CN-121513362-B - Control device and system for synchronous energy output of radiofrequency microneedle intermittent needle body movement

CN121513362BCN 121513362 BCN121513362 BCN 121513362BCN-121513362-B

Abstract

The invention discloses a control device and a system for synchronous energy output of radio frequency microneedle interval needle movement, wherein the device comprises a main controller, a micro needle array, a target point coordinate and a control device, wherein the main controller controls an XY axis horizontal movement mechanism to move the microneedle array to the target point coordinate according to a preset path, and the XY axis horizontal movement mechanism is locked after confirming that the micro needle array is in place; the Z-axis lifting mechanism is controlled to drive the microneedle array to vertically penetrate into the skin to a preset depth, the biological impedance value of the loop is detected in real time to carry out handshake verification before the radio frequency energy is output, the radio frequency generator is triggered to output energy only when the biological impedance value is in an effective coupling interval, the XY-axis horizontal moving mechanism is kept in a locking state in the whole energy output process, the Z-axis lifting mechanism is controlled to vertically retract after the energy output is finished, and the microneedle array is unlocked and the next position movement is executed after the microneedle array is separated from the skin. Effectively solves the problem of mechanical damage to the skin, and the risk of idle striking or burning caused by lack of contact detection, and remarkably improves the accuracy, uniformity and safety of treatment.

Inventors

XIA ZHEN
GAO TIANLIN
XIAO YUFENG
LIU LUNAN
LI HEDING

Assignees

湘潭医卫职业技术学院
西弥斯医疗科技(湖南)有限公司

Dates

Publication Date: 20260512
Application Date: 20260116

Claims (7)

1. A control device for synchronizing energy output of movement of a radiofrequency microneedle at intervals, which is characterized by being applied to a treatment system comprising a microneedle array, an XY-axis horizontal movement mechanism, a Z-axis lifting mechanism and a radiofrequency generator, and comprising: The positioning control module is used for controlling the XY axis horizontal moving mechanism to drive the microneedle array to move to the current target point coordinate according to a preset scanning path; After confirming that the coordinates are reached, locking the XY axis horizontal moving mechanism to enable the XY axis horizontal moving mechanism to be in a horizontal self-locking state; The feeding control module is used for controlling the Z-axis lifting mechanism to drive the microneedle array to feed in the vertical direction so as to reach the preset working depth; The impedance detection handshake module is used for sending microampere-level test current to the microneedle array before outputting radio frequency energy and detecting the biological impedance value of the loop; generating a handshake signal allowing excitation only when the bio-impedance value is in a preset effective coupling interval; the energy triggering module is used for triggering the radio frequency generator to output radio frequency energy after receiving the handshake signal; the dynamic displacement monitoring safety module is used for continuously monitoring the change rate of the biological impedance value during the output of the radio frequency energy; If the change rate of the biological impedance value exceeds a preset sliding threshold in the single energy output process, judging that the microneedle array and the skin are in relative displacement, immediately cutting off the radio frequency output and triggering the Z-axis to be lifted up in an emergency; The retraction unlocking module is used for controlling the Z-axis lifting mechanism to drive the microneedle array to retract to a safe height after the energy output is finished; After confirming that the Z axis is retracted in place, unlocking the XY axis horizontal moving mechanism, and executing a moving instruction of a next target point; the energy triggering module adopts a time division multiplexing mode to carry out energy output and temperature detection: dividing a complete energy output period into a plurality of microsecond time slices; controlling the radio frequency generator to be started to output energy in the transmitting window of each time slice, and shielding the signal channel of the temperature sensor to prevent interference; temporarily closing the radio frequency generator in the detection window of each time slice, and simultaneously opening a signal channel of the temperature sensor to collect the temperature of the needle tip; if the temperature of the collected needle point exceeds a safety threshold, the current energy output period is forcefully ended; the control device is further configured to perform a layered needle withdrawal therapy: Controlling the microneedle array to reach the deepest first working depth first and outputting a first dose of radio frequency energy; maintaining the XY axis locking, controlling the Z axis lifting mechanism to lift to a shallower second working depth, and outputting a second dose of radio frequency energy; Wherein the first dose is greater than the second dose to form an inverted pyramidal thermal solidification field during a single needle insertion.
2. The control device according to claim 1, wherein the impedance detection handshake module is configured to determine whether the bio-impedance value is within a preset effective coupling interval, specifically includes anti-idle-strike and anti-short-circuit logic: If the detected biological impedance value is greater than a first threshold value, judging that the biological impedance value is in a suspended state, prohibiting the output of radio frequency energy and controlling the Z-axis lifting mechanism to execute secondary downward-pressing compensation; If the detected bioimpedance value is smaller than a second threshold value, judging that the bioimpedance value is in a short circuit state or touches hard bone tissues, prohibiting the output of radio frequency energy and giving an abnormal alarm; Wherein the second threshold is less than the first threshold.
3. The control device according to claim 1, wherein the energy triggering module employs an impedance-energy inverse compensation algorithm in outputting RF energy to acquire a current bioimpedance value in real time ; According to the formula Calculating target output power Wherein For the preset gain factor to be a preset gain factor, Is the base power constant; by adjusting the PWM duty cycle of the RF generator, the actual output power is made to match the target output power The absolute error of (c) is kept within a preset range to ensure consistent actual thermal effects at different skin moisture contents.
4. The control device according to claim 1, wherein in the positioning control module, the preset scan path adopts a checkerboard hopping strategy: dividing the treatment area into a plurality of nodes which are arranged in a grid shape; Planning a moving sequence such that at least one grid unit is spatially separated between a current node and a next node to be continuously executed in time sequence; thermal damage caused by heat accumulation between adjacent nodes is prevented by spatially hopping movement using untreated areas as heat dissipation areas.
5. The control device according to claim 1, wherein in the feed control module, a movement speed curve of the control Z-axis lifting mechanism is a trapezoidal speed change curve: A approaching section for controlling the Z-axis to fast advance at high speed before the microneedle array is not contacted with the skin, so as to shorten the idle stroke time; the penetration segment is automatically switched to low-speed uniform feeding at 0.5 mm to 2mm before the microneedle array is expected to contact the skin surface, so that the mechanical impact force and pain feeling at the moment of needle penetration are reduced.
6. The control device of claim 1, further comprising a media coating hint module: For determining whether the skin surface is coated with a conductive gel by measuring a reference impedance value when the microneedle array initially contacts the skin; If the reference impedance value is higher than the preset dry skin threshold value, a voice or light effect prompt is sent out, an operator is required to supplement the coating conductive medium, and the subsequent operation is locked until the impedance reaches the standard.
7. A radio frequency microneedle intermittent needle movement synchronous energy output system, comprising: An execution end, comprising a microneedle array and a temperature sensor integrated on a microneedle base; The driving module comprises an XY axis screw sliding table for realizing plane positioning and a Z axis linear motor for realizing vertical feeding; The control core comprises a radio frequency generator, an impedance detection circuit and a microprocessor; A microprocessor configured to implement the respective module functions of the control device as claimed in any one of claims 1 to 6, and to implement interlocking control of mechanical movement and energy output by coordinating the locking state of the XY-axis screw slide table with the excitation state of the radio frequency generator.

Description

Control device and system for synchronous energy output of radiofrequency microneedle intermittent needle body movement Technical Field The invention relates to the technical field of medical cosmetology and dermatological treatment equipment, in particular to a control device and a system for synchronous energy output of movement of a radiofrequency microneedle intermittent needle body. Background The existing radio frequency microneedle therapy equipment still has a plurality of outstanding technical bottlenecks in clinical application, and mainly focuses on three aspects of mechanical control precision, energy output uniformity and operation safety: First, conventional rf microneedle handles are often manually operated or simply single shaft motor driven. During treatment, the operator needs to manually move the handle to the next treatment site. This mode of operation relies heavily on the experience of the physician and it is difficult to ensure uniformity of the distribution of the treatment sites. Even more serious, the lack of a strict movement logic lock for some semi-automatic devices, if a horizontal displacement occurs in the event that the needle has not completely withdrawn from the skin, the needle will be cut subcutaneously and transversely like a plow, which will cause serious mechanical scoring and tearing of the epidermis, resulting in a post-operative shade or scar. Secondly, the energy output control of the existing device mostly adopts a constant power mode, namely, the same radio frequency energy is output no matter whether the needle body is penetrated into the forehead (thin skin, less subcutaneous fat, high impedance) or the cheek (thick skin, high water content, low impedance). According to joule's law, a constant power output can lead to a substantial difference in the heat (temperature) actually generated in the case of a large difference in resistance across the current path. This directly results in a very uneven treatment effect on different parts of the same patient and even in problems of local scalds or ineffective treatment. Finally, the lack of safety monitoring means is another major pain point in the prior art. Most devices cannot sense whether the needle actually penetrates the skin, and once the microneedle is in suspension, a high-voltage arc is generated on the surface of the skin, so that the epidermis is carbonized. At the same time, the system also lacks a millisecond-level scram mechanism for the patient's unintended movements due to pain during treatment. Therefore, the development of a control method and a control system which can realize micron-sized interval precise movement, have a Z-axis vertical penetration and XY-axis horizontal locking interlocking mechanism and can adaptively adjust energy output in real time according to biological impedance is an urgent need for the development of the current radio frequency microneedle technology. Disclosure of Invention The invention provides a control device and a system for synchronous energy output of movement of a radiofrequency microneedle intermittent needle body, and aims to solve the problems of non-uniform treatment, inaccurate energy control and safety caused by asynchronous movement and radiofrequency in the prior art. A control device for synchronous energy output of movement of a radiofrequency microneedle at intervals, which is applied to a treatment system comprising a microneedle array, an XY axis horizontal movement mechanism, a Z axis lifting mechanism and a radiofrequency generator, and comprises: The positioning control module is used for controlling the XY axis horizontal moving mechanism to drive the microneedle array to move to the current target point coordinate according to a preset scanning path; After confirming that the coordinates are reached, locking the XY axis horizontal moving mechanism to enable the XY axis horizontal moving mechanism to be in a horizontal self-locking state; The feeding control module is used for controlling the Z-axis lifting mechanism to drive the microneedle array to feed in the vertical direction so as to reach the preset working depth; The impedance detection handshake module is used for sending microampere-level test current to the microneedle array before outputting radio frequency energy and detecting the biological impedance value of the loop; generating a handshake signal allowing excitation only when the bio-impedance value is in a preset effective coupling interval; the energy triggering module is used for triggering the radio frequency generator to output radio frequency energy after receiving the handshake signal; the dynamic displacement monitoring safety module is used for continuously monitoring the change rate of the biological impedance value during the output of the radio frequency energy; If the change rate of the biological impedance value exceeds a preset sliding threshold in the single energy output process, judging that the microneedle ar