or load status, specifically including fixed time overheads such as controller signal processing delay, drive circuit response delay, and laser emission delay.

[0023] The output control system adjusts the timing parameters of the laser trigger signal based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay. This involves adjusting a series of time-related control parameters, such as the emission time, duration, offset, and interval of the laser trigger signal, to obtain a digital control signal containing a precise trigger timestamp and target channel information. This signal is the synchronous trigger command, as described in steps 301 to 306.

[0024] Step 40: In response to the synchronization trigger command, after confirming the optical path alignment based on the optical path switching mechanism, the current emission channel is triggered to perform laser pulse emission, and the energy feedback data is updated based on the energy deviation of this laser pulse emission.

[0025] Optionally, after generating the synchronization trigger command, the output control system begins preparation for laser pulse emission. First, the optical path switching command from the synchronization trigger command is sent to the optical path switching mechanism. Upon receiving the command, the optical path switching mechanism drives its internal optical reflectors or prism assembly to move from the position corresponding to the previous emission channel to the position corresponding to the current emission channel. During this movement, the output control system continuously monitors and receives feedback signals from the optical path switching mechanism via its built-in position sensor. When the feedback signal indicates that the optical element has reached the preset target position and has remained stable at that position for a period exceeding the minimum stabilization time required for mechanical vibration attenuation, the output control system determines that the optical path alignment has been completed and generates an optical path alignment confirmation signal. If, during the monitoring process, no optical path alignment confirmation signal is received within the monitoring time limit (i.e., the optical path is not aligned), an instruction to abort the current emission process is output, and a warning is issued to prevent accidental laser emission.

[0026] Upon receiving the optical path alignment signal, the output control system, based on the precise trigger timestamp and current transmission channel information carried in the synchronization trigger command, sends a pulse trigger signal to the laser drive circuit or laser head module corresponding to the current transmission channel. This drives the laser crystal and capacitor power supply module of the current transmission channel to work synchronously, outputting holmium laser pulses with corresponding parameters according to the target single-pulse energy value and target repetition frequency of the current treatment mode. During the transmission process, the output control system continuously locks the operating permissions of the current transmission channel, prohibiting other available candidate channels from intervening in this pulse transmission.

[0027] Furthermore, during the laser pulse emission process of the current cycle, the output control system obtains the measured energy value of the current laser pulse through the common output optical path unit of the high-power holmium laser equipment. The acquisition process is as follows: the beam splitting element in the common output optical path unit reflects or transmits a very small proportion (e.g., 1% to 5%) of the laser energy to the online sampling unit; the energy detector in the online sampling unit receives this sampled optical signal in real time and converts it into an electrical signal; the data acquisition circuit of the output control system performs high-speed analog-to-digital conversion on the electrical signal to obtain the original sampled value of the current laser pulse; and in order to eliminate errors caused by electronic noise or occasional interference, the original sampled value is further subjected to extreme value filtering, that is, after removing the highest and lowest values ​​within a sampling window, the average value of the remaining data is calculated to obtain the measured energy value of the current laser pulse.

[0028] The output control system compares the measured energy value of the current laser pulse with the target single-pulse energy value and calculates the difference between the two. This difference is the energy deviation of the current laser pulse emission. If the measured energy value is greater than the target single-pulse energy value, the energy deviation is positive; if the measured energy value is less than the target single-pulse energy value, the energy deviation is negative.

[0029] Subsequently, the output control system updates the energy feedback data based on the energy deviation, appending the calculated energy deviation to the end of the current transmission channel's energy deviation sequence. When a new energy deviation is added, if the sequence length exceeds the preset historical record window length, the oldest energy deviation data in the sequence is removed, thus forming the updated energy feedback data. This updated energy feedback data is then stored in the independent operation record of the current transmission channel for use in the next pulse cycle.

[0030] In one embodiment, it is assumed that the current treatment mode is set to a target single-pulse energy value of 2.0 joules and a repetition frequency of 20 Hz. The multi-laser channel consists of four channels: a first laser channel, a second laser channel, a third laser channel, and a fourth laser channel. The first, second, and fourth laser channels have been identified as candidate usable channels, and the second laser channel has been ultimately selected as the current emission channel. A synchronous trigger command initiates emission 50 microseconds after optical path alignment.

[0031] The output control system first sends a command to the optical path switching mechanism to switch the optical path from the fourth laser channel used in the previous pulse to the second laser channel. The optical path switching mechanism drives the servo motor to rotate the reflector. The position sensor detects that the reflector angle has reached the preset angle corresponding to the second laser channel and remains stable for more than 2 milliseconds (mechanical vibration decay time) before sending a feedback signal.

[0032] The output control system receives a stable signal from the position sensor, confirming that the optical path alignment is complete. It then sends a trigger signal to the drive power supply of the second laser channel. The capacitor in the second laser channel releases electrical energy, exciting the holmium laser crystal and generating a laser pulse. This pulse is output through the second laser channel, merges into the common optical path, and couples to the treatment fiber.

[0033] As the laser pulse passes through the common optical path, a wedge-shaped beam splitter in the common optical path reflects approximately 2% of the laser energy to the thermopile energy detector. The energy detector outputs a voltage signal, which is then sampled by the data acquisition circuit at a sampling rate of 1 MHz. Assuming a set of voltage data is acquired, after removing the highest and lowest outliers and averaging the data, the measured energy value of this pulse is calculated to be 1.98 joules.

[0034] The output control system subtracts the target single-pulse energy value of 2.0 from the measured energy value of 1.98 joules to obtain an energy deviation of -0.02 joules. Assume the original energy deviation sequence of the second laser channel records the deviation data of the most recent 10 times: [0.01, -0.02, 0.00, 0.01, -0.01, 0.02, -0.01, 0.00, 0.01, -0.02]. Add -0.02 joules to the end of the sequence and remove the oldest data (0.01 joules) from the beginning of the sequence. The updated energy feedback data of the second laser channel becomes: [-0.02, 0.00, 0.01, -0.01, 0.02, -0.01, 0.00, 0.01, -0.02, -0.02].

[0035] This invention, by combining the target pulse parameters of the current treatment mode with real-time status data of multiple laser channels, accurately selects candidate available channels that meet the emission conditions for the next pulse cycle, avoiding invalid channels with abnormal states or incomplete physical recovery. Based on the selected set of candidate available channels, and combining historical working data, energy feedback data, and real-time electrical status of each channel, a differentiated evaluation is performed to accurately identify the current emission channel with the optimal state and best energy stability. This avoids the potential for energy fluctuations from the channel selection perspective. Based on the determined current emission channel, and considering the channel's specific state recovery requirements, optical path switching time, and inherent system latency, the invention further optimizes the selection process. By specifically adjusting the timing parameters of the laser trigger signal and generating a synchronous trigger command, the optimal emission timing was matched, completely solving the energy drop problem caused by the lag in channel charge reconstruction and insufficient thermal recovery. Based on the synchronous trigger command, the laser pulse emission was precisely triggered after the optical path was aligned, and the energy feedback data was updated in real time to achieve data closed-loop iterative optimization. Ultimately, the problems of overall energy oscillation and energy drop caused by the inability of traditional fixed polling scheduling to match channel recovery characteristics and assess channel energy stability were solved. This effectively improved the output stability and treatment dose consistency of holmium laser equipment in high-power continuous treatment scenarios, ensuring the accuracy and reliability of clinical treatment.

[0036] Optionally, steps 101 to 106 include: Step 101: Based on the target repetition frequency of the current treatment mode and the preset maximum mechanical stabilization time of the optical path switching mechanism, calculate the cutoff point of the effective emission time window of the current pulse cycle to obtain the latest allowed triggering time.

[0037] Optionally, the output control system takes the reciprocal of the target repetition frequency of the current treatment mode as the standard duration of the current pulse cycle. Simultaneously, it reads the preset maximum mechanical stabilization time of the optical path switching mechanism from internally stored configuration parameters. This preset maximum mechanical stabilization time is the maximum time required for the optical path switching mechanism to complete arbitrary channel switching, alignment, and structural stabilization, as calibrated at the factory. Then, using the start time of the current pulse cycle as the time base, the preset maximum mechanical stabilization time is subtracted from the standard duration of a single pulse cycle. The resulting time point is the cutoff point of the effective emission time window for the current pulse cycle, and the time corresponding to this time point is the latest allowed triggering time.

[0038] In one embodiment, assuming the high-power holmium laser device is a four-channel holmium laser, the target repetition frequency of the current treatment mode is set to 40 Hz, and the preset maximum mechanical stabilization time of the optical path switching mechanism is calibrated to 8 milliseconds. The output control system calculates that the standard duration of a single pulse cycle is 25 milliseconds. Taking the start of the current pulse cycle at 0 milliseconds as a baseline, the effective emission time window cutoff point is calculated to be 17 milliseconds by subtracting 8 milliseconds from 25 milliseconds. Correspondingly, the latest allowed trigger time of the current pulse cycle is determined to be the 17th millisecond after the start of the current cycle.

[0039] Step 102: Based on the real-time capacitor voltage value of each laser channel in the multi-channel laser system, the target charging voltage value corresponding to the target single pulse energy value, and the preset piecewise linear charging rate table, the charge reconstruction time is calculated by looking up the table to obtain the electrical ready time set of the multi-channel laser system.

[0040] Optionally, the output control system retrieves the real-time capacitor voltage values ​​of each laser channel and the target charging voltage value corresponding to the target single-pulse energy value of the current treatment mode. This target charging voltage value is the rated charging voltage of the capacitor required to ensure that the single-pulse energy reaches the target. It also retrieves a preset segmented linear charging rate table stored in the device's internal memory. This preset segmented linear charging rate table is a factory calibration database for the device. The table is divided into multiple voltage ranges based on the capacitor voltage difference, with each range corresponding to a fixed capacitor charging rate. The voltage difference is the target charging voltage value minus the real-time capacitor voltage value.

[0041] For a single laser channel, the output control system first calculates the capacitor voltage difference of the current channel, matches it with the corresponding interval and charging rate in the piecewise linear charging rate table, and then calculates the charge reconstruction time of that channel using the voltage difference and the corresponding charging rate. This charge reconstruction time is the shortest time required for the current channel's capacitor voltage to recover to the target charging voltage. Subsequently, using the start time of the current pulse cycle as the time reference, the charge reconstruction time corresponding to each laser channel is superimposed with the cycle start time to obtain the electrical ready time of each laser channel. This electrical ready time is the earliest time when the channel capacitor is fully charged and the electrical conditions for laser emission are met. After all channels have been calculated, the electrical ready times of all channels are summarized to form a set of electrical ready times for multiple laser channels.

[0042] Continuing with the embodiment based on step 101, the current pulse period starts at 0 milliseconds, and the target charging voltage value corresponding to the target single pulse energy is uniformly set to 1000 volts. The output control system acquires real-time capacitor voltage values ​​for the four laser channels, which are 910 volts, 940 volts, 920 volts, and 890 volts, respectively. The voltage differences for each channel are calculated to be 90 volts, 60 volts, 80 volts, and 110 volts, respectively.

[0043] The output control system retrieves a preset segmented linear charging rate table and matches the corresponding interval charging rates to 10 volts per millisecond, 10 volts per millisecond, 10 volts per millisecond, and 8 volts per millisecond. The calculated charge reconstruction times for the four laser channels are 9 milliseconds, 6 milliseconds, 8 milliseconds, and 13.75 milliseconds, respectively. Using the cycle start of 0 milliseconds as a baseline, the electrical readiness times for the four channels are superimposed to 9 milliseconds, 6 milliseconds, 8 milliseconds, and 13.75 milliseconds, forming the current electrical readiness time set.

[0044] Step 103: Based on the emission channel identifier of the previous pulse cycle, the optical path spatial topology matrix of the multiple laser channels, and the preset angular velocity parameters of the optical path switching mechanism, calculate the mechanical displacement time required to switch from the previous emission channel to each laser channel, and obtain the mechanical ready time set of the multiple laser channels.

[0045] Optionally, the output control system retrieves the emission channel identifier from the previous pulse cycle to determine the target channel that completed laser emission in the previous cycle. It also retrieves the optical path spatial topology matrix of the multi-channel laser system, which is structured data calibrated at the factory and records spatial position correlation parameters such as the optical path switching rotation angle and displacement stroke between any two laser channels. Furthermore, it retrieves the preset angular velocity parameters of the optical path switching mechanism, which are the standard rotational angular velocities of the mirror positions of the optical path switching mechanism.

[0046] The output control system, based on the identifier of the previous emission channel and combined with the optical path spatial topology matrix, queries the mirror rotation angle for switching from the previous emission channel to each of the remaining laser channels one by one. By calculating the ratio of the rotation angle to a preset angular velocity parameter, the mechanical displacement time of the corresponding channel is obtained. This mechanical displacement time is the time required for the optical path switching mechanism to complete the channel mirror rotation and displacement adjustment. Then, using the start time of the current pulse cycle as the time base, the mechanical displacement time corresponding to each laser channel is superimposed with the start time of the cycle to obtain the mechanical readiness time of each laser channel. This mechanical readiness time is the earliest time when the optical path switching mechanism completes channel switching and displacement adjustment. After calculating all channels, the mechanical readiness times of all channels are summarized to obtain a set of mechanical readiness times for multiple laser channels.

[0047] Continuing with the embodiment based on step 102, the emission channel of the previous pulse cycle is the second laser channel, and the start time of the current pulse cycle is 0 milliseconds. The output control system retrieves the optical path spatial topology matrix and finds that the rotation angles for switching from the second laser channel to the first laser channel, the second laser channel, the third laser channel, and the fourth laser channel are 30 degrees, 0 degrees, 30 degrees, and 60 degrees, respectively. The preset angular velocity parameter of the optical path switching mechanism is fixed at 10 degrees per millisecond.

[0048] The output control system calculates the mechanical displacement time for each channel, which is 3 milliseconds, 0 milliseconds, 3 milliseconds, and 6 milliseconds respectively. Taking the cycle start of 0 milliseconds as the baseline, the mechanical ready times of the four channels are superimposed to obtain the mechanical ready times of the current cycle as 3 milliseconds, 0 milliseconds, 3 milliseconds, and 6 milliseconds respectively.

[0049] Step 104: Based on the real-time crystal temperature value of each laser channel in the multi-channel laser system, the preset maximum crystal temperature allowed for emission, and the preset natural cooling rate table, the thermal recovery time is calculated by looking up the table to obtain the thermal ready time set of the multi-channel laser system.

[0050] Optionally, the output control system retrieves the real-time crystal temperature values ​​of each laser channel, and simultaneously retrieves the device's preset maximum allowable crystal temperature for emission. This maximum allowable crystal temperature is the highest temperature threshold at which the laser crystal can operate stably without the risk of thermal damage. If the real-time crystal temperature is lower than or equal to this threshold, it is considered thermally ready; if it is higher than this threshold, the time required to cool down to below this threshold needs to be calculated. In addition, the system retrieves a preset natural cooling rate table stored in the device's internal storage. This preset natural cooling rate table is a factory calibration database for the device. Based on the temperature difference range between the real-time laser crystal temperature and the maximum allowable crystal temperature for emission, different natural cooling rates are matched accordingly. The smaller the temperature difference, the slower the cooling rate; the larger the temperature difference, the faster the cooling rate.

[0051] For a single laser channel, the output control system calculates the temperature difference between the real-time crystal temperature and the maximum allowable emission crystal temperature. It then matches this with the cooling rate from the natural cooling rate table and calculates the thermal recovery time for that channel based on the temperature difference and cooling rate. This thermal recovery time is the shortest time required for the laser crystal temperature to return to its safe operating range. Using the start time of the current pulse cycle as the time reference, the thermal recovery time for each laser channel is superimposed with the cycle start time to obtain the thermal readiness time for each laser channel. This thermal readiness time is the earliest time when the laser crystal completes thermal recovery and meets the stable emission temperature conditions. After calculating the thermal readiness times for all channels, the thermal readiness times for all channels are summed to obtain a set of thermal readiness times for multiple laser channels.

[0052] Continuing with the embodiment based on step 103, the current pulse period starts at 0 milliseconds, and the device presets the maximum allowable crystal temperature for laser crystal emission to be 35 degrees Celsius. The output control system acquires real-time crystal temperature values ​​for the four laser channels, which are 31 degrees Celsius, 33 degrees Celsius, 32 degrees Celsius, and 36 degrees Celsius, respectively. The temperature differences between each channel and the safety upper limit are calculated, which are 4 degrees Celsius, 2 degrees Celsius, 3 degrees Celsius, and 1 degree Celsius, respectively.

[0053] The output control system retrieves a preset natural cooling rate table and matches it to obtain cooling rates of 0.5°C / ms, 0.25°C / ms, 0.3°C / ms, and 0.2°C / ms for the corresponding temperature ranges. The calculated thermal recovery times for the four laser channels are 8 ms, 8 ms, 10 ms, and 5 ms, respectively. Using the cycle start of 0 ms as a baseline, the thermal readiness times for the four channels are superimposed to obtain the 8th ms, 8th ms, 10th ms, and 5th ms, thus obtaining the current thermal readiness time set.

[0054] Step 105: For each laser channel, based on the electrical ready time set, mechanical ready time set, and thermal ready time set, determine the maximum value among the electrical ready time, mechanical ready time, and thermal ready time as the comprehensive ready time of each laser channel, and obtain the comprehensive ready time set of multiple laser channels.

[0055] Optionally, for each laser channel, the output control system extracts the electrical ready time, mechanical ready time, and thermal ready time corresponding to that channel, compares the values ​​of the three types of times, and selects the time with the largest value as the comprehensive ready time of that laser channel. The selection logic is as follows: a single laser channel must simultaneously meet the three basic conditions of electrical charging ready, mechanical switching ready, and crystal thermal recovery ready. The earliest effective time when the channel can participate in emission is determined by the latest completed recovery action; therefore, the maximum value of the three types of times is taken.

[0056] After calculating the integrated readiness time for each laser channel individually, the integrated readiness times of all channels are summed to obtain the integrated readiness time set for the multiple laser channels.

[0057] Continuing with the embodiment based on step 104, the output control system matches the three types of readiness time data corresponding to the four laser channels. For the first laser channel, the electrical readiness time is 9 milliseconds, the mechanical readiness time is 3 milliseconds, and the thermal readiness time is 8 milliseconds; the maximum value is taken to obtain the combined readiness time of 9 milliseconds. For the second laser channel, the electrical readiness time is 6 milliseconds, the mechanical readiness time is 0 milliseconds, and the thermal readiness time is 8 milliseconds; for the third laser channel, the electrical readiness time is 8 milliseconds, the mechanical readiness time is 3 milliseconds, and the thermal readiness time is 10 milliseconds; the maximum value is taken to obtain the combined readiness time of 10 milliseconds. For the fourth laser channel, the electrical readiness time is 13.75 milliseconds, the mechanical readiness time is 6 milliseconds, and the thermal readiness time is 5 milliseconds; the maximum value is taken to obtain the combined readiness time of 13.75 milliseconds. The data from the four channels are integrated to generate the current combined readiness time set.

[0058] Step 106: Based on the integrated ready time set, the real-time load status identifier of the current system high-voltage bus, and the latest allowed trigger time threshold, feasibility screening is performed to obtain candidate available channels.

[0059] Optionally, the output control system performs feasibility screening based on the integrated ready time set, the real-time load status identifier of the current system high-voltage bus, and the latest allowed trigger time threshold to obtain candidate available channels, as in steps 1061 to 1062.

[0060] This invention, by accurately identifying and eliminating invalid laser channels with incomplete charge reconstruction, inadequate mechanical switching, insufficient crystal thermal recovery, or abnormal system load, avoids the energy drop and pulse disorder problems caused by forcibly triggering unrecovered channels in traditional scheduling methods from the source.

[0061] Optionally, the process of steps 1061 to 1062 includes: Step 1061: Based on the integrated ready time set, the real-time load status identifier of the current system high-voltage bus, and the preset power supply charging mutual exclusion time window parameters, perform power supply load phase conflict detection to obtain a power supply phase conflict channel list.

[0062] Optionally, the power supply charging mutual exclusion time window parameter is a fixed time interval parameter used to define the high-load, highly sensitive operating period of the high-voltage bus. If a new laser channel charging emission action is added during this period, it will cause bus voltage fluctuations and phase shifts, resulting in multi-channel power supply load interference. The real-time load status indicator of the current system's high-voltage bus is used to determine whether the high-voltage bus is currently in a sensitive operating state such as full load or critical load. Power phase conflict detection is only required when the bus is in a sensitive load state.

[0063] The output control system, based on the integrated readiness time set, the real-time load status identifier of the current high-voltage bus, and the preset power charging mutual exclusion time window parameters, first verifies the real-time load status identifier of the high-voltage bus. If the high-voltage bus is in a normal stable load state, there are no power phase conflict channels, and a list of null power phase conflict channels is directly generated. If the high-voltage bus is in a sensitive load state, timing conflict matching is performed. The integrated readiness time of each laser channel is compared with the time interval corresponding to the preset power charging mutual exclusion time window parameters. Laser channels whose integrated readiness time falls completely within the sensitive load interval of the high-voltage bus are uniformly marked as power phase conflict channels. Finally, all marked power phase conflict channels are integrated and sorted to generate a structured list of power phase conflict channels.

[0064] Continuing with the embodiment based on step 105, the integrated readiness times of the four laser channels are sequentially 9 milliseconds, 8 milliseconds, 10 milliseconds, and 13.75 milliseconds. The output control system retrieves the real-time load status of the current system's high-voltage bus and identifies it as a sensitive load status. The device's preset power charging mutual exclusion time window parameter is the interval from 5 milliseconds to 15 milliseconds of the current pulse period.

[0065] The output control system compared the integrated readiness time of each channel with the mutual exclusion time window interval. The 9th millisecond of the first laser channel, the 8th millisecond of the second laser channel, the 10th millisecond of the third laser channel, and the 13.75th millisecond of the fourth laser channel all fell within the sensitive interval of the 5th to 15th millisecond, and were therefore marked as power phase conflict channels. The final list of power phase conflict channels includes the first laser channel, the second laser channel, the third laser channel, and the fourth laser channel.

[0066] Step 1062: For multiple laser channels, a dual constraint elimination is performed based on the latest allowed trigger time, the integrated ready time set, and the power phase conflict channel list to obtain a set of candidate available channels.

[0067] Optionally, the output control system performs dual constraint elimination for multiple laser channels based on the latest allowed trigger time, the integrated ready time set, and the power phase conflict channel list. The dual constraints include timing compliance constraints and power load stability constraints. For timing compliance constraints, the integrated ready time of each laser channel is compared with the latest allowed trigger time. Laser channels with an integrated ready time value greater than the latest allowed trigger time value are determined to be timing timeout channels. These channels cannot complete the emission within the effective time window, which will cause pulse timing disorder, and therefore are eliminated from the initial channel set.

[0068] To address power supply load stability constraints, the power supply phase conflict channel list is retrieved, and all conflicting channels in the list are removed from the remaining channels to avoid voltage fluctuations and abnormal energy output caused by high-voltage bus load phase interference. After two levels of removal, the final set of candidate usable channels for the current pulse cycle is obtained.

[0069] Continuing with the embodiment based on step 1061, the latest allowed trigger time of the current pulse period is the 17th millisecond, the initial channel set is four laser channels, and the power phase conflict channel list contains all four laser channels.

[0070] The output control system first performs timing constraint judgment. The integrated readiness times of the four laser channels are 9 milliseconds, 8 milliseconds, 10 milliseconds, and 13.75 milliseconds, respectively, all of which are less than 17 milliseconds. There are no timing timeout channels, and all four channels are retained after timing filtering. Continue with the power load constraint elimination process. Based on the power phase conflict channel list, all four laser channels will be eliminated. Ultimately, there are no compliant channels in the current pulse cycle, and the candidate available channel set is empty. The full-dimensional channel detection and screening will be re-executed in the next pulse cycle.

[0071] The embodiments of the present invention avoid problems such as voltage jitter caused by sudden changes in high-voltage bus load and phase interference, uneven charging, and energy output offset during multi-channel time-sharing operation. This allows the screening conditions for candidate available channels to cover the physical recovery characteristics of a single channel and the load characteristics of the entire power supply system, further improving the accuracy and comprehensiveness of multi-channel laser screening.

[0072] Optionally, steps 201 to 208 include: Step 201: Based on the candidate available channel and the previous transmission channel identifier of the optical path switching mechanism, perform an existence comparison. If the previous transmission channel identifier exists in the candidate available channel, generate an in-situ retention evaluation flag bit; if it does not exist, generate a global optimization flag bit.

[0073] Optionally, the output control system matches and verifies the laser channel corresponding to the previous transmission channel with all laser channels in the candidate available channel set one by one. If the matching result shows that the previous transmission channel is completely present in the candidate available channel set, an in-situ retention evaluation flag is generated. If the matching result shows that the previous transmission channel is not present in the candidate available channel set, a global optimization flag is generated. The in-situ retention evaluation flag indicates that the current physical state of the transmission channel in the previous cycle is compliant and has the basic conditions to continue participating in this pulse transmission; the global optimization flag indicates that the current physical state of the transmission channel in the previous cycle is substandard and cannot be reused.

[0074] In one embodiment, it is assumed that the candidate available channel set obtained in the current pulse cycle includes a first laser channel, a second laser channel, and a third laser channel, and the previous emission channel is identified as the second laser channel. The output control system performs an existence comparison and confirms that the second laser channel exists in the candidate available channel set, then generates an in-situ retention evaluation flag.

[0075] Step 202: When generating the in-situ retention evaluation flag, the energy drift slope is determined based on the pulse energy deviation sequence in the preset number of times corresponding to the previous transmission channel identifier; the energy drift slope value is the first-order linear slope of the energy deviation.

[0076] Optionally, when the output control system receives the in-situ retention evaluation flag, it performs a first-order linear fitting calculation on the continuous energy deviation sequence based on the pulse energy deviation sequence in the preset number of times (the number of valid statistical pulses calibrated by the equipment at the factory) corresponding to the previous emission channel identifier, with the pulse emission order as the horizontal axis and the single pulse energy deviation value as the vertical axis. The first-order linear slope of the energy deviation (the first-order linear fitting slope) is then obtained, and this slope is the energy drift slope. This energy drift slope characterizes the continuous shift trend of the output energy of the corresponding laser channel during recent continuous operation. The positive or negative sign of the slope represents the direction of shift, and the absolute value of the slope represents the degree of shift.

[0077] Continuing with the previous embodiment, the current generation maintains the evaluation flag, and the previous emission channel is the second laser channel. The output control system retrieves the pulse energy deviation sequence corresponding to the ten most recent valid emissions from the second laser channel, which are 0.01 joules, 0.015 joules, 0.02 joules, 0.022 joules, 0.025 joules, 0.028 joules, 0.03 joules, 0.033 joules, 0.035 joules, and 0.038 joules, respectively. A first-order linear fitting calculation is performed on this set of deviation data, ultimately yielding an energy drift slope of 0.004 joules per pulse for the second laser channel.

[0078] Step 203: Based on the energy drift slope and the preset energy drift tolerance threshold, a comparison is made. If the absolute value of the energy drift slope is greater than the energy drift tolerance threshold, an in-situ hold-up rejection flag is generated; if the absolute value of the energy drift slope is less than or equal to the energy drift tolerance threshold, an in-situ hold-up allow flag is generated.

[0079] Optionally, the preset energy drift tolerance threshold is the maximum allowable energy drift slope value for stable operation of the laser channel, as calibrated at the factory. The output control system compares the energy drift slope with the preset energy drift tolerance threshold, taking the absolute value of the energy drift slope and comparing it with the preset energy drift tolerance threshold. If the absolute value of the energy drift slope is greater than the energy drift tolerance threshold, it is determined that the channel's recent energy output has a continuous deviation and its stability is substandard, generating an in-situ hold rejection flag. If the absolute value of the energy drift slope is less than or equal to the energy drift tolerance threshold, it is determined that the channel's recent energy output drift is controllable and its stability meets the emission requirements, generating an in-situ hold allow flag.

[0080] Continuing with the previous embodiment, assuming the device has a preset energy drift tolerance threshold of 0.005 joules per pulse, and the energy drift slope of the second laser channel is 0.004 joules per pulse, the output control system compares the values ​​and finds that the absolute value of the energy drift slope is less than the preset energy drift tolerance threshold. Therefore, it determines that the energy drift state of the second laser channel is compliant and generates an in-situ hold-up flag.

[0081] Step 204: When the in-situ allow flag is maintained, the previous transmission channel identifier is determined as the current transmission channel identifier, and the current transmission channel is obtained.

[0082] Optionally, when the output control system receives the in-situ hold-alert flag, it directly locks the laser channel corresponding to the previous emission channel identifier and determines that channel identifier as the current emission channel identifier for the current pulse cycle, thus completing the optimal selection of the current emission channel. This allows for the priority reuse of the original emission channel, provided that the channel status is compliant and the energy stability meets the standards, avoiding unnecessary optical path switching actions, reducing mechanical losses and switching delays, and improving the overall operating efficiency of the machine.

[0083] Continuing with the previous embodiment, the output control system has generated a hold-in-place flag, and the previous transmission channel is identified as the second laser channel. The second laser channel is determined as the current transmission channel for this pulse cycle.

[0084] Step 205: When generating a global preferred flag or an in-situ veto flag, based on the historical record of the cumulative number of emitted pulses for each laser channel in the candidate available channels, determine the subset of channels with the minimum number of emitted pulses, and obtain the subset of channels with the minimum consumption.

[0085] Optionally, the output control system performs global optimization screening when generating a global preferred flag or an in-situ veto flag. Based on the historical record of the cumulative emission pulse count for each laser channel in the candidate available channels, the cumulative emission pulse counts of all channels within the candidate available channels are numerically compared, and one or more types of laser channels with the smallest cumulative emission pulse count are selected, thus obtaining the subset of channels with the least consumption. The historical record of the cumulative emission pulse count represents the total number of effective laser pulses emitted by each channel since the equipment has been powered on, characterizing the degree of wear and tear on the channel components.

[0086] In one embodiment, assuming a global optimization is triggered, the candidate available channels are the first laser channel, the second laser channel, and the third laser channel, with each channel accumulating 12,000, 15,000, and 12,000 pulses emitted, respectively. After comparison, the output control system selects the first and third laser channels with the smallest cumulative pulses to form the subset of channels with the least consumption in this operation.

[0087] Step 206: Based on the real-time crystal temperature value of each laser channel in the least consumed channel subset, determine the channel subset with the lowest real-time crystal temperature value to obtain the low heat load channel subset.

[0088] Optionally, the output control system compares the real-time crystal temperature values ​​of all channels within the least-consuming channel subset based on the real-time crystal temperature value of each laser channel in the least-consuming channel subset. It then selects one or more laser channels with the lowest real-time crystal temperature values ​​to form a low-heat-load channel subset. This avoids energy drop issues caused by high-temperature operation.

[0089] Continuing with the embodiment of step 205, the least-consumption channel subset includes the first laser channel and the third laser channel. The output control system retrieves the real-time crystal temperature values ​​of the two channels: 31 degrees Celsius for the first laser channel and 32 degrees Celsius for the third laser channel. After comparison, the first laser channel with the lowest temperature is selected to form the low-heat-load channel subset for this purpose.

[0090] Step 207: Based on the real-time capacitor voltage value and the theoretical optimal voltage value corresponding to the target single pulse energy value of each laser channel in the low thermal load channel subset, determine the absolute value of the voltage matching degree difference of each channel, and determine the channel subset with the smallest absolute value of voltage matching degree difference as the voltage matching channel subset.

[0091] Optionally, the output control system calculates the real-time capacitor voltage value and the theoretical optimal voltage value corresponding to the target single-pulse energy value for each laser channel in the low-heat-load channel subset. This theoretical optimal voltage value is the standard capacitor voltage value required to ensure accurate single-pulse energy output. For each laser channel, the difference between the real-time capacitor voltage value and the theoretical optimal voltage value is calculated, and the absolute value of the difference is taken to obtain the absolute value of the voltage matching degree difference. The smaller the absolute value of this voltage matching degree difference, the closer the current channel's capacitor energy storage state is to the standard operating condition, and the higher the accuracy of the pulse output energy.

[0092] Continuing with the embodiment of step 206, the low-heat-load channel subset is the first laser channel. The theoretically optimal voltage value corresponding to the current target single-pulse energy is 1000 volts, the real-time capacitor voltage value of the first laser channel is 910 volts, and the absolute value of the voltage matching difference calculated by the output control system is 90 volts. This single channel directly constitutes the voltage matching channel subset for this operation.

[0093] Step 208: Based on the number of elements in the voltage matching channel subset, if the number of elements is 1, then the channel identifier is determined as the candidate channel identifier; if the number of elements is greater than 1, then the mechanical switching distance between each channel identifier in the voltage matching channel subset and the previous transmission channel identifier is calculated based on the optical path space topology matrix, and the channel identifier with the smallest mechanical switching distance is selected as the candidate channel identifier to obtain the current transmission channel.

[0094] Optionally, the output control system determines the channel identifier of the candidate channel based on the number of elements in the voltage matching channel subset. If the number of elements in the subset is a single channel, the channel identifier of that channel is directly determined as the candidate channel identifier, which is the final current transmission channel.

[0095] If the subset contains more than one element, the output control system, based on the optical path space topology matrix, queries the mechanical switching distance between each channel within the subset and the previous transmission channel identifier. This mechanical switching distance is the actual rotational travel distance of the optical path switching mechanism's mirror position from its original channel position to the target channel position. The system then compares the mechanical switching distances of all channels and selects the channel with the smallest mechanical switching distance as the candidate channel identifier, ultimately determining it as the current transmission channel for the current pulse cycle. This minimizes the optical path switching action, reduces mechanical time and structural losses, and improves the overall system response efficiency.

[0096] Continuing with the embodiment of step 207, this time the voltage matching channel subset contains only one element: the first laser channel. The output control system directly determines the first laser channel as the candidate channel identifier and ultimately locks the first laser channel as the current emission channel for this pulse cycle.

[0097] Optionally, the processes of steps 301 to 306 include: Step 301: Based on the current count value of the system master clock and the inherent system delay, calculate the theoretical reference time from when the laser trigger signal is sent from the controller to when it is received by the laser head drive circuit, and obtain the basic trigger reference time.

[0098] Optionally, the system master clock is a unified timing reference clock for the entire device, used to provide globally unified high-precision time counting. The output control system uses the current count value of the system master clock as the time reference, adds the inherent system delay, and calculates the theoretical time from when the laser trigger signal is emitted by the output control system to when the laser head drive circuit stably receives it. This time is the basic trigger reference time.

[0099] In one embodiment, it is assumed that the current count value of the system master clock corresponds to the zero-millisecond start time of the current pulse cycle, and the inherent system delay calibrated by the device is 0.5 milliseconds. The output control system calculates the base trigger reference time of the current cycle as 0.5 milliseconds by adding the current count value to the inherent system delay.

[0100] Step 302: Based on the current transmission channel and the corresponding optical path switching command, and in conjunction with the preset optical path switching mechanism motion characteristic table, determine the mechanical stabilization time required to switch from the current mirror position to the target mirror position, and obtain the mechanical ready time offset.

[0101] Optionally, the preset motion characteristic table of the optical path switching mechanism is a factory calibration database that records fixed parameters such as rotation stroke, motion time, and stabilization time corresponding to different mirror position switching combinations, covering all channel switching conditions of the equipment. The output control system determines the corresponding optical path switching command based on the current transmission channel identifier, including the original mirror position and target mirror position to be switched for this pulse transmission. Then, based on this mirror position switching combination, it matches the total time parameter corresponding to the preset motion characteristic table of the optical path switching mechanism. This total time includes the mirror rotation time, displacement fine-tuning time, and mechanical structure stabilization time, covering the entire process duration from start-up to complete stabilization of the optical path switching. This duration is the mechanical readiness time offset, representing the maximum time required for the mechanical actions of this channel switching.

[0102] In one embodiment, assuming that the current emission channel is the second laser channel and the previous emission channel was also the second laser channel, then there is no need for cross-channel mirror switching. Therefore, the output control system matches the preset optical path switching mechanism motion characteristic table, and the mechanical process stability time corresponding to the in-situ holding condition is 1 millisecond, and finally determines the mechanical ready time offset to be 1 millisecond.

[0103] Step 303: Based on the real-time bus voltage sampling sequence of the system power supply, the preset voltage ripple frequency parameters, and the preset voltage stability threshold, calculate the next bus voltage ripple trough moment and its duration of stability to obtain the time window interval for power supply voltage stability.

[0104] Optionally, the real-time bus voltage sampling sequence is a set of real-time bus voltage values ​​acquired continuously at high frequency, used to reflect the dynamic fluctuation pattern of the bus voltage; the voltage ripple frequency parameter is the inherent voltage fluctuation frequency of the high-voltage bus when the equipment is operating; the voltage stability threshold is the maximum allowable fluctuation deviation for determining that the bus voltage is in a stable state. The output control system acquires the real-time bus voltage sampling sequence through connection with the power supply of the high-power holmium laser equipment system, fits the current voltage fluctuation waveform based on the real-time bus voltage sampling sequence, calculates the peak and trough points of the next complete fluctuation cycle according to the preset voltage ripple frequency parameter, and locates the next bus voltage ripple trough moment.

[0105] Starting from this trough moment, the calculation continues backward to determine the duration during which the voltage fluctuation amplitude remains below the preset voltage stability threshold. Finally, a continuous period of time with minimal voltage fluctuation and the most stable power supply is determined. This period is the time window interval for power supply voltage stability, used to avoid uneven charging and energy output deviation caused by voltage ripple, and to ensure power supply stability during launch.

[0106] In one embodiment, the output control system retrieves the real-time bus voltage sampling sequence and, in conjunction with the 100 Hz fluctuation frequency corresponding to the preset voltage ripple frequency parameter, calculates the next bus voltage ripple trough time to be 3 milliseconds. After calculating this trough time, the voltage fluctuation continuously meets the preset voltage stability threshold for a period of 3 to 10 milliseconds, ultimately generating a time window interval of 3 to 10 milliseconds for the current power supply voltage stability.

[0107] Step 304: Based on the real-time capacitor voltage value of the current transmission channel, the target charging voltage value corresponding to the target single pulse energy value, and the preset charging current slope constant, determine the remaining charging time required for the capacitor voltage to rise from the current value to the target value, and add the remaining charging time to the current time to obtain the electrical charging completion time.

[0108] Optionally, the preset charging current slope constant is a fixed voltage rise rate parameter during the capacitor charging phase of the device, calibrated to a constant value at the factory. The output control system first determines the corresponding target charging voltage value based on the target single-pulse energy value of the current treatment mode. Then, it calculates the difference between the target charging voltage value and the real-time capacitor voltage value to obtain the capacitor voltage difference to be increased. Subsequently, it divides the capacitor voltage difference to be increased by the preset charging current slope constant to obtain the remaining charging time required for the capacitor voltage to rise from the current real-time voltage value to the target charging voltage value. Finally, using the start time of the current pulse cycle as the reference time, the remaining charging time is added to obtain the electrical charging completion time of the current transmission channel. This electrical charging completion time represents the earliest time when the channel capacitor energy storage is fully met and the electrical conditions for pulse transmission are satisfied.

[0109] In one embodiment, the current transmission channel is the second laser channel. Assuming a real-time capacitor voltage of 940 volts, a target charging voltage of 1000 volts, and a preset charging current slope constant of 10 volts per millisecond, the output control system calculates a capacitor voltage difference of 60 volts, corresponding to a remaining charging time of 6 milliseconds. Using the cycle start time of zero milliseconds as a baseline, the electrical charging completion time is calculated to be 6 milliseconds.

[0110] Step 305: Based on the superposition of the mechanical readiness time offset and the basic trigger reference time, determine the absolute mechanical readiness time, and determine the larger value between the absolute mechanical readiness time and the electrical charging completion time as the earliest comprehensive readiness time.

[0111] Optionally, the output control system superimposes the mechanical readiness time offset and the basic trigger reference time to obtain the absolute mechanical readiness time. This time is the earliest moment when the optical path mechanical structure is completely stable and meets the mechanical conditions for emission. The absolute mechanical readiness time is then compared with the electrical charging completion time, and the time with the larger value is selected as the earliest overall readiness time. The determination logic is as follows: laser pulse emission requires simultaneously meeting two basic conditions: mechanical structure stability and electrical energy storage compliance. The earliest time when the device can start emission is determined by the latest time that meets either condition.

[0112] Continuing with the above embodiment, the base trigger time is 0.5 milliseconds, the mechanical readiness time offset is 1 millisecond, and the sum of these values ​​results in an absolute mechanical readiness time of 1.5 milliseconds. The electrical charging completion time is 6 milliseconds. The output control system compares the two time values ​​and selects the larger value of 6 milliseconds as the earliest overall readiness time for this cycle.

[0113] Step 306: Based on the earliest time of integration readiness and the time window interval, perform window alignment and timing instruction generation to obtain the synchronization trigger instruction.

[0114] Optionally, the output control system performs window alignment and timing command generation based on the earliest integrated readiness time and time window interval to obtain a synchronous trigger command, as described in steps 3061 to 3063.

[0115] This invention, through multi-dimensional timing fine calibration logic, breaks the coarse control mode of fixed timing triggering and single-dimensional timing matching in traditional holmium laser equipment. It solves the problems of insufficient mechanical stability, inadequate capacitor charging, and pulse energy drop and output oscillation caused by power supply ripple interference that exist in the traditional fixed timing triggering method. This ensures that the triggering timing of each laser pulse is adapted to the real-time differentiated physical state of a single channel and the dynamic operating conditions of the entire power supply.

[0116] Optionally, the processes of steps 3061 to 3063 include: Step 3061: Perform timing matching verification based on the earliest synthesis readiness time and the time window interval to obtain the initial trigger time; wherein, if the earliest synthesis readiness time is within the time window interval, the earliest synthesis readiness time is determined as the initial trigger time; if the earliest synthesis readiness time is earlier than the start point of the time window interval, the start point of the time window interval is determined as the initial trigger time; if the earliest synthesis readiness time is later than the end point of the time window interval, the start point of the next power supply voltage stabilization time window interval is determined as the initial trigger time.

[0117] Optionally, the output control system performs timing matching verification based on the earliest integrated readiness time and the time window interval. When the value of the earliest integrated readiness time is between the start point and the end point of the time window interval, it indicates that the mechanical and electrical readiness time of the equipment falls completely within the stable power supply period. Therefore, the earliest integrated readiness time is directly determined as the initial trigger time.

[0118] When the value of the earliest integrated readiness time is earlier than the start point of the time window interval, it indicates that the equipment hardware and software status has been ready ahead of schedule, but the current bus voltage has not entered a stable state. In order to avoid voltage fluctuation interference, the start point of the time window interval is determined as the initial trigger time.

[0119] When the earliest readiness value is later than the end point of the time window interval, it indicates that the device has not completed readiness preparation before the end of the current power supply stability window and cannot be compliantly launched within the current window. The launch is automatically postponed to the next complete power supply voltage stability time window interval, and the start point of the next window interval is determined as the initial trigger time. This ensures that the initial trigger time is a preliminary compliant launch time that balances the device's physical readiness status and power supply stability.

[0120] In one embodiment, the earliest time for this integration readiness is 6 milliseconds, and the time window range for the current pulse cycle power supply voltage to stabilize is 3 to 10 milliseconds. After timing matching verification, the output control system finds that the 6-millisecond time falls within the 3 to 10-millisecond time window range, therefore, 6 milliseconds is directly determined as the initial trigger time for this timing matching.

[0121] Step 3062: Based on the initial trigger time and the resonance suppression time constant of the optical path switching mechanism, the initial trigger time is shifted backward by the resonance suppression time constant to obtain the target trigger timestamp.

[0122] Optionally, the resonance suppression time constant is a fixed parameter calibrated at the factory of the equipment. It is a fixed settling time required to consume residual mechanical micro-resonance and eliminate minute displacement jitter after the optical path switching mechanism has completed the mirror alignment and stabilization.

[0123] The output control system, based on the initial trigger time and the resonance suppression time constant of the optical path switching mechanism, uses the initial trigger time as a reference time and superimposes the duration of the resonance suppression time constant onto the reference time to counteract the unstable interference caused by residual mechanical resonance in the optical path. This results in the precise target trigger timestamp, which is the accurate theoretical trigger time that eliminates mechanical resonance interference and is compatible with the hardware characteristics of the equipment.

[0124] In one embodiment, the initial trigger time is 6 milliseconds, and the device presets the resonance suppression time constant of the optical path switching mechanism to 0.2 milliseconds. The output control system adds the resonance suppression duration of 0.2 milliseconds to the initial trigger time, and calculates the target trigger timestamp to be 6.2 milliseconds.

[0125] Step 3063: Quantize and round the target trigger timestamp based on the resolution of the system master clock to generate a synchronous trigger command containing the quantized trigger timestamp.

[0126] Optionally, the resolution of the system master clock is the smallest time scale that the master clock can recognize and output, representing the upper limit of the hardware precision of the device's timing output. The output control system quantizes and rounds the target trigger timestamp based on the system master clock's resolution. Specifically, it quantizes and rounds the continuous floating-point target trigger timestamp according to the master clock's resolution, calibrating non-standard time values ​​to standard quantized time values ​​that match the master clock's hardware precision, ensuring that timing commands can be accurately recognized and executed by the hardware. After quantization and rounding, it integrates the target transmission channel identifier and standardized trigger timing information to generate a synchronization trigger command containing the quantized trigger timestamp.

[0127] In one embodiment, the target trigger timestamp is 6.2 milliseconds, and the resolution of the system master clock is 0.1 milliseconds. The output control system quantizes and rounds the target trigger timestamp according to this resolution to obtain a quantized standard trigger timestamp of 6.2 milliseconds, and finally generates a synchronization trigger command carrying this timestamp and the second laser channel identifier.

[0128] This invention addresses the timing conflict caused by the mismatch between device readiness time and power stability window through hierarchical timing matching rules. It relies on the resonance suppression time constant to offset residual mechanical jitter interference after optical path switching, and then achieves complete adaptation between timing instructions and hardware execution precision through master control clock resolution quantization and rounding. This completely overcomes the technical shortcomings of traditional timing control, which only performs theoretical timing calculations and ignores power dynamic fluctuations, mechanical residual resonance, and hardware clock precision constraints.

[0129] Furthermore, the multi-channel holmium laser coordinated output control system for high-power holmium laser devices provided by the present invention will be described below. The multi-channel holmium laser coordinated output control system for high-power holmium laser devices described below can be referred to in correspondence with the multi-channel holmium laser coordinated output control method for high-power holmium laser devices described above.

[0130] Optionally, refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of the multi-channel holmium laser coordinated output control system for high-power holmium laser equipment provided by the present invention. The multi-channel holmium laser coordinated output control system for high-power holmium laser equipment includes: The candidate available channel screening module 210 is used to determine the emission feasibility of each laser channel in the next pulse cycle based on the target pulse parameters of the current treatment mode and the real-time status data of multiple laser channels, and to obtain candidate available channels. The optimal launch channel decision module 220 is used to determine the current launch channel based on the historical operating data, energy feedback data and real-time electrical status of each channel among the candidate available channels; The laser trigger timing synchronization module 230 is used to adjust the timing parameters of the laser trigger signal based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay, so as to obtain a synchronization trigger command. The laser execution and data update module 240 is used to respond to the synchronous trigger command, trigger the current emission channel to execute laser pulse emission after confirming the optical path alignment based on the optical path switching mechanism, and update the energy feedback data based on the energy deviation of this laser pulse emission.

[0131] This invention, by combining the target pulse parameters of the current treatment mode with real-time status data of multiple laser channels, accurately selects candidate available channels that meet the emission conditions for the next pulse cycle, avoiding invalid channels with abnormal states or incomplete physical recovery. Based on the selected set of candidate available channels, and combining historical working data, energy feedback data, and real-time electrical status of each channel, a differentiated evaluation is performed to accurately identify the current emission channel with the optimal state and best energy stability. This avoids the potential for energy fluctuations from the channel selection perspective. Based on the determined current emission channel, and considering the channel's specific state recovery requirements, optical path switching time, and inherent system latency, the invention further optimizes the selection process. By specifically adjusting the timing parameters of the laser trigger signal and generating a synchronous trigger command, the optimal emission timing was matched, completely solving the energy drop problem caused by the lag in channel charge reconstruction and insufficient thermal recovery. Based on the synchronous trigger command, the laser pulse emission was precisely triggered after the optical path was aligned, and the energy feedback data was updated in real time to achieve data closed-loop iterative optimization. Ultimately, the problems of overall energy oscillation and energy drop caused by the inability of traditional fixed polling scheduling to match channel recovery characteristics and assess channel energy stability were solved. This effectively improved the output stability and treatment dose consistency of holmium laser equipment in high-power continuous treatment scenarios, ensuring the accuracy and reliability of clinical treatment.

[0132] Please see Figure 3 , Figure 3 An embodiment diagram of an electronic device provided in accordance with the present invention. For example... Figure 3 As shown, an electronic device 300 provided in this embodiment of the invention includes a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, it performs the following steps: Based on the target pulse parameters of the current treatment mode and the real-time status data of multiple laser channels, the feasibility of emission in the next pulse cycle of each laser channel is determined to obtain candidate usable channels. The current launch channel is determined based on the historical operating data, energy feedback data, and real-time electrical status of each channel among the candidate available channels; Based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay, the timing parameters of the laser trigger signal are adjusted to obtain the synchronous trigger command; In response to the synchronous trigger command, the current transmission channel is triggered to emit a laser pulse after the optical path is confirmed to be aligned by the optical path switching mechanism, and the energy feedback data is updated based on the energy deviation of this laser pulse emission.

[0133] Please see Figure 4 , Figure 4 An embodiment diagram of a computer-readable storage medium provided in accordance with an embodiment of the present invention is shown. Figure 4As shown, this embodiment provides a computer-readable storage medium 400 on which a computer program 311 is stored. When the computer program 311 is executed by a processor, it performs the following steps: Based on the target pulse parameters of the current treatment mode and the real-time status data of multiple laser channels, the feasibility of emission in the next pulse cycle of each laser channel is determined to obtain candidate usable channels. The current launch channel is determined based on the historical operating data, energy feedback data, and real-time electrical status of each channel among the candidate available channels; Based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay, the timing parameters of the laser trigger signal are adjusted to obtain the synchronous trigger command; In response to the synchronous trigger command, the current transmission channel is triggered to emit a laser pulse after the optical path is confirmed to be aligned by the optical path switching mechanism, and the energy feedback data is updated based on the energy deviation of this laser pulse emission.

[0134] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the multi-channel holmium laser coordinated output control method for high-power holmium laser devices provided by the above methods, the method comprising: Based on the target pulse parameters of the current treatment mode and the real-time status data of multiple laser channels, the feasibility of emission in the next pulse cycle of each laser channel is determined to obtain candidate usable channels. The current launch channel is determined based on the historical operating data, energy feedback data, and real-time electrical status of each channel among the candidate available channels; Based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay, the timing parameters of the laser trigger signal are adjusted to obtain the synchronous trigger command; In response to the synchronous trigger command, the current transmission channel is triggered to emit a laser pulse after the optical path is confirmed to be aligned by the optical path switching mechanism, and the energy feedback data is updated based on the energy deviation of this laser pulse emission.

[0135] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0136] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for coordinated output control of multiple holmium lasers in high-power holmium laser devices, characterized in that, include: Based on the target pulse parameters of the current treatment mode and the real-time status data of multiple laser channels, the feasibility of emission in the next pulse cycle of each laser channel is determined to obtain candidate usable channels. Based on the historical operating data, energy feedback data, and real-time electrical status of each channel in the candidate available channels, the current transmission channel is determined; Based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay, the timing parameters of the laser trigger signal are adjusted to obtain a synchronous trigger command; In response to the synchronization trigger command, after confirming the optical path alignment based on the optical path switching mechanism, the current emission channel is triggered to perform laser pulse emission, and the energy feedback data is updated based on the energy deviation of this laser pulse emission.

2. The multi-channel holmium laser coordinated output control method for high-power holmium laser devices according to claim 1, characterized in that, The target pulse parameters include the target single pulse energy value and repetition frequency; Real-time status data includes real-time capacitor voltage and real-time crystal temperature. The process of obtaining candidate available channels includes: Based on the target repetition frequency of the current treatment mode and the preset maximum mechanical stabilization time of the optical path switching mechanism, the cutoff point of the effective emission time window of the current pulse cycle is calculated to obtain the latest allowed triggering time. Based on the real-time capacitor voltage value of each laser channel in the multi-channel laser system, the target charging voltage value corresponding to the target single pulse energy value, and the preset piecewise linear charging rate table, the charge reconstruction time is calculated by looking up the table to obtain the electrical ready time set of the multi-channel laser system. Based on the emission channel identifier of the previous pulse cycle, the optical path spatial topology matrix of the multiple laser channels, and the preset angular velocity parameters of the optical path switching mechanism, the mechanical displacement time required to switch from the previous emission channel to each laser channel is calculated, and the mechanical ready time set of the multiple laser channels is obtained. Based on the real-time crystal temperature value of each laser channel in the multi-channel laser system, the preset maximum crystal temperature allowed for emission, and the preset natural cooling rate table, the thermal recovery time is calculated by looking up the table to obtain the thermal ready time set of the multi-channel laser system. For each laser channel, based on the electrical ready time set, the mechanical ready time set, and the thermal ready time set, the maximum value among the electrical ready time, mechanical ready time, and thermal ready time is determined as the comprehensive ready time of each laser channel, thus obtaining the comprehensive ready time set of multiple laser channels; Based on the comprehensive ready time set, the real-time load status identifier of the current system high-voltage bus, and the latest allowed trigger time threshold, the feasibility screening is performed to obtain the candidate available channels.

3. The multi-channel holmium laser coordinated output control method for high-power holmium laser devices according to claim 2, characterized in that, The feasibility screening based on the integrated ready time set, the real-time load status identifier of the current system's high-voltage bus, and the latest allowed trigger time threshold yields the candidate available channels, including: Based on the integrated ready time set, the real-time load status identifier of the current system high-voltage bus, and the preset power charging mutual exclusion time window parameters, power load phase conflict detection is performed to obtain a power phase conflict channel list. For multiple laser channels, a dual constraint elimination is performed based on the latest allowed trigger time, the integrated ready time set, and the power phase conflict channel list to obtain the candidate available channel set.

4. The multi-channel holmium laser coordinated output control method for high-power holmium laser devices according to claim 1, characterized in that, The real-time electrical status is the real-time capacitor voltage value, the energy feedback data is the energy deviation sequence, and the historical working data is the historical record of the cumulative number of emitted pulses; Determining the current transmission channel includes: An existence comparison is performed based on the candidate available channel and the previous transmission channel identifier of the optical path switching mechanism. If the previous transmission channel identifier exists in the candidate available channel, an in-situ retention evaluation flag is generated; otherwise, a global preference flag is generated. When generating the in-situ retention evaluation flag, the energy drift slope is determined based on the pulse energy deviation sequence in the preset number of times corresponding to the previous transmission channel identifier; the energy drift slope value is the first-order linear slope of the energy deviation. The energy drift slope is compared with a preset energy drift tolerance threshold. If the absolute value of the energy drift slope is greater than the energy drift tolerance threshold, an in-situ hold-to-go veto flag is generated; if the absolute value of the energy drift slope is less than or equal to the energy drift tolerance threshold, an in-situ hold-to-go veto flag is generated. When the in-situ allow flag is maintained, the previous transmission channel identifier is determined as the current transmission channel identifier, thus obtaining the current transmission channel.

5. The multi-channel holmium laser coordinated output control method for high-power holmium laser devices according to claim 4, characterized in that, Also includes: When generating a global preferred flag or an in-situ hold-off flag, based on the historical record of the cumulative number of emitted pulses for each laser channel in the candidate available channels, the subset of channels with the minimum number of emitted pulses is determined, thus obtaining the subset of channels with the least consumption. Based on the real-time crystal temperature value of each laser channel in the least consumed channel subset, the channel subset with the lowest real-time crystal temperature value is determined, and the low heat load channel subset is obtained. Based on the real-time capacitor voltage value and the theoretical optimal voltage value corresponding to the target single pulse energy value of each laser channel in the low heat load channel subset, the absolute value of the voltage matching degree difference of each channel is determined, and the channel subset with the smallest absolute value of voltage matching degree difference is determined as the voltage matching channel subset. Based on the number of elements in the voltage matching channel subset, if the number of elements is 1, then the channel identifier is determined as the candidate channel identifier. If the number of elements is greater than 1, the mechanical switching distance between each channel identifier in the voltage matching channel subset and the previous transmission channel identifier is calculated based on the optical path space topology matrix. The channel identifier with the smallest mechanical switching distance is selected as the candidate channel identifier to obtain the current transmission channel.

6. The multi-channel holmium laser coordinated output control method for high-power holmium laser devices according to claim 1, characterized in that, The state recovery requirement represents the time required for the current transmission channel to recover from its physical state after the end of the previous pulse to the point where it can perform the next laser emission. The obtained synchronization trigger instruction includes: Based on the current count value of the system's main control clock and the inherent delay of the system, the theoretical reference time from when the laser trigger signal is emitted by the controller to when it is received by the laser head drive circuit is calculated, thus obtaining the basic trigger reference time. Based on the current transmission channel and the corresponding optical path switching command, and combined with the preset optical path switching mechanism motion characteristic table, the mechanical stabilization time required to switch from the current mirror position to the target mirror position is determined, and the mechanical ready time offset is obtained. Based on the real-time bus voltage sampling sequence of the system power supply, the preset voltage ripple frequency parameters, and the preset voltage stability threshold, the next bus voltage ripple trough moment and its duration of stability are calculated to obtain the time window interval for power supply voltage stability. Based on the real-time capacitor voltage value of the current transmission channel, the target charging voltage value corresponding to the target single pulse energy value, and the preset charging current slope constant, the remaining charging time required for the capacitor voltage to rise from the current value to the target value is determined, and the remaining charging time is superimposed on the current time to obtain the time when electrical charging is completed. The absolute mechanical readiness time is determined by superimposing the mechanical readiness time offset and the basic trigger reference time, and the larger value between the absolute mechanical readiness time and the electrical charging completion time is determined as the earliest comprehensive readiness time. Based on the earliest time of comprehensive readiness and the time window interval, window alignment and timing instruction generation are performed to obtain the synchronization trigger instruction.

7. The multi-channel holmium laser coordinated output control method for high-power holmium laser devices according to claim 6, characterized in that, The step of performing window alignment and timing instruction generation based on the earliest time of integration readiness and the time window interval to obtain the synchronization trigger instruction includes: Based on the earliest integrated readiness time and the time window interval, a timing matching verification is performed to obtain the initial trigger time; Based on the initial trigger time and the resonance suppression time constant of the optical path switching mechanism, the initial trigger time is shifted backward by the resonance suppression time constant to obtain the target trigger timestamp; The target trigger timestamp is quantized and rounded based on the resolution of the system master clock to generate a synchronous trigger command containing the quantized trigger timestamp. Specifically, if the earliest time of synthesis readiness is within the time window interval, then the earliest time of synthesis readiness is determined as the initial trigger time; if the earliest time of synthesis readiness is earlier than the start point of the time window interval, then the start point of the time window interval is determined as the initial trigger time; if the earliest time of synthesis readiness is later than the end point of the time window interval, then the start point of the next time window interval where the power supply voltage is stable is determined as the initial trigger time.

8. A multi-channel holmium laser coordinated output control system for high-power holmium laser equipment, characterized in that, The method for coordinated output control of multiple holmium lasers for high-power holmium laser devices as described in any one of claims 1 to 7; The multi-channel holmium laser coordinated output control system for high-power holmium laser equipment includes: The candidate available channel screening module is used to determine the emission feasibility of each laser channel in the next pulse cycle based on the target pulse parameters of the current treatment mode and the real-time status data of multiple laser channels, and to obtain candidate available channels. The optimal transmission channel decision module is used to determine the current transmission channel based on the historical operating data, energy feedback data and real-time electrical status of each channel among the candidate available channels; The laser trigger timing synchronization module is used to adjust the timing parameters of the laser trigger signal based on the current state recovery requirements of the transmission channel, the optical path switching time, and the inherent system delay, so as to obtain a synchronization trigger command. The laser execution and data update module is used to respond to the synchronous trigger command, trigger the current emission channel to execute laser pulse emission after confirming the optical path alignment based on the optical path switching mechanism, and update the energy feedback data based on the energy deviation of this laser pulse emission.

9. An electronic device, characterized in that, include: Memory, used to store computer software programs; A processor is configured to read and execute the computer software program, wherein when the processor executes the computer software program, it implements the multi-channel holmium laser coordinated output control method for high-power holmium laser devices as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that, The storage medium stores a computer software program, which, when executed by a processor, implements the multi-channel holmium laser coordinated output control method for high-power holmium laser devices as described in any one of claims 1 to 7.

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