Needle-driving device and method for invasive skin treatment apparatus

Abstract

A needle-driving device for an invasive skin treatment apparatus, according to one embodiment of the present invention, comprises: a motor for providing a driving force for moving a needle forward or backward; a driver IC configured to control the driving force of the motor; and a processor configured to control the driver IC, wherein the processor controls the driver IC to perform a skin treatment operation in which the needle sequentially moves forward, stops, and moves backward, and variably controls the speed of the motor through the driver IC so that the speed of the needle is controlled on the basis of the rotational speed of the motor and the forward distance of the needle during the skin treatment operation.

Description

Needle driving device and method for an invasive skin treatment device

[0001] The present invention relates to a needle driving device and method for an invasive skin treatment device.

[0002] Recently, RF therapy, which delivers RF energy by inserting needle-shaped electrodes into skin tissue, is being widely used for treating skin lesions such as wrinkles, scars, and acne. RF therapy utilizes the principle that when RF current flows through the tissue via electrodes, the electrical energy flowing through the tissue is converted into thermal energy, thereby delivering energy to the tissue. Products utilizing this RF therapy method are called Needle RF, and conventional Needle RF uses stepper motors for high-speed needle control.

[0003] However, conventional control methods maintain a constant current from the start to the stop of the stepper motor and do not perform acceleration or deceleration control. In this case, attempting high-speed control results in step loss, and forcing high-speed control by increasing the current leads to severe overheating. To address these issues, there is a need to develop technology that enables higher needle speeds through acceleration control while suppressing heat generation and preventing step loss by controlling the required current.

[0004] The matters described in the background technology above are intended to aid in understanding the background of the invention and may include matters that are not disclosed prior art.

[0005] One embodiment of the present invention provides a needle driving device and method for an invasive skin treatment device that can suppress heat generation of the motor and prevent loss of synchronization during a skin treatment operation performed while the needle moves.

[0006] A needle driving device of an invasive skin treatment device according to one embodiment of the present invention comprises: a motor providing a driving force for the needle to advance or retract; a driver IC configured to control the driving force of the motor; and a processor configured to control the driver IC, wherein the processor controls the driver IC to perform a skin treatment operation in which the needle sequentially advances, stops, and retracts, and wherein, during the skin treatment operation, the speed of the motor is variably controlled through the driver IC so that the speed of the needle is controlled based on the rotational speed of the motor and the forward distance of the needle.

[0007] The processor can accelerate the motor through the driver IC during the acceleration section of the motor, control the motor at a constant speed through the driver IC during the constant speed section set according to the rotational speed of the motor according to the acceleration control, and control the motor at a constant speed through the driver IC until the motor stops during the deceleration section set according to the forward distance of the needle according to the constant speed control.

[0008] A needle driving device of an invasive skin treatment device according to one embodiment of the present invention further includes a memory for storing each of a preset first current value, a second current value, and a third current value, and the processor can generate an acceleration command for acceleration control of the motor based on the first current value and transmit the acceleration command to the driver IC in the acceleration section, generate a constant speed command for constant speed control of the motor based on the second current value and transmit the constant speed command to the driver IC in the constant speed section, generate a deceleration command for deceleration control of the motor based on the third current value and transmit the deceleration command to the driver IC in the deceleration section.

[0009] A needle driving device of an invasive skin treatment device according to one embodiment of the present invention further includes a sensor configured to measure the rotational speed of the motor, the memory further stores a target speed of the motor, and the processor compares the rotational speed measured through the sensor with the target speed stored in the memory, and when the rotational speed measured through the sensor reaches the target speed stored in the memory, the constant speed command can be transmitted to the driver IC.

[0010] A needle driving device of an invasive skin treatment device according to one embodiment of the present invention further includes a sensor configured to measure the forward distance of the needle, the memory further stores a target distance of the needle, and the processor compares the forward distance of the needle measured through the sensor with the target distance stored in the memory, and when the forward distance of the needle approaches the target distance, can transmit a deceleration command to the driver IC so that the needle can stop.

[0011] When the needle stops during the skin processing operation, the processor can supply a constant current to the motor through the driver IC to prevent movement of the motor due to external force.

[0012] The above processor can variably control the speed of the motor through the driver IC so that the speed of the needle is controlled during the reverse operation of the needle.

[0013] The above processor can accelerate the motor through the driver IC during the acceleration section of the reverse operation section of the motor, and control the motor at a constant speed through the driver IC during the constant speed section of the reverse operation section of the motor.

[0014] The above skin processing operation is performed after the reverse operation of the motor and further includes an offset movement operation that returns the needle to a return reference point indicating the position at the time the needle started the operation, and the offset movement operation can be performed when an offset switch is detected during the reverse operation of the motor.

[0015] The processor controls the driving force of the motor through the driver IC so that the needle stops when the offset switch is detected during the reverse operation of the motor, and when the needle stops, calculates a correction value to correct the position of the motor using the preset return reference point, and can adjust the position of the motor through the driver IC based on the correction value.

[0016] A needle driving method for an invasive skin treatment device according to one embodiment of the present invention includes a step of controlling a driver IC so that a processor performs a skin treatment operation in which the needles sequentially advance, stop, and retract, wherein the step of controlling the driver IC includes a step of variablely controlling the speed of the motor through the driver IC so that the speed of the needles is controlled based on the rotational speed of the motor and the forward distance of the needles during the skin treatment operation.

[0017] According to one embodiment of the present invention, during a skin processing operation in which the needles sequentially advance, stop, and retract, the speed of the motor is variably controlled through a driver IC so that the speed of the needles is controlled based on the rotational speed of the motor and the distance the needles advance, thereby suppressing the heat generation of the motor and preventing loss of synchronization during the skin processing operation of the incisional skin processor.

[0018] According to one embodiment of the present invention, a higher needle speed can be achieved through acceleration control of the motor. That is, the stepper motor can be optimized to reach an accurate position while controlling it at a high speed.

[0019] According to one embodiment of the present invention, when the needle stops during a skin processing operation, a constant current is supplied to the motor through a driver IC, thereby preventing movement of the motor due to external force.

[0020] According to one embodiment of the present invention, by checking the return reference point of the motor for each sample of the needle through an offset switch and correcting the position of the motor, the position of the motor can be accurately returned to its original position when the needle is retracted.

[0021] FIG. 1 is a block diagram showing a needle driving device of an invasive skin treatment device according to one embodiment of the present invention.

[0022] FIG. 2 is a block diagram illustrated to explain in detail the needle driving device of an invasive skin treatment device according to one embodiment of the present invention.

[0023] Figure 3 is a diagram showing a method of controlling with a constant current.

[0024] FIG. 4 is a diagram showing a control method according to an embodiment of the present invention.

[0025] FIG. 5 is a diagram showing a step motor control sequence of a needle driving device according to one embodiment of the present invention.

[0026] FIGS. 6 and 7 are flowcharts illustrating a needle driving method of an invasive skin treatment device according to one embodiment of the present invention.

[0027] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0028] The embodiments are provided to more fully explain the invention to those skilled in the art, and the following embodiments may be modified in various different forms, and the scope of the invention is not limited to the following embodiments. Rather, these embodiments are provided to make the disclosure more faithful and complete and to fully convey the spirit of the invention.

[0029] The terms used herein are for describing specific embodiments and are not intended to limit the invention. Additionally, the singular form in this specification may include the plural form unless the context clearly indicates otherwise. Terms such as “comprising,” “having,” and “having” in this application are intended to specify the presence of features, numbers, steps, actions, components, parts, or combinations thereof of the invention, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0030] The drawings are intended solely to facilitate an understanding of the concept of the present invention and should not be interpreted as limiting the scope of the invention. Additionally, relative thicknesses, lengths, or sizes in the drawings may be exaggerated for convenience and clarity of explanation.

[0031] FIG. 1 is a block diagram showing a needle driving device of an invasive skin treatment device according to one embodiment of the present invention.

[0032] Referring to FIG. 1, a needle driving device (100) of an invasive skin treatment device according to one embodiment of the present invention may be configured to include a motor (110), a driver IC (120), and a processor (130).

[0033] The motor (110) is connected to the needle (101) through a mechanical conversion device, etc., and can provide a driving force for the needle (101) to move forward or backward. That is, the rotational or linear motion of the motor (110) can be transmitted to the needle (101) through the mechanical conversion device.

[0034] For example, when the motor (110) rotates, the cam or crank is converted into reciprocating motion, thereby enabling the needle (101) to move up and down. Additionally, force can be transmitted through a gear or lever to make the needle (101) move in a desired pattern. Furthermore, the needle (101) can be directly moved in a straight line using electromagnetic force through a solenoid or linear actuator.

[0035] In this embodiment, the motor (110) can be implemented as a stepper motor. For reference, types of motors include DC motors, AC motors, BLDC motors, and stepper motors. In the case of a stepper motor, when current is applied, it moves only one step and remains fixed in place. A stepper motor has at least four pins, and the phase changes depending on how current is applied to each pin. By performing this operation continuously, it creates continuous rotational motion. Therefore, a stepper motor is the most suitable for moving to a specific position accurately. Although other motors can be mimicked using encoders, this entails difficulties in control and increased costs.

[0036] However, even if a stepper motor moves by only one angle (usually 1.8 degrees) when current flows, it is not free from the law of inertia. If the continuous operation of the stepper motor exceeds the range allowed by inertia, step loss will inevitably occur. Sufficient current is required to prevent step loss, and high currents are accompanied by heat generation. However, since step loss occurs at excessively high speeds even with high currents, acceleration and deceleration algorithms are necessary.

[0037] FIG. 3 illustrates a method of controlling with a constant current. Referring to FIG. 3, the current is controlled uniformly from start to stop, and acceleration and deceleration control are not performed. In this case, attempting high-speed control results in loss of synchronization, and forcing high-speed control by increasing the current can cause severe overheating. Therefore, a variable control method for the motor (110) including acceleration and deceleration is required.

[0038] That is, as illustrated in FIG. 4, according to the control method of the present invention, current control for acceleration, deceleration, constant speed, and stopping sections can be performed to prevent loss of synchronization and overheating. In other words, higher needle speeds can be achieved through acceleration control, and heat generation and loss of synchronization can be prevented by controlling the required current for each section.

[0039] The acceleration phase exists to achieve the stepper motor's maximum speed but requires a large amount of current. Since rapid movement during the acceleration phase may prevent the motor from stopping at the correct depth due to inertia, the deceleration phase is essential. Therefore, current control can be implemented across four phases: acceleration, constant speed, deceleration, and stopping. If no current is applied to the stepper motor during the stopping phase, the motor can easily move due to external forces. Consequently, current is applied during the stopping phase to prevent the stepper motor from moving easily due to external forces.

[0040] The driver IC (120) can be configured to control the driving force of the motor (110). To this end, the driver IC (120) receives a command from the processor (130) and can control the driving force of the motor (110) according to the command. That is, the driver IC (120) receives a PWM signal, an analog voltage, an SPI / UART signal, etc. from the processor (130), and can control the speed and torque of the motor by supplying appropriate power to the motor (110) based on the input signal. Here, the input signal may include information such as the speed and direction of the motor (110).

[0041] The processor (130) may be configured to control the driver IC (120). According to embodiments, the processor (130) may control the driver IC (120) to move the needle (101) so that a skin processing operation is performed. In this case, the skin processing operation may include forward, stop, and backward movement of the needle (101). According to embodiments, the skin processing operation may further include an offset movement operation after the backward movement.

[0042] To this end, the needle driving device (100) may be configured to further include a memory (210), a first sensor (220), a second sensor (230), and an offset switch (240) as shown in FIG. 2. For reference, FIG. 2 is a block diagram illustrated to explain in detail the needle driving device of an invasive skin treatment device according to an embodiment of the present invention, and for convenience, the needle (101), motor (110), and driver IC (120) of FIG. 1 are omitted from the illustration.

[0043] The memory (210) can store multiple instructions executed by the processor (130). Additionally, the memory (210) can store data to be processed later by the processor (130) in advance, and can store data that has been processed by the processor (130). For example, the memory (210) can store a preset first current value, a second current value, and a third current value. Additionally, the memory (210) can store the target speed of the motor (110) and the target distance of the needle (101).

[0044] The first sensor (220) may be configured to measure the rotational speed of the motor (110). For example, the first sensor (220) may include an encoder, a Hall effect sensor, a tachometer, a resolver, a gyroscope, etc.

[0045] The second sensor (230) may be configured to measure the forward distance of the needle (101). Additionally, the second sensor (230) may be configured to measure the backward distance of the needle (101). For example, the second sensor (230) may include an encoder, a Hall effect sensor, a tachometer, a resolver, a gyroscope, etc.

[0046] According to embodiments, the first sensor (220) and the second sensor (230) may be formed integrally.

[0047] The offset switch (240) can be used to stop the motor (110) during the backward movement of the needle (101) and to switch to an offset movement. To this end, the offset switch (240) can be implemented as a mechanical switch or, alternatively, as an optical switch. For example, the offset switch (240) can be implemented as a mechanical offset switch such as a micro switch or a reed switch, or as an optical offset switch such as a photo interrupter or a reflective optical sensor.

[0048] During the skin processing operation, the processor (130) can variably control the motor (110) through the driver IC (120) based on the current value stored in the memory (210). Additionally, the processor (130) can variably control the motor (110) through the driver IC (120) based on the value measured by the first sensor (220) and the second sensor (230). Additionally, the processor (130) can correct the position of the needle (101) (or motor (110)) upon return of the needle (101) (or motor (110)) through the offset switch (240).

[0049] Hereinafter, the above processes will be described in detail with reference to FIG. 5. With reference to FIG. 5, a skin processing operation according to embodiments of the present invention is shown. The skin processing operation may include a forward movement section (501, 502, 503), a stop movement section (504), a backward movement (or return movement) section (505, 506), and an offset movement section (507, 508, 509).

[0050] During the skin processing operation, the processor (130) can variably control the speed of the motor (110) through the driver IC (120) so that the speed of the needle (101) is controlled based on the rotational speed of the motor (110) and the forward distance of the needle (101). Here, the forward distance of the needle (101) corresponds to the depth into which the needle (101) penetrates the skin according to the rotation of the motor (110), and can be measured based on the number of rotations, position, direction, etc. of the motor (110).

[0051] During the forward operation section (501, 502, 503), the processor (130) can activate the motor (110) and control the driver IC (120) so that the motor (110) operates in the acceleration section (501), the constant speed section (502), and the deceleration section (503).

[0052] Specifically, after the processor (130) activates the motor (110), it can accelerate the motor (110) through the driver IC (120) during the acceleration section (501) of the motor (110). That is, the processor (130) generates an acceleration command for accelerating the motor (110) based on a first current value stored in the memory (210), and can transmit the acceleration command to the driver IC (120) during the acceleration section (501) of the motor (110).

[0053] Here, the acceleration section (501) is a section set during the initial operation of the motor (110) and may refer to the section until the rotational speed of the motor (110) reaches the target speed. For example, the acceleration section (501) may be set so that the current rate of the motor (110) is supplied at 50 to 100% of the rated current, or it may be set so that it is supplied at a rate greater than the rated current (maximum allowable current). However, in the initial stage of acceleration, the current rate of the motor (110) may be supplied at a certain ratio (e.g., 50 to 80%) of the rated current and then gradually increase.

[0054] Additionally, the first current value may refer to a current value that is pre-set and stored in memory (210). For example, the rated current of the motor (110) varies from 0.3 to 2.0 A depending on the type of invasive skin treatment device, but if the rated current of the motor (110) is 0.5 A, the first current value may be set to 0.5 A and stored in memory (210).

[0055] Next, the processor (130) can control the motor (110) at a constant speed through the driver IC (120) during the constant speed section (502) of the motor (110). That is, the processor (130) generates a constant speed command for controlling the constant speed of the motor (110) based on a second current value stored in the memory (210), and can transmit the constant speed command to the driver IC (120) during the constant speed section (502) of the motor (110).

[0056] To this end, the processor (130) measures the rotational speed of the motor (110) through the first sensor (220) and can compare the rotational speed measured through the first sensor (220) with the target speed stored in the memory (210). When the rotational speed measured through the first sensor (220) reaches the target speed stored in the memory (210), the processor (130) can transmit the constant speed command to the driver IC (120).

[0057] Here, the constant speed section (502) is a section set according to the rotational speed of the motor (110) according to the acceleration control, and may refer to the section from when the rotational speed of the motor (110) reaches the target speed until it is decelerated. For example, the constant speed section (502) may be set so that the current rate of the motor (110) is supplied at 5 to 15% relative to the rated current.

[0058] Additionally, the second current value may refer to a current value that is pre-set and stored in memory (210). For example, if the rated current of the motor (110) is 0.5A, the second current value may be set to 0.05A and stored in memory (210).

[0059] Next, the processor (130) can control the deceleration of the motor (110) through the driver IC (120) during the deceleration section (503) of the motor (110). That is, the processor (130) generates a deceleration command for controlling the deceleration of the motor (110) based on a third current value stored in the memory (210), and can transmit the deceleration command to the driver IC (120) during the deceleration section (503) of the motor (110).

[0060] To this end, the processor (130) can compare the forward distance of the needle (101) measured through the second sensor (230) with the target distance stored in the memory (210). When the forward distance of the needle (101) approaches the target distance stored in the memory (210), the processor (130) can transmit the deceleration command to the driver IC (120) so that the needle (101) can stop. For example, when the forward distance of the needle (101) approaches 80-90% of the target distance, the processor (130) can transmit the deceleration command to the driver IC (120).

[0061] Here, the deceleration section (503) is a section set according to the forward distance of the needle (101) according to the constant speed control, and may refer to the section from when the forward distance of the needle (101) approaches the target distance until the motor (110) stops. For example, the deceleration section (503) may be set so that the current rate of the motor (110) is supplied at 30 to 70% of the rated current.

[0062] Additionally, the third current value may refer to a current value that is pre-set and stored in memory (210). For example, if the rated current of the motor (110) is 0.5A, the third current value may be set to 0.3A and stored in memory (210).

[0063] After the forward movement of the invasive skin processor, a stopping movement is performed. The stopping movement is a period during which RF energy is irradiated into the skin after the needle (101) of the invasive skin processor has entered the skin, and the needle (101) needs to stop.

[0064] During the stop operation period (504), the processor (130) can control the driver IC (120) to stop the motor (110). To this end, after the needle (101) is stopped according to the deceleration control of the motor (110), the processor (130) transmits a command to the driver IC (120) to supply a constant current, so that the motor (110) can maintain a stopped state without moving even if an external force is applied to the motor (110). In other words, the processor (130) controls the motor (110) to stop during the stop operation period (504) of the motor (110), and accordingly, when the needle (101) is stopped during the skin processing operation, a constant current can be supplied to the motor (110) through the driver IC (120) to prevent movement of the motor (110) due to an external force. The constant current supplied to the motor (110) can be set, for example, to 3 to 8 percent of the rated current of the motor (110).

[0065] Meanwhile, the needle driving device (100) of an invasive skin treatment device according to one embodiment of the present invention performs a reverse operation so that the needle (101) can return to its position prior to operation after the motor (110) is stopped and the irradiation of RF energy for skin treatment from the needle (101) is completed. The reverse operation is an operation of retracting the needle (101), and at this time, the processor (130) can control the motor (110) to move in the reverse direction.

[0066] To this end, the processor (130) can variably control the speed of the motor (110) through the driver IC (120) so that the speed of the needle (101) is controlled during the reverse operation intervals (505, 506). Specifically, this is described as follows.

[0067] First, the processor (130) can accelerate the motor (110) through the driver IC (120) during the acceleration section (505) of the motor (110). That is, the processor (130) generates an acceleration command for accelerating the motor (110) based on a first current value stored in the memory (210), and can transmit the acceleration command to the driver IC (120) during the acceleration section (505) of the motor (110). Here, the acceleration section (505) represents the first section after the return start of the motor (110), as shown in FIG. 5.

[0068] Next, the processor (130) can control the motor (110) at a constant speed through the driver IC (120) during the constant speed section (506) of the motor (110). That is, the processor (130) generates a constant speed command for controlling the constant speed of the motor (110) based on a second current value stored in the memory (210), and can transmit the constant speed command to the driver IC (120) during the constant speed section (506) of the motor (110). Here, the constant speed section (506) represents the second section after the return start of the motor (110), as shown in FIG. 5.

[0069] Meanwhile, according to embodiments of the present invention, there may be no deceleration section of the motor (110) in the reverse operation section (505, 506). This is because the offset movement operation section (507, 508, 509) during the skin processing operation immediately follows the constant speed section (506) of the motor (110) in the reverse operation section (505, 506). When the processor (130) enters the offset movement operation section (507, 508, 509) from the constant speed section (506) of the motor (110), it can control the driving force of the motor (110) by immediately transmitting a stop command of the motor (110) to the driver IC (120) so that the needle (101) stops.

[0070] After the backward movement section (505, 506) of the skin processing operation, the offset movement section (507, 508, 509) may proceed. The offset movement section (507, 508, 509) is the section where the needle (101) returns to its initial position. Even if the needle (101) moves forward by a set distance and then moves backward again, a slight error may occur depending on the operation of the motor (110), so the needle (101) may not reach its initial position (i.e., the return reference point). In this case, the needle (101) may not return to its initial position, and a problem may occur during subsequent procedures.

[0071] Accordingly, according to the present invention, the needle (101) can be retracted to a specific position and then advanced by a predetermined distance so that the needle (101) can return to a return reference point without error. Here, the specific position may be considered as the maximum retraction point.

[0072] At this time, the return reference point of the needle (101) may differ depending on the handpiece equipment, and information regarding the distance (i.e., offset) from a specific position to the return reference point may be stored in advance. For example, the offset movement operation may be an operation that initializes the position of the needle (101) and advances it by a predetermined distance.

[0073] The present invention may perform an offset movement operation by providing an offset switch (240). According to embodiments, the offset switch (240) may be positioned at a predetermined point inside the handpiece to detect whether the needle (101) passes the specific position (maximum retraction point). For example, the offset switch (240) may be implemented as a mechanical switch or an optical switch to detect whether the needle (101) passes the specific position in a mechanical or optical manner.

[0074] For example, if the offset switch (240) is a mechanical switch, when the needle (101) moves backward and passes a specific location, the needle (101) or a driving component connected to the needle (101) physically presses the offset switch (240), and the offset switch (240) detects this pressurization and generates a detection signal. Alternatively, if the offset switch (240) is an optical switch, when the needle (101) passes a specific location, light is blocked or transmitted, and the offset switch (240) detects this blocking or transmission of light and generates a detection signal. When the processor (130) receives a detection signal based on the detection of the offset switch (240) during the backward movement of the needle (101), it can switch to an offset movement operation.

[0075] That is, the processor (130) can stop the motor (110) when the offset switch (240) is detected and correct the position of the motor (110) using offset information, thereby returning the needle (101) to the return reference point. Here, the offset information is information about the distance from the detection point of the offset switch (240) to the return reference point, and this can be set differently for each handpiece device and stored in advance.

[0076] According to one embodiment of the present invention, the processor (130) controls the motor (110) through the driver IC (120) so that the needle (101) stops when the offset switch (240) is detected during the reverse operation of the motor (110) in the constant speed section, and then calculates a correction value to correct the position of the motor (110) corresponding to a preset return reference point when the needle (101) stops. The processor (130) can adjust the position of the motor (110) through the driver IC (120) based on the calculated correction value. That is, the processor (130) can stop the motor (110) when the offset switch (240) is detected during the reverse operation of the motor (110), and drive the motor (110) (e.g., forward) to move to the return reference point using the correction value, thereby allowing the needle (101) to return to the correct position for each handpiece device.

[0077] To this end, the processor (130) can correct the position of the motor (110) so that the needle (101) can return to the correct starting position by performing acceleration control in the acceleration section (507), constant speed control in the constant speed section (508), and deceleration control in the deceleration section (509) of the motor (110) based on the calculated correction value in the offset movement section (507, 508, 509) following the reverse movement section (505, 506) as shown in FIG. 5. After the needle (101) has completed returning to the correct starting position, the processor (130) can deactivate the motor (110).

[0078] FIGS. 6 and 7 are flowcharts illustrating a needle driving method of an invasive skin treatment device according to one embodiment of the present invention.

[0079] First, referring to FIGS. 1 and FIGS. 6, in step (610), the processor (130) can determine whether the needle (101) is advancing.

[0080] If it is determined that the needle (101) has advanced (in the "yes" direction of 610), in step (620), the processor (130) can accelerate the motor (110) through the driver IC (120) during the acceleration phase of the motor (110). On the other hand, if it is determined that the needle (101) has not advanced (in the "no" direction of 610), the processor (130) can wait until the needle (101) advances.

[0081] Next, in step (630), the processor (130) can control the motor (110) at a constant speed through the driver IC (120) during the constant speed section of the motor (110).

[0082] Next, in step (640), the processor (130) can control the deceleration of the motor (110) through the driver IC (120) during the deceleration phase of the motor (110).

[0083] Subsequently, if the motor (110) stops (in the "Yes" direction of 650), in step (660), the processor (130) can supply a constant current to the motor (110) through the driver IC (120) to prevent movement of the motor (110). On the other hand, if the motor (110) does not stop (in the "No" direction of 650), the processor (130) can continue the execution of step (640).

[0084] Afterward, when the irradiation of RF energy through the needle (101) is completed, in step (670), the processor (130) can determine whether the needle (101) is retracted.

[0085] If it is determined that the needle (101) has retracted (in the “yes” direction of 670), the processor (130) can perform step A of FIG. 7. On the other hand, if it is determined that the needle (101) has not retracted (in the “no” direction of 670), the processor (130) can continue performing step (660).

[0086] Continuing, referring to FIGS. 1 and FIGS. 7, in step (710), the processor (130) can accelerate the motor (110) through the driver IC (120) during the acceleration phase of the motor (110).

[0087] Next, in step (720), the processor (130) can control the motor (110) at a constant speed through the driver IC (120) during the constant speed section of the motor (110).

[0088] At this time, when the offset switch (240) is detected (in the "yes" direction of 730), in step (740), the processor (130) can control the driving force of the motor (110) through the driver IC (120) so that the needle (101) stops.

[0089] On the other hand, if the offset switch (240) is not detected (the "No" direction of 730), the processor (130) can return to step (720) until the offset switch (240) is detected to perform constant speed control of the motor (110).

[0090] Next, the processor (130) can perform a process (750, 760) for an offset movement operation from the point in time when the offset switch (240) is detected.

[0091] That is, in step (750), the processor (130) can calculate a correction value for correcting the position of the motor (110) using a preset return reference point after the needle (101) has stopped.

[0092] Next, in step (760), the processor (130) can adjust the position of the motor (110) through the driver IC (120) based on the calculated correction value.

[0093] Although various embodiments have been described above, it should be understood that various modifications are possible. For example, suitable results may be achieved even if the described techniques are performed in a different order, and / or the elements of the described system, structure, device, circuit, etc. are combined in a different way, or are replaced or supplemented by other elements or equivalents. Accordingly, other embodiments fall within the scope of the claims set forth below.

Claims

1. A needle driving device of an invasive skin treatment device including a needle, A motor that provides driving force for the above needle to move forward or backward; A driver IC configured to control the driving force of the above motor; and It includes a processor configured to control the above driver IC, and The above processor The driver IC is controlled to perform a skin processing operation in which the above needles sequentially advance, stop, and retract, During the above skin processing operation, the speed of the motor is variably controlled through the driver IC so that the speed of the needle is controlled based on the rotational speed of the motor and the forward distance of the needle. Needle drive unit of an invasive skin treatment device.

2. In Paragraph 1, The above processor In the acceleration section of the above motor, the motor is accelerated and controlled through the above driver IC, and In a constant speed section set according to the rotational speed of the motor based on the above acceleration control, the motor is controlled at a constant speed through the driver IC, and In a deceleration section set according to the forward distance of the needle according to the constant speed control above, the motor is decelerated through the driver IC until the motor stops. Needle drive unit of an invasive skin treatment device.

3. In Paragraph 2, It further includes a memory for storing each of the preset first current value, second current value, and third current value, and The above processor Based on the first current value, an acceleration command for acceleration control of the motor is generated, and the acceleration command is transmitted to the driver IC during the acceleration section. Based on the second current value above, a constant speed command for constant speed control of the motor is generated, and the constant speed command is transmitted to the driver IC during the constant speed interval. Generating a deceleration command for deceleration control of the motor based on the third current value, and transmitting the deceleration command to the driver IC during the deceleration section, Needle drive unit of an invasive skin treatment device.

4. In Paragraph 3, It further includes a sensor configured to measure the rotational speed of the above motor, and The above memory further stores the target speed of the above motor, and The above processor The rotational speed measured by the sensor is compared with the target speed stored in the memory, and When the rotational speed measured by the sensor reaches the target speed stored in the memory, the constant speed command is transmitted to the driver IC. Needle drive unit of an invasive skin treatment device.

5. In Paragraph 3, It further includes a sensor configured to measure the forward distance of the above needle, The above memory further stores the target distance of the above needle, and The above processor The forward distance of the needle measured by the sensor is compared with the target distance stored in the memory, and When the forward distance of the needle approaches the target distance, the deceleration command is transmitted to the driver IC so that the needle can stop. Needle drive unit of an invasive skin treatment device.

6. In Paragraph 1, The above processor When the needle stops during the above skin processing operation, a constant current is supplied to the motor through the driver IC to prevent movement of the motor due to external force. Needle drive unit of an invasive skin treatment device.

7. In Paragraph 1, The above processor Variable control of the motor speed through the driver IC so that the speed of the needle is controlled during the reverse operation of the needle, Needle drive unit of an invasive skin treatment device.

8. In Paragraph 7, The above processor In the acceleration section of the reverse operation section of the above motor, the motor is accelerated through the above driver IC, and In the constant speed section of the reverse operation section of the above motor, the motor is controlled at a constant speed through the above driver IC. Needle drive unit of an invasive skin treatment device.

9. In Paragraph 1, The above skin processing operation is performed after the reverse movement of the motor and further includes an offset movement operation that returns the needle to a return reference point indicating the position at the time the needle started the operation. The above offset movement operation proceeds when the offset switch is detected during the reverse operation of the motor, Needle drive unit of an invasive skin treatment device.

10. In Paragraph 9, The above processor When the offset switch is detected during the reverse operation of the motor, the driving force of the motor is controlled through the driver IC so that the needle stops, and When the above needle stops, a correction value for correcting the position of the motor is calculated using the preset return reference point, and Adjusting the position of the motor through the driver IC based on the above correction value, Needle drive unit of an invasive skin treatment device.

11. A needle driving method of an invasive skin treatment device including a needle, The processor controls a driver IC to perform a skin processing operation in which the needles sequentially advance, stop, and retract, the step comprising: The step of controlling the above driver IC During the skin processing operation, the method includes the step of variably controlling the speed of the motor through the driver IC so that the speed of the needle is controlled based on the rotational speed of the motor and the forward distance of the needle. Needle driving method of an invasive skin treatment device.

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