CN210205618U - UV corneal cross-linking device - Google Patents
UV corneal cross-linking device Download PDFInfo
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- CN210205618U CN210205618U CN201920105662.3U CN201920105662U CN210205618U CN 210205618 U CN210205618 U CN 210205618U CN 201920105662 U CN201920105662 U CN 201920105662U CN 210205618 U CN210205618 U CN 210205618U
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- 238000004132 cross linking Methods 0.000 title claims abstract description 34
- 238000011282 treatment Methods 0.000 claims abstract description 78
- 210000001747 pupil Anatomy 0.000 claims abstract description 22
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 210000001508 eye Anatomy 0.000 claims description 26
- 210000003128 head Anatomy 0.000 claims description 22
- 210000004087 cornea Anatomy 0.000 claims description 21
- 239000005304 optical glass Substances 0.000 claims description 13
- 238000005286 illumination Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 3
- 201000002287 Keratoconus Diseases 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 11
- 238000001356 surgical procedure Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 208000021921 corneal disease Diseases 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 230000003902 lesion Effects 0.000 abstract 2
- 206010011026 Corneal lesion Diseases 0.000 abstract 1
- AUNGANRZJHBGPY-SCRDCRAPSA-N Riboflavin Chemical compound OC[C@@H](O)[C@@H](O)[C@@H](O)CN1C=2C=C(C)C(C)=CC=2N=C2C1=NC(=O)NC2=O AUNGANRZJHBGPY-SCRDCRAPSA-N 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- AUNGANRZJHBGPY-UHFFFAOYSA-N D-Lyxoflavin Natural products OCC(O)C(O)C(O)CN1C=2C=C(C)C(C)=CC=2N=C2C1=NC(=O)NC2=O AUNGANRZJHBGPY-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
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- 229960002477 riboflavin Drugs 0.000 description 4
- 235000019192 riboflavin Nutrition 0.000 description 4
- 239000002151 riboflavin Substances 0.000 description 4
- 230000010339 dilation Effects 0.000 description 3
- 230000001225 therapeutic effect Effects 0.000 description 3
- 102000008186 Collagen Human genes 0.000 description 2
- 108010035532 Collagen Proteins 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000002427 irreversible effect Effects 0.000 description 2
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- 210000005252 bulbus oculi Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 230000002708 enhancing effect Effects 0.000 description 1
- 230000004424 eye movement Effects 0.000 description 1
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- 238000002430 laser surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
- 238000011369 optimal treatment Methods 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 238000006552 photochemical reaction Methods 0.000 description 1
- 239000003504 photosensitizing agent Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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Abstract
本实用新型公开了一种紫外光角膜交联装置，包括：治疗光斑发射组件，用于形成治疗光斑，包括沿光路方向依次设置的紫外光源、匀光镜组、DLP模组和紫外镜头；图像采集组件，用于采集瞳孔图像；定位组件，用于定位眼部病灶，包括第一十字激光灯、第二十字激光灯及Z轴位移台。本实用新型结构紧凑，部件简单，可治疗多种不同的角膜疾病度。本实用新型可根据不同角膜病灶形态实时形成不同形状、不同尺寸的治疗光斑来治疗角膜疾病；同时，在手术治疗过程中可快速的追踪人眼瞳孔位置，实时改变治疗光斑的投射位置，确保治疗光斑实时的都投射在病灶区；从而能降低交联手术的风险，增强治疗效果；提高装置的适用范围，降低手术操作难度，提升治疗效果。
The utility model discloses an ultraviolet light corneal cross-linking device, comprising: a treatment spot emitting component for forming a treatment spot, comprising an ultraviolet light source, a homogenizing mirror group, a DLP module and an ultraviolet lens sequentially arranged along the direction of the light path; The acquisition component is used for acquiring pupil images; the positioning component is used for locating eye lesions, including a first cross laser light, a second cross laser light and a Z-axis displacement stage. The utility model has the advantages of compact structure and simple components, and can treat a variety of different degrees of corneal disease. The utility model can form treatment light spots of different shapes and sizes in real time according to different corneal lesion shapes to treat corneal diseases; at the same time, in the process of surgical treatment, the position of the pupil of the human eye can be quickly tracked, and the projection position of the treatment light spot can be changed in real time to ensure treatment. The light spots are projected on the lesion area in real time; thus, the risk of cross-linking surgery can be reduced, and the treatment effect can be enhanced;
Description
Technical Field
The utility model relates to the field of ophthalmic medical equipment, in particular to ultraviolet light cornea cross-linking device.
Background
More and more people in recent years have chosen excimer laser surgery (LASIK) to treat myopia, but LASIK surgery weakens the cornea, thins it, and weakens the structural integrity of the entire human eye by 14-33%. Although LASIK surgery has shown significant efficacy in treating myopia, iatrogenic dilation after LASIK surgery has become a formidable problem in recent years, both physician and LASIK patients are unpredictable, and as time goes on and LASIK surgery patients increase, more and more of the cornea suffers from mechanical fatigue resulting in dilation.
The riboflavin/ultraviolet crosslinking technology is a technology for stabilizing and reducing corneal dilation by utilizing ultraviolet light and riboflavin, wherein 365nm ultraviolet light and photosensitizer riboflavin which permeates corneal tissues generate photochemical reaction, so that corneal collagen fibers generate crosslinking reaction, the diameter of the corneal collagen fibers is enlarged, connecting bonds between the inside of fiber molecules and fiber molecules are increased, and the mechanical strength of the cornea is enhanced.
The treatment light spots of the existing cornea cross-linking device are all circular, but the focus area shapes of patients with corneal diseases are not absolutely circular, because the cross-linking reaction is irreversible, if the circular treatment light spots are used for treating oval or other focus areas, excessive treatment can be caused, the treatment effect cannot be achieved, and the normal areas of the eyes of the patients can be injured. Meanwhile, as the eyeballs of a patient may slightly move during operation treatment, the existing ultraviolet crosslinking device adopts a method of integrally moving the treatment device for tracking and positioning the eyes, so that the system structure is complex and the response time is short.
The existing cornea cross-linking device can only adjust the diameter of an emergent light spot, but can generate personalized difference according to different disease people and disease causes, the size and the shape of a focus area and the requirement of each point on light intensity, and potential harm exists because the effect of ultraviolet light on human eyes is irreversible. In addition, the existing ultraviolet crosslinking device adopts the control of the electric displacement table to adjust the displacement of the positioning component and the ultraviolet lamp to realize eye movement tracking, and the response speed of the system and the positioning precision of the displacement table are in direct proportion to the price of the motor and the displacement table.
Digital Light Processing (DLP) is a display technology widely used in projectors and 3D printing. The specific process is that a computer controls a camera to collect video signals, the video signals are modulated by a Digital Light Processor (DLP), the video types are modulated into pulse width modulation signals with the same amplitude, the time and deflection of opening and closing a light path of a micro mirror of a Digital Micromirror Device (DMD) chip are controlled by the pulse width, incident light rays generate real-time gray level images after being reflected by a DMD lens, and the real-time gray level images are projected onto a screen through a lens.
The digital light processing technology is combined with the cornea cross-linking device, the uniformity of an ultraviolet light source can be guaranteed by utilizing the DLP device, and the rotation of the micro mirror in the DMD is controlled by controlling the information of the input image in the cross-linking process to obtain images in different shapes, so that the customized treatment of a patient is realized. However, no device has been developed that can combine digital light processing techniques well with corneal crosslinking devices to achieve highly effective treatment.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the not enough among the above-mentioned prior art, provide the utility model discloses to above not enough, provide an ultraviolet ray cornea cross-linking device. The position of human eyes is tracked in real time through an image processing technology, then a specific treatment light spot is projected to a focus area of a patient through a DLP module and an ultraviolet lens, the whole human eye area can be covered due to the large projection area, when the eyes of the patient slightly move in the treatment process, the projected image can move in real time along with the human eyes, and the treatment light spot is ensured to be covered on the focus area all the time.
In order to achieve the above object, the utility model adopts the following technical scheme: an ultraviolet corneal crosslinking device comprising:
the treatment light spot emitting assembly is used for forming treatment light spots and comprises an ultraviolet light source, a light uniformizing lens group, a DLP (digital light processing) module and an ultraviolet lens which are sequentially arranged along the direction of a light path;
the image acquisition component is used for acquiring pupil images;
the positioning assembly is used for positioning the eye focus and comprises a first cross laser lamp, a second cross laser lamp and a Z-axis displacement table.
Preferably, the image acquisition assembly comprises an infrared camera for acquiring the pupil image and an infrared LED and a white LED for providing illumination.
Preferably, a dichroic mirror and a dustproof optical glass are further included.
Preferably, the ultraviolet light emitted by the ultraviolet light source sequentially passes through the light uniformizing lens group, the DLP module and the ultraviolet lens to form treatment light spots, and then is reflected by the dichroic mirror and transmitted through the dustproof optical glass to reach the focus of the eyes;
the infrared light emitted by the infrared LED irradiates to the pupil, and the reflected light of the pupil sequentially penetrates through the dustproof optical glass and the dichroic mirror and then reaches the infrared camera.
Preferably, the treatment device further comprises a light intensity detector for monitoring the light intensity of the treatment light spots, and after the treatment light spots irradiate the dichroic mirror, part of the treatment light spots transmit the dichroic mirror to reach the light intensity detector.
Preferably, still include the mounting panel, set up in the light source case and the treatment head of mounting panel bottom, light source case and treatment head intercommunication, ultraviolet source, even optical mirror group, DLP module, ultraviolet camera lens set gradually along the light path direction inside the light source case.
Preferably, the dichroic mirror is arranged inside the treatment head, and the infrared camera and the dustproof optical glass are arranged on the treatment head and are respectively positioned at the upper end and the lower end of the dichroic mirror; the light intensity detector is arranged on the side part of the treatment head.
Preferably, the first cross laser lamp and the second cross laser lamp are respectively arranged on two adjacent outer walls of the treatment head through two movable mounting frames;
the movable mounting rack comprises a connecting piece fixedly connected with the outer wall of the treatment head and a mounting rack rotatably connected to the connecting piece, and the first cross laser lamp and the second cross laser lamp are fixedly connected to the two mounting racks respectively.
Preferably, the Z-axis displacement table is fixedly connected above the mounting plate and used for driving the mounting plate to move up and down along the vertical Z-axis direction.
Preferably, the computer, the first display and the second display are also included.
The utility model has the advantages that: on the basis of current cornea cross-linking technique, the utility model discloses a DLP projection technique provides an ultraviolet ray cornea cross-linking device, and the device compact structure, the part is simple, can treat the corneal disease degree of multiple difference. The device can form treatment light spots with different shapes and sizes in real time according to different cornea focus shapes to treat the cornea diseases; meanwhile, the pupil position of human eyes can be quickly tracked in the surgical treatment process, the projection position of the treatment light spot is changed in real time, and the treatment light spot is ensured to be projected on a focus area in real time; thereby reducing the risk of cross-linking operation and enhancing the treatment effect; the application range of the device is improved, the operation difficulty is reduced, and the treatment effect is improved.
Drawings
FIG. 1 is a schematic diagram of the ultraviolet light cornea cross-linking device of the present invention;
fig. 2 is a schematic view of positioning of a first cross laser light and a second cross laser light in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an ultraviolet corneal crosslinking device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a flexible mounting frame in an embodiment of the present invention.
Description of reference numerals:
1-a first cross laser light; 2-the second cross laser lamp; 3-infrared LED; 4-white light LED; 5-an infrared camera; 6-ultraviolet light source; 7-dodging lens group; 8-DLP module; 9-ultraviolet lens; 10-light intensity detector; 11-dichroic mirror; 12-dustproof optical glass; 13-mounting a plate; 14-light source box; 15-treatment head; 16-a flexible mounting frame; 17-a connecting piece; 18-a mounting frame; 19-a Z-axis displacement stage; 20 — a first display; 21 — second display.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1, the ultraviolet cornea crosslinking apparatus of this embodiment includes: the device comprises a treatment light spot emission assembly, an image acquisition assembly, a positioning assembly, a dichroic mirror 11 and dustproof optical glass 12.
The treatment light spot emitting assembly is used for forming treatment light spots and comprises an ultraviolet light source 6, a light uniformizing lens group 7, a DLP (digital light processing) module 8 and an ultraviolet lens 9 which are sequentially arranged along the direction of a light path; the uv light source 6 emits uv light in combination with riboflavin therapy. The DLP module 8 receives the uv light and then emits a modulated therapeutic light beam (therapeutic light spot).
The image acquisition component is used for acquiring pupil images; it includes an infrared camera 5 for capturing pupil images and an infrared LED3 and a white light LED4 for providing illumination. The infrared camera 5 is used for collecting eye dynamic images suitable for pupil tracking, the infrared LED3 provides an illumination light source for the infrared camera 5, and the white light LED4 provides an illumination light source for a doctor.
The positioning component is used for positioning the eye focus and comprises a first cross laser lamp 1, a second cross laser lamp 2 and a Z-axis displacement table 19. The Z-axis displacement table 19 is used for driving the whole device to move up and down along the vertical Z-axis direction and is matched with the first cross laser lamp 1 and the second cross laser lamp 2 to realize the positioning in the XYZ direction. The first cross laser lamp 1 and the second cross laser lamp 2 form an intersection point with the therapeutic light and aim at the focus area of the eyes.
Ultraviolet light emitted by the ultraviolet light source 6 sequentially passes through the light uniformizing lens group 7, the DLP module group 8 and the ultraviolet lens 9 to form treatment light spots, and then is reflected by the dichroic mirror 11 and transmitted through the dustproof optical glass 12 to reach the focus of the eyes;
the infrared light emitted by the infrared LED3 is irradiated to the pupil, and the reflected light from the pupil sequentially transmits through the dustproof optical glass 12 and the dichroic mirror 11 and then reaches the infrared camera 5.
The treatment light spot detection device further comprises a light intensity detector 10 used for monitoring the light intensity of the treatment light spot, and after the treatment light spot irradiates the dichroic mirror 11, part of the treatment light spot penetrates through the dichroic mirror 11 to reach the light intensity detector 10.
In one embodiment, referring to FIG. 3, a block diagram of a specific UV corneal crosslinking device in the principle structure of the above-described embodiment is shown without a central subassembly. The device still includes mounting panel 13, set up in light source box 14 and treatment head 15 of mounting panel 13 bottom, light source box 14 and treatment head 15 intercommunication, ultraviolet source 6, even light mirror group 7, DLP module 8, ultraviolet camera lens 9 set gradually along the light path direction light source box 14 is inside. The dichroic mirror 11 is arranged inside the treatment head 15, and the infrared camera 5 and the dustproof optical glass 12 are arranged on the treatment head 15 and are respectively positioned at the upper end and the lower end of the dichroic mirror 11; the light intensity detector 10 is arranged at the side part of the treatment head 15.
The first cross laser lamp 1 and the second cross laser lamp 2 are respectively arranged on two adjacent outer walls of the treatment head 15 through two movable mounting frames 16. The movable mounting frame 16 comprises a connecting piece 17 fixedly connected with the outer wall of the treatment head 15 and a mounting frame 18 rotatably connected onto the connecting piece 17, and the first cross laser lamp 1 and the second cross laser lamp 2 are respectively and fixedly connected onto the two mounting frames 18. So that the angles of the first cross laser lamp 1 and the second cross laser lamp 2 can be conveniently adjusted, as shown in fig. 4.
The Z-axis displacement table 19 is fixedly connected above the mounting plate 13, and is configured to drive the mounting plate 13 to move up and down along the vertical Z-axis direction.
Wherein a computer, a first display 20 and a second display 21 are also included. The first display 20 and the second display 21 are connected to a computer. The treatment light spot emission assembly, the image acquisition assembly and the positioning assembly are all connected with the computer and controlled by the computer. The computer is embedded with a pupil tracking module and an image processing module. The infrared camera collects light reflected by the pupils in real time, and the computer controls the DLP module 8 by combining a pupil tracking module and an image processing module in the computer, so that the treatment light emitted by the DLP module 8 is always aligned to human eyes. The first display 20 is used for displaying the acquired cornea image, the pupil tracking module and the image processing module are operated, the second display 21 is used for displaying the processed image, and the DLP module 8 projects the picture of the second display 21. The shape of the light spot (treatment light spot) projected by the DLP module 8 is realized by image processing, the shape and the position of the light spot displayed by the second display 21 can be changed in real time according to the change of the real-time image of the eye, and the DMD micro lens in the DLP module 8 corresponding to the corresponding area deflects, so that the shape and the position of the treatment light spot are kept corresponding to the focus, and the dynamic tracking of the cornea and the customization of the treatment light spot are realized. Through DLP module 8 and ultraviolet lens 9 with specific treatment facula projection to patient's focus region, because the regional area of projection is great can cover whole people's eye region, when patient's eyes fine motion in the treatment process, the projection image can follow people's eye and move in real time, ensures that the treatment facula covers in the focus region always.
In one embodiment, the ultraviolet light cornea cross-linking device comprises the following working procedures: first, the first cross light and the second cross light are turned on, the centers of the two crosses are converged at one point, the convergence point is the optimal treatment plane, the convergence point is the center position of the treatment plane and is also the center position of the field of view of the infrared camera 5 (as shown in fig. 2, the cross position of the cross light is coincident with the center position of the treatment plane and the center position of the field of view of the infrared camera 5), before treatment starts, the Z-axis displacement table 19 is adjusted, so that the two crosses are converged at the center of the pupil, and thus, positioning in the XYZ direction is realized. Then, the infrared LED3 and the white light LED4 are turned on, the infrared LED33 provides an illumination source for the infrared camera 55, and the white light LED 44 provides an illumination source for the doctor, so that the doctor can observe and treat the eyes of the patient conveniently in real time. When the LED is turned on, the infrared camera 5 starts to collect human eye images, the first display 20 displays the collected human eye images and operates the pupil tracking module and the image processing module, so that the position of the pupil center of the human eye is tracked in real time and the position of a focus area is calculated; the second display 21 is used for displaying the processed image, and the DLP module 8 starts to project the treatment light spot with the same shape as the focus area of the patient according to the calculated position of the focus area, so that the shape and the position of the treatment light spot are kept corresponding to the focus.
While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields where the invention is suitable, and further modifications may readily be made by those skilled in the art, and the invention is therefore not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (10)
1. An ultraviolet corneal crosslinking apparatus, comprising:
the treatment light spot emitting assembly is used for forming treatment light spots and comprises an ultraviolet light source, a light uniformizing lens group, a DLP (digital light processing) module and an ultraviolet lens which are sequentially arranged along the direction of a light path;
the image acquisition component is used for acquiring pupil images;
the positioning assembly is used for positioning the eye focus and comprises a first cross laser lamp, a second cross laser lamp and a Z-axis displacement table.
2. The uv keratoconus apparatus of claim 1, wherein the image capturing assembly comprises an infrared camera for capturing images of the pupil and an infrared LED and a white LED for providing illumination.
3. The ultraviolet corneal crosslinking apparatus of claim 2, further comprising a dichroic mirror and a dustproof optical glass.
4. The ultraviolet light cornea crosslinking device according to claim 3, wherein the ultraviolet light emitted by the ultraviolet light source sequentially passes through the dodging mirror group, the DLP module and the ultraviolet lens to form treatment light spots, and then is reflected by the dichroic mirror and transmitted through the dustproof optical glass to reach the focus of the eyes;
the infrared light emitted by the infrared LED irradiates to the pupil, and the reflected light of the pupil sequentially penetrates through the dustproof optical glass and the dichroic mirror and then reaches the infrared camera.
5. The UV-light corneal crosslinking apparatus of claim 4, further comprising a light intensity detector for monitoring the light intensity of the treatment spots, wherein after the treatment spots are irradiated onto the dichroic mirror, part of the treatment spots transmit through the dichroic mirror to the light intensity detector.
6. The UV-light corneal crosslinking device of claim 5, further comprising a mounting plate, a light source box and a treatment head, wherein the light source box and the treatment head are arranged at the bottom of the mounting plate and are communicated with each other, and the UV light source, the dodging mirror group, the DLP module and the UV lens are sequentially arranged inside the light source box along the light path direction.
7. The ultraviolet light cornea cross-linking device according to claim 6, wherein the dichroic mirror is arranged inside the treatment head, and the infrared camera and the dustproof optical glass are arranged on the treatment head and are respectively arranged at the upper end and the lower end of the dichroic mirror; the light intensity detector is arranged on the side part of the treatment head.
8. The ultraviolet light cornea cross-linking device of claim 7, wherein the first cross laser lamp and the second cross laser lamp are respectively arranged on two adjacent outer walls of the treatment head through two movable mounting frames;
the movable mounting rack comprises a connecting piece fixedly connected with the outer wall of the treatment head and a mounting rack rotatably connected to the connecting piece, and the first cross laser lamp and the second cross laser lamp are fixedly connected to the two mounting racks respectively.
9. The UV cornea cross-linking apparatus of claim 8, wherein the Z-axis displacement stage is fixed above the mounting plate for moving the mounting plate up and down along a vertical Z-axis direction.
10. The UV corneal crosslinking apparatus of claim 5, further comprising a computer, a first display, and a second display.
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| CN201920105662.3U CN210205618U (en) | 2019-01-22 | 2019-01-22 | UV corneal cross-linking device |
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| CN201920105662.3U CN210205618U (en) | 2019-01-22 | 2019-01-22 | UV corneal cross-linking device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109675204A (en) * | 2019-01-22 | 2019-04-26 | 中国科学院苏州生物医学工程技术研究所 | Ultraviolet light corneal cross-linking device |
| CN113521555A (en) * | 2021-07-21 | 2021-10-22 | 南京多良喜科技有限公司 | Eyesight correction device based on low-intensity semiconductor laser therapy |
| CN117282038A (en) * | 2023-11-22 | 2023-12-26 | 杭州般意科技有限公司 | Light source adjusting method and device for eye phototherapy device, terminal and storage medium |
-
2019
- 2019-01-22 CN CN201920105662.3U patent/CN210205618U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109675204A (en) * | 2019-01-22 | 2019-04-26 | 中国科学院苏州生物医学工程技术研究所 | Ultraviolet light corneal cross-linking device |
| CN109675204B (en) * | 2019-01-22 | 2024-10-15 | 中国科学院苏州生物医学工程技术研究所 | Ultraviolet cornea crosslinking device |
| CN113521555A (en) * | 2021-07-21 | 2021-10-22 | 南京多良喜科技有限公司 | Eyesight correction device based on low-intensity semiconductor laser therapy |
| CN117282038A (en) * | 2023-11-22 | 2023-12-26 | 杭州般意科技有限公司 | Light source adjusting method and device for eye phototherapy device, terminal and storage medium |
| CN117282038B (en) * | 2023-11-22 | 2024-02-13 | 杭州般意科技有限公司 | Light source adjusting method and device for eye phototherapy device, terminal and storage medium |
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