CN116212257A

CN116212257A - Method and apparatus for controlling ultrasonic therapy head, and readable storage medium

Info

Publication number: CN116212257A
Application number: CN202310522764.6A
Authority: CN
Inventors: 彭玉家; 李亚楠; 雷晓兵; 丁毅
Original assignee: Shenzhen Peninsula Medical Co Ltd
Current assignee: Shenzhen Peninsula Medical Co Ltd
Priority date: 2023-05-10
Filing date: 2023-05-10
Publication date: 2023-06-06
Anticipated expiration: 2043-05-10
Also published as: CN116212257B

Abstract

The application discloses a control method, equipment and readable storage medium of an ultrasonic treatment head, wherein the method comprises the following steps: determining a target working depth according to the input information; determining a motion parameter of the driving mechanism according to the target working depth; and controlling the driving mechanism to run according to the motion parameters so as to drive the ultrasonic transduction unit to move to a working position corresponding to the target working depth. The technical problems of long time consumption and complicated operation caused by the need of replacing the ultrasonic transduction units with a plurality of working depths during treatment in the related art are solved, and the technical effect of shortening the treatment time without replacing the ultrasonic transduction units is realized.

Description

Method and apparatus for controlling ultrasonic therapy head, and readable storage medium

Technical Field

The present application relates to the field of control systems, and in particular, to a control method of an ultrasonic treatment head, a control apparatus of an ultrasonic treatment head, and a computer-readable storage medium.

Background

Focused ultrasound technology uses the principles of directionality of ultrasound, tissue penetrability, etc., to focus ultrasound waves at a target area and release a large amount of energy. Because of its accurate positioning and good penetrability, focused ultrasound technology is often used in the fields of tissue cutting, fat dissolution, etc.

In the related art, after the completion of the installation of the ultrasonic transducer is detected, the working parameters of the ultrasonic transducer are configured according to a preset operation area, so as to accurately position ultrasonic energy in a target treatment tissue, such as a dermis layer, a subcutaneous fat layer and the like.

Because the depth of the target treatment tissue relative to the skin is different, a plurality of ultrasonic transduction units with working depths are required to be configured in actual use, and the time consumption is long and the operation is complicated.

Disclosure of Invention

The embodiment of the application solves the technical problems of long time consumption and complex operation caused by the need of replacing ultrasonic transduction units with a plurality of working depths during treatment in the related technology by providing the control method of the ultrasonic treatment head, the control equipment of the ultrasonic treatment head and the computer readable storage medium, and achieves the technical effects of not needing to replace the ultrasonic transduction units and shortening the treatment time.

The embodiment of the application provides a control method of an ultrasonic treatment head, which is used for controlling the ultrasonic treatment head, wherein the ultrasonic treatment head comprises an ultrasonic transduction unit and a driving mechanism, the driving mechanism drives the ultrasonic transduction unit to move in a direction far away from or close to a treatment window, and the method comprises the following steps:

Determining a target working depth according to the input information;

determining a motion parameter of the driving mechanism according to the target working depth;

and controlling the driving mechanism to run according to the motion parameters so as to drive the ultrasonic transduction unit to move to a working position corresponding to the target working depth.

Optionally, the step of determining the motion parameter of the driving mechanism according to the target working depth includes:

determining the working time associated with the target working depth;

and determining the motion parameter according to the target working depth and the working time.

obtaining a difference value between the target working depths;

determining the movement distance of the driving mechanism according to the difference value;

and determining the motion parameter according to the movement distance.

Optionally, the step of controlling the driving mechanism to operate according to the motion parameter to drive the ultrasonic transduction unit to move to the working position corresponding to the target working depth includes:

when the driving mechanism is in displacement, controlling the ultrasonic transduction unit to stop outputting ultrasonic waves;

And after the working position works for the working time, the step of determining the target working depth according to the input information is re-executed.

determining the displacement range of the driving mechanism according to the motion parameters;

matching the corresponding displacement speed according to the displacement range;

and controlling the driving mechanism to move according to the displacement speed and the displacement range so as to drive the ultrasonic transduction unit to reciprocate in a section corresponding to the working position according to the displacement speed.

Optionally, the step of matching the corresponding displacement speed according to the displacement range includes:

acquiring the horizontal displacement speed of the ultrasonic transduction unit;

obtaining a displacement speed corresponding to the displacement range, wherein the direction of the displacement speed is consistent with the movement direction of the driving mechanism;

and correcting the displacement speed according to a preset displacement model and the horizontal displacement speed.

Optionally, before the step of determining the motion parameter of the driving mechanism according to the target working depth, the method further includes:

Acquiring the focusing depth of the ultrasonic transduction unit;

determining the current working depth of the ultrasonic transduction unit according to the current position of the ultrasonic transduction unit and the focusing depth;

determining a compensation path of the ultrasonic transduction unit according to the current working depth and the target working depth;

and determining the calibration motion parameters of the driving mechanism according to the compensation path so as to control the driving mechanism to drive the ultrasonic transduction unit to reach an initial working position.

Optionally, the control method of the ultrasonic treatment head further comprises:

determining the attaching state of the ultrasonic treatment head and a target area according to the state data of the ultrasonic treatment head;

determining a displacement state of the ultrasound therapy head;

and when the fit state and/or the displacement state do not meet the working requirements, controlling the ultrasonic transduction unit to stop outputting energy.

In addition, the application also provides a control device of the ultrasonic treatment head, which comprises a memory, a processor and a control program of the ultrasonic treatment head, wherein the control program of the ultrasonic treatment head is stored on the memory and can be run on the processor, and the processor realizes the steps of the control method of the ultrasonic treatment head when executing the control program of the ultrasonic treatment head.

In addition, the present application also proposes a computer-readable storage medium, on which a control program of an ultrasound therapy head is stored, which when executed by a processor, implements the steps of the control method of an ultrasound therapy head as described above.

One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

due to the adoption of determining the target working depth according to the input information; determining a motion parameter of the driving mechanism according to the target working depth; the driving mechanism is controlled to run according to the motion parameters so as to drive the ultrasonic transduction unit to move to the working position corresponding to the target working depth, so that the technical problems of long time consumption and complex operation caused by the need of replacing the ultrasonic transduction unit at a plurality of working depths in the treatment process in the related technology are effectively solved, and the technical effects of no need of replacing the ultrasonic transduction unit and shortening the treatment time are realized.

Drawings

FIG. 1 is a schematic cross-sectional view of an ultrasonic treatment head according to an embodiment of the present application;

FIG. 2 is a schematic cross-sectional view of an ultrasonic treatment head according to an embodiment of the present application;

FIG. 3 is an enlarged schematic view of the structure of FIG. 1A;

FIG. 4 is a schematic plan view of a first transducer and a second transducer of the ultrasound therapy head of the present application;

FIG. 5 is a flow chart of a first embodiment of a control method of an ultrasound therapy head according to the present application;

fig. 6 is a schematic diagram of a refinement flow of step S130 in a second embodiment of a control method of an ultrasonic therapy head according to the present application;

fig. 7 is a schematic flow chart before step S120 in the third embodiment of the control method of the ultrasonic treatment head of the present application;

fig. 8 is a schematic diagram of a hardware configuration related to an embodiment of a control device of an ultrasonic therapy head according to the present application.

Reference numerals illustrate:

Detailed Description

In the related art, since the depths of the target treatment tissue with respect to the skin are different, it is necessary to configure the ultrasonic transduction unit of a plurality of working depths in actual use, resulting in long time consumption and cumbersome operation. The main technical scheme adopted by the embodiment of the application is as follows: determining a target working depth according to the input information, and further determining a motion parameter of the driving mechanism through the target working depth; and controlling the driving mechanism to move according to the motion parameters, and further driving the ultrasonic transduction unit to move to a working position corresponding to the target working depth. Thereby realizing the work at a plurality of working depths without changing the ultrasonic transduction unit.

In order to better understand the above technical solution, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Example 1

Referring to fig. 1, fig. 1 is a schematic cross-sectional structure of a first embodiment of an ultrasonic treatment head according to the present application, in which the ultrasonic treatment head includes: a housing 1 and an ultrasound transducer unit 2, said housing 1 forming an inner cavity 12 with a treatment window 11; the ultrasonic wave treatment device comprises a support 21, a first ultrasonic transduction unit 22 and a second ultrasonic transduction unit 23, wherein the support 21 is installed in the inner cavity 12, the first ultrasonic transduction unit 22 is installed in the support 21, the second ultrasonic transduction unit 23 is installed in the support 21 along the peripheral direction of the first ultrasonic transduction unit 22, the first ultrasonic transduction unit 22 is provided with a first emitting surface 221, the second ultrasonic transduction unit 23 is provided with a second emitting surface 231, the first emitting surface 221 and the second emitting surface 231 face towards the treatment window 11, and the first ultrasonic transduction unit 22 and the second ultrasonic transduction unit 23 are provided with the same and/or different focusing depths.

In the present embodiment, it is disclosed that the second ultrasonic transduction unit 23 is mounted to the bracket 21 in the circumferential direction of the first ultrasonic transduction unit 22. This kind of structure setting has not only saved the shell 16 structure that sets up the bearing ultrasonic transduction unit and use in the casing, has realized the effect that can set up more ultrasonic transduction units in the installation space of same volume, and annular design compares with the design of horizontal arrangement moreover, has bigger space utilization, ensures under same default electric energy output power (with the required electric energy output power of current horizontal arrangement ultrasonic transduction unit integrated configuration unanimity), the ultrasonic energy that accords with the therapeutic purpose can be launched to the transmitting face of this application ultrasonic transduction unit integrated configuration. The therapeutic head has the advantages of smaller volume, smaller space occupation rate, excellent structural compactness and convenience in handheld movement when being combined with an ultrasonic therapeutic apparatus in the prior art.

The focusing point of the emitting surface of the ultrasonic transduction unit is positioned outside the treatment window 11, and is accurately positioned on target treatment tissues, such as dermis, subcutaneous fat layer, SMAS layer and the like, so as to achieve the effects of lifting, tightening, tendering and reducing fat. As shown in fig. 2, focusing points of ultrasonic waves emitted by the emitting surfaces of the first ultrasonic transducer unit 22 and the second ultrasonic transducer unit 23 are arranged at intervals in a direction perpendicular to the therapeutic window, so that the ultrasonic transducer unit 2 has two depths (the emitting surfaces of different ultrasonic transducer units have multiple identical or different depth ranges by adjusting the output power of electric energy, the structure and the control method are not described in detail in the prior art), when the ultrasonic transducer unit 2 works, the multiple depth ranges work simultaneously, and therefore, when the novel ultrasonic therapeutic head treats subcutaneous tissues of a human body, multiple layers of subcutaneous tissues in the human body can be treated simultaneously, and the therapeutic efficiency is improved.

In an example, the bracket 21 includes a bottom plate (not shown) protruding toward a side of the treatment window 11, a first connecting portion 211 and a second connecting portion 212 are disposed on the bottom plate, the second connecting portion 212 is disposed around the periphery of the first connecting portion 211, the first ultrasonic transducer 22 is detachably connected to the first connecting portion 211, and the second ultrasonic transducer 23 is detachably connected to the second connecting portion 212.

The ultrasonic transduction unit can be detachably connected to the connecting part, such as threaded (screw) connection, or clamping connection, and the like, so that the ultrasonic transduction unit is convenient to disassemble, assemble, replace or maintain. In practical application, the first connecting portion 211 and the second connecting portion 212 respectively enclose to form a cavity, and the first ultrasonic transduction unit 22 and the second ultrasonic transduction unit 23 are adaptively installed in the cavity, and of course, a side surface of the cavity facing the treatment window 11 is an open surface so as to expose an emitting surface of the ultrasonic transduction unit.

Referring to fig. 1 to 3, a first clamping protrusion 2111 is protruding from an edge of an opening of the first connecting portion 211, which is far away from the bottom plate, and the first ultrasonic transducer 22 is disposed in the first connecting portion 211 and is clamped to the first clamping protrusion 2111 at the edge. In a further embodiment, a second clamping protrusion 2121 is protruded from an opening edge of a side of the second connection portion 212 away from the base plate, and two side edges of the second ultrasonic transducer 23 are respectively connected to the second clamping protrusion 2121 and an outer peripheral wall of the first connection portion 211.

This type of structure setting, the first connecting portion 211 and the second connecting portion 212 all enclose and close the die cavity that holds the ultrasonic transduction unit, and still protruding the setting card of perisporium at tubular structure, the edge joint of ultrasonic transduction unit is protruding at the card, effectively prevents that the ultrasonic transduction unit from breaking away from the die cavity, increases structural connection stability.

Referring to fig. 1 to 4, fig. 4 is a schematic plan view of a first ultrasonic transducer 22 and a second ultrasonic transducer 23 in an ultrasonic therapeutic head according to the present application, in which the first emitting surface 221 is concave and curved in a direction away from the therapeutic window 11; and/or, the second ultrasonic transduction unit 23 is annular, and the second emitting surface 231 is concave and curved towards the direction away from the treatment window 11.

Of course, in other embodiments, there are a plurality of second ultrasonic transducer units 23, and a plurality of second ultrasonic transducer units 23 are mounted on the support 21 at regular intervals along the circumferential direction of the first ultrasonic transducer unit 22.

The plurality of second ultrasonic transduction units 23 are uniformly arranged on the support 21 at intervals along the peripheral direction of the first ultrasonic transduction unit 22, and the structure is arranged, so that the space utilization rate is higher, and the emission surface of the ultrasonic transduction unit combination structure can emit ultrasonic energy meeting the treatment purpose under the same preset electric energy output power (consistent with the electric energy output power required by the existing horizontally arranged ultrasonic transduction unit combination structure).

By setting the emitting surface of the ultrasonic transduction unit 2 as a curved emitting surface, the focusing point of the ultrasonic wave emitted by the emitting surface faces the middle area of the therapeutic window 11, which is beneficial to accurately positioning the target therapeutic tissue.

In the technical scheme of the application, an input hole 13 communicated with the inner cavity 12 is formed in the outer side surface of the shell 1; the ultrasonic treatment head further comprises a driving mechanism 3, the driving mechanism 3 is arranged outside the shell 1, an output end 31 of the driving mechanism 3 penetrates through the input hole 13 to be connected to the support 21 in a penetrating mode, and the driving mechanism 3 drives the ultrasonic transduction unit 2 to move in a direction away from or close to the treatment window 11; the input hole 13 is provided with a sealing structure 131, and the sealing structure 131 is sleeved outside the output end 31.

The application, because the treatment head compact structure is small, make things convenient for handheld use, when using with current ultrasonic therapeutic instrument combination, doctor handheld therapeutic instrument's handle, the treatment face including treatment window 11 pastes at treatment area surface (human surface) and slides, in order to increase the treatment area, simultaneously, but also steerable actuating mechanism 3 drive ultrasonic transduction unit 2 moves towards the direction that is close to treatment window 11, promptly, make the vertical removal of direction that ultrasonic transduction unit is close to human skin surface, can increase the formation degree of depth and the scope of focus, improve the treatment. In practical applications, the driving mechanism 3 may be a linear screw motor connected to the bracket 21 in a driving manner, and of course, the driving mechanism includes but is not limited to the above-mentioned driving mechanism. The power output end 31 of the driving motor stretches into the inner cavity 12 to reciprocate, impurities are easy to bring into the inner cavity 12, and in order to solve the problems, a sealing structure 131 is arranged at the input hole 13 and sleeved outside the output end 31, so that the input hole 13 is sealed. The treatment depth can be obtained through feedback of an encoder of the motor, and a depth detection module can be additionally arranged for detection.

In addition, the ultrasonic transducer unit 2 has less energy loss when transmitting ultrasonic energy in a relatively closed environment or an environment filled with an ultrasonic transmission medium, so that the addition of the sealing structure 131 to the input hole 13 can reduce the ultrasonic energy loss to some extent and increase the therapeutic effect when contacting the skin surface of the human body.

In this application technical scheme, seal structure 131 is the elastic membrane, the elastic membrane encloses and closes and form both ends open-ended tubular structure, tubular structure's both ends connect respectively in casing 1 with support 21.

In order to achieve a good sealing effect, the sealing structure 131 is arranged along the whole movement stroke of the input end, and moves back and forth along with the input end and the support 21, and in order to prevent the sealing structure 131 from being torn by pulling, an elastic film with elasticity is selected as the sealing structure 131.

In this embodiment, the treatment window 11 is provided with an acoustically transparent structure 111, and the inner cavity 12 is filled with an ultrasound propagation medium (not shown in the figure). In a further embodiment, the acoustically transparent structure 111 is an acoustically transparent membrane; and/or, the ultrasonic wave propagation medium is de-aerated water.

As described above, when the ultrasonic energy is propagated in the environment where the ultrasonic transducer unit 2 is filled with the ultrasonic propagation medium, the energy loss is less, the propagation capacity is stronger, and the therapeutic effect is better, so that it is necessary to add the sound-transmitting structure 111 to the therapeutic window 11 to ensure that the inner cavity 12 is completely sealed, and at the same time, the ultrasonic energy passes through.

In this technical solution, the housing 1 includes an inner housing 14 and an upper cover 15, the upper cover 15 and the inner housing 14 enclose to form the inner cavity 12, the treatment window 11 is opened on the surface of the inner housing 14, the upper cover 15 is connected to a side surface of the inner housing 14 facing away from the treatment window 11, and the bracket 21 is connected to an inner side wall of the inner housing 14; the outer side wall of the inner shell 14 is further covered with an outer shell 16, and a through hole is formed in the surface of the outer shell 16, and faces the treatment window 11.

Outer housing 16 serves to protect inner housing 14 from damage, thereby ensuring that inner lumen 12 is intact and ultrasound transducer unit 2 within it is not damaged.

In the technical scheme of the application, the ultrasonic treatment head further comprises a controller; the housing 1 is mounted with a displacement sensor (not shown in the figure) for acquiring the information of the moving distance value of the housing 1; and/or the housing 1 is mounted with a contact sensor (not shown in the figure) for acquiring longitudinal distance value information of the housing 1 from the surface of the treatment area; the controller is electrically connected to the displacement sensor and the contact sensor respectively.

In this application, because the treatment head compact structure is small, make things convenient for handheld use, when using with current ultrasonic therapeutic instrument combination, doctor holds the handle of therapeutic instrument, including the treatment face of treatment window 11 pastes at treatment area surface (human surface) and slides, need detect whether handle treatment face is good with the laminating of treatment area before ultrasonic energy output, namely, continuously detect through contact sensor and acquire the vertical distance value information on casing 1 and treatment area surface in the treatment, and whether the handle removes, namely, acquire the removal distance value information of casing 1 in real time through displacement sensor, if contact failure (generally be far away with human skin surface distance) and/or handle stop removing then stop energy output, avoid the energy to superpose at same point and cause medical malpractice and hidden danger to skin burn.

The application also provides an ultrasonic therapeutic apparatus, including the ultrasonic therapeutic head, the specific structure of the ultrasonic therapeutic head refers to the above embodiment, and because the ultrasonic therapeutic apparatus adopts all the technical schemes of all the above embodiments, the ultrasonic therapeutic apparatus at least has all the beneficial effects brought by the technical schemes of the above embodiments, and the description is omitted here.

An embodiment of the present application also discloses an ultrasonic treatment head, the ultrasonic treatment head includes: the ultrasonic transduction unit and the driving mechanism drive the ultrasonic transduction unit to move in a direction away from or close to the treatment window.

In this embodiment, the treatment window is the portion of the housing where the ultrasound treatment head contacts the target area (the surface of the human body) during treatment. The driving mechanism can drive the ultrasonic transduction unit to move in a direction perpendicular to the treatment window, and further away from or close to the treatment window.

An embodiment of the present application further provides a method for controlling an ultrasonic therapy head, referring to fig. 5, the method includes:

step S110, determining a target working depth according to input information;

in this embodiment, the input information is information about the operation of the ultrasound therapy head that the ultrasound therapy device sends to the ultrasound therapy head, wherein the ultrasound therapy device is equipped with an interactive control panel for receiving user input information. The user can input information on the control panel, and the control panel sends the input information to the ultrasonic treatment head; the historical treatment data obtained by the ultrasonic treatment apparatus may be used, and is not particularly limited herein.

As an alternative implementation manner, the control panel determines the working depth according to the received touch information so as to generate input information and send the input information to the ultrasonic treatment head; acquiring input information sent by a control panel, and determining the working depth of the ultrasonic treatment according to the input information; the working depth is determined as the target working depth.

Illustratively, the user inputs the working depth of the ultrasonic treatment to the control panel, and the control panel sends the working depth to the ultrasonic treatment head in a wired transmission and/or wireless transmission mode; after receiving the working depth, the ultrasonic treatment head takes the working depth as a target working depth.

As another alternative implementation manner, the control panel determines a treatment item according to the received touch information, determines a working depth corresponding to the treatment item, generates input information based on the working depth, and sends the input information to the ultrasonic treatment head.

For example, when the control panel detects the touch information, a treatment item is determined according to the touch information, a working depth associated with the treatment item is determined according to preset information, and the working depth is sent to the ultrasonic treatment head.

As another optional implementation manner, the control panel determines a treatment item according to the received touch information and personnel information of a person to be treated, and determines a working depth corresponding to the treatment item; and updating the working depth according to the historical treatment data associated with the personnel information, so that the updated working depth is more in line with the body structure of the personnel to be treated.

In this embodiment, the control panel may further be provided with a window of a treatment mode, and the treatment mode is determined according to touch information received by the window, where the treatment mode is a mode of releasing energy when the ultrasonic transduction unit is driven by the driving mechanism.

The control panel determines a treatment mode according to the touch information when detecting the touch information, wherein the treatment mode is that the ultrasonic transduction unit stops outputting energy when being driven by the driving mechanism to be in a state of being far away from or approaching to the treatment window.

The control panel determines a treatment mode according to the touch information when detecting the touch information, wherein the treatment mode is that the ultrasonic transduction unit synchronously outputs energy when being driven by the driving mechanism to be in a state of being far away from or approaching to a treatment window.

The ultrasonic treatment head may emit ultrasonic waves that penetrate the surface layer of the skin so that the ultrasonic waves are concentrated subcutaneously. The working depth refers to the distance from the skin surface at which the ultrasonic waves transmitted by the ultrasonic treatment head are focused. The target working depth refers to the currently set working depth. The target working depth may be a single value, may be a plurality of values, or may be a numerical range.

The target working depth is, for example, 3 mm. Alternatively, the target working depth is 3 mm, 4 mm and 5 mm. Alternatively, the target working depth is 2 mm to 4.5 mm.

Step S120, determining the motion parameters of the driving mechanism according to the target working depth;

in this embodiment, the driving mechanism may drive the ultrasonic transducer unit to move in the vertical direction of the ultrasonic treatment head by moving, thereby adjusting the current working depth.

As an alternative embodiment, the working depth of the ultrasound transducer unit at the same location is fixed, i.e. the working depth of the ultrasound therapy head is adjusted by moving up and down. The emitting surface of the ultrasonic transduction unit approximates to an arc, so that the focusing depth of the ultrasonic transduction unit approximates to the radius of a circle corresponding to the arc, the focusing depth of the ultrasonic transduction unit is a fixed value, the current working depth of the ultrasonic treatment head is the difference between the focusing depth and a first relative distance, and the first relative distance is the distance from the emitting surface of the ultrasonic transduction unit to the treatment window. When the ultrasonic transduction unit moves along the vertical direction of the ultrasonic treatment head, the first relative distance is changed, and the current working depth is changed accordingly.

For example, when the target working depth is a single value, the motion parameter is a motion parameter required by the driving mechanism to move from the current position to the position corresponding to the target working depth.

Illustratively, when the target working depth is a plurality of values, the motion parameters are the parameters required to move from the current position to the first working depth, and the parameters required to move from the first working depth to the second working depth, and so on.

For example, when the target working depth is a numerical range, the motion parameter is a parameter required by the driving mechanism to drive the ultrasonic transduction unit to reciprocate in the numerical range.

As another alternative, the working depth of the ultrasound transducer unit itself is variable, the working depth being adjusted by adjusting the curvature of the surface of the ultrasound transducer unit. The working depth of the ultrasonic transduction unit can be changed, and the ultrasonic transduction unit can be matched with the ultrasonic transduction unit to move, so that the working depth of the ultrasonic transduction unit can be adjusted.

Optionally, step S120 includes:

step S121, determining the working time associated with the target working depth;

step S122, determining the motion parameter according to the target working depth and the working time.

As an alternative implementation manner, when the target working depth is a single value, determining the working time associated with the target working depth, determining the distance value required to be moved by the ultrasonic transduction unit according to the target working depth and the corresponding working time, and the time for staying at the position; and determining the motion parameters of the driving mechanism according to the target working depth and the working time. And acquiring a motion parameter coding program of the driving mechanism, and generating motion parameters of the driving mechanism based on the program according to the target working depth and the working time.

By way of example, the target working depth is determined to be 3 millimeters, with a corresponding working time of 2 minutes; and acquiring a motion parameter coding program of the driving mechanism, determining the working scheme to be 36 turns of the motor according to the basic parameters of the driving mechanism of 12 turns/mm (namely, the motor is required to rotate for 12 turns when moving by one mm) and 2 minutes after the driving mechanism reaches the target position. And generating the executable motion parameters of the driving mechanism according to the coding program and the working scheme. Wherein the drive mechanism performs the motion parameter, rotates 36 revolutions and stays for 2 minutes after reaching the target position.

As another alternative implementation, when the target working depth is a single value, the distance value of the ultrasonic transduction unit to be moved is determined according to the target working depth, and then the motion parameter of the driving mechanism is determined. The working time is controlled by the rest of the components to time.

Optionally, step S120 further includes:

step S123, obtaining a difference value between the target working depths;

when the target working depth is a plurality of values, a difference between the respective target working depths is obtained.

Step S124, determining the movement distance of the driving mechanism according to the difference value;

and step S125, determining the motion parameters according to the movement distance.

As an alternative implementation manner, when the target working depth is a numerical value interval, acquiring a difference value between the first target depth and the second target depth, determining a distance to be moved by the driving mechanism according to the difference value, and recording the distance as a movement distance; according to the movement distance and basic parameters of the driving mechanism, a working scheme is determined, and according to the working scheme and a coding program associated with the driving mechanism, executable motion parameters of the driving mechanism are generated, so that the driving mechanism can move from a position corresponding to a first target working depth to a position corresponding to a second target working depth.

Illustratively, the first target working depth is determined to be 3 millimeters and the second target working depth is determined to be 5 millimeters; the difference between the two target working depths was determined to be 2 mm, i.e., the movement pitch of the driving mechanism was determined to be 2 mm. According to the movement interval of 2 mm and the basic parameter of the driving mechanism of 12 revolutions per mm, the working scheme is determined to be 24 revolutions of the motor of the driving mechanism, and according to the working scheme and the coding program associated with the driving mechanism, the executable movement parameter of the driving mechanism is generated, so that the driving mechanism can move from the position corresponding to 3 to the position corresponding to 5.

Illustratively, the first target working depth is determined to be 2 millimeters and the second target working depth is determined to be 5 millimeters; the difference between the two target working depths was determined to be 3 mm, i.e., the movement pitch of the driving mechanism was 3 mm. According to the movement spacing of 3 mm and the basic parameter of the driving mechanism of 12 revolutions per mm, determining that the working scheme is that the motor of the driving mechanism rotates 36 revolutions, recording that the rotating direction is the positive direction, and according to the working scheme and the coding program associated with the driving mechanism, generating a first movement parameter executable by the driving mechanism, so that the driving mechanism can move from the position corresponding to 2 mm to the position corresponding to 5 mm. Then determining that the first target working depth is 5 mm, and determining that the second target working depth is 2 mm; the difference between the two target working depths was determined to be 3 mm, i.e., the movement pitch of the driving mechanism was 3 mm. According to the movement spacing of 3 mm and the basic parameter of the driving mechanism of 12 revolutions per mm, determining that the working scheme is that the motor of the driving mechanism rotates 36 revolutions, and generating a second executable movement parameter of the driving mechanism according to the working scheme and the coding program associated with the driving mechanism, wherein the direction of the motor rotates in the reverse direction at the moment, so that the driving mechanism can move from a position corresponding to 5 mm to a position corresponding to 2 mm; and generating the motion parameters according to the first motion parameters and the second motion parameters.

As an alternative implementation manner, obtaining the difference value between each target working depth, forming a difference value sequence according to each difference value, and determining the movement distance between the working positions of the driving mechanism corresponding to each target working depth based on the difference value sequence; the movement parameters of the drive are determined on the basis of the respective movement distances.

The target working depth has three values, for example, 3 mm, 5 mm and 6 mm, respectively; the difference before each target working depth is determined to be 2 mm and 1 mm, and then the motion parameters at the working depth of 5 mm and 6 mm are determined according to the difference of 2 mm and 1 mm. Since the ultrasound transducer unit does not need to be reset after one position is finished, it can be moved to a working position of 5 mm by moving down by 2 mm after finishing working at 3 mm.

And step S130, controlling the driving mechanism to operate according to the motion parameters so as to drive the ultrasonic transduction unit to move to a working position corresponding to the target working depth.

In this embodiment, the driving mechanism operates according to the motion parameters, and further drives the ultrasonic transducer to move to a working position corresponding to the target working depth, where the working position refers to a position of the ultrasonic transducer in the ultrasonic therapeutic head, so that when the ultrasonic transducer is in the position, the energy focusing point for transmitting the ultrasonic waves is located at the target working depth.

As an alternative implementation mode, the driving mechanism is controlled to operate according to the motion parameters, and the ultrasonic transduction unit is driven to reach the working position corresponding to the target working depth; and after the corresponding working time of the working position, step S110 is executed.

The motion parameters comprise the moving distance of the ultrasonic transduction unit from the current position to the working position corresponding to the target working depth; and further generates a code executable by the drive mechanism controller based on design parameters of the drive mechanism itself.

As another alternative, the driving mechanism is controlled to operate according to a first part of the motion parameter, the ultrasonic transduction unit is driven to reach a working position corresponding to the first target working depth, and after the working position works for a corresponding working time, the driving mechanism is controlled to operate according to a second part of the motion parameter, and so on.

As another alternative embodiment, the driving mechanism is controlled to operate according to the motion parameters, and the ultrasonic transduction unit is driven to reciprocate between the first working position and the second working position corresponding to the target working depth.

Optionally, step S130 includes:

step S131, controlling the driving mechanism to drive the ultrasonic transduction unit to the working position according to the motion parameters, wherein when the driving mechanism is in displacement, the ultrasonic transduction unit is controlled to stop outputting ultrasonic waves;

In this embodiment, the ultrasonic transducer may terminate the output or continue the output when the driving mechanism is displaced. The displacement of the driving mechanism means that the driving mechanism is positioned in the vertical direction, so that the ultrasonic transduction unit is driven to adjust the working position.

Step S132, after the working time is worked at the working position, the step of determining the target working depth according to the input information is re-executed.

As an optional implementation manner, the driving mechanism carries out displacement according to the motion parameters, so that the ultrasonic transduction unit is driven to reach a working position corresponding to the target working depth, when the ultrasonic transduction unit is positioned at the working position and the ultrasonic treatment head begins working close to the target area, the ultrasonic transduction unit emits an ultrasonic energy gathering point, and the distance from the skin surface is a numerical value corresponding to the target working depth. The driving mechanism stops outputting ultrasonic waves during the moving process. When the timing device detects that the time for the ultrasonic transducer unit to emit ultrasonic waves at the working position satisfies the working time, step S110 is repeatedly performed.

For example, the target working depth corresponding to the current motion parameter is 3mm (millimeter), the working time is 1 minute, the driving mechanism is controlled to move according to the motion parameter, and then the ultrasonic transduction unit is driven to move to the working position corresponding to 3mm, and after the ultrasonic transduction unit works at the working position for 1 minute, the ultrasonic wave is stopped from being output, and the next target working position is obtained.

Optionally, the control method of the ultrasonic treatment head further includes:

step S1, determining the attaching state of the ultrasonic treatment head and a target area according to the state data of the ultrasonic treatment head;

in this embodiment, the target region is a region to be treated, for example, an abdomen, a leg, or the like, and the shape thereof may be irregular. The status data includes, but is not limited to, sensor data of the ultrasound therapy head, such as displacement velocity, displacement distance, fit status, etc.

As an alternative embodiment, sensor data of the ultrasound therapy head is acquired, and whether the ultrasound therapy head is attached to the target area is determined based on the sensor data.

For example, a preset area on the ultrasonic treatment head may be obtained, then the bonding area between the ultrasonic treatment head and the target area may be determined, and the bonding state may be determined according to the ratio of the bonding area to the preset area.

Step S2, determining the displacement state of the ultrasonic treatment head;

in this embodiment, the displacement state refers to a displacement state of the ultrasound therapy head on the approximately horizontal plane of the target region, and the displacement state includes, but is not limited to, a displacement speed, and a displacement acceleration.

As an alternative embodiment, the displacement speed of the ultrasound therapy head is determined from the status data.

And step S3, when the attaching state and/or the displacement state does not meet the working requirement, controlling the ultrasonic transduction unit to stop outputting energy.

In this embodiment, for safety reasons, corresponding operation requirements are set for the attaching state and the displacement state. The energy here includes, but is not limited to, ultrasound. Outputting energy when the treatment head is not attached to the target area can cause the energy concentration point to be in a non-working position with serious consequences. The output of energy when the treatment head is stationary can cause heat to build up at a point, again with serious consequences. Therefore, in this embodiment, the ultrasonic transducer unit outputs ultrasonic energy when it is determined that the ultrasonic treatment head is attached to the target region and the ultrasonic treatment head is in a moving state.

As an alternative embodiment, the ultrasonic transduction unit is controlled to stop outputting energy when at least one of the fitting state and the displacement state does not meet the operation requirement.

In an exemplary embodiment, when the proportion of the bonding area in the bonding state is smaller than a preset threshold value or the displacement speed in the displacement state is smaller than a preset threshold value, at least one of the two is established, the ultrasonic transduction unit is controlled to stop outputting energy.

As an alternative embodiment, the method is used for controlling an ultrasonic treatment head, the ultrasonic treatment head comprises an ultrasonic transduction unit and a driving mechanism, the driving mechanism is arranged outside a shell of the ultrasonic treatment head, and the driving mechanism drives the ultrasonic transduction unit to move in a direction far away from or close to a treatment window. The treatment window is the contact surface of the ultrasonic treatment head and the target area.

Based on the first embodiment, a second embodiment of the present application provides a control method of an ultrasonic treatment head, referring to fig. 6, step S130 further includes:

step S210, determining the displacement range of the driving mechanism according to the motion parameters;

In this embodiment, when the operation mode of the ultrasonic treatment head is the reciprocation, the target operation depth is a plurality of values or a range of values. The displacement range refers to the depth interval that the ultrasound therapy head needs to sweep in one operation.

As an alternative embodiment, the displacement range is determined according to the value interval corresponding to the motion parameter.

As another alternative implementation manner, according to n values corresponding to the motion parameters, a value interval is generated according to two values adjacent to each other in value size, and then n-1 value intervals are generated; and screening out the numerical value intervals which do not need to be scanned, and determining the displacement range according to the screened numerical value intervals.

Illustratively, values of 1mm, 2mm, 3mm,4mm, and 5mm are obtained, and value intervals of 1-2,2-3,3-4, and 4-5 are determined; the range of the displacement is determined to be 1mm to 3mm and 4mm to 5mm when the numerical intervals required to work are determined to be 1-2,2-3 and 4-5.

Step S220, matching corresponding displacement speeds according to the displacement ranges;

in this embodiment, considering that the points swept by the ultrasonic transducer unit are heated uniformly during the reciprocating motion, the displacement speed of the driving mechanism during the reciprocating motion may be a fixed value, a value that varies with the displacement range, or a value that matches the displacement speed of the ultrasonic treatment head in the target area.

As an optional implementation manner, a displacement range is determined, and a displacement speed corresponding to the displacement range is determined according to a preset association relation between the displacement range and the displacement speed. Before step S220, an association relationship between the displacement range and the displacement speed may be established in advance according to the historical treatment data and the treatment effect.

Optionally, the sign information of the target area can be obtained, and the association relationship is adaptively adjusted according to the sign information, so that for the current person to be treated, the adjusted displacement speed is used in the displacement range, and the optimal treatment effect can be achieved.

As another alternative, the displacement speed may be a fixed value, which is determined by the input information. But may also be generated from historical data.

Optionally, step S220 further includes:

step S221, obtaining the horizontal displacement speed of the ultrasonic transduction unit;

in the present embodiment, the displacement speed of the ultrasonic transduction unit in the horizontal direction is used as the horizontal displacement speed.

As an alternative embodiment, the displacement speed of the therapeutic head in the horizontal direction is determined according to the data acquired by the sensor of the ultrasonic therapeutic head, and the horizontal displacement speed of the ultrasonic therapeutic head is taken as the horizontal displacement speed of the ultrasonic transducer unit because the ultrasonic transducer unit moves in the vertical direction in the therapeutic head.

Step S222, obtaining a displacement speed corresponding to the displacement range, wherein the direction of the displacement speed is consistent with the movement direction of the driving mechanism;

step S223, correcting the displacement speed according to a preset displacement model and the horizontal displacement speed.

In the present embodiment, the displacement range has a displacement speed associated therewith, which is a moving speed of the ultrasonic transduction unit in the vertical direction. And then the displacement speed in the vertical direction is adjusted according to the horizontal displacement speed, and the displacement speed executed by the final driving mechanism is determined. I.e. the displacement speed will be adjusted as the horizontal displacement speed of the ultrasound therapy head in the target area changes.

As an alternative embodiment, determining a displacement speed matched with the currently executed displacement range according to the currently executed displacement range; substituting the displacement speed and the horizontal displacement speed into a preset displacement model, and determining the adjusted displacement speed. The displacement speed in the vertical direction is adjusted according to the horizontal displacement speed, so that the time for collecting energy at each point is the same as much as possible, and each point in the displacement range is heated uniformly.

Exemplary, a simulation model is established according to historical data, and the treatment effect is determined for the reciprocating motion in the same displacement range under the conditions of simulating different displacement speeds and horizontal displacement speeds; and selecting proper displacement speed and horizontal displacement speed according to the treatment effect. Wherein the criterion for the therapeutic effect is that each point in the displacement range is heated as uniformly as possible.

And step S230, controlling the driving mechanism to move according to the displacement speed and the displacement range so as to drive the ultrasonic transduction unit to reciprocate in a section corresponding to the working position according to the displacement speed.

As an alternative implementation mode, the driving mechanism is controlled to move according to the motion parameters so as to drive the ultrasonic transduction unit to reciprocate in a thickness interval corresponding to the displacement range according to the displacement speed.

Optionally, the displacement speed is influenced by both the displacement range and the horizontal displacement speed.

Alternatively, the ultrasonic transduction unit continuously outputs energy during the reciprocation of the ultrasonic transduction unit. Compared with the mode of working at fixed depth, the ultrasonic wave is continuously output during reciprocating motion, so that energy points are gathered between two adjacent target working depths, and the treatment effect is remarkably improved.

The technical scheme in the embodiment of the application at least has the following technical effects or advantages:

the displacement range of the driving mechanism is determined according to the motion parameters, so that the displacement speed matched with the displacement range is determined, and the displacement speed is the displacement speed in the vertical direction; and controlling the driving mechanism to move in a displacement range according to the displacement speed so as to drive the ultrasonic transduction unit to reciprocate in a section corresponding to the working position according to the displacement speed. Therefore, the technical problem that the treatment effect is poor in the range within the depth caused by the fact that the fixed depth can only be treated in the related technology is effectively solved, and the treatment effect is further improved.

Based on the first embodiment, a third embodiment of the present application provides a control method of an ultrasonic therapy head, referring to fig. 7, before step S120, further including:

step S310, acquiring the focusing depth of the ultrasonic transduction unit;

in the present embodiment, the depth of focus is an attribute of the ultrasonic transduction unit itself, for which the depth of focus is fixed. Before the ultrasonic treatment head emits energy, it is necessary to detect whether the current working depth of the ultrasonic transducer unit is equal to the target working depth. When the current working depth is equal to the target working depth, the ultrasonic treatment head can control the ultrasonic energy conversion unit to emit energy.

As an alternative embodiment, the built-in parameters of the ultrasonic transduction unit are acquired, and the depth of focus of the ultrasonic transduction unit is determined according to the built-in parameters.

As another alternative, the depth of focus is variable for the ultrasound transducer unit, the depth of focus being adjusted by adjusting the curvature of the ultrasound transducer unit surface.

Step S320, determining the current working depth of the ultrasonic transduction unit according to the current position of the ultrasonic transduction unit and the focusing depth;

in this embodiment, the current position refers to the relative spatial position of the ultrasound transducer unit within the ultrasound therapy head.

As an alternative implementation manner, a relative distance from the emitting surface of the ultrasonic transducer unit to the surface of the ultrasonic treatment head is obtained, a focusing depth is obtained, and the current working depth of the ultrasonic transducer unit at the current position is determined according to a difference value between the focusing depth and the relative distance.

Step S330, determining a compensation path of the ultrasonic transduction unit according to the current working depth and the target working depth;

as an alternative implementation manner, determining the moving direction and the moving distance required by the ultrasonic transduction unit according to the difference between the current working depth and the target working depth; and generating a compensation path according to the moving direction and the moving distance.

And step S340, determining the calibration motion parameters of the driving mechanism according to the compensation path so as to control the driving mechanism to drive the ultrasonic transduction unit to reach an initial working position.

In this embodiment, the initial working position is not constant, and it is not intended to refer to a certain position where the ultrasound transducer unit is fixed in the ultrasound therapy head. When the ultrasonic transduction unit is in the initial working position, the current working depth of the ultrasonic transduction unit is equal to the target working depth.

As an alternative, the coding parameters of the driving mechanism are obtained, and the calibration motion parameters of the driving mechanism are determined according to the compensation path, so that the driving mechanism moves according to the calibration motion parameters, and the ultrasonic transduction unit is driven to reach the initial working position.

Optionally, step S110 includes:

step S31, controlling the ultrasonic transduction unit to send ultrasonic waves to a target area and receiving return waves;

step S32, epidermis sign information of the target area is obtained;

and step S33, determining the target working depth according to the returned wave, the epidermis physical sign information and/or the historical treatment data.

As an alternative implementation manner, the ultrasonic transduction unit is controlled to send ultrasonic waves with preset frequency and preset power to the target area, and return waves are received; the ultrasonic treatment head is controlled to be attached to the target area, and epidermis physical sign information is collected; historical treatment data of a person to be treated is obtained, returned waves are analyzed, and a target working depth is determined according to any at least two of analysis results, epidermis sign information and historical treatment data.

As another alternative embodiment, the received target working depth sent by the control panel is corrected according to any at least two of the analysis result, the epidermis sign information and the historical treatment data, so as to determine the corrected target working depth.

Acquiring the focusing depth of the ultrasonic transduction unit; determining the current working depth of the ultrasonic transduction unit according to the current position of the ultrasonic transduction unit and the focusing depth; determining a compensation path of the ultrasonic transduction unit according to the current working depth and the target working depth; and adjusting the position of the ultrasonic transduction unit according to the compensation path. Therefore, the technical problems of long time consumption and complicated operation caused by the need of replacing the ultrasonic transduction units with a plurality of working depths in the treatment in the related art are effectively solved, and the technical effect of shortening the treatment time without replacing the ultrasonic transduction units is realized.

The application further provides a control device for an ultrasonic treatment head, and referring to fig. 8, fig. 8 is a schematic structural diagram of the control device for the ultrasonic treatment head in a hardware operation environment according to an embodiment of the application.

As shown in fig. 8, the control device of the ultrasonic treatment head may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.

It will be appreciated by those skilled in the art that the configuration shown in fig. 8 is not limiting of the control device of the ultrasound therapy head and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components.

Optionally, the memory 1005 is electrically connected to the processor 1001, and the processor 1001 may be configured to control operation of the memory 1005, and may also read data in the memory 1005 to implement control of the ultrasound therapy head.

Alternatively, as shown in fig. 8, an operating system, a data storage module, a network communication module, a user interface module, and a control program of the ultrasound therapy head may be included in the memory 1005 as one storage medium.

Optionally, in the control device of the ultrasound therapy head shown in fig. 8, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the control device of the ultrasonic treatment head of the present application may be provided in the control device of the ultrasonic treatment head.

As shown in fig. 8, the control device of the ultrasonic treatment head invokes, through the processor 1001, a control program of the ultrasonic treatment head stored in the memory 1005, and performs the related step operations of the control method of the ultrasonic treatment head provided in the embodiment of the present application:

Determining a target working depth according to the input information;

Alternatively, the processor 1001 may call a control program of the ultrasound therapy head stored in the memory 1005, and also perform the following operations:

determining the working time associated with the target working depth;

obtaining a difference value between the target working depths;

and determining the motion parameter according to the movement distance.

controlling the driving mechanism to drive the ultrasonic transduction unit to the working position according to the motion parameters, wherein when the driving mechanism is in displacement, the ultrasonic transduction unit is controlled to stop outputting ultrasonic waves;

Acquiring the focusing depth of the ultrasonic transduction unit;

determining a displacement state of the ultrasound therapy head;

In addition, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a control program of the ultrasonic treatment head, and the control program of the ultrasonic treatment head realizes the relevant steps of any embodiment of the control method of the ultrasonic treatment head when being executed by a processor.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims

1. A control method of an ultrasonic treatment head, characterized by being used for controlling the ultrasonic treatment head, the ultrasonic treatment head comprising an ultrasonic transduction unit and a driving mechanism, the driving mechanism driving the ultrasonic transduction unit to move in a direction away from or close to a treatment window, the control method of the ultrasonic treatment head comprising:

determining a target working depth according to the input information;

2. The method of controlling an ultrasonic treatment head according to claim 1, wherein the step of determining the motion parameter of the driving mechanism according to the target working depth comprises:

determining the working time associated with the target working depth;

3. The method of controlling an ultrasonic treatment head according to claim 1, wherein the step of determining the motion parameter of the driving mechanism according to the target working depth comprises:

obtaining a difference value between the target working depths;

and determining the motion parameter according to the movement distance.

4. The method of controlling an ultrasonic therapy head according to claim 2, wherein the step of controlling the driving mechanism to operate according to the motion parameter to drive the ultrasonic transducer unit to move to the target working depth corresponding working position comprises:

5. A method of controlling an ultrasonic treatment head according to claim 3, wherein the step of controlling the driving mechanism to operate in accordance with the motion parameter to drive the ultrasonic transducer unit to move to the target working depth corresponding working position comprises:

6. The method of controlling an ultrasonic treatment head according to claim 5, wherein the step of matching the corresponding displacement speed according to the displacement range includes:

7. A method of controlling an ultrasonic treatment head according to claim 2 or 3, wherein prior to the step of determining the motion parameter of the drive mechanism based on the target depth of operation, further comprising:

Acquiring the focusing depth of the ultrasonic transduction unit;

8. The method of controlling an ultrasonic treatment head according to claim 1, characterized in that the method of controlling an ultrasonic treatment head further comprises:

determining a displacement state of the ultrasound therapy head;

9. A control device of an ultrasound therapy head, characterized by comprising a memory, a processor and a control program of an ultrasound therapy head stored on the memory and executable on the processor, the processor implementing the steps of the control method of an ultrasound therapy head according to any one of claims 1 to 8 when executing the control program of an ultrasound therapy head.

10. A computer-readable storage medium, wherein a control program of an ultrasound therapy head is stored on the computer-readable storage medium, which when executed by a processor, implements the steps of the control method of an ultrasound therapy head according to any one of claims 1 to 8.