CN116889466A - Laser power adjusting method and device, electronic equipment and storage medium - Google Patents
Laser power adjusting method and device, electronic equipment and storage medium Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
- H01S3/00—Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
- H01S3/10—Controlling the intensity, frequency, phase, polarisation or direction of the emitted radiation, e.g. switching, gating, modulating or demodulating
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- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
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Abstract
The disclosure discloses a laser power adjusting method, a laser power adjusting device, electronic equipment and a storage medium. The method comprises the following steps: determining a target temperature and/or a laser light emitting mode; determining a temperature rise power curve and a temperature control power curve according to the target temperature and/or the laser light emitting mode; controlling laser power according to a heating power curve at a stage needing heating; and controlling the laser power according to a temperature control power curve at the stage of needing temperature control. According to the embodiment of the disclosure, the heating stage and the temperature control stage are separated in the laser working process, the corresponding power curve is adopted in the corresponding stage to control the laser power, the temperature can be quickly increased in the heating stage to improve the laser energy, the laser energy is stabilized in the temperature control stage, and carbonization caused by overhigh local temperature is prevented. The method for controlling the temperature by utilizing the electronic regulation and control means avoids the risk of overhigh local temperature during ablation and simultaneously does not cause loss to the laser device.
Description
Technical Field
The present disclosure relates generally to the field of laser processing technology. More particularly, the present disclosure relates to a laser power adjustment method, apparatus, electronic device, and storage medium.
Background
Laser ablation is a technique that uses a laser beam of a specific wavelength to selectively ablate a tissue site using heat released by the laser.
Because the laser energy density is large, when a certain part is continuously irradiated by laser, the problem that the irradiation part is carbonized due to the fact that the local temperature of a catheter is too high is easily caused, and the safety is difficult to ensure. In order to improve the safety of the ablation process in the prior art, a cooling scheme is provided, wherein the optical fiber heating end is controlled to reciprocate in a physical mode so as to balance the rate of heat absorption of each part and prevent local carbonization, but the optical fiber is required to be continuously moved in the mode, so that the loss of the laser device is large, the structural complexity of the laser device is high, and the cost is increased.
In view of the foregoing, it is desirable to provide a laser power adjustment scheme that reduces the loss of the laser device while avoiding localized hyperthermia.
Disclosure of Invention
To address at least one or more of the technical problems mentioned above, the present disclosure proposes a laser power adjustment scheme in various aspects.
In a first aspect, the present disclosure provides a laser power adjustment method comprising: determining a target temperature and/or a laser light emitting mode; determining a temperature rise power curve and a temperature control power curve according to the target temperature and/or the laser light emitting mode; controlling laser power according to a heating power curve at a stage needing heating; and controlling the laser power according to a temperature control power curve at the stage of needing temperature control.
In some embodiments, the laser light exit mode comprises a continuous light exit mode, the laser power adjustment method further comprising: if the laser light emitting mode is a continuous light emitting mode, the laser power is constant or linearly increases in the heating power curve; in the temperature control power curve, the laser power is in an oscillation form or linearly decreases.
In some embodiments, if the laser light emitting mode is a continuous light emitting mode, the laser power adjustment method further comprises: and judging whether the actual temperature is consistent with the target temperature, if not, controlling the laser power according to the temperature-regulating power curve, and returning to execute the laser power control action in the temperature control stage after the actual temperature is consistent with the target temperature.
In some embodiments, the laser light emitting mode further comprises a pulsed light emitting mode, the laser power adjustment method further comprising: if the laser light emitting mode is determined to be a pulse light emitting mode, the laser power is constant in a heating power curve; in the temperature control power curve, the laser power is less than the constant power.
In some embodiments, wherein the step of determining the laser light emitting mode comprises: identifying the type of the optical fiber; if the optical fiber type is a side-emitting optical fiber, the laser light emitting mode is a pulse light emitting mode; if the optical fiber type is a dispersion optical fiber, the laser light-emitting mode is a continuous light-emitting mode; if the optical fiber type is annular optical fiber, the laser light emitting mode is a pulse light emitting mode or a continuous light emitting mode.
In some embodiments, the temperature-controlled power curve is a trigonometric curve if the laser power is in an oscillating form.
In some embodiments, the function of the warming power curve is as follows: p (t) =a; the function of the temperature control power curve is as follows: p (t) =b+csin (Dt); wherein P represents laser power, A represents constant power, the constant power is calculated based on target temperature, B represents basic power, B is smaller than A, C represents oscillation power, D represents oscillation frequency coefficient, and t represents time parameter of laser light emitting model.
In some embodiments, wherein prior to controlling the laser power in accordance with the attemperation power profile, further comprises: and carrying out parameter adjustment based on the temperature control power curve to obtain the temperature control power curve.
In some embodiments, if the laser light emitting mode is a pulse light emitting mode, the laser power adjustment method further comprises: the laser power control actions of the temperature raising stage and the temperature control stage are alternately executed.
In some embodiments, the laser power adjustment method further comprises: controlling laser power according to a heating power curve and continuously presetting heating time in a stage needing heating; and in the stage of needing temperature control, controlling laser power according to a temperature control power curve and continuously presetting the temperature control duration.
In some embodiments, before controlling the laser power according to the heating power curve, the method further comprises: and calculating a preset heating duration based on the target temperature and the heating power curve.
In some embodiments, the calculating step of the preset warming time period includes: the preset warming time period is calculated according to the following warming model,wherein T represents temperature, P represents laser power, P is determined according to a heating power curve, and T represents a time parameter corresponding to the temperature T.
In some embodiments, if the laser light emitting mode is a pulse light emitting mode, the method further comprises, before controlling the laser power according to the temperature control power curve: and calculating a preset temperature control duration based on the target temperature and the temperature control power curve.
In some embodiments, the calculating step of the preset temperature control duration includes: calculating a preset temperature control duration according to the following temperature control model,wherein T represents a temperature, and T represents a time parameter corresponding to the temperature T.
In some embodiments, wherein at a stage where an elevated temperature is desired, the method further comprises: collecting real-time temperature and estimated heating temperature, wherein the estimated heating temperature is calculated based on a heating power curve and is obtained at the collecting time of the real-time temperature; and controlling the laser power through proportional integral differentiation in response to the temperature difference between the real-time temperature and the estimated heating temperature being greater than or equal to a preset error threshold value, and controlling the laser power again according to a heating power curve after the temperature difference is less than the preset error threshold value; and/or wherein at a stage where temperature control is desired, the method further comprises: collecting real-time temperature and pre-estimated temperature control temperature, wherein the pre-estimated temperature control temperature is calculated based on a temperature control power curve and is obtained at the time of collecting the real-time temperature; and controlling the laser power through proportional-integral-derivative in response to the temperature difference between the real-time temperature and the pre-estimated temperature control temperature being greater than or equal to a preset error threshold value, and controlling the laser power again according to the temperature control power curve after the temperature difference is smaller than the preset error threshold value.
In a second aspect, the present disclosure provides a laser power adjustment device comprising: a laser controller having an output coupled to an input of the laser generator for performing any of the methods of the first aspect to control the laser power of the laser generator; the output end of the laser generator is connected with the input end of the optical fiber and is used for irradiating laser on a designated position through the optical fiber under the control of the laser controller; and an optical fiber for irradiating laser light at a specified position.
In a third aspect, the present disclosure provides an electronic device comprising: a processor; and a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method of any of the first aspects.
In a fourth aspect, the present disclosure provides a non-transitory machine-readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform the method of any of the first aspects.
Through the laser power adjusting method provided by the embodiment of the disclosure, the temperature rising power curve and the temperature control power curve are determined by setting a target temperature and/or a laser light emitting mode, the stage needing to be heated and the stage needing to be controlled in the laser working process are separated, the corresponding power curve is adopted in the corresponding stage to control the laser power, the temperature can be quickly raised in the temperature rising stage to improve the laser energy, the laser energy is stabilized in the temperature control stage, and carbonization caused by overhigh local temperature is prevented. The laser power is adjusted to adapt to the laser demands of different stages, and the temperature is controlled by utilizing an electronic regulation and control means, so that the loss of the laser device is avoided while the local temperature is prevented from being too high.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
FIG. 1 illustrates an exemplary flow chart of a laser power adjustment method of some embodiments of the present disclosure;
FIG. 2 illustrates an exemplary flow chart of a power curve determination method of some embodiments of the present disclosure;
FIG. 3 illustrates an exemplary flow chart of a laser power adjustment method of other embodiments of the present disclosure;
FIG. 4 illustrates a temperature schematic under control of a heating power curve in accordance with some embodiments of the present disclosure;
FIG. 5 illustrates a schematic temperature diagram under control of a laser power adjustment model in accordance with some embodiments of the present disclosure;
FIG. 6 illustrates an exemplary flow chart of a laser power adjustment method of further embodiments of the present disclosure;
FIG. 7 illustrates an exemplary flow chart of a laser power feedback method of some embodiments of the present disclosure;
FIG. 8 illustrates an exemplary block diagram of a laser power adjustment device of an embodiment of the present disclosure;
Fig. 9 shows an exemplary block diagram of the electronic device of an embodiment of the present disclosure.
Detailed Description
The following description of the embodiments of the present disclosure will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the disclosure. Based on the embodiments in this disclosure, all other embodiments that may be made by those skilled in the art without the inventive effort are within the scope of the present disclosure.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present disclosure is for the purpose of describing particular embodiments only, and is not intended to be limiting of the disclosure. As used in the specification and claims of this disclosure, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in the present disclosure and claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Exemplary application scenarios
When laser ablation is performed by using a laser device, when laser is continuously used for irradiating a certain part, the problem that the irradiation part is carbonized due to the fact that the local temperature of a catheter is too high is easily caused, and the safety is difficult to guarantee.
The prior art provides a scheme, and the optical fiber heating end is controlled to reciprocate in a physical control mode, so that a certain fixed part is prevented from being continuously heated, the heat absorption rate of each part is balanced, and local carbonization is prevented. However, the optical fiber is required to be continuously moved, so that optical fiber loss is easy to occur, and the realization cost of the laser device capable of being moved back and forth is high.
Exemplary laser Power adjustment scheme
In view of this, the disclosed embodiments provide a laser power adjustment scheme, which adjusts the laser power to adapt to the laser requirements of different stages, and uses an electronic control method to control the temperature, so that the risk of overhigh local temperature in the ablation process is avoided, and the loss of the laser device is avoided, thereby being a simple, rapid and easy-to-adjust control method.
Fig. 1 illustrates an exemplary flow chart of a laser power adjustment method 100 of some embodiments of the present disclosure.
As shown in fig. 1, in step S101, a target temperature and/or a laser light emitting pattern is determined.
In the presently disclosed embodiments, the target temperature refers to the temperature of the laser light acting on the site to be ablated, which is set by the user according to the actual desired ablation temperature.
Under different laser light emitting modes, at least one of laser parameters such as laser light emitting frequency, laser power and the like is different. In this embodiment, the laser light emitting modes may include a continuous light emitting mode and a pulsed light emitting mode. For example: under the continuous light-emitting mode, the heating end of the optical fiber always generates laser, but the laser power can be kept constant or changed; in the pulse light emitting mode, the optical fiber heating end emits light intermittently, i.e. the optical fiber heating end has interval period of no light emission.
In step S102, a temperature-increasing power curve and a temperature-controlling power curve are determined according to the target temperature and/or the laser light emitting mode.
The heating power curve and the temperature control power curve are curves representing the change of laser power along with time, and the laser device can be controlled to emit laser with different powers at different time points through the heating power curve and the temperature control power curve.
In step S103, the laser power is controlled in accordance with the temperature increase power curve at the stage where the temperature increase is required.
The temperature rising stage is arranged to enable the temperature of the part to be ablated to rise rapidly, and the temperature rises rapidly to the temperature meeting the ablation condition.
Thus, in some embodiments, the laser power in the ramp power curve may be set to a constant power or linearly increasing to meet the need for rapid ramp up.
Further, in the heating stage, the laser power can be controlled in real time according to a heating power curve and the heating duration can be continuously preset.
Still further, the preset heating-up period may be calculated based on the target temperature and the heating-up power curve before the laser power is controlled in accordance with the heating-up power curve.
Illustratively, some embodiments of the present disclosure provide the following warming model to calculate the preset warming duration:
Wherein T represents temperature, P represents laser power, and T represents time parameter of the laser light emitting model.
It should be noted that, the time parameter t is a simulated time point in the laser light emitting mode, and is not directly directed to an actual laser light emitting time, but the laser light emitting time length can be calculated based on at least two simulated time points, and the laser light emitting time length is consistent with the actual laser light emitting time length.
The above-mentioned warming model provides two alternative models, and in the actual calculation process, one of them is selected for calculation.
When the temperature rising model is used, if the laser power P is constant power, a corresponding temperature T1 exists for the time parameter T1, a corresponding temperature T2 exists for the time parameter T2, and the time interval between T1 and T2 is the laser light emitting time required to be continuously adjusted from T1 to T2 under the constant power.
Therefore, under the condition that the current actual temperature, the target temperature and the constant power are clear, the preset heating duration required for heating from the current actual temperature to the target temperature can be solved through the heating model shown in the foregoing.
In step S104, the laser power is controlled according to the temperature control power curve at the stage where temperature control is required.
The temperature control stage is set for adjusting the temperature rising rate, so that the condition that the temperature of the part to be ablated continuously rises at a faster rate to cause the local temperature to be too high is prevented, and the actual temperature needs to be controlled to be smoothly close to the target temperature in the temperature control stage so as to prolong the duration of the target temperature acting on the part to be ablated.
Further, similar to the temperature rising stage, the laser power can be dynamically controlled according to the temperature control power curve in the temperature control stage and the preset temperature control duration can be continued.
Still further, the preset temperature control period may be calculated based on the target temperature and the temperature control power curve before controlling the laser power according to the temperature control power curve.
For example, there may be two adjustment requirements during the temperature control phase:
one is that after the temperature rising stage is finished, the actual temperature is greater than the target temperature, in which case, the target of the temperature control stage is to control the actual temperature to gradually decrease in a steady trend, and at this time, there may be a case of adjusting the laser power down to 0;
secondly, after the temperature rising period is finished, the actual temperature is smaller than the target temperature, in which case, the target of the temperature control period is to control the actual temperature to gradually rise in a smooth trend, and at this time, there may be a case of adjusting the laser power down to another smaller value.
The laser power is adjusted to adapt to the laser requirements of different stages, for example, the temperature is quickly increased in the temperature increasing stage so as to improve the laser energy, and the laser energy is stabilized in the temperature control stage. The process does not need to control the optical fiber heating end to reciprocate, and can effectively avoid loss to the laser device.
Further, the disclosed embodiments provide a real-time dynamic adjustment laser power adjustment scheme, which can flexibly control the target temperature and the process of heating and controlling the temperature according to the actual ablation condition, so that the scheme can be flexibly applied to various focuses. Compared with the traditional adjusting method based on the selection of the established control scheme of different focus positions or types, the method can complete the adjustment of the target temperature according to the dynamic change acquired in real time in the operation process, so as to complete the adjustment of the power curve, further realize the adjustment control of the laser power, and make the laser power more fit the actual operation condition, namely the method can dynamically adjust in time in operation according to the actual condition.
The traditional adjusting method needs to be operated according to a given scheme, and cannot respond to actual changing conditions in time. In addition, the determination of the given scheme often needs to be supported according to a large amount of experimental data, and if the experimental data source itself has defects, errors or incompleteness, the obtained given scheme is unreliable, so that the safety of the laser ablation process is affected.
In particular, for different clinical application needs, the laser power modulation scheme of embodiments of the present disclosure may dynamically modulate laser energy according to a target temperature, such as in spongy hemangiomas and tumor lesions rich in blood supply, employing a higher target temperature for coagulation and ablation ranges, such as 80 ℃ to 90 ℃. When the focus around the functional area is ablated, the lower target temperature is used for accurate ablation, for example, 55 ℃ to 60 ℃. For photodynamic and photosensitive therapy, more stable temperature control is used, for example 43 ℃ to 45 ℃. That is, the laser power adjustment scheme of the embodiment of the disclosure can perform active and real-time temperature adjustment according to the requirement of the target temperature, and has universality and reliability compared with the traditional adjustment method.
The heating power curve and the temperature control power curve employed by some embodiments of the present disclosure are also different for different laser light output modes.
In some embodiments of the present disclosure, the laser light exit modes may include a continuous light exit mode and a pulsed light exit mode, and which laser light exit mode is selected may be determined according to the type of optical fiber.
Illustratively, the laser light emitting mode is determined as follows:
Identifying the type of the optical fiber;
if the optical fiber type is a side-emitting optical fiber, the laser light emitting mode is a pulse light emitting mode;
if the optical fiber type is a dispersion optical fiber, the laser light-emitting mode is a continuous light-emitting mode;
if the optical fiber type is a ring optical fiber, the laser light emitting mode may be any one of a pulse light emitting mode and a continuous light emitting mode.
The side-emitting optical fiber comprises a side-emitting optical fiber, a laser beam and a laser beam, wherein the laser in the side-emitting optical fiber emits from the circumferential surface of the optical fiber, and the irradiation range of the laser beam is a sector column; the dispersion optical fiber refers to that laser is emitted from the end face of the optical fiber, and the irradiation range of the laser is a cone or a round table; the laser in the ring-shaped optical fiber is emitted from the circumferential edge of the optical fiber, and the irradiation range of the laser is in a ring shape.
It should be noted that the above-described method for determining the laser light emitting mode is only an example provided in the disclosure, and the type of the optical fiber may not be identified in practical application, and a continuous light emitting mode or a pulsed light emitting mode may be preferred.
For ease of understanding, the laser power adjustment method used in the continuous light emitting mode and the laser power adjustment method used in the pulsed light emitting mode are described below, respectively.
In the case that the laser light emitting mode is a continuous light emitting mode, the temperature rising power curve can adopt a curve that the laser power is constant or the laser power is linearly increased, the temperature control power curve can adopt a curve that the laser power is in an oscillation form or the laser power is linearly decreased, or can also adopt a power output curve with constant decreasing amplitude, wherein the constant power is a positive number.
Based on the various selectable curves, the disclosure provides laser power adjustment modes that can be adopted in at least two continuous light output modes:
in one of the above steps, the laser power is linearly increased to achieve the effect of rapid temperature rise in the temperature rising stage, and the laser power is linearly decreased to lower the temperature rising rate in the temperature control stage. In the mode, the fact that the laser power which is linearly increased can achieve a higher heating rate is considered, so that the heating rate can be timely adjusted downwards, a temperature control power curve with the laser power linearly decreased is selected in a temperature control stage, and the heating rate can be conveniently and effectively restrained.
And secondly, in the temperature rising stage, the laser power is kept at constant power, and in the temperature control stage, the laser power is in an oscillation form. According to the mode, the fact that the laser with constant power can continuously provide energy to enable the temperature of the part to be ablated to continuously rise is considered, but the heating rate is not as high as that of a curve with linearly increasing laser power, so that a temperature control power curve with an oscillation form can be adopted in a temperature control stage, and the laser energy is periodically fed into the part to be ablated, so that the stability of the ablation temperature is maintained.
In addition, if the laser energy is output at a constant power, the temperature of the portion to be ablated will rise with the increase of time and exceed the target temperature, and the temperature control power curve adopting the oscillation form is considered for the purpose of prolonging the time of the target temperature acting on the portion to be ablated while stabilizing the temperature, in order to achieve an ablation range with a larger coverage degree.
It will be appreciated that other ways of adjusting the laser power may exist in practical applications, for example, the laser power increases linearly during the temperature increasing phase, the laser power is in an oscillating form during the temperature controlling phase, etc., and will not be described here.
Further, in the second laser power adjustment mode, a temperature control power curve may be a trigonometric function curve, so as to implement oscillation change of laser power.
Illustratively, fig. 2 shows an exemplary flowchart of a power curve determination method 200 of some embodiments of the present disclosure.
As shown in fig. 2, in step S201, constant power in the temperature-increasing power curve is determined according to the target temperature.
In this embodiment, the function of the heating power curve is as follows:
P(t)＝A；
wherein P represents laser power, A represents constant power, and t represents time parameter of the laser light emitting model.
In some embodiments, the constant power may be determined based on a warming model provided by the previous embodiments:
it should be noted that the above heating model provides two alternative models, and in the actual calculation process, one of them is selected to perform calculation.
Under the condition that the current actual temperature, the target temperature and the preset heating duration are defined, the constant power required to be set can be solved according to any one of heating models. For example, assuming that the temperature needs to be raised from 0 degrees to the target temperature within 35 seconds, the calculation formula of the constant power a is a= 0.1325T target 4.9231 where T is target Indicating the target temperature.
It should be further noted that, because there are multiple groups of time parameters corresponding to a preset heating duration, in practical application, a mapping table between a preset heating duration and a time parameter combination may be provided, and two time parameters are determined by a table look-up manner, so as to solve the constant power a.
It should be further noted that, according to the laser power adjustment method shown in the foregoing embodiment, it may be determined that, in actual application, the current actual temperature, the target temperature and the constant power may be determined first, so as to solve the preset heating duration, where the laser power is set by the user according to the actual situation.
In step S202, curve parameters in the temperature control power curve are determined from the constant power in the temperature increase power curve.
In some embodiments, the curve parameters may include a base power, an oscillation power, and an oscillation frequency coefficient.
Illustratively, in the present embodiment, the temperature control power curve is a trigonometric function curve, and the curve function thereof is as follows:
P(t)＝B+C sin(Dt)；
wherein B represents the base power, B is less than A, illustratively A ε [120% B,160% B ], i.e., B may be chosen in this range of values from A/1.6 to A/1.2;
C represents the oscillating power, C < a-B, illustratively c=10%b.
D represents the oscillation frequency coefficient, illustratively D ε 0.6283,6.283.
To sum up, the laser power adjustment method shown in fig. 2 employs a laser power adjustment model as follows:
the interval duration between the time parameter 0 and the time parameter a may be regarded as a preset temperature rise duration, and the interval duration between the time parameter a and the time parameter b may be regarded as a preset temperature control duration, where the solving mode of a is the solving mode of the preset temperature rise duration, which is described in the foregoing embodiment and is not repeated herein, and b may be set by the user according to the actual situation.
Furthermore, in the method for adjusting laser power in the continuous light emitting mode provided in any of the foregoing embodiments, a temperature adjusting stage may be added after the temperature adjusting stage is finished, where the temperature adjusting stage is triggered to enter based on a certain preset triggering condition, for example, the preset triggering condition may be set to have a deviation between the target temperature and the actual temperature. Taking the laser power adjustment method shown in fig. 2 as an example, if the target temperature and the actual temperature are inconsistent after t > b, the temperature adjustment stage is entered.
For ease of understanding, fig. 3 shows an exemplary flowchart of a laser power adjustment method 300 of other embodiments of the present disclosure. In the laser power adjustment method shown in fig. 3, the laser light emission mode is determined as a continuous light emission mode.
As shown in fig. 3, in step S301, a target temperature is determined.
In this embodiment, the execution content of step S301 has been described in step S101 in the previous embodiment, and will not be described here again.
In step S302, a temperature-increasing power curve and a temperature-controlling power curve are determined from the target temperature.
In this embodiment, the execution content of step S302 has been described in step S102 in the previous embodiment, and will not be described here again.
In step S303, the laser power is controlled according to the temperature increase power curve.
In this embodiment, the execution content of step S303 has been described in step S103 in the previous embodiment, and will not be described here again.
In step S304, the laser power is controlled according to the temperature-controlled power curve.
In this embodiment, the execution content of step S304 has been described in step S104 in the previous embodiment, and will not be described here again.
In step S305, it is determined whether or not the actual temperature matches the target temperature.
If yes, the laser power control action in the temperature control stage is continuously executed.
If not, the process returns to step S305 after step S306 is executed.
In step S306, the laser power is controlled according to the temperature adjustment power curve.
Step S306 is to control the laser power according to the temperature-regulating power curve until the actual temperature is consistent with the target temperature, and then return to execute the laser power control action in the temperature-regulating stage.
The temperature adjustment power curve used in step S306 may be obtained after parameter adjustment based on the temperature adjustment power curve.
Further, in the temperature control stage and the temperature adjustment stage, the user can control the laser controller to send a stop instruction according to the actual ablation condition to control the laser device to stop, so that the temperature control stage or the temperature adjustment stage is exited.
Taking the laser power adjustment model shown in fig. 2 as an example, the temperature control power curve at this time has a function of P (t) =b+csin (Dt), and the temperature control power curve may be P (t) =b 2 +C 2 sin(D 2 t), wherein B 2 Represents the base power, C 2 Represents the oscillating power, D 2 Representing the oscillation frequency coefficient.
The parameter adjustment mode is as follows: one or more of the base power, the oscillation power and the oscillation frequency coefficient are selected for adjustment.
The specific parameter adjustment range is as follows:
if the base power is adjusted, B 2 Up-or down-regulating the amplitude of 5% to 10% on the basis of B;
if the oscillating power is adjusted, C 2 <A-B 2 Illustratively, c=10% b 2 ；
If the oscillation frequency coefficient is adjusted, then at [0.6283,6.283 ]]Pair D within this numerical range 2 And (5) adjusting.
To sum up, the laser power adjustment method shown in fig. 3 employs a laser power adjustment model as follows:
it should be noted that, in some embodiments, B 2 Can be consistent with B, C 2 Can be consistent with C, D 2 May be consistent with D.
As an example, the present disclosure provides temperature diagrams under different power curve control as shown in fig. 4-5, where fig. 4 shows temperature diagrams under temperature rise power curve control of some embodiments of the present disclosure, and fig. 5 shows temperature diagrams under laser power adjustment model control of some embodiments of the present disclosure. Wherein the function of the heating power curve of fig. 4 is P (t) =6, and the laser power adjustment model of fig. 5 is
The above embodiments describe the scenario in which the laser light emitting mode is the continuous light emitting mode in detail, and the following describes the scenario in which the laser light emitting mode is the pulse light emitting mode.
In the pulse light emitting mode, the heating power curve can adopt a curve with laser power being constant power, wherein the constant power is positive, and the temperature control power curve can adopt a curve with laser power being smaller than the constant power. When the temperature control power curve adopts a curve with zero laser power, namely, the laser is turned off in the temperature control stage, the effect of rapid cooling can be realized at the moment; when the temperature control power curve adopts a non-zero value curve with laser power smaller than constant power, the temperature can be maintained for a longer time, and the continuous execution of the ablation operation is ensured. The step of determining the temperature-rising power curve and the temperature-controlling power curve can thus be understood as a step of determining the constant power.
Fig. 6 shows an exemplary flow chart of a laser power adjustment method 600 of further embodiments of the present disclosure. The laser light emission pattern in fig. 6 is determined as a pulse light emission pattern.
As shown in fig. 6, in step S601, a target temperature is determined.
In fig. 6, the laser light emitting mode is determined as a pulse light emitting mode, where the determination manner of the laser light emitting mode is described in detail in the foregoing embodiments, and will not be described herein.
In step S602, a constant power in the temperature-increasing power curve is determined according to the target temperature.
In this embodiment, the following warming model can also be used to solve for the constant power:
the specific solving process is described in detail in the foregoing embodiments, and will not be repeated here.
In other embodiments, the constant power may also be set by the user according to the actual situation.
In step S603, the laser power is controlled according to the temperature increase power curve at the stage where the temperature needs to be increased.
Further, in the heating stage, the laser power may be controlled according to a heating power curve and the heating duration may be continuously preset.
Still further, the preset heating-up period may be calculated based on the target temperature and the heating-up power curve before the laser power is controlled in accordance with the heating-up power curve.
The preset heating duration can be calculated according to the heating model provided in step S602, and under the condition that the current actual temperature, the target temperature and the constant power are defined, any one of the heating models is used to calculate two time parameters, and the duration of the interval between the two time parameters is the preset heating duration.
In step S604, the laser power is controlled according to the temperature control power curve at the stage where the temperature control is required.
Further, in the temperature control stage, the laser power can be controlled according to a temperature control power curve and the temperature control duration can be continuously preset.
Still further, the preset temperature control period may be calculated based on the target temperature and the temperature control power curve before controlling the laser power according to the temperature control power curve.
For a temperature-controlled power profile in pulsed light-out mode, some embodiments of the present disclosure provide the following temperature-controlled model:
wherein T represents a temperature, and T represents a time parameter corresponding to the temperature T.
The temperature control model provides two optional models, and one of the two optional models is selected to be calculated in the actual calculation process.
When the temperature control model is used, the laser power P is 0, a temperature T1 corresponding to the temperature P exists for the time parameter T1, a temperature T2 corresponding to the time parameter T2 exists for the time parameter T2, and the time length between the time T1 and the time length T2 is the laser light emitting time length required by the time length T1 to be adjusted to the time length T2 under the control of the current temperature control power curve.
The current actual temperature and the target temperature can be substituted into the temperature control model, and the preset temperature control duration required by adjusting the current actual temperature to the target temperature is solved.
In step S605, the laser power control operation in the temperature raising stage and the temperature control stage is alternately performed.
Step S605 alternately executes temperature riseThe laser power control actions of the stage and the temperature control stage enable the laser power adjustment model to be in a square wave pulse shape: p (t) =a 2 +A 2 * sign (sin (npi t)), where A 2 The constant power representing the heating power curve in the pulse light emitting mode, and the duty ratio coefficient n can be determined according to the preset heating duration and/or the preset temperature control duration.
The laser power adjustment method shown in the foregoing embodiment always refers to the power curve of the corresponding stage to perform power control when controlling the laser power. In practical applications, the actual temperature may deviate greatly due to factors such as unstable control signals or interference signals.
To address the above-described issues with the warm-up phase and/or the temperature-control phase, some embodiments of the present disclosure also introduce a Proportional-Integral-derivative control (PID) based feedback mechanism during the warm-up phase and/or the temperature-control phase. For ease of understanding, the following description of the feedback mechanism during the warm-up phase is given by way of example, with reference to fig. 7, which shows an exemplary flow chart of a laser power feedback method 700 of some embodiments of the present disclosure.
As shown in fig. 7, in step S701, a real-time temperature and an estimated temperature increase are acquired.
In this embodiment, the estimated temperature increase is a temperature calculated based on a temperature increase power curve. The heating power curve represents a curve of laser power relative to time parameters, so that the value of the laser power at a certain time can be determined according to the heating power curve, and the level that the temperature should reach at the moment is calculated, so that after the acquisition moment of the real-time temperature is determined, the estimated heating temperature at the acquisition moment can be calculated according to the heating power curve.
In step S702, it is determined whether the temperature difference is greater than or equal to a preset error threshold.
If yes, go back to execute step S701 after executing step S703;
if not, step S704 is performed.
It should be noted that, the temperature difference in step S702 may be an absolute value of a difference between the real-time temperature and the estimated heating temperature, the preset error threshold is a temperature difference preset in the system, and the specific value thereof may be adjusted according to the actual situation, which is not limited herein.
In step S703, the laser power is controlled by proportional-integral-derivative.
In this embodiment, the laser power is controlled by PID control, wherein the control deviation is formed according to the temperature difference between the real-time temperature and the estimated heating temperature, and the deviation is formed into a control quantity by linear combination of proportion, integral and derivative, so as to control the laser power.
When the temperature difference between the real-time temperature and the estimated heating temperature is greater than or equal to the preset error threshold, the real-time temperature is separated from the control of the heating power curve, and the temperature difference accumulation is increased possibly due to the fact that the control is continued according to the heating power curve, so that the temperature needs to be readjusted to the specified level of the heating power curve through PID control.
In step S704, the laser power is controlled again in accordance with the temperature-increasing power curve.
When the temperature difference between the real-time temperature and the estimated heating temperature is smaller than the preset error threshold, the current temperature is restored to the specified level of the heating power curve, and at the moment, the laser power is continuously controlled according to the heating power curve, so that the temperature can be increased according to the specified mode of the heating power curve.
Similar to the temperature rising phase, the temperature control phase can also introduce a feedback mechanism based on PID control, and the specific implementation process is as follows:
the method comprises the steps of collecting real-time temperature and pre-estimated temperature control temperature, wherein the pre-estimated temperature control temperature is calculated based on a temperature control power curve and is obtained at the collecting time of the real-time temperature.
And then, responding to the fact that the temperature difference between the real-time temperature and the estimated temperature control temperature is larger than or equal to a preset error threshold value, controlling the laser power through PID until the temperature difference is smaller than the preset error threshold value, and controlling the laser power again according to the temperature control power curve.
The above embodiments provide a laser power feedback method capable of ensuring stability of temperature in a temperature rising stage and/or a temperature control stage by using PID control, preventing temperature from being separated from control of a temperature rising power curve and/or a temperature control power curve, resulting in further increase of control error.
Corresponding to the foregoing functional embodiments, the disclosed embodiments also provide a laser power adjustment device. Fig. 8 shows an exemplary block diagram of a laser power adjustment device 800 according to an embodiment of the present disclosure. As shown in fig. 8, the apparatus includes a laser controller 801, a laser generator 802, and an optical fiber 803, wherein an output end of the laser controller 801 is connected to an input end of the laser generator 802, the laser controller 801 is configured to perform the method as in any of the previous embodiments to control the laser power of the laser generator 802, and an output end of the laser generator 802 is connected to an input end of the optical fiber 803, and the laser generator 802 irradiates laser light on a designated position through the optical fiber 803 under the control of the laser controller.
Further, the output end of the optical fiber is an optical fiber heating end, and a window for projecting laser is arranged on the optical fiber heating end and used for irradiating the laser at a designated position. The optical fiber can be further divided into a side-emitting optical fiber, a dispersion optical fiber and an annular optical fiber according to the position of the window, wherein the window of the side-emitting optical fiber is arranged on the side surface of the optical fiber, namely the circumferential surface of the optical fiber, and laser is projected in a fan-shaped range, and the window of the dispersion optical fiber is arranged on the end surface of the optical fiber, and the laser is projected in a circular range; wherein a window of the annular optical fiber is provided at an edge of the fiber end face to project laser light in an annular range.
Corresponding to the foregoing functional embodiments, an electronic device as shown in fig. 9 is also provided in the embodiments of the present disclosure. Fig. 9 shows an exemplary block diagram of the electronic device of an embodiment of the present disclosure.
The electronic device 900 shown in fig. 9 includes: a processor 910; and a memory 920, the memory 920 having stored thereon executable program instructions that, when executed by the processor 910, cause the electronic device to implement any of the methods as described above.
In the electronic device 900 of fig. 9, only constituent elements related to the present embodiment are shown. Thus, it will be apparent to those of ordinary skill in the art that: the electronic device 900 may also include common constituent elements that are different from those shown in fig. 9.
Processor 910 may control the operation of electronic device 900. For example, the processor 910 controls the operation of the electronic device 900 by executing programs stored in the memory 920 on the electronic device 900. The processor 910 may be implemented by a Central Processing Unit (CPU), an Application Processor (AP), an artificial intelligence processor chip (IPU), etc. provided in the electronic device 900. However, the present disclosure is not limited thereto. In this embodiment, the processor 910 may be implemented in any suitable manner. For example, the processor 910 may take the form of, for example, a microprocessor or processor, and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable logic controller, and an embedded microcontroller, among others.
Memory 920 may be used for storing hardware for various data, instructions, etc. that are processed in electronic device 900. For example, the memory 920 may store processed data and data to be processed in the electronic device 900. Memory 920 may store data sets that have been processed or to be processed by processor 910. Further, the memory 920 may store applications, drivers, etc. to be driven by the electronic device 900. For example: the memory 920 may store various programs related to model calculations, curve parameter adjustments, etc., to be performed by the processor 910. The memory 920 may be a DRAM, but the present disclosure is not limited thereto. The memory 920 may include at least one of volatile memory or nonvolatile memory. The nonvolatile memory may include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, phase change RAM (PRAM), magnetic RAM (MRAM), resistive RAM (RRAM), ferroelectric RAM (FRAM), and the like. Volatile memory can include Dynamic RAM (DRAM), static RAM (SRAM), synchronous DRAM (SDRAM), PRAM, MRAM, RRAM, ferroelectric RAM (FeRAM), and the like. In an embodiment, the memory 920 may include at least one of a Hard Disk Drive (HDD), a Solid State Drive (SSD), a high density flash memory (CF), a Secure Digital (SD) card, a Micro-secure digital (Micro-SD) card, a Mini-secure digital (Mini-SD) card, an extreme digital (xD) card, a cache (caches), or a memory stick.
In summary, specific functions implemented by the memory 920 and the processor 910 of the electronic device 900 provided in the embodiment of the present disclosure may be explained in comparison with the foregoing embodiments in the present disclosure, and may achieve the technical effects of the foregoing embodiments, which will not be repeated herein.
Alternatively, the present disclosure may also be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon computer program instructions (or computer programs, or computer instruction codes) which, when executed by a processor of an electronic device (or electronic device, server, etc.), cause the processor to perform part or all of the steps of the above-described methods according to the present disclosure.
While various embodiments of the present disclosure have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous modifications, changes, and substitutions will occur to those skilled in the art without departing from the spirit and scope of the present disclosure. It should be understood that various alternatives to the embodiments of the disclosure described herein may be employed in practicing the disclosure. The appended claims are intended to define the scope of the disclosure and are therefore to cover all equivalents or alternatives falling within the scope of these claims.
Claims (18)
1. A method of laser power adjustment, comprising:
determining a target temperature and/or a laser light emitting mode;
determining a temperature rise power curve and a temperature control power curve according to the target temperature and/or the laser light emitting mode;
controlling laser power according to a heating power curve at a stage needing heating;
and controlling the laser power according to a temperature control power curve at the stage of needing temperature control.
2. The laser power adjustment method of claim 1, wherein the laser light exit mode comprises a continuous light exit mode, the method further comprising:
if the laser light emitting mode is a continuous light emitting mode, the laser power is constant or the laser power is linearly increased in the temperature rising power curve; in the temperature control power curve, the laser power is in an oscillation form or linearly decreases.
3. The laser power adjustment method of claim 2, wherein if the laser light exit mode is a continuous light exit mode, the method further comprises:
and judging whether the actual temperature is consistent with the target temperature, if not, controlling the laser power according to a temperature-regulating power curve until the actual temperature is consistent with the target temperature, and returning to execute the laser power control action of the temperature control stage.
4. A laser power modulation method according to any one of claims 1-3 wherein the laser light extraction mode further comprises a pulsed light extraction mode, the method further comprising:
if the laser light emitting mode is determined to be a pulse light emitting mode, the laser power is constant in the heating power curve; in the temperature control power curve, the laser power is smaller than the constant power.
5. The laser power adjustment method according to claim 1, wherein the determining of the laser light output mode includes:
identifying the type of the optical fiber;
if the optical fiber type is a side-emitting optical fiber, the laser light-emitting mode is a pulse light-emitting mode;
if the optical fiber type is a dispersion optical fiber, the laser light-emitting mode is a continuous light-emitting mode;
if the optical fiber type is annular optical fiber, the laser light-emitting mode is a pulse light-emitting mode or a continuous light-emitting mode.
6. A laser power adjustment method according to claim 2 or 3, characterized in that the temperature-controlled power curve is a trigonometric function curve if the laser power is in an oscillating form.
7. The method of adjusting laser power according to claim 6,
The function of the heating power curve is as follows:
P(t)＝A；
the function of the temperature control power curve is as follows:
P(t)＝B+C sin(Dt)；
wherein P represents laser power, A represents constant power, the constant power is calculated based on the target temperature, B represents basic power, B is smaller than A, C represents oscillation power, D represents oscillation frequency coefficient, and t represents time parameter of a laser light emitting model.
8. A laser power adjustment method according to claim 3, characterized in that before controlling the laser power according to the tempering power curve, further comprising:
and carrying out parameter adjustment based on the temperature control power curve to obtain the temperature control power curve.
9. A laser power adjustment method according to claim 3, characterized in that if the laser light exit mode is a pulsed light exit mode, the method further comprises:
the laser power control actions of the temperature raising stage and the temperature control stage are alternately executed.
10. The laser power adjustment method according to claim 1, characterized by further comprising:
controlling laser power according to a heating power curve and continuously presetting heating time in a stage needing heating;
and in the stage of needing temperature control, controlling laser power according to a temperature control power curve and continuously presetting the temperature control duration.
11. The laser power adjustment method according to claim 10, wherein before controlling the laser power in accordance with the temperature-increasing power curve, further comprising:
and calculating the preset heating duration based on the target temperature and the heating power curve.
12. The laser power adjustment method according to claim 11, wherein the step of calculating the preset temperature rise time period includes:
the preset warming time period is calculated according to the following warming model,
wherein T represents temperature, P represents laser power, P is determined according to the heating power curve, and T represents a time parameter corresponding to the temperature T.
13. The method of claim 10, wherein if the laser light emitting mode is a pulsed light emitting mode, further comprising, prior to controlling the laser power according to the temperature control power profile:
and calculating the preset temperature control duration based on the target temperature and the temperature control power curve.
14. The laser power adjustment method according to claim 13, wherein the calculating step of the preset temperature control duration includes:
calculating the preset temperature control duration according to the following temperature control model,
Wherein T represents a temperature, and T represents a time parameter corresponding to the temperature T.
15. The laser power adjustment method according to claim 1, wherein in a stage where a temperature increase is required, the method further comprises:
collecting real-time temperature and estimated heating temperature, wherein the estimated heating temperature is calculated based on the heating power curve and is obtained at the collecting time of the real-time temperature; and
responding to the temperature difference between the real-time temperature and the estimated heating temperature is larger than or equal to a preset error threshold value, controlling the laser power through proportional-integral-derivative until the temperature difference is smaller than the preset error threshold value, and controlling the laser power again according to the heating power curve;
and/or
Wherein at the stage of needing temperature control, the method further comprises:
collecting real-time temperature and estimated temperature control temperature, wherein the estimated temperature control temperature is calculated based on the temperature control power curve and is obtained at the collecting time of the real-time temperature; and
and responding to the fact that the temperature difference between the real-time temperature and the estimated temperature control temperature is larger than or equal to the preset error threshold value, controlling the laser power through proportional-integral-derivative until the temperature difference is smaller than the preset error threshold value, and controlling the laser power again according to the temperature control power curve.
16. A laser power adjustment device, comprising:
a laser controller having an output coupled to an input of a laser generator for performing the method of any of claims 1-15 to control the laser power of the laser generator;
the output end of the laser generator is connected with the input end of the optical fiber, and the laser generator is used for irradiating laser on a designated position through the optical fiber under the control of the laser controller; and
and an optical fiber for irradiating laser light at a specified position.
17. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-15.
18. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any of claims 1-15.
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| CN117595057A (en) * | 2024-01-18 | 2024-02-23 | 北京卓镭激光技术有限公司 | Laser power control method and device based on crystal temperature |
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| CN117595057A (en) * | 2024-01-18 | 2024-02-23 | 北京卓镭激光技术有限公司 | Laser power control method and device based on crystal temperature |
| CN117595057B (en) * | 2024-01-18 | 2024-04-26 | 北京卓镭激光技术有限公司 | Laser power control method and device based on crystal temperature |
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