CN101797425B - For the relative movement sensing device of ultrasonic shaping machine - Google Patents
For the relative movement sensing device of ultrasonic shaping machine Download PDFInfo
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- CN101797425B CN101797425B CN201010101908.3A CN201010101908A CN101797425B CN 101797425 B CN101797425 B CN 101797425B CN 201010101908 A CN201010101908 A CN 201010101908A CN 101797425 B CN101797425 B CN 101797425B
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Abstract
The invention provides a kind of relative movement sensing device for ultrasonic shaping machine, described ultrasonic shaping machine comprises therapeutic bed, be arranged on the moving machine mechanical arm on therapeutic bed, be connected to the treatment head of moving machine mechanical arm, and with the control circuit that is connected with moving machine mechanical arm of ultrasonic transmitter in treatment head, wherein this relative movement sensing device comprises the image collecting device being fixedly installed to treatment head and the blood processor being connected to image collecting device by the first communication line, this blood processor passes through second communication connection to described control circuit, this blood processor exports the signal of ultrasonic transmitter relative to the speed of human motion to described control circuit, control circuit controls the power of ultrasonic transmitter according to this signal.Therapeutic efficiency and the safety of shaping machine can be improved by this relative movement sensing device simultaneously.
Description
Technical field
The present invention relates to a kind of relative movement sensing device for ultrasonic shaping machine, it is for detecting the relative velocity between the power ultrasonic transducer of ultrasonic shaping machine and institute's treatment target.
Background technology
Occurred a kind of ultrasonic shaping machine for losing weight at present, its operation principle is as follows.Launch ultrasound wave by ultrasonic transducer outward at patient body, ultrasound wave arrives subcutaneous layer of fat through skin.The physical effect such as the heat that ultrasound wave causes, high sound pressure destroys adipose cell structure, make institute fatty free out.Free fat through being absorbed by human body own metabolism function after a while, thus reaches the effect of fat-reducing body shaping.
Moulding treatment is in order to improve therapeutic efficiency and shorten treatment time, and ultrasonic power wants corresponding raising.If but when being in the direction conversion of relative static conditions or treatment automatically between power ultrasonic transducer and human body, larger mean power will cause the serious consequences such as skin scald.Use lower mean power that whole therapeutic process safety coefficient can be made to increase, but ultrasonic therapy time lengthening efficiency is reduced.
Summary of the invention
In order to ensure the efficient treatment under secured premise, desirably the mean power that power ultrasonic transducer exports in the treatment changes with the change of the speed of relative displacement between transducer and human body, when the fast then corresponding increase of mean power of the ultrasonic transducer speed of service, when the slow then mean power of the ultrasonic transducer speed of service reduces thereupon, static, stop launching.Realize the velocity magnitude that such mode of operation needs to detect in real time relative displacement between ultrasonic transducer and human body, determine the mean power that ultrasonic transducer exports accordingly, thus therapeutic efficiency and the safety of shaping machine can be improved.
For this reason, according to the invention provides a kind of relative movement sensing device for ultrasonic shaping machine, described ultrasonic shaping machine comprises therapeutic bed, be arranged on the moving machine mechanical arm on therapeutic bed, be connected to the treatment head of moving machine mechanical arm, and with the control circuit that is connected with moving machine mechanical arm of ultrasonic transmitter in treatment head, it is characterized in that, described relative movement sensing device comprises the image collecting device being fixedly installed to described treatment head and the blood processor being connected to image collecting device by the first communication line, described blood processor passes through second communication connection to described control circuit, described blood processor exports the signal of ultrasonic transmitter relative to the speed of human motion to described control circuit, described control circuit controls the power of ultrasonic transmitter according to this signal.
Preferably, described blood processor comprise be sequentially connected in series with lower device: motion outline generating apparatus, for the Computer image genration motion outline from image acquisition device; Motion mask generating apparatus, for generating Motion mask from described motion outline; And analytical equipment, for analyzing described Motion mask to obtain the speed of ultrasonic transmitter relative to human motion.
Preferably, described blood processor also comprises conversion equipment, before generating motion outline at motion outline generating apparatus, convert the image of image acquisition device to monochrome image.
Preferably, the first communication line and second communication circuit can be any one in USB data wire, Serial Port Line or 1394 lines.
Preferably, described image collecting device can be photographic head, can also be provided with assist illuminator in front end.
General displacement detector energy detection probe is relative to the displacement information of bed surface.But during probe displacement commutation, human body skin can be mobile with probe, is geo-stationary between them for some time.Only detection probe can not detect above-mentioned state relative to the displacement of bed surface.The actual displacement situation of detection probe is more difficult to during hand hold transducer operation.Can relative displacement between direct-detection power ultrasonic transducer and therapentic part skin according to above-mentioned sensing device of the present invention, thus ultrasonic power can be regulated to export according to velocity magnitude.
In addition, because treatment Shi doctor will observe therapeutic state at any time, sometimes also need handheld transducer to carry out treatment operation, therefore motion detection device volume and weight is all very limited.And this device volume is little, lightweight, be combined well with power ultrasonic transducer, convenient operation uses.
Accompanying drawing explanation
Fig. 1 illustrates according to a kind of ultrasonic shaping machine of the present invention;
Fig. 2 illustrates treatment head and the image collecting device of ultrasonic shaping machine shown in Fig. 1;
Fig. 3 illustrates the schematic block diagram of relative movement sensing device;
Fig. 4 illustrates the ultimate principle of Motion mask; With
Fig. 5 illustrates the schematic diagram of the subarea processing method of motion history image.
Detailed description of the invention
Below in conjunction with accompanying drawing, further describe the detailed description of the invention of the relative movement sensing device for ultrasonic shaping machine of the present invention, but be not used for limiting the scope of the invention.
Fig. 1 schematically shows a kind of ultrasonic shaping machine.This ultrasonic shaping machine comprises therapeutic bed 3, be arranged on the moving machine mechanical arm 2 on therapeutic bed 3 and be connected to the treatment 1 of moving machine mechanical arm 2.Moving machine mechanical arm 2 be fixed or be detachably connected to treatment 1 can.Ultrasonic shaping machine also comprises control circuit 30 (Fig. 3), for controlling to treat the operation of ultrasonic transmitter 40 in 1 and moving machine mechanical arm 2.
As shown in Figure 2, relative movement sensing device according to the present invention comprises the image collecting device 10 on the side of the handle 8 being fixedly installed to treatment 1.Image collecting device 10 can be fixed in treatment 1 by the mode of any appropriate, such as, be threaded, rivet etc.Illustrate in Fig. 2 by the fixing mode of jackscrew.Image collecting device 10 is such as photographic head, and its focus is adjusted near ultrasound emission plane.Assist illuminator can be installed in image collecting device 10 front end, with improve the quality of collection image.When power changing device in ultrasonic transmitter works, the image gathered from image collecting device 10 can know the grain details differentiating human skin.
As shown in Figure 3, relative movement sensing device according to the present invention also comprises blood processor 20, for the treatment of the image that image collecting device 10 exports, obtains relative displacement between power ultrasonic transducer in the ultrasonic transmitter 40 for the treatment of 1 and human body.Blood processor 20 can realize with computer or special circuit.Blood processor 20 is connected to image collecting device 10 by the first communication line 11, and this first communication line 11 is such as the data wire of USB (universal serial bus) (USB) interface.Blood processor 20 is connected to control circuit 30 by second communication circuit 21, and this second communication circuit 21 is such as Serial Port Line.Certainly, the first communication line 11 and second communication circuit 21 can adopt the communication line of other types, such as 1394 lines.
The in detail formation of interpretation process device 20 and work below.This blood processor 20 adopts the Motion mask method of the improvement of the following stated to follow the trail of skin texture motion, thus determines the direction of motion and the speed of transducer.Blood processor 20 comprise be sequentially connected in series conversion equipment 201, relief area 202, motion outline generating apparatus 203, Motion mask generating apparatus 204 and analytical equipment 205.
The image that conversion equipment 201 pairs of image collecting devices 10 gather carries out the conversion of color space, so that Three Channel Color image is converted into monochrome image (such as gray level image).Then, conversion equipment 201 by the monochrome image of current crawl stored in the relief area 202 of specifying.
Motion outline generating apparatus 203 is for generating motion outline from stored monochrome image.Because image collecting device 10 (photographic head) amplification is higher, the object such as the texture taken on skin, fine hair therefore can be known.By extracting the profile of these small items, using Motion mask to calculate and just can judge the direction of skin relative to cam movement.Generating the simplest method of contour of object is the movement edge using frame-to-frame differences to obtain object.At this, so-called profile can correspond to the position (that is, institute gathers region larger in image) on human body, also can corresponding to the characteristic point (that is, gather region less in image) on human body.
Particularly, motion outline generating apparatus 203 takes out two adjacent two field pictures from multiple monochrome images that relief area 202 stores, and does difference to two frame pictures, to obtain the moving object contours profile for the treatment of human body (namely).Motion outline generating apparatus 203 can also carry out binary conversion treatment to the moving object contours generated, and to play sharpening moving object contours effect, makes profile more clear and distinctive.
Motion mask generating apparatus 204 generates Motion mask for the motion outline exported from motion outline generating apparatus 203.Use Motion mask can realize the tracking of object of which movement convenient and simplely.
As shown in Figure 4, wherein the shape of white represents the moving object contours of current up-to-date acquisition to the simple principle of Motion mask.In the first pair (left side) image of Fig. 4, white circle represent divided go out moving object contours.Along with the change of time, new contour of object will be captured, and by new profile stored in the first sub-picture, and the contour of object colour-darkening of will previously catch, thus define the second width (centre) image in Fig. 4.At this, the contour of object of more early catching is just darker.Form the 3rd width (right side) image similarly.These profiles dimmed continuously have recorded motion history in the early time, so be called as " motion history image ".If the profile time of catching the earliest exceedes the scheduled time, then set to 0 elimination, to ensure the real-time of moving.
Particularly, Motion mask generating apparatus 204 is by the image of current moving object contours stored in (Motion mask is also an image file) in Motion mask, and such Motion mask just have recorded the profile of current object.The different color (such as blue) of contour of object can be carried out labelling, convenient operation personal observations by Motion mask generating apparatus 204.Motion mask generating apparatus 204 repeats above operation, obtains multiple (such as 4) contour of object image, and all stored in Motion mask.
Analytical equipment 205 for the Motion mask of analyzing skin texture, thus determines direction of relative movement and the speed of transducer.
The contour of object of different time has been descended in once in motion template record, just can obtain global motion information by the graded of computed image.Because in motion history image, the acquisition time interval of contour of object is known, so can obtain the range size of Grad, so can eliminate interference Grad.Because the object such as skin texture, fine hair is throughout whole picture, thus in order to the direction of motion calculate accuracy, motion history image is carried out dividing processing operation.As shown in Figure 5, searching moving history image finds current contour area, current when finding the region being marked as up-to-date current time, continues the border of region of search, to find the up-to-date motion (nearest profile) of the periphery, border of neighbour.If find such motion, just can by flooding of rivers method step by step the current location from interested object be split and from image, remove this region, the then gradient direction of the local motion in computed segmentation region.Repeat this process, until all regions (9 cut zone shown in Figure 5) are all found.After the direction of motion of each cut zone image has calculated, just can calculate the direction of motion of the overall situation.
Then movement velocity is determined.In motion history image, the center of gravity of each image outline can be obtained, and the movement time interval of each profile is also known, so by the position of center of gravity at different time, the movement velocity of object can be calculated.
In brief, analytical equipment 205 analyzes Motion mask image to determine the motion of object, the color gradient information in computed image, thus the trend direction obtaining object of which movement.Analytical equipment 205 compares with the threshold values preset according to the angle, number of pixels etc. of current kinetic, to judge whether current kinetic is carrying out and determining the speed of current kinetic, and exports corresponding signal.
The signal that the analytical equipment 205 that control circuit 30 receives blood processor 20 sends also controls the power of ultrasonic transmitter 40 according to this signal.Such as, if this signal represents that ultrasonic transmitter 40 is static relative to human body, then control circuit 30 makes ultrasonic transmitter 40 quit work, even if its power is zero.If this signal represents that ultrasonic transmitter 40 increases relative to human motion speed, then control circuit 30 increases the power of ultrasonic transmitter 40; Otherwise if this signal represents that ultrasonic transmitter 40 reduces relative to human motion speed, then control circuit 30 reduces the power of ultrasonic transmitter 40.
Be more than preferred forms of the present invention, according to content disclosed by the invention, some replacement schemes that those of ordinary skill in the art can expect apparently, all should fall into the scope of protection of the invention.
Claims (5)
1. the relative movement sensing device for ultrasonic shaping machine, described relative movement sensing device is used in the speed of people's vitro detection ultrasonic transmitter relative to human motion, described ultrasonic shaping machine comprises therapeutic bed, the moving machine mechanical arm be arranged on therapeutic bed, the treatment head being connected to moving machine mechanical arm and the control circuit be connected with moving machine mechanical arm with the ultrasonic transmitter in treatment head
It is characterized in that, described relative movement sensing device comprises the image collecting device being fixedly installed to described treatment head and the blood processor being connected to image collecting device by the first communication line, described blood processor passes through second communication connection to described control circuit, described blood processor exports the signal of ultrasonic transmitter relative to the speed of human motion to described control circuit, described control circuit controls the power of ultrasonic transmitter according to this signal, wherein, described blood processor can follow the trail of skin texture motion, thus determine the direction of motion and the speed of described ultrasonic transmitter,
Described blood processor obtains the speed of ultrasonic transmitter relative to human motion by processing the image of image acquisition device;
Described blood processor comprise be sequentially connected in series conversion equipment, relief area, motion outline generating apparatus, Motion mask generating apparatus and analytical equipment;
Conversion equipment carries out the conversion of color space to the image of image acquisition device, so that Three Channel Color image is converted into monochrome image, then conversion equipment by the monochrome image of current crawl stored in the relief area of specifying;
Motion outline generating apparatus is used for generating motion outline from stored monochrome image;
The motion outline that Motion mask generating apparatus is used for exporting from described motion outline generating apparatus generates Motion mask;
Analytical equipment is used for the Motion mask of analyzing skin texture to obtain direction of relative movement and the speed of ultrasonic transmitter.
2. relative movement sensing device according to claim 1, is characterized in that, described first communication line is any one in USB data wire, Serial Port Line or 1394 lines.
3. relative movement sensing device according to claim 1, is characterized in that, described second communication circuit is any one in USB data wire, Serial Port Line or 1394 lines.
4. the relative movement sensing device according to any one of claim 1-3, is characterized in that, described image collecting device is provided with assist illuminator in front end.
5. the relative movement sensing device according to any one of claim 1-3, is characterized in that, described image collecting device is photographic head.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1832709A (en) * | 2003-04-03 | 2006-09-13 | 塞拉莫普泰克工业公司 | Power regulated medical underskin irradiation treatment system |
| CN101104096A (en) * | 2006-07-14 | 2008-01-16 | 重庆海扶(Hifu)技术有限公司 | Supersonic therapeutic device |
| CN101559261A (en) * | 2009-03-13 | 2009-10-21 | 北京汇福康医疗技术有限公司 | Ultrasonic fat-reducing shaping machine |
| CN201799016U (en) * | 2010-01-27 | 2011-04-20 | 北京汇福康医疗技术有限公司 | Relative-move sensing device used in ultrasonic molding machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050055018A1 (en) * | 2003-09-08 | 2005-03-10 | Michael Kreindel | Method and device for sub-dermal tissue treatment |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1832709A (en) * | 2003-04-03 | 2006-09-13 | 塞拉莫普泰克工业公司 | Power regulated medical underskin irradiation treatment system |
| CN101104096A (en) * | 2006-07-14 | 2008-01-16 | 重庆海扶(Hifu)技术有限公司 | Supersonic therapeutic device |
| CN101559261A (en) * | 2009-03-13 | 2009-10-21 | 北京汇福康医疗技术有限公司 | Ultrasonic fat-reducing shaping machine |
| CN201799016U (en) * | 2010-01-27 | 2011-04-20 | 北京汇福康医疗技术有限公司 | Relative-move sensing device used in ultrasonic molding machine |
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Address after: 100176 Beijing Yizhuang economic and Technological Development Zone, Kangding street, No., Kang Sheng Industrial Park, building 20, building 11 Patentee after: Beijing 3H Medical Technology Co., Ltd. Address before: 100176 Beijing Yizhuang economic and Technological Development Zone, Kangding street, No., Kang Sheng Industrial Park, building 20, building 11 Patentee before: Beijing 3H Medical Technology Co., Ltd. |
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Address after: Two street 100176 Beijing economic and Technological Development Zone in 8 Hospital No. 18 building 3 layer 4 layer 5 layer 504-520 room Patentee after: Beijing 3H Medical Technology Co., Ltd. Address before: 100176 Beijing Yizhuang economic and Technological Development Zone, Kangding street, No., Kang Sheng Industrial Park, building 20, building 11 Patentee before: Beijing 3H Medical Technology Co., Ltd. |
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Effective date of registration: 20210611 Address after: 100176 2nd floor, building 18, yard 8, Liangshuihe 2nd Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: BEIJING ANHEJIABAOER TECHNOLOGY Co.,Ltd. Address before: 100176 room 504-520, 3 / F, 4 / F, 5 / F, building 18, yard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone Patentee before: BEIJING 3H MEDICAL TECHNOLOGY Co.,Ltd. |