WO2021072751A1

WO2021072751A1 - Method for controlling striking strength of pulse therapy gun

Info

Publication number: WO2021072751A1
Application number: PCT/CN2019/111973
Authority: WO
Inventors: 张新民; 李洪涛; 申彦魁
Original assignee: 郑州飞龙医疗设备有限公司
Priority date: 2019-10-18
Filing date: 2019-10-18
Publication date: 2021-04-22
Also published as: CN111918629B; CN111918629A

Abstract

A method for controlling the striking strength of a pulse therapy gun, which is characterized in and comprises the following steps: during initial calibration, the striking strength of a first actual output of a therapy gun tip is labeled as a standard value on an upper computer, such that when the standard value is inputted on the upper computer, the pulse therapy gun tip outputs a corresponding striking strength; during subsequent therapy, the standard value is firstly inputted to a microcontroller by using the upper computer, and then the microcontroller controls the therapy gun tip to strike; a strength sensor at the rear end of the therapy gun tip collects the striking strength of the gun tip and transmits same back to the microcontroller; and the microcontroller compares the striking strength with corresponding standard values, and according to the comparison data, the microcontroller determines whether each standard value is accurate and whether recalibration is required. The method for controlling striking strength of a pulse therapy gun has the advantages of being simple and convenient to operate, having fast adjustment speed, high treatment efficiency, and saving both time and energy.

Description

Method for controlling the striking force of pulse therapy gun

Technical field

The invention relates to a pulse therapy gun, in particular to a method for controlling the striking force of the pulse therapy gun.

Background technique

The pulse therapy gun is a device that treats the affected area through the percussion of the gun tip. Due to external factors such as internal friction of the gun body and its own accuracy, the actual output of the gun tip often deviates from the theoretical output. This deviation is non-linear. The traditional control method is that during the treatment process, the actual output hitting strength is collected and displayed by the force sensor at the back end of the treatment gun head, and the theoretical force value is slowly adjusted so that the actual output hitting strength is slowly changed until it is needed. Due to the need to constantly adjust the treatment intensity during the treatment process, this control method is inconvenient to operate and slow in the adjustment speed, which affects the treatment efficiency.

In order to solve the above problems, people have been seeking an ideal technical solution.

Summary of the invention

The purpose of the present invention is to address the shortcomings of the prior art, thereby providing a method for controlling the striking force of a pulse therapy gun that is simple to operate, fast in adjustment rate, high in treatment efficiency, and time-saving and labor-saving.

In order to achieve the above objective, the technical solution adopted by the present invention is: a method for controlling the striking force of a pulse therapy gun, which is characterized in that it comprises the following steps:

a) For the first calibration, mark the first actual hitting strength of the treatment gun head as the standard value on the host computer, so that when a certain standard value is input on the host computer, the pulse treatment gun head will output the corresponding hitting strength;

b) In the follow-up treatment process, first input the standard value to the microcontroller through the host computer, and then the microcontroller controls the shot of the treatment gun;

c) The force sensor at the back end of the treatment gun head collects the hitting force of the gun head, and transmits the hitting force back to the microcontroller;

d) The microcontroller compares the hitting strength with the corresponding standard value, and the microcontroller judges whether each standard value is inaccurate according to the comparison data and whether it needs to be recalibrated.

Based on the above, step a) includes the following sub-steps:

a1). Input the theoretical force value to the microcontroller through the host computer, and the microcontroller controls the shot of the treatment gun;

a2) The force sensor at the back end of the treatment gun head collects the actual hitting force of the gun head, and uses the actual hitting force as the standard value;

a3) Repeat steps a1 and a2 to find out the corresponding standard values of multiple sets of theoretical force values, and modify the multiple sets of theoretical force values to the corresponding standard values on the host computer.

Based on the above, step d) includes the following sub-steps:

d1). The microcontroller compares the hitting strength with the corresponding standard value. If the error is within the set range, it is judged as accurate, and if the error exceeds the set range, it is judged as inaccurate;

d2). In a single treatment process, when the accurate ratio exceeds the set ratio, the microcontroller judges that it is not inaccurate; when the accurate ratio does not exceed the set ratio, the microcontroller judges that it is inaccurate, and it is displayed on the host computer. The recalibration information is displayed.

Based on the above, the setting range in step d1) is 2N.

Based on the above, the set ratio in step d2) is 90%.

Compared with the prior art, the present invention has outstanding substantive features and significant progress. Specifically, the present invention has been pre-calibrated for the first time, and the actual output of the treatment gun tip is set as a standard value in advance and marked on the host computer. , So that in the treatment process, when you need to output a certain treatment intensity, you can directly click on the corresponding standard value on the host computer, and the gun tip of the treatment gun can output the treatment intensity, eliminating the need for slow adjustment, checking, and comparison. Steps, thereby greatly improving the adjustment rate and treatment efficiency; due to the wear and tear of the machine during use, the actual output hitting strength may continue to change. In order to find the output strength changes in time, in the subsequent use process, after the treatment gun tip The force sensor at the end will continuously collect the hitting force and feed it back to the microcontroller. The microcontroller will detect the misalignment in time by comparing the hitting force with the standard value and remind the operator to recalibrate; it has easy operation and speed adjustment The advantages of fast, high treatment efficiency, time-saving and labor-saving.

Through the setting of the setting range and the setting ratio, the errors caused by accidental data such as the offset of the hit position and the miss can be eliminated, so that the microcontroller can make a more accurate judgment on whether it is necessary to recalibrate.

Description of the drawings

Fig. 1 is a flow chart of the steps of the method for controlling the striking force of the pulse therapy gun in the present invention.

Fig. 2 is a circuit diagram of the power supply in the treatment gun control circuit embodying the present invention.

Fig. 3 is a diagram of the main control circuit in the treatment gun control circuit implementing the present invention.

Fig. 4 is a communication circuit diagram in the treatment gun control circuit embodying the present invention.

Fig. 5 is a sampling circuit diagram in the treatment gun control circuit implementing the present invention.

Fig. 6 is a circuit diagram of the coil driving circuit in the treatment gun control circuit embodying the present invention.

Fig. 7 is a display circuit diagram in the treatment gun control circuit embodying the present invention.

Detailed ways

The technical solutions of the present invention will be further described in detail below through specific implementations.

As shown in Figure 1, a method for controlling the striking force of a pulse therapy gun is characterized in that it comprises the following steps:

(1) For the initial calibration, mark the first actual hitting strength of the treatment gun head as a standard value on the host computer, so that when a certain standard value is input on the host computer, the pulse treatment gun head will output the corresponding hitting strength;

(2) In the follow-up treatment process, first input the standard value to the microcontroller through the host computer, and then the microcontroller controls the shot of the treatment gun;

(3) The force sensor at the back end of the treatment gun head collects the hitting force of the gun head, and transmits the hitting force back to the microcontroller;

(4) The microcontroller compares the hitting strength with the corresponding standard value. If the error is within 2N, it is judged as accurate, and if the error exceeds 2N, it is judged as inaccurate;

(5) During a single treatment, when the accurate ratio exceeds 90%, the microcontroller judges that it is not inaccurate; when the accurate ratio does not exceed 90%, the microcontroller judges that it is inaccurate and displays it on the host computer Recalibrate information.

Among them, the initial calibration includes the following sub-steps:

(1) Input the theoretical force value to the microcontroller through the host computer, and the microcontroller controls the shot of the treatment gun;

(2) The force sensor at the back end of the treatment gun head collects the actual hitting force of the gun head, and uses the actual hitting force as the standard value;

(3) Repeat steps a1 and a2 to find out the corresponding standard values of multiple sets of theoretical force values, and modify the multiple sets of theoretical force values to the corresponding standard values on the host computer.

working principle:

This control method is specifically aimed at the control of force in the follow-up percussion treatment process, does not involve pre-diagnosis, is essentially a force control method, and does not itself belong to a treatment method.

When using for the first time, first calibrate, input different theoretical force values on the host computer, measure the actual striking force corresponding to the output of the treatment gun head as the standard value, and modify the theoretical force value on the host computer to the corresponding standard value. In the subsequent use process, when you need to output a certain treatment intensity, you can directly click the corresponding standard value on the host computer, and the treatment gun tip can output the treatment intensity, eliminating the need for slow adjustment, checking, and comparison steps; On the other hand, due to the wear and tear of the machine during use, the actual output strike force may continue to change. In order to detect the change in output force in time, in the subsequent use process, the force sensor at the rear end of the treatment gun will continuously collect the strike. The strength is fed back to the microcontroller. The microcontroller detects the misalignment in time by comparing the hitting strength with the standard value and reminds the operator to calibrate again.

In order to avoid calibration too frequently, when judging whether it is necessary to recalibrate, first determine whether a single hit is accurate, and set an allowable error range of 2N for each standard value. If the error is within this range, it is considered accurate, and beyond this range It is considered inaccurate, and then judge whether the accurate ratio exceeds 90% of the set ratio during a single treatment, and draw a conclusion whether recalibration is required. This setting can eliminate the offset of the hit position, misses, etc. For errors caused by accidental data, a more accurate judgment can be made; in other embodiments, it is also possible to use the adjustment error as the allowable error range or set different error ranges and proportions according to actual conditions.

The treatment gun control circuit used in this embodiment includes a power supply circuit, which converts the external 48V power supply into the power required by the internal parts, which are 15V, 5V, and 3.3V respectively;

The main control circuit is used for signal acquisition, parameter setting, data display control and data exchange with the host computer, such as setting frequency, number of hits, hitting strength, control display, etc.;

Communication circuit, combined with the main control circuit to achieve communication with the host computer;

The force sensor and the sampling circuit are combined for the collection of feedback force data and sent to the main control circuit as the basic data for determining whether to trigger the work;

The coil drive circuit controls the on-off of the NMOS through the PWM signal sent by the MCU, drives the coil to work to generate a magnetic field, and controls the working state of the treatment gun tip;

The display circuit is used to display various parameters and force data, mainly to display the two sets of data of applied force and feedback force.

Specifically, as shown in FIG. 2, the power supply circuit includes a monolithic step-down switch mode converter U1, a voltage regulator U5, a voltage converter U2, a fuse F1, a diode D6 and D1, a capacitor C1, a capacitor C2, and a capacitor. C3, capacitor C4, capacitor C5, capacitor C6, capacitor C7, capacitor C8, capacitor C9, capacitor C10, capacitor C26, capacitor C27, capacitor C28, resistor R1, resistor R2, resistor R3, resistor R4, resistor R38, resistor R39, The resistor R41, the inductor L4, one end of the fuse F1, the capacitor C1, the capacitor C2, and the resistor R1 are connected to the VIN terminal of the monolithic step-down switch mode converter U1, and the other end of the fuse F1 is connected to the cathode of the diode D6, The anode of the diode D6 is connected to the 48V power supply, the other end of the resistor R1 is connected to one end of the resistor R2 and then connected to the EN terminal of the monolithic buck switch mode converter U1, and one end of the capacitor C3 is connected to the monolithic buck switch mode converter U1 SS terminal, the other end of capacitor C1, capacitor C2, capacitor C3, resistor R2 and the GND terminal of monolithic step-down switch mode converter U1 are all grounded. After the BST end of monolithic step-down switch mode converter U1 is connected in series with capacitor C4 Connect the cathode of the diode D1, the anode of the diode D1 is connected to the GS terminal of the monolithic buck switch mode converter U1, the SW terminal of the monolithic buck switch mode converter U1 is connected to one end of the inductor L4, and the other end of the inductor L4 is output 5V power supply, one end of resistor C5, resistor C6, resistor C7, resistor R3 are all connected to the other end of inductor L4, the other end of resistor R3 is connected in series with resistor R4 and then grounded, and the other end of inductor C5 is connected to monolithic buck switch mode conversion The FB end of the regulator U1, the other ends of the inductors C6 and C7 are grounded, the IN end of the regulator U5 is connected to one end of the fuse F1 and one end of the resistor C26, and the OUT end of the regulator U5 is connected to the resistor R38, the capacitor C27, One end of the capacitor C28 outputs 15V voltage, the other end of the resistor R38 is connected to the ADJ end of the regulator U5, the ADJ end of the regulator U5 is connected to the resistors R39 and R41 in series and then grounded, and the other end of the capacitor C26, the capacitor C27 and the capacitor C28 Both are grounded; the VIN terminal of the voltage converter U2 is connected to the 5V power supply and connected to the capacitor C8 in series and then grounded. The VOUT terminal of the voltage converter U2 is respectively connected to one end of the capacitors C9 and C10 and outputs a 3.3V voltage. The other ends of the capacitors C9 and C10 and The GND terminals of the voltage converter U2 are all grounded.

This circuit is mainly used to step down the 48V power supply to 15V, 5V and 3.3V for power supply to subsequent components.

As shown in Figure 3, the main control circuit includes a microcontroller U3, a capacitor C12, a capacitor C18, a capacitor C16, a capacitor C25, a capacitor C21, a capacitor C20, a capacitor C19, a capacitor Y1, a resistor R33, R36, and R32. The VDD_3 interface of the microcontroller U3 is connected to one end of the capacitor C18, the other end of the capacitor C18 is grounded, the BOOT0 interface of the microcontroller U3 is connected to the resistor R33 in series and then grounded, the VDD_2 interface of the microcontroller U3 is connected to one end of the capacitor C19, and the other end of the capacitor C19 One end is connected to the VSS_2 interface of the microcontroller U3 and then grounded. The VDD_1 interface of the microcontroller U3 is connected to one end of the capacitor C20, and the other end of the capacitor C20 is grounded. The PA5 and PA6 of the microcontroller U3 are connected through a resistor R36. The VDDA interface of U3 is connected to one end of the capacitor C21, and the other end of the capacitor C21 is grounded. The PD1 interface of the microcontroller U3 is connected to one end of the capacitor C16 and one end of the capacitor Y1. The other end of the capacitor C16 and the other end of the capacitor Y1 are respectively connected to the capacitor Two ends of C12, the other end of capacitor Y1 is also connected to the PD0 interface of microcontroller U3, the other end of capacitor C16 is grounded, the VBAT interface of microcontroller U3 is connected to one end of resistor R32 and one end of capacitor C25, and the other end of capacitor C25 After connecting the capacitor C17 in series, connect the other end of the resistor R32, the other end of the resistor R32 is also connected to the NRST end of the microcontroller U3, the other end of the capacitor C25 is grounded, and the microcontroller U3 is powered by the 3.3V output end of the power supply circuit.

This part of the circuit is mainly used to connect various other circuits, communicate with the host computer through the communication circuit, obtain the data of the feedback force through the acquisition circuit, and realize the real-time display of the data through the connection of the display circuit.

As shown in Figure 4, the communication circuit includes a low-power transceiver U4, a capacitor C24, a resistor R20, a resistor R21, a resistor R22, a resistor R24, a resistor R25, a resistor R40, a fuse F3, a fuse F4, a diode D2, and Diode D3, the R end of the low-power transceiver U4 is connected to the PA3 interface of the microcontroller U3 through the RS485 interface and the resistor R20, and the RE interface and the DE interface of the low-power transceiver U4 are connected to the micro-controller through the RS485 interface and the resistor R21 The PB9 interface of the low-power transceiver U3, the D end of the low-power transceiver U4 is connected to the PA2 interface of the microcontroller U3 through the RS485 interface and the resistor R22, and the Vcc interface of the low-power transceiver U4 is connected to the 5V output terminal of the power supply circuit and the capacitor C24 One end, the other end of the capacitor C24 is connected to the GND terminal of the low-power transceiver U4 and then grounded. The A terminal of the low-power transceiver U4 is connected to the cathode of the diode D3, the anode of the diode D3 is grounded, and the B terminal of the low-power transceiver U4 Connect the cathode of the diode D2 and the anode of the diode D2 to ground. The A terminal of the low-power transceiver U4 is connected in series with the fuse F3 and the resistor R24, and then connected to the 5V output terminal of the power circuit. The B terminal of the low-power transceiver U4 is connected in series. Connect the fuse F4 and the resistance R25 to the ground, and connect the resistance R40 between the fuse F3 and the fuse F4.

This part of the circuit is mainly used for communication between MCU and host computer, and with the help of RS485 performance, low power consumption communication is realized.

As shown in Figure 5, the sampling circuit includes an operational amplifier U7, a capacitor C13, a capacitor C11, a capacitor C15, a capacitor C23, a capacitor C14, a capacitor C29, a resistor R19, a resistor R23, a resistor R28, a resistor R29, a resistor R26, and a resistor R27. And resistor R37, the IN1+ end of the operational amplifier U7 is connected to one end of resistors R19 and R29, the other end of resistor R19 is grounded, the other end of resistor R29 is connected to the ground after connecting capacitor C11, and the other end of resistor R29 is connected to input 3 of force sensor P2 , The IN1- end of the operational amplifier U7 is connected to one end of the resistor R23 and the resistor R28 respectively, the other end of the resistor R23 is connected to the OUT1 end and the IN2+ end of the operational amplifier U7, the other end of the resistor R28 is connected to the capacitor C23 in series and then grounded, the other end of the resistor R28 One end is connected to the input terminal 1 of the force sensor P2. The force sensor is powered by the 15V output terminal of the power circuit. The VCC terminal of the operational amplifier U7 is connected to the 15V output terminal of the power circuit and grounded through the capacitor C13. The IN2- terminal of the operational amplifier U7 is connected to the resistor respectively One end of R26 and resistor R27, the other end of resistor R26 is connected to one end of resistor R37, the other end of resistor R37 is grounded through capacitors C14 and C19 connected in parallel, the other end of resistor R27 is grounded, and the other end of resistor R37 is also connected to a microcontroller The PA1 interface of U3.

This part of the circuit is the core circuit of the feedback force acquisition, which is used to convert the force signal collected by the force sensor through the conversion of the sampling circuit and send it to the main control circuit for its analysis and processing.

As shown in Figure 6, the coil drive circuit includes a capacitor CX1, a MOS tube Q5, a diode D4, a diode D5, an inductor L2, a resistor R35, a resistor R34, a resistor R30, and a photocoupler U6. The input of the photocoupler U6 is connected to the micro The PA6 port of the controller U3 and the output of the photocoupler U6 are respectively connected to one end of the resistor R34 and the resistor R30. The other end of the resistor R34 is connected to the negative electrode of the diode D4 and one end of the inductor L2 and the power supply circuit. The anode of the diode D4 and the inductor L2 Connect the other end to the D end of the MOS transistor Q5 and one end of the capacitor CX1. Connect the S end of the MOS transistor Q5 to the other end of the capacitor CX1 and then connect one end of the resistor R31 and the anode of the diode D5, and the diode D5 The negative electrode and the other end of the resistor R31 are connected to the other end of the resistor R30, and one end of the resistor R31 is grounded.

This part of the circuit mainly executes the instructions issued by the main control circuit, which is used to control the power part of the treatment gun, including the working frequency, strength and number of hits.

As shown in Figure 7, it is the circuit schematic diagram of the display circuit. Through the connection with the main control circuit, the required data is displayed, thereby realizing the real-time inspection function on the spot, especially the comparison of the applied force and the feedback force. Show work.

Combining the working method with the existing technology: after power on, the main control circuit obtains data through communication with the host computer, and analyzes the data; when force is applied to the force sensor, the MCU uses the sampling circuit to determine whether the feedback force triggers the work and the trigger work. Parameters, and display the magnitude of the force on the digital tube.

When working, the host computer sends data to the MCU. After data analysis, the MCU obtains the operating frequency, the number of hits, and the strength of the hit, and sends out a PWM signal to drive the coil drive circuit to work, and the coil generates a magnetic field to drive the internal mechanical work to produce a therapeutic effect.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: The specific implementation of the invention is modified or some technical features are equivalently replaced; without departing from the spirit of the technical solution of the present invention, all of them shall be covered in the scope of the technical solution claimed by the present invention.

Claims

A method for controlling the striking force of a pulse therapy gun is characterized in that it comprises the following steps:

a) For the first calibration, mark the first actual hitting strength of the treatment gun head as the standard value on the host computer, so that when a certain standard value is input on the host computer, the pulse treatment gun head will output the corresponding hitting strength;

b) In the follow-up treatment process, first input the standard value to the microcontroller through the host computer, and then the microcontroller controls the shot of the treatment gun;

c) The force sensor at the back end of the treatment gun head collects the hitting force of the gun head, and transmits the hitting force back to the microcontroller;

d) The microcontroller compares the hitting strength with the corresponding standard value, and the microcontroller judges whether each standard value is inaccurate according to the comparison data and whether it needs to be recalibrated.
The method for controlling the striking force of a pulse therapy gun according to claim 1, wherein step a) comprises the following sub-steps:

a1). Input the theoretical force value to the microcontroller through the host computer, and the microcontroller controls the shot of the treatment gun;

a2) The force sensor at the back end of the treatment gun head collects the actual hitting force of the gun head, and uses the actual hitting force as the standard value;

a3) Repeat steps a1 and a2 to find out the corresponding standard values of multiple sets of theoretical force values, and modify the multiple sets of theoretical force values to the corresponding standard values on the host computer.
The method for controlling the striking force of a pulse therapy gun according to claim 1 or 2, wherein step d) comprises the following sub-steps:

d1). The microcontroller compares the hitting strength with the corresponding standard value. If the error is within the set range, it is judged as accurate, and if the error exceeds the set range, it is judged as inaccurate;

d2). In a single treatment process, when the accurate ratio exceeds the set ratio, the microcontroller judges that it is not inaccurate; when the accurate ratio does not exceed the set ratio, the microcontroller judges that it is inaccurate, and it is displayed on the host computer. The recalibration information is displayed.
The method for controlling the striking force of a pulse therapy gun according to claim 3, wherein the setting range in step d1) is 2N.
The method for controlling the striking strength of the pulse therapy gun according to claim 3, wherein the set ratio in step d2) is 90%.