A kidney stone auxiliary treatment device and a control method thereof

Abstract

This invention discloses a kidney stone auxiliary treatment device and its control method, belonging to the field of medical devices. The kidney stone auxiliary treatment device includes a waist belt body, a vibration unit, a detection device, and a control device. The detection device includes an inertial sensor and an acoustic sensor. The inertial sensor unit uses a low-power six-axis MEMS sensor to continuously monitor the micro-motion characteristics of the kidney stone, while the acoustic sensor unit uses a high-sensitivity contact piezoelectric microphone to analyze acoustic signals in real time to determine the degree of stone fragmentation. This invention achieves intelligent adaptive adjustment of the stone expulsion process by using a layered sensing strategy that balances low power consumption and high-precision diagnostic requirements, improving stone expulsion efficiency and patient experience.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an auxiliary treatment device for kidney stones and its control method. Background Technology

[0002] Urinary tract stones are one of the most common diseases in urology. The latest epidemiological data shows that the overall prevalence of urinary tract stones in Chinese adults is approximately 6.5%, affecting about 60 million adults. The prevalence is even higher in some southern regions, reaching over 10%. The incidence of urinary tract stones is significantly higher in men than women, with a male-to-female ratio of approximately 3:1. The peak age of onset is 20-50 years. More importantly, the recurrence rate within 5 years is as high as 30%-50%, severely impacting patients' quality of life and ability to work. Delayed treatment can lead to urinary tract obstruction, hydronephrosis, and even irreversible kidney damage.

[0003] Currently, the clinical treatment of urinary tract stones mainly follows a stepwise strategy: conservative treatment, medication to expel the stones, extracorporeal shock wave lithotripsy (ESWL), and minimally invasive surgery. ESWL, due to its non-invasiveness, ease of operation, and lack of hospitalization, has become a common method for treating kidney stones ≤2 cm in diameter and ureteral stones ≤1 cm in diameter. However, ESWL is not without its drawbacks—its stone clearance rate is approximately 85%, meaning that about 15% of patients still have residual stone fragments after ESWL. For residual stones after ESWL, clinical practice mainly employs two methods: medication to expel the stones and physical vibration-assisted stone expulsion. Medication to expel the stones is represented by alpha-blockers (such as tamsulosin), which improve the stone expulsion rate by relaxing the smooth muscle of the lower ureter. Clinical studies have confirmed that for stones of appropriate size, tamsulosin can increase the stone expulsion success rate by approximately 29% compared to placebo, while also shortening the stone expulsion time. However, medication for stone removal has significant limitations: it is only effective for smaller stones (<6 mm), cannot actively drive the stones to move, and has a long treatment cycle (usually several weeks or even months). Some patients also have to endure side effects such as low blood pressure and dizziness. More importantly, medication for stone removal is a "passive waiting" method; patients cannot know the true state of the stones in their bodies. For stones attached to the renal calyx wall or lodged in the ureter, medication is often ineffective.

[0004] To address the aforementioned shortcomings of medication-based stone removal, a portable home-use stone removal device is currently lacking in clinical practice. How to achieve real-time status monitoring during the stone removal process, adaptively adjust vibration parameters based on the stone's condition, balance low power consumption with high-precision detection, and construct a data closed loop to improve patient compliance are pressing technical challenges in this field. Summary of the Invention

[0005] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0006] Some embodiments of this application propose an auxiliary treatment device for kidney stones and a control method thereof to solve the technical problems mentioned in the background section above.

[0007] As a first aspect of this application, some embodiments of this application provide a kidney stone auxiliary treatment device, including a belt body, providing the main body of the kidney stone auxiliary treatment device, as well as an external outline and a support; The belt body has a vibrating part, which provides the vibration source required by the kidney stone auxiliary treatment device. The kidney stone auxiliary treatment device also includes: A detection device, which is used to detect the state of stones based on an input electrical signal; An actuator, which controls the vibrating part according to an input electrical signal; A control device is used to send control signals to the execution device according to the control signals sent by the detection device in order to control the execution device; The stone state includes an initial state and a free state. When the control device determines that the stone state has changed from the initial state to the free state based on the control signal sent by the detection device, the control device sends a control signal to the execution device to make the execution device change the vibration frequency of the vibrating part.

[0008] Furthermore, the detection device includes: An inertial sensor is used to detect the state of the stones based on input control signals; The inertial sensor is a six-axis MEMS inertial sensor that integrates a three-axis accelerometer and a three-axis gyroscope. The control device sends control signals to the actuator based on the electrical signals transmitted by the triaxial accelerometer and / or the triaxial gyroscope.

[0009] Furthermore, a groove is provided on one side of the belt body, and the inertial sensor is disposed in the groove so that the inertial sensor can move relative to the belt body.

[0010] Furthermore, the detection device also includes: Acoustic sensors are used to detect the state of kidney stones based on input control signals; The acoustic sensor is a high-sensitivity contact piezoelectric microphone; The control device sends a control signal to the actuator based on the control signal sent by the acoustic sensor.

[0011] Furthermore, the actuating device includes: A vibration motor frequency converter is used to control the vibration frequency of the vibrating part according to the input control signal. The control device sends a control signal to the vibration motor frequency converter according to the control signal sent by the detection device.

[0012] Furthermore, the control device uses the acceleration value (α) collected by the triaxial accelerometer. x ,α y ,α z ) and the angular velocity value (ω) collected by the three-axis gyroscope x ω y ω z The movement index A is calculated in real time to determine the status of the stones.

[0013] A=a ΔΨ+b E+c σ ω ;

[0014] Where ΔΨ is the change in the root mean square value of the triaxial acceleration within the two sliding windows; E represents the energy percentage of the 10–50 Hz frequency band; σ ω The standard deviation of the three-axis angular velocity signals; a, b, and c are weighting coefficients; The root mean square value Ψ of the triaxial acceleration within the sliding window ; Where N=100.

[0015] As a second aspect of this application, some embodiments of this application provide a control method for a kidney stone auxiliary treatment device, applied to the aforementioned kidney stone auxiliary treatment device, comprising the following steps: S1: In response to the control signal sent by the detection device, acquire the status signal of the stone; S2: When the stone changes from the initial state to the free state, the control device sends a control signal to the actuator to make the vibration motor frequency converter control the vibration part to change from vibration state 1 to vibration state 2.

[0016] Furthermore, the method for obtaining the state signal of the stone includes the following steps: S11: The inertial sensor unit continuously collects motion data, and the control device calculates the motion index A; S12: When the motion index A remains below the preset threshold for more than a preset time, wake up the acoustic sensor; S13: The acoustic sensor collects acoustic signals in the body, and the control device determines the status of the stones.

[0017] Furthermore, the step of the control device calculating the motion index A by continuously collecting motion data from the inertial sensor unit includes: S111. After the device is worn, the control device collects 10 seconds of resting state data and obtains the baseline A0 data as a reference for subsequent comparisons. S112, The control device controls the vibrating part to vibrate in vibration state 1, and the inertial sensor continuously collects motion data at a frequency of 200 Hz, calculating the value of A every 5 seconds; To avoid misjudgment caused by transient noise, a sliding window mean filter (window width of 20 sampling points) is used to smooth A. S113. The control device controls the vibration unit to output the set vibration parameters based on the smoothed value of A.

[0018] Furthermore, if the value of A remains below 0.15 for more than 3 minutes, it is determined that the stone has been expelled, and the control device sends a control signal to the actuator to cause the frequency converter of the vibration motor to control the vibration part to stop vibrating.

[0019] Compared with the prior art, the technical solution provided by this invention has the following advantages: This invention proposes an intelligent stone-expelling belt that employs a layered sensing strategy: the first layer uses an inertial sensor as a "resident sensing unit" to continuously monitor the micro-motion signals of stones in the body with extremely low power consumption and determine the status of the stone expulsion process; the second layer uses an acoustic sensor as an "enhanced diagnostic unit" to be activated when needed to accurately determine the degree of stone fragmentation, forming a data-driven closed-loop feedback control to achieve automatic adaptation and adjustment of vibration parameters.

[0020] It has the following beneficial effects: 1. The inertial sensor unit has extremely low power consumption (the accelerometer's operating current is only 4μA), and can operate continuously around the clock; the acoustic sensor unit is only awakened when accurate judgment is required, which greatly reduces system power consumption while ensuring diagnostic accuracy.

[0021] 2. Based on real-time sensor feedback, vibration parameters are automatically adjusted, replacing the traditional control method that relies on doctors' experience and patients' subjective feelings.

[0022] 3. The "stone movement index A" captured by the inertial sensor can effectively reflect whether the stone has loosened. Acoustic signal analysis can achieve a quantitative assessment of the stone fragmentation status. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.

[0024] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.

[0025] Figure 1 This is an overall structural diagram of a kidney stone auxiliary treatment device according to an embodiment of this application.

[0026] Figure 2 This is a flowchart illustrating the algorithm for the operation of the inertial sensor in a kidney stone auxiliary treatment device according to an embodiment of this application. Detailed Implementation

[0027] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0028] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0029] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0030] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0031] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0032] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] like Figure 1 As shown, an embodiment of this application discloses a kidney stone auxiliary treatment device, including a waist belt body, providing the main body, external outline, and support of the kidney stone auxiliary treatment device; wherein, the waist belt body has a vibrating part, which provides the vibration source required by the kidney stone auxiliary treatment device; the kidney stone auxiliary treatment device further includes: a detection device, which is used to detect the state of the stone according to an input electrical signal; an execution device, which is used to control the vibrating part according to the input electrical signal; and a control device, which is used to send a control signal to the execution device according to the control signal sent by the detection device to control the execution device; wherein, the stone state includes an initial state and a free state, and when the control device determines that the stone state has changed from the initial state to the free state according to the control signal sent by the detection device, the control device sends a control signal to the execution device to change the vibration frequency of the vibrating part. A groove is provided on one side of the waist belt body, and an inertial sensor is disposed in the groove to enable the inertial sensor to move relative to the waist belt body.

[0034] Specifically, the waist belt body is made of a flexible and breathable material, with a groove at the central axis on the back. A movable frame is slidably connected to the groove, and a vibration actuator module and an inertial sensor are fixedly mounted on the movable frame. The movable frame can slide along the length of the waist belt on the groove to adjust the vibration position, and the position is locked by positioning holes and fixing bolts. The vibration actuator module includes a combination of an eccentric wheel motor or a cam motor and a reducer, as well as a piezoelectric ceramic plate, to generate medical-grade precise vibration waves.

[0035] The detection device includes: an inertial sensor for detecting the state of the kidney stone based on an input control signal; wherein the inertial sensor is a six-axis MEMS inertial sensor integrating a three-axis accelerometer and a three-axis gyroscope; the control device sends a control signal to the execution device based on the electrical signals transmitted by the three-axis accelerometer and / or the three-axis gyroscope. The detection device also includes: an acoustic sensor for detecting the state of the kidney stone based on an input control signal; wherein the acoustic sensor is a high-sensitivity contact piezoelectric microphone; the control device sends a control signal to the execution device based on the control signal transmitted by the acoustic sensor. The acoustic sensor unit uses a high-sensitivity contact piezoelectric microphone, receiving sound wave signals conducted within the body through a PVDF piezoelectric film. A power module is also included for power supply, comprising a rechargeable lithium battery and a charge / discharge management circuit.

[0036] The inertial sensor used is either ICM-42670-P or BMI088. Specifically, the TDK InvenSense ICM-42670-P six-axis MEMS motion sensor can be selected, and its technical parameters are as follows: Integrated 3-axis gyroscope (programmable range ±250 / ±500 / ±1000 / ±2000 dps) and 3-axis accelerometer (programmable range ±2g / ±4g / ±8g / ±16g); The accelerometer noise density is 90 μg / √Hz, and the low-g detection sensitivity is 0.001g. The six-axis low-noise mode current is only 0.55mA, the accelerometer's standalone operating current is as low as 4μA, and the sleep mode current is only 3.5μA; It has a built-in APEX motion processing engine that supports algorithms such as gesture recognition, step counting, tilt detection, and free fall detection, and has a built-in 2.25KB FIFO cache. Package dimensions: 2.5mm × 3mm × 0.76mm, 14-pin LGA package; As an alternative, the inertial sensor can also be the Bosch BMI160 or BMI088 six-axis inertial measurement unit. The BMI088 consumes 125μA for the accelerometer and 90μA for the gyroscope in normal operating mode, and only 2.1μA for the accelerometer and 0.6μA for the gyroscope in low-power mode. It also features a built-in 32-bit ARM Cortex-M0+ processor, allowing motion detection algorithms to run directly on the sensor, reducing overall system power consumption.

[0037] In one feasible embodiment, the waist belt body is made of elastic, breathable fabric, with hooks and buckles at both ends for patient secure wearing. A groove is formed along the central axis of the back of the waist belt, its length covering the area of ​​the waist corresponding to the kidney region and the ureteral pathway. A movable frame slides along the groove, allowing it to move freely along the length of the waist belt. A power supply module is fixedly mounted on the back of the movable frame, while a vibration actuator module and a sensor module are fixedly connected to the front.

[0038] In one feasible embodiment, the actuator includes: a vibration motor frequency converter for controlling the vibration frequency of the vibrating part according to an input control signal; wherein the control device sends a control signal to the vibration motor frequency converter according to the control sent by the detection device.

[0039] Specifically, the actuator includes an eccentric wheel motor and a piezoelectric ceramic plate. The output shaft of the eccentric wheel motor is connected to a reducer and a cam mechanism. The cam drives the vibrating head to generate impact vibrations perpendicular to the skin surface. The piezoelectric ceramic plate is used to generate fine vibrations in the ultrasonic frequency range. The two vibration modes can operate independently or in combination under the control of the control device.

[0040] In one specific embodiment, the acoustic sensor is a high-sensitivity contact piezoelectric microphone. The acoustic sensor unit is model CM-01B, with a frequency response range of 8 Hz to 2200 Hz. Specifically, the acoustic sensor unit can be selected as the TE Connectivity CM-01B contact piezoelectric microphone, whose technical parameters are as follows: A high-sensitivity PVDF piezoelectric film is combined with a low-noise electronic preamplifier; Sensitivity 40 V / mm; Frequency response range: 8 Hz to 2200 Hz (-3dB lower limit frequency: 8 Hz, +3dB upper limit frequency: 2.2 kHz). Resonant frequency 5 kHz; Operating voltage 4-30 VDC; Minimizes external acoustic noise and has extremely high sensitivity to vibrations applied to the central pad. The sensor is attached to the patient's lower back skin surface through an elastic coupling pad and directly receives the transmission and reflection signals of vibration waves within the body.

[0041] In a feasible specific implementation, the control device uses the acceleration value (α) collected by the triaxial accelerometer. x ,α y ,α z ) and the angular velocity value (ω) collected by the three-axis gyroscope x ω y ω z The movement index A is calculated in real time to determine the status of the stones.

[0042] A=a ΔΨ+b E+c σ ω ;

[0043] Where ΔΨ is the change in the root mean square value of the triaxial acceleration within the two sliding windows; E represents the energy percentage of the 10–50 Hz frequency band; σ ω The standard deviation of the three-axis angular velocity signals; a, b, and c are weighting coefficients; The root mean square value Ψ of the triaxial acceleration within the sliding window ; Where N=100.

[0044] The specific mapping relationship between the movement index A and the stone displacement is shown in the table below:

[0045] As shown in the table above, the higher the mobility index A value, the more intense the movement and the more significant the displacement of the stone within the body.

[0046] In one specific implementation, a control method for a kidney stone auxiliary treatment device includes the following steps: S1: In response to the control signal sent by the detection device, acquire the status signal of the stone; S2: When the stone state changes from the initial state (when A range < 0.15) to the free state (when A range ≥ 0.15), the control device sends a control signal to the actuator to make the vibration motor frequency converter control the vibration part to change from vibration state 1 (vibration power is 0) to vibration state 2 (vibration power is 40%).

[0047] The method for obtaining the status signal of the stone includes the following steps: S11: The inertial sensor unit continuously collects motion data, and the control device calculates the motion index A; S12: When the motion index A remains below the preset threshold for more than a preset time, wake up the acoustic sensor; S13: The acoustic sensor collects acoustic signals from within the body, and the control device determines the state of the stones. The values ​​from the acoustic sensor and the inertial sensor simultaneously detect the state of the stones within the body, allowing the detection device to more accurately determine the state of the stones, thereby enabling the vibrating part to change its frequency and assist in the expulsion of the stones.

[0048] Specifically, during extracorporeal shock wave lithotripsy, intact stones emit a clear echo when vibrated, while fragmented stones emit a dull echo. Spectral analysis can distinguish between these two sounds, thus determining whether the stone has been sufficiently broken up. Furthermore, the acoustic emission signal spectrum and time-frequency characteristics of stones with different compositions (such as calcium oxalate, cystine, and uric acid stones) differ significantly when broken under pressure. This difference can be used to determine the fragmentation state of the stone. This application uses a contact piezoelectric microphone placed close to the patient's lower back skin to collect the acoustic signals generated by the stone's vibration within the body during the vibration process. Signal processing extracts spectral features to form a quantitative judgment of the degree of stone fragmentation, which is then used to control the vibration motor parameters. When the signal collected by the acoustic sensor is transmitted to the control device, the control device calculates based on the electrical signal and classifies the stone state into three states: "intact and unbroken," "partially broken," and "fully broken." Only when the stone is fully broken can the status of the stone during the expulsion process be further examined using the values ​​from the inertial sensor.

[0049] In one specific implementation, the step of the inertial sensor continuously collecting motion data and the control device calculating the movement index A (to observe the state of the stone during the expulsion process) includes: S111. After the device is worn, the control device collects 10 seconds of resting state data and obtains the baseline A0 data as a reference for subsequent comparisons. S112, The control device controls the vibrating part to vibrate in vibration state 1, and the inertial sensor continuously collects motion data at a frequency of 200 Hz, calculating the value of A every 5 seconds; To avoid misjudgment caused by transient noise, a sliding window mean filter (window width of 20 sampling points) is used to smooth A. S113. The control device controls the vibration unit to output the set vibration parameters based on the smoothed value of A.

[0050] Specifically, when the value of A is less than 0.15, the stone may be stuck or already expelled. When the value of A is between 0.15 and 0.35, the stone is slightly moving and in a suspended state. At this time, the control device controls the vibrating unit to operate at 40% of its vibration frequency with an amplitude of 5mm. The vibrating unit is preheated and the stone is gradually awakened at a low intensity. After 2 minutes, the test is repeated. When the value of A is between 0.35 and 0.65, the stone is moderately active. At this time, the vibrating unit operates at 60% of its frequency with an amplitude of 6mm. The stone is expelled normally, and this intensity is maintained. The test is repeated every 5 minutes. When the value of A is greater than 0.65 but less than 0.85, the stone has significantly moved, which is a critical period for accelerating expulsion. The vibration power is 80% with an amplitude of 7mm. The frequency and amplitude are increased and maintained for 1 minute before returning to normal. When the value of A is greater than 0.85, the stone is judged to be highly active and nearing expulsion. At this time, the vibrating unit operates at 90% of its power with an amplitude of 8mm to assist in the expulsion of the stone. If the value of A remains below 0.15 for more than 3 minutes, it is determined that the stone has been expelled, and the control device sends a control signal to the actuator to cause the frequency converter of the vibration motor to control the vibration part to stop vibrating.

[0051] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A device for assisting in the treatment of kidney stones, characterized in that: include, The belt body provides the main body, external outline, and support of the kidney stone auxiliary treatment device; The belt body has a vibrating part, which provides the vibration source required by the kidney stone auxiliary treatment device. The kidney stone auxiliary treatment device also includes: A detection device, which is used to detect the state of stones based on an input electrical signal; An actuator, which controls the vibrating part according to an input electrical signal; A control device is used to send control signals to the execution device according to the control signals sent by the detection device in order to control the execution device; The stone state includes an initial state and a free state. When the control device determines that the stone state has changed from the initial state to the free state based on the control signal sent by the detection device, the control device sends a control signal to the execution device to make the execution device change the vibration frequency of the vibrating part.

2. The kidney stone auxiliary treatment device according to claim 1, characterized in that: The detection device includes: An inertial sensor is used to detect the state of the stones based on input control signals; The inertial sensor is a six-axis MEMS inertial sensor that integrates a three-axis accelerometer and a three-axis gyroscope. The control device sends control signals to the actuator based on the electrical signals transmitted by the triaxial accelerometer and / or the triaxial gyroscope.

3. The kidney stone auxiliary treatment device according to claim 2, characterized in that: A groove is provided on one side of the belt body, and the inertial sensor is disposed in the groove so that the inertial sensor can move relative to the belt body.

4. The kidney stone auxiliary treatment device according to claim 2, characterized in that: The detection device further includes: Acoustic sensors are used to detect the state of kidney stones based on input control signals; The acoustic sensor is a high-sensitivity contact piezoelectric microphone; The control device sends a control signal to the actuator based on the control signal sent by the acoustic sensor.

5. The kidney stone auxiliary treatment device according to claim 4, characterized in that: The execution device includes: A vibration motor frequency converter is used to control the vibration frequency of the vibrating part according to the input control signal. The control device sends a control signal to the vibration motor frequency converter according to the control signal sent by the detection device.

6. The kidney stone auxiliary treatment device according to claim 5, characterized in that: The control device uses the acceleration value (α) collected by the triaxial accelerometer. x ,α y ,α z ) and the angular velocity value (ω) collected by the three-axis gyroscope x ω y ω z The movement index A is calculated in real time to determine the status of the stones. A=a ΔΨ+b E+c σ ω ; Where ΔΨ is the change in the root mean square value of the triaxial acceleration within the two sliding windows; E represents the energy percentage of the 10–50 Hz frequency band; σ ω The standard deviation of the three-axis angular velocity signals; a, b, and c are weighting coefficients; The root mean square value Ψ of the triaxial acceleration within the sliding window ; Where N=100.

7. A control method for a kidney stone auxiliary treatment device, applied to the kidney stone auxiliary treatment device according to any one of claims 1-6, characterized in that: Includes the following steps: S1: In response to the control signal sent by the detection device, acquire the status signal of the stone; S2: When the stone changes from the initial state to the free state, the control device sends a control signal to the actuator to make the vibration motor frequency converter control the vibration part to change from vibration state 1 to vibration state 2.

8. The control method of the kidney stone auxiliary treatment device according to claim 7, characterized in that: The method for obtaining the status signal of the stone includes the following steps: S11: The inertial sensor unit continuously collects motion data, and the control device calculates the motion index A; S12: When the motion index A remains below the preset threshold for more than a preset time, wake up the acoustic sensor; S13: The acoustic sensor collects acoustic signals in the body, and the control device determines the status of the stones.

9. The control method of the kidney stone auxiliary treatment device according to claim 8, characterized in that: The inertial sensor unit continuously collects motion data, and the control device calculates the motion index A in the following steps: S111. After the device is worn, the control device collects 10 seconds of resting state data and obtains the baseline A0 data as a reference for subsequent comparisons. S112, The control device controls the vibrating part to vibrate in vibration state 1, and the inertial sensor continuously collects motion data at a frequency of 200 Hz, calculating the value of A every 5 seconds; To avoid misjudgment caused by transient noise, a sliding window mean filter (window width of 20 sampling points) is used to smooth A. S113. The control device controls the vibration unit to output the set vibration parameters based on the smoothed value of A.

10. The control method of the kidney stone auxiliary treatment device according to claim 9, characterized in that: If the value of A remains below 0.15 for more than 3 minutes, it is determined that the stone has been expelled, and the control device sends a control signal to the actuator to cause the frequency converter of the vibration motor to control the vibration part to stop vibrating.

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