Needle body in-place detection device and handle therapeutic apparatus

Abstract

The utility model discloses a needle body in-place detection device and a handle therapeutic apparatus, the needle body in-place detection device is characterized in that a current detection circuit is respectively connected with a motor and a handpiece controller, the handpiece controller is connected with the motor and a host controller, and the motor is also connected with a needle body; the motor is used for recording stroke position data of the motor in real time and storing the stroke position data in the motor; the current detection circuit is used for detecting and sending current data of the motor to the handpiece controller; according to the needle body in-place detection device disclosed by the utility model, when the error between the internal stroke position data of the motor read by the handpiece controller and the preset depth is less than or equal to the preset value and the current data of the motor is less than or equal to the preset current value, the needle withdrawing depth of the motor is determined to reach the target depth and the motor is stable, and at the moment, radio frequency energy can be output; the two judgment methods are combined, so that the risk of skin incrustation caused by the fact that the radio frequency energy is output under the condition that the motor is not stable and the radio frequency energy is released on the epidermal layer is greatly reduced.

Description

Technical Field

[0001] This utility model relates to the field of radiofrequency therapy technology, and in particular to a needle placement detection device and a handpiece therapy device. Background Technology

[0002] Radiofrequency microneedling is a skin treatment method that combines radiofrequency technology and microneedling technology. Its principle involves inserting conductive microneedles into the dermis, SMAS layer, or fat layer of the skin. Radiofrequency discharge at the microneedle tip induces tissue damage, thereby achieving a therapeutic effect. To ensure precise and controllable needle depth, a motor-driven method is typically used to insert the microneedles into the target tissue layer.

[0003] The typical configuration of radiofrequency microneedling devices on the market today consists of a main unit, a handheld controller, a treatment head, and a motor. The timing control logic is as follows: the motor records its travel position A in real time and stores the data internally. The handheld controller periodically reads the internal travel position data. When the error between the read internal travel position A and the preset depth B of the handheld controller is less than a preset value, the handheld controller sends a motor arrival signal to the main unit. Upon receiving this signal, the main unit considers the motor to have reached the target depth and stabilized, and then outputs radiofrequency energy. After the radiofrequency energy output is complete, the main unit sends a radiofrequency energy output completion signal to the handheld controller, which then instructs the motor to begin needle retraction.

[0004] Considering patient comfort, the communication between the motor, handheld controller, and host computer uses short-pulse signals, typically around 200ms. This short pulse width places extremely high demands on the motor's thrust, accuracy, and speed. However, due to factors such as inertia, wear, and gravity, the motor often fails to reach its ideal state. Issues such as the motor's inability to maintain stable, continuous movement within the short pulse duration, segmented or disjointed movement, and failure to reach the target depth may occur. When the motor is not stable, the travel position data is unknown and disordered. According to the current timing logic, when the motor is unstable and deviates upwards, the handheld controller reads erroneous data, still believing the motor has reached the target depth and sending a motor arrival signal to the host computer. Upon receiving this signal, the host computer outputs radiofrequency energy. This timing logic could potentially release radiofrequency energy into the epidermal layer, increasing the risk of scab formation for the patient. Utility Model Content

[0005] The main purpose of this invention is to propose a needle placement detection device and a handpiece therapy instrument, which aims to improve needle placement detection and prevent microneedle scab formation.

[0006] To achieve the above objectives, the present invention proposes a needle placement detection device and a handheld therapeutic instrument. The needle placement detection device includes: a current detection circuit, a motor, and a handheld component controller.

[0007] The current detection circuit is connected to the motor and the handheld device controller respectively. The handheld device controller is connected to the motor and the main controller. The motor is also connected to the needle body.

[0008] The motor is used to record the travel position data of the needle body in real time and store the travel position data inside the motor;

[0009] The current detection circuit is used to detect and send the motor's current data to the handheld device controller;

[0010] The handheld controller is used to read the travel position data inside the motor at preset time intervals. When the error between the read travel position data inside the motor and the preset depth is less than or equal to a preset value, and the current data of the motor is less than or equal to a preset current value, the controller sends a motor position signal to the host controller.

[0011] In one embodiment, the handheld controller is further configured to issue a warning when the error between the internal travel position data of the motor and the preset depth is greater than or equal to a preset value after reading more than a preset number of times, and / or the current data of the motor is greater than or equal to a preset current value.

[0012] In one embodiment, the host controller is configured to output radio frequency energy to the needle body when it receives the motor positioning signal.

[0013] In one embodiment, the current detection circuit further includes: a sampling circuit, an amplification circuit, and a filtering circuit;

[0014] The sampling circuit is connected to the motor, the handheld device controller, and the amplification circuit. The amplification circuit is also connected to the filtering circuit, and the filtering circuit is also connected to the handheld device controller.

[0015] The sampling circuit is used to collect the sampling current of the motor and transmit it to the amplification circuit;

[0016] The amplifier circuit is used to amplify the sampled current to obtain an amplified current;

[0017] The filtering circuit is used to filter the amplified current and transmit the filtered amplified current to the handheld device controller.

[0018] In one embodiment, the sampling circuit includes: a first resistor and a second resistor;

[0019] One end of the first resistor is connected to the motor, the other end of the first resistor is connected to one end of the second resistor, and the other end of the second resistor is connected to the handheld controller.

[0020] In one embodiment, the filter circuit includes: a third resistor and a first capacitor;

[0021] One end of the third resistor is connected to one end of the amplifier circuit, and the other end of the third resistor is connected to the handheld device controller and one end of the first capacitor, the other end of the first capacitor being grounded. In one embodiment, the amplifier circuit includes: a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, and a first operational amplifier;

[0022] One end of the fourth resistor is connected to one end of the fifth resistor, one end of the first resistor, and the motor. The other ends of the fourth resistor and the fifth resistor are connected to the positive input terminal of the first operational amplifier. The negative input terminal of the operational amplifier is connected to one end of the sixth resistor and one end of the seventh resistor. The other end of the sixth resistor is connected to the other end of the second resistor and the handheld device controller. The other end of the seventh resistor is connected to the output terminal of the first operational amplifier and one end of the third resistor.

[0023] In one embodiment, the amplification circuit includes: an eighth resistor, a ninth resistor, a tenth resistor, and a second operational amplifier;

[0024] One end of the eighth resistor is connected to one end of the first resistor and the motor. The other end of the eighth resistor is connected to the positive input terminal of the second operational amplifier and one end of the ninth resistor. The other end of the ninth resistor is connected to the output terminal of the second operational amplifier and one end of the third resistor. The positive input terminal of the second operational amplifier is connected to one end of the tenth resistor. The other end of the tenth resistor is grounded.

[0025] In one embodiment, the amplification circuit includes: an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, and a third operational amplifier;

[0026] The eleventh resistor is connected to one end of the first resistor and the motor. The other end of the eleventh resistor is connected to the positive input terminal of the third operational amplifier and one end of the twelfth resistor. The other end of the twelfth resistor is grounded. The negative input terminal of the third operational amplifier is connected to one end of the thirteenth resistor and one end of the fourteenth resistor. The other end of the thirteenth resistor is connected to the other end of the second resistor and the handheld device controller. The other end of the fourteenth resistor is connected to the output terminal of the third operational amplifier and one end of the third resistor.

[0027] This utility model also proposes a handheld therapeutic device, which includes the aforementioned needle placement detection device.

[0028] This utility model discloses a needle placement detection device and a handheld therapeutic device. The needle placement detection device includes: a current detection circuit connected to the motor and a handheld controller, the handheld controller connected to the motor and a main controller, and the motor also connected to the needle; the motor is used to record the motor's stroke position data in real time and store the stroke position data inside the motor; the current detection circuit is used to detect and send the motor's current data to the handheld controller. The needle placement detection device of this utility model determines that the motor has reached the target depth and is stable when the error between the stroke position data inside the motor read by the handheld controller and the preset depth is less than or equal to a preset value, and the motor's current data is less than or equal to a preset current value. Only then can radio frequency energy be output. The combination of the two determination methods greatly reduces the risk of skin scabbing caused by the release of radio frequency energy in the epidermal layer when the motor is not stable. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0030] Figure 1 A flowchart of an embodiment of the needle positioning detection device provided by this utility model;

[0031] Figure 2 A schematic diagram of the module of the first embodiment of the needle positioning detection device provided by this utility model;

[0032] Figure 3 A graph showing the motor current data of the first embodiment of the needle positioning detection device provided by this utility model;

[0033] Figure 4 A schematic diagram of the module of the second embodiment of the needle positioning detection device provided by this utility model;

[0034] Figure 5 A circuit diagram of a third embodiment of the needle positioning detection device provided by this utility model;

[0035] Figure 6 Another circuit diagram of the third embodiment of the needle positioning detection device provided by this utility model;

[0036] Figure 7Another circuit diagram of the third embodiment of the needle positioning detection device provided by this utility model.

[0037] Explanation of icon numbers:

[0038] label name label name 10 Handheld controller A~C First to third operational amplifiers 20 motor R1~R14 Resistors 1 to 14 30 Host Controller VCC power supply 40 Current detection circuit C1 First capacitor 50 Sampling circuit 60 Amplifier circuit 70 Filtering circuit

[0039] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0041] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0042] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0043] Radiofrequency microneedling is an innovative skin treatment method that combines radiofrequency and microneedling techniques. It has achieved remarkable results in the beauty field, particularly in anti-aging, skin repair, and improving skin quality. The treatment heads used in this technology come in two types: insulated and non-insulated. Insulated heads have an insulating coating on the needle body, with non-insulating coating (or no coating) only applied to the tip a few millimeters deep. Radiofrequency energy is only output when the needle tip penetrates the skin to the dermis, stimulating the regeneration of collagen and elastin fibers in the dermis, thereby improving skin elasticity, firmness, and overall appearance. In contrast, the cells in the epidermis are relatively thin and have poor heat resistance. When exposed to excessive heat, the cells may be damaged, resulting in localized shedding and scabbing. If radiofrequency energy is released in the epidermis, it may cause localized heat accumulation, leading to skin cell damage and scabbing.

[0044] Based on radiofrequency microneedle technology, research is being conducted on how to better release radiofrequency energy only in the deep dermis layer of the skin, and not in the epidermis layer. This can effectively prevent patients from developing scabs or peeling after treatment, accelerate the treatment recovery period, and provide a better user experience for patients and doctors.

[0045] like Figure 1 As shown, the common structure of microneedles on the market is: a main unit, a handheld device (with a motor), and a treatment head. The timing control logic is as follows: the motor records its travel position data A in real time and stores the data internally. The handheld device controller reads the internal travel position data of the motor every 20ms. When the error between the read internal travel position data A and the preset depth B of the handheld device controller is less than or equal to 0.2mm (i.e., |AB|≤0.2mm), the handheld device controller sends a motor arrival signal TXD1 to the main unit controller. After receiving the motor arrival signal TXD1, the main unit considers that the motor has reached the target depth and is stable, and at this time outputs radio frequency energy. When the radio frequency energy output is complete, the main unit controller sends a radio frequency energy output completion signal TXD2 to the handheld device controller, and the handheld device controller notifies the motor to start withdrawing the needle.

[0046] It should be noted that, considering patient comfort, the pulse width commonly used in clinical practice is relatively short, usually only about 200ms. With such a short pulse width, the requirements for the motor's thrust, accuracy, and movement speed are extremely high. However, due to factors such as inertia, wear, and gravity, the motor often cannot reach our ideal state. This can result in situations such as the motor being unable to move stably and continuously within a short pulse time, the motor moving in layers or segments, or the motor failing to reach the target depth. When the motor has not reached a stable state, the stroke position data is actually unknown and disordered. According to the existing timing logic, when the motor is not stable and deviates upwards, the data read by the handheld controller is falsely high. However, if |AB|≤0.2mm is satisfied at this time, the handheld controller still considers the motor to have reached the target depth and sends a TXD1 signal to the host. The host then outputs radiofrequency energy upon receiving the TXD1 signal. This timing logic is very likely to cause the radiofrequency energy to be released in the epidermal layer, increasing the risk of scab formation for the patient.

[0047] like Figure 2 The diagram shown is a structural schematic of the first embodiment of the needle positioning detection device proposed in this embodiment.

[0048] This utility model discloses a needle positioning detection device, which includes: a current detection circuit 40, a motor 20, and a handheld controller 10; the current detection circuit is connected to the motor and the handheld controller 10 respectively, the handheld controller 10 is connected to the motor and the main controller, and the motor 20 is also connected to the needle; the motor 20 is used to record the stroke position data of the needle in real time and store the stroke position data inside the motor; the current detection circuit 40 is used to detect and send the current data of the motor to the handheld controller 10; the handheld controller 10 is used to read the stroke position data inside the motor at preset time intervals, and when the error between the read stroke position data inside the motor and the preset depth is less than or equal to a preset value, and the current data of the motor is less than or equal to a preset current value, it sends a motor positioning signal to the main controller 30.

[0049] It should be noted that an electric motor is a device that converts electrical energy into mechanical energy. It generates rotational or linear motion through the interaction of an internal magnetic field and electric current. In radiofrequency microneedling devices, an electric motor is used to drive the movement of the microneedle assembly, ensuring that the microneedle body can accurately penetrate the skin and reach the predetermined depth.

[0050] In radiofrequency microneedling devices, the motor converts rotational motion into linear motion through transmission components (such as lead screws and guide rails). This linear motion drives the radiofrequency microneedles to perform vertical insertion and withdrawal operations on the skin, which helps the microneedles penetrate the skin more evenly, improving the uniformity and effectiveness of the treatment.

[0051] The motor integrates with the radiofrequency microneedles via a transmission component. When driven by the motor, the transmission component moves the radiofrequency microneedles. With the microneedles extended, the microneedle array can penetrate the skin and release radiofrequency energy for treatment upon reaching the designated depth. The motor, through the transmission component, controls the needles to move back and forth along their extension direction. Multiple needles can be mounted on a circuit board, which is connected to the main controller to transmit the radiofrequency energy.

[0052] The host controller 30 is used to output radio frequency energy to the needle body when it receives a motor position signal.

[0053] Understandably, in the existing timing logic scheme, the motor connects to the needle body. When the internal stroke position data A of the motor and the preset depth B of the handheld device controller satisfy the preset value |AB|≤0.2mm, the handheld device controller determines that the motor 20 has reached the target depth and that the motor 20 has stabilized. Relying solely on this logic for judgment results in significant errors and may even lead to timing errors. It is known that the motion current of the motor 20 when pushing the needle out or retracting differs significantly from the holding current of the motor 20 after it reaches the target depth and stabilizes. The holding current of the motor 20 after reaching the target depth and stabilizing is much smaller than the motion current and is much smoother. Figure 3 As shown, the current waveform is unstable when the motor is in motion. Based on this, it can be determined that the motor is unstable when the current data exceeds the preset current value. Therefore, this application incorporates the detection and judgment of the motor's current data. The preset current value can characterize the stable operating state of the motor. When the preset current value is exceeded, the motor is in an unsteady state of motion.

[0054] It should be noted that in the logic for determining whether the motor 20 has reached the target depth and is stable, this application adds another logic judgment, namely, adding a current detection circuit 40. This logic is parallel to the logic of |AB|≤0.2mm in the existing solution. When the current is greater than or equal to the preset current value, the motor 20 is considered unstable. Only when |AB|≤0.2mm and the current data of the motor is less than or equal to the preset current value can the motor 20 be considered to have reached the target depth and be stable. Only then can radio frequency energy be output. This AND gate relationship greatly reduces the risk of skin scab formation caused by the host controller 30 outputting radio frequency energy to the needle body when the motor 20 is unstable and the needle body releases radio frequency energy in the epidermal layer.

[0055] In this embodiment, only when the error between the read internal travel position data of the motor 20 and the preset depth is less than or equal to the preset value, and the current data of the motor is less than or equal to the preset current value, can it be considered that the needle of the motor 20 has reached the target depth and the motor 20 is stable. Only then can radio frequency energy be output. The combination of the two determination methods greatly reduces the risk of skin scab formation caused by the output of radio frequency energy to the needle body when the motor 20 is not stable.

[0056] like Figure 4 The diagram shown is a schematic representation of the second embodiment of the needle positioning detection device proposed in this embodiment.

[0057] Based on the first embodiment described above, a second embodiment of the needle positioning detection device of this utility model is proposed.

[0058] The handheld controller 10 is also used to issue a warning when the error between the internal travel position data of the motor and the preset depth is greater than a preset value after reading more than a preset number of times, and / or the current data of the motor is greater than a preset current value.

[0059] Understandably, the motor push pin depth can only be considered to have reached the target depth and stabilized when the error between the read internal stroke position data of motor 20 and the preset depth is less than or equal to the preset value, and the motor current data is less than or equal to the preset current value. Only then can the handheld device controller send the motor position signal TXD1 to the host controller. Both conditions are indispensable; otherwise, the handheld device controller will not output the motor position signal TXD1.

[0060] It should be noted that counter circuits, trigger circuits, or logic gate circuits can be set on the handheld device controller to achieve this. Taking logic gate circuit control as an example, if the error between the read internal travel position data of motor 20 and the preset depth is greater than a preset value, it is one logic path; if the received motor current data is greater than a preset current value, it is another logic path. When at least one of the two logic paths is satisfied, and the number of times exceeds three, the handheld device controller will automatically alarm through the internal program, prompting a message such as "Handheld device motor is damaged, please stop using it immediately and replace the handheld device in time".

[0061] The current detection circuit also includes: a sampling circuit 50, an amplification circuit 60, and a filtering circuit 70; the sampling circuit 50 is connected to the motor, the handheld device controller, and the amplification circuit, the amplification circuit is also connected to the filtering circuit 70, and the filtering circuit 70 is also connected to the handheld device controller; the sampling circuit 50 is used to collect the sampling current of the motor and transmit it to the amplification circuit 60; the amplification circuit 60 is used to amplify the sampling current to obtain the amplified current; the filtering circuit 70 is used to filter the amplified current and transmit the filtered amplified current to the handheld device controller.

[0062] It should be noted that, since the motor current is relatively small, the current detection circuit 40 is designed using a shunt resistor scheme. The current detection circuit 40 includes a sampling circuit 50, an amplification circuit 60, and a filtering circuit 70. A small resistor (0.1Ω to a few Ω) is selected to ensure that it does not cause a significant voltage drop in the circuit. A shunt resistor is connected in series between the handheld device and the motor circuit, which is the sampling circuit 50. The sampling current flowing through the resistor will generate a certain voltage drop. Since the current is very small at this time, the generated voltage is also very small. Therefore, we use an operational amplifier to amplify the voltage to obtain the amplified voltage, which is the amplifier circuit 60. The amplified voltage is input to the filter circuit for filtering. The amplified voltage is input to the handheld device controller for digital-to-analog converter (DAC) processing. The handheld device controller 10 calculates the motor current data and compares it with the preset current value to determine whether the motor current data is less than or equal to the preset current value. Inside the handheld device controller, the motor current data and the motor stroke feedback signal are ANDed. If the error between the read motor internal stroke position data and the preset depth is less than or equal to the preset value, and the motor current data is less than or equal to the preset current value, then the motor position signal is output; otherwise, no output is output.

[0063] In this embodiment, the current detection circuit 40 includes a sampling circuit 50, an amplification circuit 60, and a filtering circuit 70. The sampling circuit collects the sampling current of the motor and transmits it to the amplification circuit 60. The amplification circuit 60 amplifies the sampling current to obtain an amplified current. The filtering circuit 70 filters the amplified current and transmits it to the handheld device controller 10. Inside the handheld device controller, the motor current data is calculated based on the amplified voltage. The motor current data is ANDed with the motor stroke feedback signal. When the error between the read internal stroke position data of the motor 20 and the preset depth is less than or equal to a preset value, and the motor current data is less than or equal to the preset current value, the motor position signal is output; otherwise, no signal is output.

[0064] like Figure 5 , Figure 6 and Figure 7 The diagram shown is a circuit diagram of the third embodiment of the needle positioning detection device proposed in this embodiment.

[0065] Based on the first and / or second embodiments described above, a third embodiment of the needle positioning detection device of this utility model is proposed.

[0066] The sampling circuit includes: a first resistor R1 and a second resistor R2; one end of the first resistor R1 is connected to the motor, the other end of the first resistor R1 is connected to one end of the second resistor R2, and the other end of the second resistor R2 is connected to the handheld device controller.

[0067] The filter circuit includes: a third resistor R3 and a first capacitor C1; one end of the third resistor R3 is connected to one end of the amplifier circuit, the other end of the third resistor R3 is connected to the handheld device controller and one end of the first capacitor C1, and the other end of the first capacitor C1 is grounded.

[0068] Understandably, choosing two relatively small resistors, R1 and R2, connected in series with the motor ensures that they do not cause a significant voltage drop in the circuit. This application proposes three amplification circuits, all of which can amplify the detected current into an amplified current. The third resistor R3 and the first capacitor C1 form a filter circuit, utilizing the current-impeding effect of the third resistor R3 and the voltage storage capacity of the first capacitor C1. When the AC signal in the circuit passes through the RC filter, the third resistor R3 consumes some electrical energy, which is converted into heat energy, while the first capacitor C1 smooths the signal and filters out high-frequency components through the charging and discharging process, effectively filtering out high-frequency stray signals and making the output signal more stable.

[0069] like Figure 5 In the embodiment shown, the amplifier circuit includes: a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, and a first operational amplifier A; one end of the fourth resistor R4 is connected to one end of the fifth resistor R5, one end of the first resistor R1, and the motor; the other ends of the fourth resistor R4 and the other ends of the fifth resistor R5 are connected to the positive input terminal of the first operational amplifier A; the negative input terminal of the operational amplifier is connected to one end of the sixth resistor R6 and one end of the seventh resistor R7; the other end of the sixth resistor R6 is connected to the other end of the second resistor R2 and the handheld device controller; and the other end of the seventh resistor R7 is connected to the output terminal of the first operational amplifier and one end of the third resistor R3.

[0070] Understandably, two shunt resistors, R1 and R2, are connected in series between the motor and the handheld controller, generating a voltage drop across them. The voltage signal between the first resistor R1 and the power supply is collected, amplified by the first operational amplifier A (non-inverting amplifier), filtered by a filtering circuit, and then the output motor voltage signal is input to the ADC processing terminal of the handheld controller to calculate the motor current data, thereby monitoring the motor current data signal.

[0071] Specifically, the first operational amplifier A amplifies the sampled voltage signal, Ui = I*(R1+R2), Uo = (1+R7 / R6)Ui, where Ui is the sampled voltage, Uo is the amplified voltage, and I is the motor current data. The handheld controller receives the amplified voltage, calculates the motor current data I using the above amplification formula, and compares it with the preset current value.

[0072] like Figure 6In the embodiment shown, the amplifier circuit includes: an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, and a second operational amplifier B; one end of the eighth resistor R8 is connected to one end of the first resistor R1 and the motor, the other end of the eighth resistor R8 is connected to the positive input terminal of the second operational amplifier and one end of the ninth resistor R9, the other end of the ninth resistor R9 is connected to the output terminal of the second operational amplifier and one end of the third resistor R3, the positive input terminal of the second operational amplifier is connected to one end of the tenth resistor, and the other end of the tenth resistor R10 is grounded.

[0073] It should be noted that two shunt resistors, R1 and R2, are connected in series between the motor and the handheld controller. A voltage drop is generated across the two ends. The voltage signal between the first resistor R1 and the power supply is collected. The collected voltage signal is then amplified by an inverting amplifier to obtain an amplified voltage. After being filtered by a filtering circuit, the amplified voltage signal is input to the ADC processing terminal of the handheld controller to calculate the motor current data, thereby monitoring the motor current data signal.

[0074] Specifically, the second operational amplifier B amplifies the sampled voltage signal, Ui = I*(R1+R2), Uo = -(R9 / R8)Ui, where Ui is the sampled voltage, Uo is the amplified voltage, and I is the motor current data. The handheld controller receives the amplified voltage Uo, calculates the motor current data I using the above amplification formula, and compares it with the preset current value.

[0075] like Figure 7 In the illustrated embodiment, the amplifier circuit includes: an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, and a third operational amplifier C; the eleventh resistor R11 is connected to one end of the first resistor R1 and the motor, the other end of the eleventh resistor R11 is connected to the positive input terminal of the third operational amplifier and one end of the twelfth resistor R12, the other end of the twelfth resistor R12 is grounded, the negative input terminal of the third operational amplifier is connected to one end of the thirteenth resistor R13 and one end of the fourteenth resistor, the other end of the thirteenth resistor is connected to the other end of the second resistor and the handheld device controller, and the other end of the fourteenth resistor is connected to the output terminal of the third operational amplifier and one end of the third resistor.

[0076] It should be noted that two shunt resistors, R1 and R2, are connected in series between the motor and the handheld controller. A voltage drop is generated across the two ends. The voltage signals between R2 and the power supply, and between R1 and the motor are collected. The voltage signals are then amplified by a differential amplifier to obtain an amplified voltage. After being filtered by a filtering circuit, the amplified voltage signal is input to the ADC processing terminal of the handheld controller to calculate the motor current data, thereby monitoring the motor current data signal.

[0077] Specifically, the third operational amplifier C amplifies the sampled voltage signal, Ui = I*(R1+R2), Uo = (R14 / R13)(Ui2-Ui1), Ui = Ui2-Ui1, where Ui1 is the first sampled voltage between the first resistor R1 and the motor, Ui2 is the second sampled voltage between the second resistor R2 and the power supply, Uo is the amplified voltage, and I is the motor current data. The handheld controller receives the amplified voltage Uo, calculates the motor current data I using the above amplification formula, and compares it with the preset current value.

[0078] Optionally, a Hall effect-based current sensor circuit can also be used in the current detection circuit. The Hall sensor has a built-in precision operational amplifier and bias voltage source, which can provide an output voltage proportional to the current. The Hall effect sensor is connected in series in the middle of the circuit to detect the conductor through which the current flows, directly detecting the current. The detected motor current data signal is connected to the handheld controller. The handheld controller performs an AND gate relationship between the travel position data and the motor current data signal. When the error between the read motor internal travel position data and the preset depth is less than a preset value, and the motor current data is less than the preset current value, it sends a motor position signal to the host controller.

[0079] In this embodiment, two smaller resistors are connected in series with the motor and the handheld device controller to ensure that they do not cause a significant voltage drop in the circuit. This application proposes three amplification circuits, all of which can amplify the sampled voltage into an amplified voltage. After being filtered by the filtering circuit, the amplified voltage signal is input to the ADC processing terminal of the handheld device controller to calculate the motor current data, thereby monitoring the motor current data signal.

[0080] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0081] This utility model also proposes a handheld therapeutic device, which includes a needle positioning detection device. The specific structure of the handheld therapeutic device is as described in the above embodiments. Since the handheld therapeutic device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0082] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A needle-in-place detection device, characterized by The application relates to a needle body in-position detection device. The current detection circuit is connected with the motor and the handheld controller, the handheld controller is connected with the motor and a host controller, and the motor is further connected with a needle body. The motor is used for recording the stroke position data of the needle body in real time and saving the stroke position data in the motor. The current detection circuit is used for detecting and sending the current data of the motor to the handheld controller. The handheld controller is used for reading the stroke position data in the motor at every preset time interval, and when the error between the stroke position data in the motor and a preset depth is less than or equal to a preset value and the current data is less than or equal to a preset current value, the handheld controller sends a motor in-position signal to the host controller. The handheld controller is further used for sending a pre-warning prompt when the error between the stroke position data in the motor and the preset depth is greater than the preset value for more than a preset number of times and / or the current data of the motor is greater than the preset current value.

2. The needle-in-place detection device of claim 1, wherein The host controller is used for outputting radio frequency energy to the needle body when the motor in-position signal is received. The current detection circuit further comprises a sampling circuit, an amplification circuit and a filtering circuit. The sampling circuit is connected with the motor, the handheld controller and the amplification circuit, the amplification circuit is further connected with the filtering circuit, and the filtering circuit is further connected with the handheld controller.

4. The needle-in-place detection device of claim 3, wherein The sampling circuit is used for collecting the sampling current of the motor and transmitting the sampling current to the amplification circuit. The amplification circuit is used for amplifying the sampling current to obtain an amplified current. The filtering circuit is used for filtering the amplified current and transmitting the filtered amplified current to the handheld controller. The sampling circuit comprises a first resistor and a second resistor. One end of the first resistor is connected with the motor, and the other end of the first resistor is connected with one end of the second resistor.

5. The needle-in-place detection device of claim 4, wherein The filtering circuit comprises a third resistor and a first capacitor. One end of the third resistor is connected with one end of the amplification circuit, the other end of the third resistor is connected with the handheld controller and one end of the first capacitor, and the other end of the first capacitor is grounded.

6. The needle-in-place detection device of claim 5, wherein The amplification circuit comprises a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor and a first operational amplifier. One end of the fourth resistor is connected with one end of the fifth resistor, one end of the first resistor and the motor, the other end of the fourth resistor and the other end of the fifth resistor are connected with the positive input end of the first operational amplifier, the negative input end of the operational amplifier is connected with one end of the sixth resistor and one end of the seventh resistor, the other end of the sixth resistor is connected with the other end of the second resistor and the handheld controller, and the other end of the seventh resistor is connected with the output end of the first operational amplifier and one end of the third resistor.

7. The needle-in-place detection device of claim 6, wherein the needle-in- place detection device further comprises a needle-in-place detection device housing, and wherein the needle-in-place detection device housing is configured to be attached to the needle hub. The amplification circuit comprises an eighth resistor, a ninth resistor, a tenth resistor and a second operational amplifier. ​ 8. The needle-in-place detection device of claim 6, wherein the needle-in- place detection device is configured to be activated by a needle insertion force of at least 0.5 N. ​ One end of the eighth resistor is connected to one end of the first resistor and the motor, and the other end of the eighth resistor is connected to the positive input end of the second operational amplifier and one end of the ninth resistor, the other end of the ninth resistor is connected to the output end of the second operational amplifier and one end of the third resistor, the positive input end of the second operational amplifier is connected to one end of the tenth resistor, and the other end of the tenth resistor is grounded.

9. The needle-in-place detection device of claim 6 wherein, The amplification circuit comprises an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor and a third operational amplifier. One end of the eleventh resistor is connected to one end of the first resistor and the motor, and the other end of the eleventh resistor is connected to the positive input end of the third operational amplifier and one end of the twelfth resistor, the other end of the twelfth resistor is grounded, the negative input end of the third operational amplifier is connected to one end of the thirteenth resistor and one end of the fourteenth resistor, the other end of the thirteenth resistor is connected to the other end of the second resistor and the handpiece controller, and the other end of the fourteenth resistor is connected to the output end of the third operational amplifier and one end of the third resistor.

10. A handle therapy instrument, characterized in that, The handle therapeutic instrument comprises the needle body in-place detection device according to any one of claims 1 to 9.

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