Shock wave therapy handle impact parameter real-time feedback calibration control system

Abstract

The application discloses a shock wave treatment handle shock parameter real-time feedback calibration control system and relates to the technical field of medical shock wave treatment. In the application, two sets of physical acquisition sources of photoelectric direct speed measurement and pressure signal backstepping theoretical speed are configured, parallel detection branches of completely isolated signal transmission links are configured, the difference between the actual measured speed of the bullet and the theoretical speed obtained by backstepping is compared in real time, various hidden equipment faults such as bullet jamming, internal mechanical wear, sensor zero point temperature drift and signal line abnormality can be quickly captured, the fault recognition range is effectively widened, the fault tolerance performance of parameter verification is significantly improved, the problems of measurement data misjudgment and energy correction misalignment caused by single sensor channel failure, line fault and single-point noise interference are completely avoided, and the timeliness of fault recognition and the reliability of detection results are ensured.

Description

Technical Field

[0001] This invention relates to the field of medical shockwave therapy technology, specifically to a real-time feedback calibration control system for shockwave therapy handpiece impact parameters. Background Technology

[0002] The shockwave therapy handpiece is the core component of an extracorporeal shockwave therapy device; it is a handheld medical instrument. It is responsible for converting the energy generated by the main unit into a specific form of shockwave and precisely applying it to the area of ​​the body requiring treatment.

[0003] For example, Chinese patent CN117257630A discloses a shockwave therapy equipment and method based on real-time monitoring and dynamic feedback, including: a device host, used to acquire and analyze the treatment plan to obtain the corresponding shockwave application path and shockwave output command; a shockwave generating system, connected to the device host, used to realize the energy output of the shockwave according to the shockwave output command; and a robotic arm, connected to the device host and the shockwave generating system, used to control the movement of the controller in the shockwave generating system according to the shockwave application path.

[0004] The aforementioned patent monitors the shock wave output parameters in real time using sensors and combines this with dynamic feedback adjustment of the shock wave output energy parameters by the control system to achieve closed-loop energy regulation. However, relying solely on a single sensor channel to collect shock wave energy parameters for feedback calibration makes it susceptible to sensor failure, signal line faults, and single-source noise interference. It cannot achieve cross-checking of two parameters and cannot promptly identify subtle operational anomalies that are not easily detected visually, such as bullet jamming, internal mechanical wear, and sensor zero-point drift. Overall, its fault tolerance capability is weak, and its fault identification coverage is insufficient. At the same time, this existing technology lacks a signal conditioning and measurement compensation system. On the one hand, it does not have a two-stage noise reduction architecture that combines analog filtering with dynamically adjustable digital filtering, making it difficult to effectively filter out high-frequency noise from mechanical resonance, circuit noise, and power frequency interference, which can easily cause distortion of the shock waveform. On the other hand, it lacks a compensation mechanism. Under complex operating conditions such as high and low temperatures and long-term use, the extracted pressure peak and shock pulse width will have significant distortion problems, further amplifying the theoretical velocity back-calculation error, resulting in the inability to reliably guarantee the measurement accuracy of shock parameters throughout the entire range and life cycle of the equipment. Summary of the Invention

[0005] The purpose of this invention is to provide a real-time feedback calibration control system for shockwave therapy handpiece impact parameters, in order to solve the problems mentioned in the background art, such as the lack of dual independent physical detection links, insufficient verification reliability, and the absence of signal conditioning and measurement compensation systems, resulting in poor measurement accuracy.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a real-time feedback calibration control system for shockwave therapy handpiece impact parameters, comprising a sensing layer, a processing and decision-making layer, and an execution and protection layer; The sensing layer includes an impact detection module, a trigger recording module, and a pressure detection module; The impact detection module includes two sets of photoelectric sensors arranged at intervals along the bullet trajectory. The bullet sequentially blocks its optical path, and each photoelectric sensor outputs a level transition signal to collect the bullet position timing signal. The trigger recording module receives two level transition signals output by the impact detection module and uses a high-precision timer inside the MCU to record the triggering times of the two sets of sensors. and The two sets of timestamp data are transmitted to the speed calculation module; The pressure detection module deploys a pressure sensor to acquire the differential electromotive force generated by the sensor due to the piezoelectric effect when the bullet impacts. The differential electromotive force is processed by a differential amplifier circuit and a second-order Butterworth low-pass filter to obtain the peak pressure and impact duration. The processing and decision-making layer includes a speed calculation module, a theoretical speed acquisition module, a cross-comparison module, and a feedback correction module; The speed calculation module is used to receive data provided by the trigger recording module and combine it with the known fixed distance between the two sets of photoelectric sensors. Calculate the actual impact velocity of the bullet ; The theoretical velocity acquisition module is used to receive the peak pressure and impact duration provided by the pressure detection module, and to derive the theoretical impact velocity in reverse based on the dynamic model of the bullet-impact end face. The cross-comparison module simultaneously receives the measured speed output by the speed calculation module and the theoretical speed output by the theoretical speed acquisition module, calculates the deviation between the two speeds, and compares the deviation with a system-preset calibration deviation threshold. Compare the current impact output to determine if it meets the standard, and output the judgment result. The feedback correction module is used to receive the judgment result of the cross-comparison module, coordinate the three sub-modules to complete the correction decision and instruction generation, and issue correction parameters.

[0007] Preferably, in the pressure detection module, the voltages at the two input terminals of the differential amplifier circuit are respectively and Then the output voltage ,in and The value of the external resistance is used in this circuit to perform common-mode suppression and differential-mode amplification on the weak differential electromotive force output by the sensor. After high-frequency noise is filtered out by a 10kHz second-order Butterworth low-pass filter, the differential amplified signal undergoes peak hold, pulse width extraction, and analog-to-digital conversion. It is then filtered twice by a dynamically adjustable FIR digital filter and bandwidth distortion compensation is performed based on the shock tube calibration parameters to output the corrected peak and pulse width parameters.

[0008] Preferably, the pressure detection module further includes a temperature compensation and calibration module. The temperature compensation and calibration module collects the working temperature through a temperature sensing element, realizes real-time temperature drift compensation for pressure sensitivity based on temperature control calibration table building and linear interpolation table lookup, and integrates automatic zeroing calibration, periodic calibration and dynamic calibration functions. During factory calibration, the sensitivity coefficient S(T) is measured point-by-point in the range of -10℃ to +60℃ at 5℃ intervals to establish a temperature-sensitivity comparison table. In actual operation, the current temperature is read, and the current sensitivity is calculated through linear interpolation to adjust the output of the pressure detection module. The value is corrected in real time.

[0009] Preferably, in the theoretical speed acquisition module, the back-calculation formula is as follows: ; in, For the weight of the bullet, This is a correction factor; for the same handle system, and It is a fixed value after leaving the factory. For the duration of the impact, This represents the peak pressure.

[0010] Preferably, in the cross-comparison module, the deviation value is: ; Judgment rules: when ≤ At that time, it was determined that the impact output met the standard; when > If the impact output is deemed substandard, a correction trigger signal is sent to the feedback correction module.

[0011] Preferably, the feedback correction module includes a real-time deviation correction module, an attenuation prediction and compensation module, and a correction limiting protection module. The real-time deviation correction module is responsible for processing the instantaneous deviation of a single impact, calculating the energy adjustment range required for the current impact based on the specific value of the deviation, generating an instantaneous correction command, and outputting it. When calculating the correction amount, the basic correction amount is used. Based on this, a nonlinear correction term is superimposed. The final correction amount is ,when When the value is less than the preset threshold, the nonlinear correction term is automatically set to zero, and only the basic correction value is output. This is a built-in scaling factor; The attenuation prediction and compensation module is used to handle performance degradation after long-term operation, identify attenuation, record attenuation trends, form a historical trend database, predict future trends based on the attenuation rate, and perform benchmark correction. The calibration limiting protection module sets a safety boundary for the calibration commands generated by the real-time deviation correction module. When the calibration command exceeds the safety boundary, the calibration command is clamped to the safety upper limit, and an over-limit alarm flag is generated.

[0012] Preferably, attenuation prediction and compensation specifically includes the following steps: S1. Attenuation Feature Extraction: Record the measured velocity after each impact. Driven energy Calculate core efficiency indicators ; based on the number of impacts The horizontal axis is... Construct a historical trend database with the vertical axis as the y-axis; S2. Trend Identification and Filtering: Select the most recent N trends (N=100~500). The sequence is filtered using a moving average to remove random fluctuations and extract the decay trend curve. ( ); S3. Attenuation rate calculation: Take the most recent M times (M=50~200). Perform a univariate linear regression fit and calculate the slope. As the decay rate Negative values ​​indicate a decline in system performance; S4. Future Trend Prediction: Based on the decay rate Baseline forecast: , This represents the current real-time efficiency value; given that mechanical wear deteriorates at an accelerated rate with increasing cumulative impacts, a nonlinear acceleration factor is introduced. ,in The preset acceleration coefficient (value range 0.05~0.20) To predict the ratio of the step size to the expected lifetime, the corrected efficiency prediction value is... , This is a second-order attenuation correction coefficient (range 0.01~0.05), used to compensate for the nonlinear drop in efficiency during the acceleration phase. Below the preset lower limit If the handle is nearing the end of its lifespan, a maintenance reminder will be issued. S5, Baseline Correction: When the cumulative attenuation... Exceeding the threshold At that time, calculate the benchmark compensation amount: The compensation is then added to the output of the real-time deviation correction module to compensate for the efficiency reduction caused by mechanical wear, and the amount of compensation in a single instance is limited to no more than 0.5% of the initial drive energy.

[0013] Preferred limiting logic: Current driving energy and Adding them together gives ; when > At that time, the calibration limiting protection module will clamp the output calibration amount to - This means that energy can only be adjusted to the upper limit, and an "over-limit alarm" flag will be generated at the same time; when < At that time, the calibration limiting protection module will clamp the output calibration amount to - At the same time, an "over-lower limit alarm" flag is generated; when ≤ ≤ At that time, the correction limiting protection module will Output the original value.

[0014] Preferably, the execution and protection layer includes an interaction and parameter management module, which provides a visual operation interface for parameter setting, real-time display, log management, and audio-visual prompts.

[0015] Preferably, the interaction and parameter management module includes a safety interlock and fault diagnosis module and an energy regulation execution module. The safety interlock and fault diagnosis module is used to monitor the sensor status in real time, perform self-tests on the ADC channel, and set up safety interlocks and watchdog monitoring. The energy regulation execution module receives the correction parameters sent by the feedback correction module, adjusts the driving energy of the shock wave handle through the power drive circuit, and after performing energy regulation, transmits the current actual output energy value back to the attenuation prediction and compensation module in real time through the feedback signal.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, two sets of physical acquisition sources are set up: direct photoelectric velocity measurement and pressure signal inverse calculation of theoretical velocity. These sources are independent of each other and their signal transmission links are completely isolated in parallel detection branches. The two detection paths do not interfere with each other and output impact velocity parameters that can be mutually verified. During the operation of the equipment, the difference between the measured velocity of the bullet and the theoretical velocity obtained by pressure signal inverse calculation is continuously cross-compared. Relying on the deviation characteristics of the two sets of independent data, various hidden equipment faults that are difficult to be directly detected, such as bullet jamming, mechanical wear of internal components, zero-point temperature drift of sensors, and open circuit / poor contact of sensing lines, can be accurately and quickly identified. This dual-path mutual detection architecture greatly expands the fault identification coverage and significantly improves the overall fault tolerance capability of impact parameter verification. It avoids the various defects of traditional single-channel acquisition schemes from the root: even if one sensing channel fails, the transmission line fails, or the signal is affected by single-point noise interference, the system can detect the anomaly in time through the data collected by the other channel. This effectively prevents misjudgment of measurement data and avoids the inaccuracy of closed-loop correction caused by energy adjustment based on distorted parameters, ensuring the timeliness of fault identification and the reliability of detection results. 2. In this invention, a hierarchical progressive signal conditioning and multi-dimensional global measurement compensation system is constructed. A second-order Butterworth active analog low-pass filter and an FIR digital filter form a two-stage analog + digital noise reduction link, filtering out high-frequency noise from the handle's mechanical resonance, inherent noise from the front-end circuit, and power frequency interference from the field, thus suppressing waveform distortion from the signal acquisition source. The system is simultaneously equipped with multiple correction and compensation mechanisms: a temperature-sensitivity comparison table is established based on multi-point calibration of the temperature control box, and a linear interpolation algorithm is used to complete real-time temperature drift compensation of the sensor, eliminating electromotive force-pressure conversion errors caused by high and low temperature environments; and the sensor data is based on dynamic calibration of the shock tube at the factory. A digital compensation filter is built using the transfer function of the device and conditioning channel to correct waveform distortion errors caused by limited hardware bandwidth. It also integrates a three-level calibration process: automatic zeroing calibration upon power-on, periodic calibration triggered by the number of impacts / time period, and dynamic self-test calibration at low energy upon power-on. This process can continuously correct the measurement deviation of pressure peak and impact pulse width under complex operating conditions such as high and low temperatures, long-term mechanical aging, and continuous clinical use. It reduces the cumulative error of theoretical velocity back-calculation and ensures the long-term stable and reliable measurement accuracy of impact physical parameters throughout the entire output range and service life of the equipment. This provides high-fidelity and high-reliability raw test data support for the back-end sequential closed-loop energy precision correction mechanism. Attached Figure Description

[0017] Figure 1 This is an overall architecture diagram of a shockwave therapy handpiece impact parameter real-time feedback calibration control system according to the present invention; Figure 2 This is a diagram of the feedback correction module architecture of a real-time feedback calibration control system for shockwave therapy handpiece impact parameters according to the present invention. Figure 3This is a schematic diagram of the differential amplifier circuit of a real-time feedback calibration control system for shock wave therapy handpiece impact parameters according to the present invention. Figure 4 This is a flowchart of a real-time feedback calibration control system for shockwave therapy handpiece impact parameters according to the present invention.

[0018] Legend: 1. Impact detection module; 2. Trigger recording module; 3. Velocity calculation module; 4. Pressure detection module; 41. Temperature compensation and calibration module; 5. Theoretical velocity acquisition module; 6. Cross-comparison module; 7. Feedback correction module; 71. Real-time deviation correction module; 72. Attenuation prediction and compensation module; 73. Correction limiting protection module; 8. Interaction and parameter management module; 81. Safety interlock and fault diagnosis module; 82. Energy regulation execution module. Detailed Implementation

[0019] 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.

[0020] Reference Figures 1-4 As shown: A real-time feedback calibration control system for shock wave therapy handpiece impact parameters, comprising a sensing layer, a processing and decision-making layer, and an execution and assurance layer; The sensing layer is used to sense the physical quantities at the front end of the system, collect raw signals, and preprocess the signals. The processing and decision-making layer is used to receive data from the perception layer, perform speed calculations, logical comparisons and deviation judgments, and generate correction strategies and specific correction instructions. The execution and assurance layer will process the correction instructions generated by the processing and decision-making layer into physical energy regulation, while providing a human-machine interaction platform, monitoring system operation, and security protection; The sensing layer includes an impact detection module 1, a trigger recording module 2, and a pressure detection module 4. The impact detection module 1 includes two sets of photoelectric sensors arranged sequentially at predetermined intervals along the bullet trajectory. When the bullet moves, it sequentially blocks the optical paths of the two sets of photoelectric sensors. The photoelectric sensors output level switching signals respectively and collect the timing signals of the bullet's movement position. Both sets of photoelectric sensors are through-beam photoelectric sensors, with their transmitting and receiving ends set at corresponding positions on both sides of the ballistic trajectory. The light path passes through the internal space of the ballistic trajectory. When the bullet moves along the trajectory, it sequentially blocks the light path of the first photoelectric sensor D1 and the second photoelectric sensor D2, causing the output level of the corresponding receiving end to jump (from high level to low level, or vice versa). The output ends of the two sets of photoelectric sensors are electrically connected to the two signal input ends of the trigger recording module 2, respectively.

[0021] Trigger recording module 2 receives two level transition signals output by impact detection module 1 and uses the MCU's internal high-precision timer to record the trigger times of the two sets of sensors. and The two sets of timestamp data are transmitted to the speed calculation module 3; Pressure detection module 4 deploys a pressure sensor to acquire the differential electromotive force generated by the sensor due to the piezoelectric effect when the bullet impacts. The differential electromotive force is processed by a differential amplifier circuit and a second-order Butterworth low-pass filter to acquire the peak pressure and impact duration. The pressure sensor is a piezoelectric pressure sensor, which is fixedly installed at the impact surface of the bullet's trajectory. After the bullet is accelerated by the trajectory, it directly impacts the force-bearing surface of the sensor. When the sensor is subjected to pulsed pressure, it generates a differential electromotive force due to the piezoelectric effect. This electromotive force signal is transmitted to the differential amplifier circuit through the differential signal line.

[0022] like Figure 3 As shown, the differential amplifier circuit adopts an instrumentation amplifier architecture. Its differential input terminal receives the differential electromotive force signal from the sensor, and the amplification factor is set by an external resistor. Let the voltages at the two input terminals of the differential amplifier circuit be respectively... and Then the output voltage ,in and The external resistance value is used in this circuit to perform common-mode suppression and differential-mode amplification on the weak differential electromotive force output by the sensor, amplifying the microvolt-level signal to the volt level. The output of the differential amplifier circuit is connected to the input of a second-order Butterworth low-pass filter. This filter consists of an operational amplifier and an external RC network. Its cutoff frequency is preset to 10kHz based on the spectral characteristics of the shock signal (which can completely preserve the effective signal and suppress high-frequency noise with attenuation of no less than -24dB / oct) to filter out high-frequency mechanical resonance noise and circuit noise. The output of the filter is connected to the peak hold circuit and the pulse width extraction circuit. After the above two signals are converted into digital quantities by analog-to-digital converters, a digital post-processing correction stage is added: the digital filter adopts an FIR architecture, and the cutoff frequency is dynamically configured by the MCU in the range of 10kHz~20kHz according to the current treatment energy level. The actual configuration value should not be lower than the cutoff frequency of the front-end analog low-pass filter (i.e., 10kHz) to form a two-stage filter with the front-end analog filter while preserving the complete frequency band of the effective shock signal, thus more effectively suppressing out-of-band noise and power frequency interference. Dynamic compensation is based on the sensor-conditioning channel transfer function obtained by the dynamic calibration of the shock tube before leaving the factory. A digital compensation filter is designed to compensate for the extracted signal. and Digital corrections are applied to rectify waveform distortion caused by limited bandwidth. and The measured values ​​accurately reflect the physical quantities of the impact, and the corrected values ​​are then sent to the data input terminal of the theoretical velocity acquisition module 5.

[0023] The adjustment range of the adjustable threshold voltage is determined based on the typical amplitude distribution of the impact pressure waveform: The amplitude of the filtered pressure signal is 0.5V to 9.5V under no-load to full-load conditions; the adjustable threshold voltage has a preset adjustment range of 0.2V to 9.8V with a step accuracy of 0.05V, which can accurately capture the boundary of the impact duration across the entire range.

[0024] The pressure detection module 4 also includes a temperature compensation and calibration module 41. The temperature compensation and calibration module 41 collects the sensor's operating temperature through a temperature sensing element, corrects the electromotive force-pressure conversion coefficient in real time based on the current temperature, eliminates the influence of temperature drift on measurement accuracy, and performs automatic zero calibration.

[0025] The current operating temperature of the sensor on the handle is obtained, and its output is converted from analog to digital and input to the processing unit. The processing unit reads the current temperature value, looks up a table or interpolates to calculate the sensitivity correction coefficient at the current temperature, and applies this to the output of the pressure detection module 4. Values ​​are corrected in real time; During factory calibration, the sensor is placed in a temperature-controlled chamber, and the sensitivity coefficient S(T) is measured point by point in the range of -10℃ to +60℃ at 5℃ intervals to establish a temperature-sensitivity reference table. In actual operation, the computing unit reads the current temperature, finds the adjacent calibration temperature, and calculates the current sensitivity through linear interpolation with an interpolation error ≤ ±0.5%. If the current temperature exceeds the range of -10℃ to +60℃, the sensitivity value of the nearest endpoint in the reference table is used, and a temperature over-limit alarm is triggered. The peak pressure is calculated using the reference sensitivity corresponding to the reference calibration temperature to correct the sensor's temperature sensitivity.

[0026] During automatic zeroing calibration, each time the system is powered on, the air source is turned off, and there is no impact action, the zero-point output voltage of the pressure detection module 4 is read, compared with the reference zero point stored at the factory, the zero-point offset is calculated, and deducted in subsequent measurements.

[0027] Regular calibration The system uses either the cumulative number of impacts on the handle (e.g., 5000 times) or the calendar period (e.g., 6 months) as the trigger condition. When the cumulative number of impacts reaches 5000 times or 6 months have passed since the last calibration, the system issues a calibration prompt. The handle is placed on an external standard force source device, and three standard pressure points at 20%, 50%, and 80% of the range are applied. The measured values ​​are compared with the standard values, and the zero-point offset and sensitivity deviation are calculated. If the sensitivity deviation is > ±2% or the zero-point offset is > ±1%FS, the temperature-sensitivity reference coefficient is automatically corrected, and an external calibration or return to the factory for maintenance is prompted. If the deviation is acceptable, the calibration timestamp is updated and the calibration log is saved.

[0028] Dynamic calibration Used to verify the dynamic response of sensors under pulse impact conditions, including two modes: manual calibration and automatic rapid calibration upon power-on. Manual calibration: During regular equipment maintenance, use standard transient pressure pulses to test parameters such as rise time, peak overshoot, and response delay, and compare them with the factory reference. Automatic and rapid calibration: During each power-on self-test, a low-energy test impact of 10% of the rated energy is used to detect peak value and pulse width error; if the deviation exceeds ±3%, a yellow maintenance warning is issued, and if the deviation is within acceptable limits, normal standby is enabled.

[0029] The processing and decision-making layer includes a velocity calculation module 3, a theoretical velocity acquisition module 5, a cross-comparison module 6, and a feedback correction module 7. The velocity calculation module 3 receives data from the trigger recording module 2 and combines it with the known fixed distance between the two sets of photoelectric sensors. Calculate the actual impact velocity of the bullet; The calculation formula is: ; This velocity is the average velocity of the bullet as it passes through the photoelectric sensor zone at the end of its trajectory, serving as a direct physical measure of impact intensity.

[0030] The theoretical velocity acquisition module 5 is used to receive the peak pressure and impact duration provided by the pressure detection module 4, and to derive the theoretical impact velocity in reverse based on the dynamic model of the bullet-impact end face. The reverse calculation formula is as follows: ; in, For the weight of the bullet, The correction factor is determined by the actual speed measured in the standard impact test before shipment. Obtained in conjunction with pressure data through calibration; for the same handle system, and It is a fixed value after leaving the factory; The calibration method is as follows: (1) Calibration preparation: Fix the shockwave therapy handle to the calibration test platform, and use a metrological calibration standard pressure sensor with an accuracy of not less than 0.5 grade, and install it coaxially with the pressure sensor built into the handle at the bullet impact surface.

[0031] (2) Multi-speed point acquisition: Within the rated working range, select no less than 5 uniformly distributed speed levels for impact testing, and repeat the test no less than 10 times for each speed level, and record the data. Standard peak pressure, built-in sensor peak pressure, and take the arithmetic mean to reduce random error.

[0032] (3) Data fitting and solution: Based on the reverse calculation formula, let , For the first Under the speed test, the peak pressure measured by the standard reference pressure sensor was calculated using the least squares linear regression method. Required goodness of fit If the standard is not met, reassemble, debug, and recalibrate.

[0033] (4) Calibration and verification: Select 3 groups of velocity points that were not involved in the fitting for verification testing, and substitute them into the... The theoretical speed is calculated in reverse, and the deviation from the measured speed is ≤±3%. If it does not meet the standard, it is recalibrated.

[0034] (5) Parameter solidification: Verified parameters will be solidified. Value and bullet weight Write to the non-volatile area of ​​the handle's built-in memory for use as a fixed parameter.

[0035] The cross-comparison module 6 simultaneously receives the measured speed output from the speed calculation module 3 and the theoretical speed output from the theoretical speed acquisition module 5, calculates the deviation between the two speeds, and compares the deviation with the system's preset calibration deviation threshold. Compare the current impact output to determine if it meets the standard, and output the judgment result. The factory default setting is 0.3 m / s. This value is set based on the machining tolerance of the handle (±0.5%) and the accuracy of the pressure sensor (0.5 grade). The operator can manually adjust it within the range of 0.1 m / s to 0.8 m / s through the interactive interface.

[0036] Deviation value: ; when ≤ At that time, it was determined that the impact output met the standard; when > If the impact output is deemed substandard, a correction trigger signal is sent to the feedback correction module 7.

[0037] The feedback correction module 7 is used to receive the judgment result of the cross-comparison module 6, coordinate the three sub-modules to complete the correction decision and instruction generation, and send the correction parameters to the interaction and parameter management module 8. The feedback correction module 7 includes a real-time deviation correction module 71, an attenuation prediction and compensation module 72, and a correction limiting protection module 73. The real-time deviation correction module 71 is responsible for processing the instantaneous deviation of a single impact, calculating the energy adjustment range required for the current impact based on the specific value of the deviation, generating an instantaneous correction command, and outputting it. The correction amount is calculated by superimposing a basic correction amount and a nonlinear correction term: First, the basic correction amount is calculated based on the linear proportional relationship of the speed deviation. Used for rapid response to instantaneous deviations; Secondly, a nonlinear correction term is introduced. It is used to compensate for the second-order effect of the rate of change of kinetic energy deviating from the linear range when the velocity deviation is large; The final correction is the sum of the two: ; When speed deviation Exceeding the preset threshold ,Will Superimposed on the basic correction amount; when ≤ hour, Automatically zeroed, only outputting the basic correction value. , The value ranges from 0.2 m / s to 0.5 m / s, and the specific value is determined by a combination of the machining tolerance of the handle and the accuracy of the pressure sensor.

[0038] in, The built-in proportional coefficient has a basic recommended value range of 0.8 J·s / m to 2.0 J·s / m, with a typical value of 1.2 J·s / m (using a step velocity deviation of 0.5 m / s as the excitation signal, the coefficient is gradually adjusted within the range of 0.8 to 2.0 J·s / m and the system response is observed. When the value is too low, the correction force is insufficient and the deviation converges slowly. When the value is too high, the single energy adjustment amplitude is too large, which can easily cause the impact energy overshoot or fluctuation. Around 1.2 J·s / m, the system exhibits a critical damping state - that is, the overshoot of the correction amount does not exceed 10% and the deviation can be brought to the qualified range within 3 impact cycles, balancing the correction speed and stability).

[0039] Prototype adjustment method: =0.5m / s step velocity deviation signal excitation system, adjust This allows the system to reach a critical damping state (correction overshoot ≤10%, settling time ≤3 impact cycles), obtaining the optimal value and embedding it in the device module. Clinically, the parameter management module allows for fine-tuning within the range of 0.5 J·s / m to 2.5 J·s / m through its advanced parameter interface. It is adapted to the impact energy stability requirements of different treatment sites.

[0040] The attenuation prediction and compensation module 72 is used to handle performance degradation after long-term operation, identify attenuation, record attenuation trends, form a historical trend database, predict future trends based on attenuation rate, and perform benchmark correction. Attenuation prediction and compensation specifically includes the following steps: S1. Attenuation Feature Extraction: Record the measured velocity after each impact. Driven energy Calculate core efficiency indicators ; based on the number of impacts The horizontal axis is... Use the vertical axis to construct a historical trend database.

[0041] S2. Trend Recognition and Filtering: Select the most recent N trends (N=100~500, set according to the expected lifespan of the handle). The sequence is filtered using a moving average to remove random fluctuations and extract the decay trend curve. ( ).

[0042] S3. Attenuation rate calculation: Within the N data range after completing the moving average filtering, take the most recent M data (M=50~200, and M<N). Perform a univariate linear regression fit and calculate the slope. As the decay rate A negative value indicates a decline in system performance.

[0043] S4. Future Trend Prediction: Based on the decay rate Baseline forecast: , This represents the current real-time efficiency value; given that mechanical wear deteriorates at an accelerated rate with increasing cumulative impacts, a nonlinear acceleration factor is introduced. ,in A dimensionless acceleration coefficient is preset (value range 0.05~0.20). The ratio of the predicted step size to the expected lifetime is dimensionless; therefore, the corrected efficiency prediction value is... , This is a second-order attenuation correction coefficient (range 0.01~0.05), used to compensate for the nonlinear drop in efficiency during the acceleration phase. Below the preset lower limit If the handle is nearing the end of its lifespan, a maintenance reminder will be issued.

[0044] The value is determined based on the expected lifespan of the handle. The curvature of the decay curve is determined by fitting it with historical decay curves. A typical calibration method is to take multiple sets of life test data for the same type of handle, fit the acceleration segment curvature of the decay curve using the least squares method, and then inversely deduce the curvature. value; The value of is determined based on second-order residual analysis, with the optimization objective being to minimize the mean square error between the corrected predicted value and the measured end of life.

[0045] S5, Baseline Correction: When the cumulative attenuation... Exceeding the threshold When (typically 3% of initial efficiency), calculate the baseline compensation: This data is then superimposed on the output of the real-time deviation correction module 71 to compensate for the efficiency decrease caused by mechanical wear; the amount of compensation in a single instance is limited to no more than 0.5% of the initial drive energy to prevent sudden energy changes. The efficiency value is calculated in real time at the current moment.

[0046] S4 and S5 serve correction targets at different time scales: S4 predicts future trends based on the current attenuation rate, focusing on long-term lifespan assessment and early warning; S5 performs baseline energy compensation based on the accumulated attenuation, focusing on proactive correction of the current wear state. Together, they form a dual guarantee mechanism of "early warning + compensation": S5 ensures that the equipment maintains output accuracy in the current state, while S4 provides operators with maintenance decision-making references; the calculations of the two are not coupled, and the compensation amount of S5 is calculated only based on the current measured efficiency value, without relying on the prediction results of S4, to avoid prediction errors being introduced into the closed-loop correction circuit.

[0047] The attenuation prediction and compensation module 72 provides long-term guidance, while the real-time deviation correction module 71 provides rapid response and instantaneous fine-tuning. Together, they form a dual-timescale correction mechanism of "long-term trend prediction + short-term instantaneous response". Both ensure that the system maintains stable impact output accuracy throughout its entire life cycle, avoiding the continuous increase in output energy due to long-term wear until the equipment is overloaded or the treatment fails.

[0048] The calibration limiting protection module 73 sets a safety boundary for the calibration command generated by the real-time deviation correction module 71. When the calibration command exceeds the safety boundary, the calibration command is clamped to the safety upper limit and an over-limit alarm flag is generated.

[0049] Execute the following limiting logic: Current driving energy and Adding them together gives ; when > At that time, the calibration limiting protection module 73 clamps the output calibration amount to - This means that energy can only be adjusted to the upper limit, and an "over-limit alarm" flag will be generated at the same time; when < At that time, the calibration limiting protection module 73 clamps the output calibration amount to - At the same time, an "over-lower limit alarm" flag is generated; when ≤ ≤ At that time, the correction limiting protection module 73 will Output the original value.

[0050] The execution and security layer includes the interaction and parameter management module 8, which provides a visual operation interface for parameter setting, real-time display, log management, and audio-visual prompts. Parameter setting: The operator sets the target impact energy level, impact frequency, number of treatments and other operating parameters through the touch screen. The set values ​​are written to the relevant modules through the communication bus. Real-time display: Displayed in real time during the treatment process. , , Key operational data include deviation value, current driving energy, number of corrections, and compliance / non-compliance status indicators; Trend display: presented in line graph form The changing trends over time and the cumulative trends of correction amounts make it easier for operators to understand the equipment's performance status; Log recording: The system operation log and calibration history (time of each impact, deviation value, correction range, etc.) are stored in the built-in memory, and historical data export is supported, which facilitates equipment maintenance and quality traceability; Audible and visual prompts: When the impact meets the standard, a green indicator light will be displayed and a short prompt sound will be emitted; when the impact does not meet the standard, a yellow indicator light will be displayed; when the equipment malfunctions, a red flashing alarm will be emitted and a continuous buzzer will be heard.

[0051] The interaction and parameter management module 8 includes a safety interlock and fault diagnosis module 81 and an energy regulation execution module 82. The safety interlock and fault diagnosis module 81 is used to monitor the sensor status in real time, perform self-tests on the ADC channel, and set up safety interlocks and watchdog monitoring.

[0052] When the safety interlock and fault diagnosis module 81 detects that the photoelectric sensor signal is continuously at the same level for more than a preset time (i.e., there is no normal flipping), or the pressure sensor signal is continuously zero or continuously saturated beyond the normal range, it determines that the sensor is faulty. When the "over-limit alarm" flag of the correction limiting protection module 73 is received and continues to exceed the safe delay time (preset to 3 impact cycles, with a single impact cycle of 50~150ms and a corresponding delay window of about 150~450ms) and cannot be recovered, or when the pressure signal exceeds the mechanical safety threshold, the safety interlock and fault diagnosis module 81 directly drives the main contactor to disconnect the system power supply, thereby achieving forced shutdown. The watchdog timer is connected to an I / O pin of the main controller. When the main controller is running normally, it needs to flip the level of this pin within a set time (typically 1 second; the main controller can complete dozens of I / O pin level toggling operations within 1 second during normal operation. The 1-second threshold can effectively detect abnormal states such as program runaway and deadlock, and can also avoid false resets caused by short-term interruption blocking). If the watchdog timer times out and no level flip is observed, it is determined that the main controller program has runaway or deadlocked, and the safety interlock and fault diagnosis module 81 directly cuts off the power supply.

[0053] The energy regulation execution module 82 is used to receive the correction parameters sent by the feedback correction module 7, adjust the driving energy of the shock wave handle through the power drive circuit, and after performing energy regulation, transmit the current actual output energy value back to the attenuation prediction and compensation module 72 in real time through the feedback signal.

[0054] The electromagnetic drive voltage is adjusted by a thyristor voltage regulation circuit or a DC / DC converter circuit, and the correction amount is adjusted accordingly. This corresponds to the incremental value of the driving voltage.

[0055] The system's timing sequence is as follows: Under normal power-on operation, the system first completes a self-test and enters standby mode. When the impact command is triggered, the bullet travels along its trajectory and passes through two sets of photoelectric sensors in sequence. The system collects timestamps and calculates the bullet's measured velocity. The raw signal generated by the bullet impact pressure sensor is processed by a signal conditioning circuit, analog-to-digital conversion, and temperature compensation calibration to obtain the theoretical velocity. The measured velocity is compared with the theoretical velocity by the cross-comparison module 6, and the parameter deviation is judged to be within the acceptable threshold range. If the deviation exceeds the threshold, the closed-loop energy correction is completed through the amplitude limiting protection mechanism. At the same time, the attenuation prediction and compensation module 72 continuously collects operating data and tracks the long-term performance attenuation trend of the handle. The interaction and parameter management module 8 displays the core operating parameters in real time. Finally, it realizes the verification and correction of impact parameters for each shot, long-term performance monitoring, and visual operation monitoring, ensuring the accuracy of shock wave output and the controllability of operating status.

[0056] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A real-time feedback calibration control system for shockwave therapy handpiece impact parameters, characterized in that: It includes the perception layer, the processing and decision-making layer, and the execution and support layer; The sensing layer includes an impact detection module (1), a trigger recording module (2), and a pressure detection module (4). The impact detection module (1) includes two sets of photoelectric sensors arranged at intervals along the bullet trajectory. The bullet sequentially blocks the light path of the sensors, and each photoelectric sensor outputs a level transition signal to collect the bullet position timing signal. The trigger recording module (2) receives the two level transition signals output by the impact detection module (1) and uses the high-precision timer inside the MCU to record the triggering time of the two sets of sensors respectively. and The two sets of timestamp data are transmitted to the velocity calculation module (3); the pressure detection module (4) deploys a pressure sensor to obtain the differential electromotive force generated by the sensor due to the piezoelectric effect when the bullet hits, and processes the differential electromotive force through a differential amplifier circuit and a second-order Butterworth low-pass filter to obtain the peak pressure and impact duration. The processing and decision-making layer includes a speed calculation module (3), a theoretical speed acquisition module (5), a cross-comparison module (6), and a feedback correction module (7); the speed calculation module (3) receives the data provided by the trigger recording module (2) and combines it with the fixed spacing between the two sets of photoelectric sensors. Calculate the actual impact velocity of the bullet The theoretical velocity acquisition module (5) receives the peak pressure and impact duration provided by the pressure detection module (4), and derives the theoretical impact velocity in reverse based on the dynamic model of the bullet-impact end face; the cross-comparison module (6) simultaneously receives the measured velocity output by the velocity calculation module (3) and the theoretical velocity output by the theoretical velocity acquisition module (5), calculates the deviation value between the two sets of velocities, and compares the deviation value with the system's preset calibration deviation threshold. Compare the current impact output to determine if it meets the standard, and output the judgment result. The feedback correction module (7) receives the judgment result from the cross-comparison module (6), coordinates the sub-modules to complete the correction decision and command generation, and issues the correction parameters.

2. The shockwave therapy handpiece impact parameter real-time feedback calibration control system according to claim 1, characterized in that: In the pressure detection module (4), the voltages at the two input terminals of the differential amplifier circuit are respectively and Then the output voltage ,in and This refers to the external resistance value; This circuit performs common-mode suppression and differential-mode amplification on the weak differential electromotive force output by the sensor. After the differential amplified signal is filtered to remove high-frequency noise by a 10kHz second-order Butterworth low-pass filter, it is then processed by peak hold, pulse width extraction and analog-to-digital conversion, and then filtered by a dynamically adjustable FIR digital filter in two stages. Bandwidth distortion compensation is performed based on the shock tube calibration parameters, and the corrected peak value and pulse width parameters are output.

3. The real-time feedback calibration control system for shockwave therapy handpiece impact parameters according to claim 1, characterized in that: The pressure detection module (4) also includes a temperature compensation and calibration module (41). The temperature compensation and calibration module (41) collects the working temperature through the temperature sensing element, realizes real-time temperature drift compensation for pressure sensitivity based on temperature control calibration table building and linear interpolation table lookup, and integrates automatic zeroing calibration, periodic calibration and dynamic calibration.

4. The real-time feedback calibration control system for shockwave therapy handpiece impact parameters according to claim 1, characterized in that: In the theoretical speed acquisition module (5), the reverse calculation formula is as follows: ； in, For the weight of the bullet, This is a correction factor; for the same handle system, and It is a fixed value after leaving the factory. For the duration of the impact, This represents the peak pressure.

5. The real-time feedback calibration control system for shockwave therapy handpiece impact parameters according to claim 1, characterized in that: In the cross-comparison module (6), the deviation value is: ; Judgment rules: when ≤ At that time, it was determined that the impact output met the standard; when > When the impact output is deemed substandard, a correction trigger signal is output to the feedback correction module (7).

6. The real-time feedback calibration control system for shockwave therapy handpiece impact parameters according to claim 1, characterized in that: The feedback correction module (7) includes a real-time deviation correction module (71), an attenuation prediction and compensation module (72), and a correction limiting protection module (73). The real-time deviation correction module (71) is responsible for processing the instantaneous deviation of a single impact, calculating the energy adjustment range required for the current impact based on the specific value of the deviation, generating an instantaneous correction command and outputting it, based on the basic correction amount. Based on this, a nonlinear correction term is superimposed. The final correction amount is , This is a built-in scaling factor; The attenuation prediction and compensation module (72) is used to process the performance degradation after long-term operation, identify the attenuation, record the attenuation trend, form a historical trend database, predict the future trend based on the attenuation rate, and make benchmark corrections. The calibration limiting protection module (73) sets a safety boundary for the calibration command generated by the real-time deviation correction module (71). When the calibration command exceeds the safety boundary, the calibration command is clamped to the safety upper limit and an over-limit alarm flag is generated.

7. The shockwave therapy handpiece impact parameter real-time feedback calibration control system according to claim 6, characterized in that: When the attenuation prediction and compensation module (72) performs attenuation prediction and compensation, it specifically includes the following steps: S1. Attenuation Feature Extraction: Record the measured velocity after each impact. Driven energy Calculate core efficiency indicators ; based on the number of impacts The horizontal axis is... Construct a historical trend database with the vertical axis as the y-axis; S2. Trend Identification and Filtering: Select the most recent N trends. The sequence is filtered using a moving average to remove random fluctuations and extract the decay trend curve. ( ); S3. Attenuation rate calculation: Take the most recent M times... Perform a univariate linear regression fit and calculate the slope. As the decay rate; S4. Future Trend Prediction: Based on the decay rate Calculate the base forecast value: , This represents the current real-time efficiency value; given that mechanical wear deteriorates at an accelerated rate with increasing cumulative impacts, a nonlinear acceleration factor is introduced. ,in As a preset acceleration coefficient, To predict the ratio of the step size to the expected lifetime, the corrected efficiency prediction value is... , This is a second-order attenuation correction coefficient used to compensate for the nonlinear drop in efficiency during the acceleration phase. Below the preset lower limit If the handle is nearing the end of its lifespan, a maintenance reminder will be issued. S5, Baseline Correction: When the cumulative attenuation... Exceeding the threshold At that time, calculate the benchmark compensation amount: The result is then superimposed onto the output of the real-time deviation correction module (71).

8. The shockwave therapy handpiece shock parameter real-time feedback calibration control system according to claim 6, characterized in that: The limiting logic of the correction limiting protection module (73) is as follows: Current driving energy and Adding them together gives ; when > At that time, the calibration limiting protection module (73) clamps the output calibration amount to - This means that energy can only be adjusted to the upper limit, and an over-limit alarm flag is generated at the same time; when < At that time, the calibration limiting protection module (73) clamps the output calibration amount to - At the same time, an alarm flag indicating that the lower limit has been exceeded is generated; when ≤ ≤ At that time, the calibration limiting protection module (73) will Output the original value.

9. The real-time feedback calibration control system for shockwave therapy handpiece impact parameters according to claim 1, characterized in that: The execution and security layer includes an interaction and parameter management module (8), which provides a visual operation interface for parameter setting, real-time display, log management and audio-visual prompts.

10. The shockwave therapy handpiece impact parameter real-time feedback calibration control system according to claim 9, characterized in that: The interaction and parameter management module (8) includes a safety interlock and fault diagnosis module (81) and an energy regulation execution module (82). The safety interlock and fault diagnosis module (81) is used to monitor the sensor status in real time, perform self-test on the ADC channel, and set up safety interlock and watchdog monitoring. The energy regulation execution module (82) is used to receive the correction parameters issued by the feedback correction module (7), adjust the driving energy of the shock wave handle through the power drive circuit, and after performing energy regulation, transmit the current actual output energy value back to the attenuation prediction and compensation module (72) in real time through the feedback signal.

Images