Three-dimensional vibration therapeutic instrument, control system and control method

Abstract

The application discloses a three-dimensional vibration therapeutic instrument, a control system and a control method, and the structure of the three-dimensional vibration therapeutic instrument comprises a contact outer sleeve, a roller, a vibration inner core and an operating handle, the contact outer sleeve is sleeved on the roller, the roller is rotationally nested outside the vibration inner core, and the vibration inner core is coupled on the operating handle; the angular velocity of the roller rotation, the motor rotation frequency and the extrusion force between the vibration inner core and the operating handle are collected by a collection unit of the control system; after the collection data of the collection unit is received by a processing unit, the collection data is processed, the control feedback of the motor is formed, and the processed collection data is displayed on the signal display screen of the operating handle through a display unit. Through the collected data, the rotation frequency of the eccentric rotor of the motor is dynamically adjusted, dynamic compensation is provided for the therapeutic instrument, and the treatment pressure applied to the patient's body by the three-dimensional vibration therapeutic instrument is more scientific and accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vibration therapy apparatus, in particular to a three-dimensional vibration therapy apparatus, a control system and a control method. BACKGROUND

[0002] With the continuous development of medical technology, various vibration therapy apparatuses have been gradually developed in the field of medical devices, which promote blood circulation and lymphatic reflux through physical vibration, reduce limb edema, promote wound healing, prevent pressure sores, relieve muscle and bone pain, and improve joint mobility, gradually becoming an important complementary treatment method in addition to medication and surgery, especially handheld vibration therapy apparatuses, which have the advantages of portability and precise reach.

[0003] However, the vibration component of the traditional handheld vibration therapy apparatus can only generate vibration pressure on the user at a fixed frequency set during use, and cannot dynamically compensate for mechanical power fluctuations caused by the instability of the pressure applied to the patient by the manual operation of the therapy apparatus and the specific part of the patient's body. This causes the vibration therapy apparatus to have poor treatment effect.

[0004] Therefore, we designed a three-dimensional vibration therapy apparatus, a control system and a control method to solve the above problems. SUMMARY

[0005] The purpose of the present application is to solve the problem of the traditional vibration therapy apparatus that cannot accurately apply pressure to the surface of the patient's body in the prior art, and to provide a three-dimensional vibration therapy apparatus, a control system and a control method that can apply pressure to the surface of the patient's body and dynamically compensate for the treatment pressure on the surface of the patient's body by adjusting the control system to improve the accuracy of the treatment pressure on the surface of the patient's body.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0007] A three-dimensional therapy apparatus, comprising:

[0008] A contact jacket, which is a flexible sleeve for contacting the human body, has a closed end and an open end, and has a cavity structure;

[0009] A roller, which is a support structure of the contact jacket, is nested in the cavity of the contact jacket, and one end of the roller has a magnetic sheet inside;

[0010] A vibration core, which is nested in the roller and rotationally connected to the roller, has a motor and a Hall sensor inside, wherein the motor is located at one end of the vibration core, the output end of the motor is provided with an eccentric rotor, the end of the other end of the vibration core is provided with a pressure sensor, and the Hall sensor is located on the same vertical plane as the magnetic sheet;

[0011] The operation handle is provided with a hand holding part, a signal display screen is arranged on the upper side of the hand holding part, a coupling part is arranged close to the end of the signal display screen, the coupling part is clamped and combined with the end of the vibration inner core provided with a pressure sensor, and the processing chip built in the signal display screen is electrically connected with the motor, the Hall sensor and the pressure sensor.

[0012] The contact jacket rolls on the human body surface, drives the roller to roll together, the magnetic sheet is detected when rotating through the Hall sensor, the rotation angular velocity of the contact jacket and the roller is measured, the pressure generated when the contact jacket contacts the human body is detected by the pressure sensor arranged at the end of the vibration inner core, the pressure value borne by the human body surface is measured, the rotation angular velocity and the pressure value are displayed through the signal display screen, and the motor is controlled to form a feedback, the rotation of the eccentric rotor is controlled, and dynamic compensation is generated on the treatment pressure applied by the three-dimensional therapeutic instrument.

[0013] Preferably, the contact jacket is made of any one of silica gel, rubber or TPE, and the closed end of the contact jacket is a semicircular convex structure.

[0014] Preferably, the roller is made of hard plastic, the two ends thereof are open cylindrical cavity structures, the magnetic sheets arranged in the roller are permanent magnets capable of keeping magnetism for a long time, the magnetic sheets are distributed along the circumferential direction of the roller at equal intervals around the axial direction of the roller, and the magnetic sheets are located at the end of the roller close to the operation handle; the sliding strip is arranged on the inner wall surface of the cavity of the roller away from the operation handle, the sliding track in the form of a groove is arranged on the vibration inner core corresponding to the sliding strip, the sliding strip is embedded in the sliding track and rotates along the sliding track.

[0015] Preferably, the structure of the vibration inner core is composed of a treatment head, an intermediate body and a clamping head, the treatment head is a semicircular convex structure, the intermediate body is a cylindrical cavity structure composed of two semicylindrical cavities, the motor and the Hall sensor are arranged in the lower semicylindrical cavity, and the lower part of the treatment head is fixedly arranged at the end of the lower semicylindrical cavity, the lower part of the clamping head is fixedly arranged at the other end of the lower semicylindrical cavity, the protruding gasket is arranged along the outer circumference of the side of the clamping head close to the intermediate body, the clamping head is arranged at the end of the clamping head away from the intermediate body, the clamping head is coaxially distributed with the clamping head and is integrally vulcanized, the pressure sensor is arranged on one side of the end face of the gasket along the circumference of the clamping head, the clamping head is clamped in the coupling part, and the pressure sensor abuts against the coupling part.

[0016] Preferably, a plurality of hollow parts are evenly arranged around the axis of the roller near one end of the slide bar, the length of the hollow part is one third of the length of the roller, the coupling part comprises a clamping groove for clamping the clamping head, the clamping groove is a groove structure protruding from the end surface of the coupling part, and the vibration inner core is coupled and connected through the clamping head and the clamping groove.

[0017] Preferably, the two semicircular cylindrical cavities are connected by buckle clamping or bolt fastening, and the pressure sensor is a thin film pressure sensor.

[0018] A control system applied to the three-dimensional therapeutic instrument of claim 1, the control system comprising an acquisition unit, a processing unit, a display unit, a warning unit and a motor driving unit, the processing unit being in transmission connection with the acquisition unit, the display unit, the warning unit and the motor driving unit respectively, the processing unit controlling the motor driving unit to return a feedback signal to the motor; the acquisition unit comprising a Hall sensor for acquiring the angular velocity of the roller rotation and the motor rotation frequency, and a pressure sensor for acquiring the extrusion force between the vibration inner core and the operating handle, the processing unit processing the acquisition data of the acquisition unit after receiving the acquisition data, forming a control feedback of the motor, and displaying the processed acquisition data on the signal display screen of the operating handle through the display unit, the warning unit being used for monitoring the acquisition pressure value of the pressure sensor exceeding the preset threshold value, and feeding back to the processing unit to control the motor to stop running.

[0019] Preferably, the preset threshold value is 2 kg, and the acquisition data comprises the angular velocity ω of the roller rotation, the motor rotation frequency f and the extrusion force F0 between the vibration inner core and the operating handle.

[0020] A control method of a three-dimensional therapeutic instrument control system, the control method comprising the following contents:

[0021] 1) The cumulative mechanical energy transmitted to the unit surface area of the human body by the contact sleeve per unit time is inversely proportional to the angular velocity ω of the roller rotation, proportional to the square of the weight coefficient w(f), and proportional to the human body contact pressure g(F0), that is:

[0022] 2) First, obtain the weight coefficient w(f) according to the numerical table in ISO5349-1:2001(E) Table A.2;

[0023] 3) Then, according to the torque balance formula and the extrusion force F0 between the vibration inner core and the operating handle, obtain the contact pressure g(F0) of the contact between the contact sleeve and the human body;

[0024] 4) The signal display screen prompts the operator to actively adjust the rolling speed of the current roller and the contact pressure between the contact sleeve and the human body.

[0025] 5) The processing unit adjusts the motor speed up and down within the range of ±10% according to the output frequency set by the current operator, dynamically compensating the fluctuation of the angular velocity ω of the drum rotation and the squeezing force F0 between the vibrating inner core and the operation handle during the manual operation of the three-dimensional therapeutic instrument by the operator;

[0026] 6) When the pre-warning unit monitors that the contact pressure of the contact sleeve contacting the human body exceeds the preset threshold, the pre-warning unit sends a pre-warning prompt and feeds back the contact pressure g(F0) to the processing unit, and the processing unit controls the motor driving unit to return the feedback signal to the motor to control the motor to stop running.

[0027] Compared with the prior art, the three-dimensional therapeutic instrument has the beneficial effects that: the three-dimensional therapeutic instrument collects and monitors the angular velocity of the drum rotation and the squeezing force between the vibrating inner core and the operation handle applied to the treatment pressure of the human body contact part, dynamically adjusts the rotation frequency of the eccentric rotor of the motor through the control system, dynamically compensates the therapeutic instrument, and makes the treatment pressure applied to the patient's body by the three-dimensional vibration therapeutic instrument more scientific and accurate. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is an assembly explosion schematic view of the three-dimensional therapeutic instrument;

[0029] Figure 2 It is an assembly schematic view of the drum, the vibrating inner core and the operation handle of the three-dimensional therapeutic instrument;

[0030] Figure 3 It is a drum structure schematic view of the three-dimensional therapeutic instrument;

[0031] Figure 4 It is a vibrating inner core structure schematic view of the three-dimensional therapeutic instrument;

[0032] Figure 5 It is a coupling part structure schematic view of the three-dimensional therapeutic instrument;

[0033] Figure 6 It is a control system connection relationship schematic view of the three-dimensional therapeutic instrument.

[0034] In the figure, 10 is a contact sleeve, 20 is a drum, 21 is a magnetic sheet, 22 is a sliding bar, 23 is a hollow part, 30 is a vibrating inner core, 31 is a motor, 310 is an eccentric rotor, 32 is a Hall sensor, 33 is a pressure sensor, 34 is a treatment head, 341 is a sliding rail, 35 is an intermediate body, 36 is a clamping head, 361 is a gasket, 362 is a clamping joint, 40 is an operation handle, 41 is a hand holding part, 42 is a signal display screen, 43 is a coupling part, and 431 is a clamping groove. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application.

[0036] Embodiment one:

[0037] As shown in the drawings, Figure 1 and Figure 2 The present embodiment introduces a three-dimensional therapeutic instrument, which comprises a contact outer sleeve 10, a roller 20, a vibrating inner core 30 and an operating handle 40, wherein

[0038] The contact outer sleeve 10 is a flexible sleeve for contacting the human body, which has a closed end and an open end, and is in a cavity structure. The contact outer sleeve 10 is made of any one of silicone, rubber or TPE, and the closed end of the contact outer sleeve 10 is a semicircular convex structure.

[0039] The roller 20 is a supporting structure of the contact outer sleeve 10, which is nested in the cavity of the contact outer sleeve 10. The roller 20 has a magnetic sheet 21 inside one end.

[0040] Specifically, as shown in the drawings, Figure 3 The roller 20 is made of hard plastic, and both ends thereof are open cylindrical cavity structures. The magnetic sheet 21 arranged inside the roller 20 is a permanent magnet capable of maintaining its magnetism for a long time. The magnetic sheets 21 are distributed around the axis direction of the roller 20 and along the circumference of the roller 20 at equal intervals, and the magnetic sheets 21 are located at the end of the roller 20 close to the operating handle 40. The cavity inner wall surface of the roller 20 away from the operating handle 40 is provided with a convex sliding strip 22, and a recessed sliding track 341 is formed on the vibrating inner core 30 corresponding to the sliding strip 22. The sliding strip 22 is embedded in the sliding track 341 and rotates along the sliding track 341.

[0041] The vibrating inner core 30 is sleeved in the roller 20 and rotationally connected with the roller 20. The vibrating inner core 30 is provided with a motor 31 and a Hall sensor 32 inside. The motor 31 is located at one end of the vibrating inner core 30, and the output end of the motor 31 is provided with an eccentric rotor 310. The other end of the vibrating inner core 30 is provided with a pressure sensor 33 around the end head, and the Hall sensor 32 is located on the same vertical plane as the magnetic sheet 21.

[0042] As a preferred solution of the present embodiment, as shown in the drawings, Figure 4As shown, the structure of the vibration inner core 30 is composed of three parts of the treatment head 34, the intermediate body 35 and the clamping head 36, the treatment head 34 is a semicircular convex head structure, the intermediate body 35 is a cylindrical cavity structure composed of two semicircular cylindrical cavities, the two semicircular cylindrical cavities are connected by buckle clamping or bolt fastening, the motor 31 and the Hall sensor 32 are installed in the semicircular cylindrical cavity at the lower part of the intermediate body 35, and the lower part of the treatment head 34 is fixedly installed at the end of the semicircular cylindrical cavity at the lower part of the intermediate body 35, the lower part of the clamping head 36 is fixedly installed at the other end of the semicircular cylindrical cavity at the lower part of the intermediate body 35, a protruding gasket 361 is arranged along the outer circumference of the side of the clamping head 36 close to the intermediate body 35, a clamping joint 362 is arranged at the end of the clamping head 36 away from the intermediate body 35, the clamping joint 362 is coaxially distributed with the clamping head 36 and is integrally vulcanized and formed, the pressure sensor 33 is attached to one side end face of the gasket 361 along the circumference of the clamping joint 362, the clamping joint 362 is clamped in the coupling part 43, and the pressure sensor 33 abuts against the coupling part 43, in the embodiment, the pressure sensor 33 is a thin film pressure sensor.

[0043] The operation handle 40 is provided with a hand holding part 41, a signal display screen 42 is arranged on the upper side of the hand holding part 41, a coupling part 43 is arranged close to the end of the signal display screen 42, the coupling part 43 is clamped and combined with the end of the vibration inner core 30 provided with the pressure sensor 33, and the processing chip built-in the signal display screen 42 is electrically connected with the motor 31, the Hall sensor 32 and the pressure sensor 33.

[0044] As shown in Figure 3 and Figure 5 , a plurality of hollow parts 23 are uniformly arranged around the axis direction of the roller 20 close to one end of the slide bar 22, the length of the hollow part 23 is one third of the overall length of the roller 20, the arrangement of the hollow part 23 can facilitate the sleeving of the contact sleeve 10 on one hand, and can increase the contact area between the treatment head 34 and the human body on the other hand, which is beneficial to better control the angle of contact between the treatment head 34 and the human body, and improve the treatment effect of the three-dimensional therapeutic instrument; the coupling part 43 comprises a clamping groove 431, the clamping groove 431 is a groove structure protruding from the end face of the coupling part 43, and the vibration inner core 30 is coupled and connected through the clamping joint 362 and the clamping groove 431.

[0045] The operator holds the hand grip 41 of the operating handle 40, which on one hand generates a pressing force on the patient's body by contacting the outer sleeve 10 and the treatment head 34 of the vibrating inner core 30, and the pressing force on the patient's body is detected by the pressure sensor 33 to measure the pressure value on the human body surface; on the other hand, the magnetic sheet 21 on the roller 20 is detected by the Hall sensor 32 in the vibrating inner core 30 during rotation, so as to measure the angular velocity of the roller 20, and the angular velocity and the pressure value are displayed on the signal display screen 42, and the motor 31 is controlled to form a feedback, the eccentric rotor 310 is controlled to rotate, and the dynamic compensation of the treatment pressure of the three-dimensional therapeutic instrument is generated, so that the treatment pressure of the three-dimensional vibration therapeutic instrument on the patient's body is more scientific and accurate.

[0046] Embodiment Two:

[0047] As shown in Figure 6 , the embodiment is based on the embodiment one, and a control system applied to a three-dimensional therapeutic instrument is provided, which includes a collection unit, a processing unit, a display unit, a warning unit and a motor driving unit; wherein the processing unit is in transmission connection with the collection unit, the display unit, the warning unit and the motor driving unit respectively, the processing unit controls the motor driving unit to return the feedback signal to the motor 31, the collection unit includes the Hall sensor 32 for collecting the angular velocity of the roller 20 and the rotation frequency of the motor 31, and the pressure sensor 33 for collecting the pressing force between the vibrating inner core 30 and the operating handle 40, the processing unit processes the collection data after receiving the collection data of the collection unit, forms a control feedback to the motor 31, and displays the processed collection data on the signal display screen 42 of the operating handle 40 through the display unit, the warning unit is used for monitoring the collection pressure value of the pressure sensor 33 exceeding the preset threshold value (the preset threshold value is 2 kg), and feeding back to the processing unit to control the motor 31 to stop running, the collection data includes the angular velocity ω of the roller 20, the rotation frequency f of the motor 31 and the pressing force F0 between the vibrating inner core 30 and the operating handle 40.

[0048] Embodiment Three:

[0049] A control method of a three-dimensional therapeutic instrument control system, the control method includes the following contents:

[0050] 1) It is known by analysis that the cumulative mechanical energy transmitted to the unit surface area of the human body by the contact outer sleeve 10 per unit time is inversely proportional to the angular velocity ω of the roller 20, proportional to the square of the weight coefficient w(f), and proportional to the human body contact pressure g(F0), that is:

[0051] 2) First, according to the numerical table in ISO5349-1:2001(E) Table A.2, the weight coefficient w(f) is obtained by table lookup, and the samples in the range of 10-100Hz in the numerical table are fitted by using a power function as a model and a nonlinear least squares method to obtain: g(F0)=1.4*F0, w(f)=13.88f -0.96 .

[0052] 3) Then, according to the torque balance formula and the extrusion force F0 between the vibration inner core 30 and the operating handle 40, the contact pressure g(F0) of the contact sleeve in contact with the human body is obtained.

[0053] 4) The signal display screen 42 prompts the operator to actively adjust the rolling speed of the current roller 20 and the contact pressure of the contact sleeve 10 in contact with the human body.

[0054] 5) The processing unit adjusts the motor 31 speed within ±10% according to the output frequency set by the current operator, dynamically compensates the jitter of the angular velocity ω of the roller 20 rotation and the extrusion force F0 between the vibration inner core 30 and the operating handle 40 during the operator's manual operation of the three-dimensional therapeutic instrument, actively intervenes in the operation process of the three-dimensional therapeutic instrument by the operator, so that the treatment of the three-dimensional therapeutic instrument is more in line with the needs of the patient, and the treatment effect is better.

[0055] 6) When the pre-warning unit monitors that the contact pressure of the contact sleeve 10 in contact with the human body exceeds the preset threshold value, the preset threshold value is 2kg, the pre-warning unit sends a pre-warning prompt, and the contact pressure g(F0) is fed back to the processing unit, the processing unit controls the motor driving unit to return the feedback signal to the motor 31, controls the motor 31 to stop running, avoids the damage of the three-dimensional therapeutic instrument, and also can improve the protection effect on the user.

[0056] ISO5349-1:2001(E) Table A.2 numerical table

[0057] Table A.2 - Band limiting frequency-weighting factors w for hand-transmitted vibration for converting 1 / 3 octave band magnitude to frequency-weighted magnitude hi

[0058]

[0059] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A three-dimensional therapeutic device, characterized in that: include: The contact jacket is a flexible cover that contacts the human body and has a cavity structure with one end being closed and the other end being open. A roller, serving as a supporting structure of the contact jacket, is nested in the cavity of the contact jacket, and a magnetic sheet is provided inside one end of the roller; A vibration inner core is sleeved in the drum and rotatably connected to the drum, wherein a motor and a Hall sensor are arranged inside the vibration inner core, wherein the motor is located at one end of the vibration inner core, an eccentric rotor is provided at the output end of the motor, and a pressure sensor is provided on the circumference of the end head at the other end of the vibration inner core, and the Hall sensor and the magnetic sheet are located on the same vertical plane; An operating handle is provided with a grip portion, a signal display screen is provided on the upper side of the grip portion, a coupling portion is provided adjacent to the end of the signal display screen, the coupling portion is clamped and coupled to the end of the vibration inner core provided with the pressure sensor, and a processing chip built into the signal display screen is electrically connected to the motor, the Hall sensor, and the pressure sensor; The contact jacket rolls on the surface of the human body, driving the roller to roll together. The magnetic sheet is detected when it rotates past the Hall sensor, and the rotational angular velocity of the contact jacket and the roller is measured. The pressure generated when the contact jacket contacts the human body is detected by the pressure sensor provided at the end of the vibrating inner core, and the pressure value on the surface of the human body is measured. The rotational angular velocity and pressure value are displayed on the signal display screen, and control feedback is formed on the motor to control the rotation of the eccentric rotor, thereby dynamically compensating for the treatment pressure applied by the three-dimensional therapeutic device. A plurality of magnetic sheets are distributed around the axis of the drum and at equal intervals along the circumference of the drum; A raised sliding strip is provided on the inner wall surface of the cavity on the side of the roller away from the operating handle, and a groove-shaped sliding track is provided on the vibration inner core corresponding to the sliding strip. The sliding strip is embedded in the sliding track and rotates along the sliding track; The structure of the vibration inner core consists of three parts: a treatment head, an intermediate body and a clamping head. The treatment head is a semicircular convex head structure. The intermediate body is a cylindrical cavity structure composed of two semi-cylindrical cavities. The motor and the Hall sensor are installed in the lower semi-cylindrical cavity, and the lower part of the treatment head is fixedly installed at the end of the lower semi-cylindrical cavity. The lower part of the clamping head is fixedly installed at the other end of the lower semi-cylindrical cavity. A protruding gasket is provided along the outer circumference of one side of the clamping head close to the intermediate body, and a clamping joint is provided at the end of the clamping head away from the intermediate body. The clamping joint is coaxially distributed with the clamping head and is integrally vulcanized. The pressure sensor is attached to one end face of the gasket along a circle of the clamping joint. The clamping joint is clamped in the coupling part, and the pressure sensor and the coupling part are abutted. The coupling portion includes a card slot for card connection, wherein the card slot is a groove structure protruding from the end surface of the coupling portion, and the vibration inner core card connection is coupled to the card slot; The cumulative mechanical energy transmitted by the contact jacket to the human body per unit surface area is inversely proportional to the angular velocity ω of the roller rotation, proportional to the square of the weight coefficient w(f), and proportional to the human body contact pressure g(F0), that is:

2. The three-dimensional therapeutic apparatus according to claim 1, characterized in that: The contact jacket is made of any one of silicone, rubber or TPE, and one end of the contact jacket is a semicircular convex structure.

3. A three-dimensional therapeutic apparatus according to claim 1, characterized in that: The drum is made of hard plastic and has a cylindrical cavity structure with openings at both ends. The magnetic piece arranged inside the drum is a permanent magnet that can maintain its magnetism for a long time, and the magnetic piece is located at the end of the drum close to the operating handle.

4. A three-dimensional therapeutic apparatus according to claim 1, characterized in that: A plurality of hollow portions are evenly provided on the roller near one end of the slide bar around the axis of the roller, and the length of the hollow portions is one third of the overall length of the roller.

5. A three-dimensional therapeutic apparatus according to claim 1, characterized in that: The two semi-cylindrical cavities are connected by snap-fit ​​connection or bolt fastening connection, and the pressure sensor is a thin film pressure sensor.

6. A control system applied to the three-dimensional therapeutic apparatus according to claim 1, characterized in that: The control system includes an acquisition unit, a processing unit, a display unit, an early warning unit and a motor drive unit. The processing unit establishes transmission connections with the acquisition unit, the display unit, the early warning unit and the motor drive unit respectively. The processing unit controls the motor drive unit to return a feedback signal to the motor. The acquisition unit includes a Hall sensor for acquiring the angular velocity of the drum rotation and the motor rotation frequency, and a pressure sensor for acquiring the squeezing force between the vibration inner core and the operating handle. After receiving the acquisition data from the acquisition unit, the processing unit processes the acquired data to form control feedback for the motor, and displays the processed acquired data on the signal display screen of the operating handle through the display unit. The early warning unit is used to monitor the acquisition pressure value of the pressure sensor and feedback it to the processing unit after exceeding a preset threshold. The processing unit controls the motor drive unit to return the feedback signal to the motor to control the motor to stop running.

7. The control system according to claim 6, characterized in that: The preset threshold is 2 kg, and the collected data includes the angular velocity ω of the drum rotation and the motor rotation frequency f, and the squeezing force F0 between the vibration inner core and the operating handle.

8. The control method of the control system of the three-dimensional therapeutic apparatus according to claim 6, characterized in that: The control method includes the following contents: 1) First, obtain the weight coefficient w(f) according to the numerical table in ISO5349-1:2001(E)Table A.2; 2) Then, based on the torque balance formula and the extrusion force F0 between the vibrating inner core and the operating handle, the contact pressure g(F0) between the contact outer sleeve and the human body is obtained; 3) The signal display screen prompts the operator to actively adjust the current rolling speed of the roller and the contact pressure between the contact jacket and the human body; 4) The processing unit adjusts the motor speed up and down within a range of ±10% based on the output frequency currently set by the operator, dynamically compensating for the jitter of the angular velocity ω of the roller rotation and the squeezing force F0 between the vibrating core and the operating handle during the operator's manual operation of the three-dimensional therapeutic device; 5) When the early warning unit detects that the contact pressure between the contact jacket and the human body exceeds a preset threshold, the early warning unit issues an early warning prompt and feeds back the contact pressure g (F0) to the processing unit. The processing unit controls the motor drive unit to return the feedback signal to the motor and control the motor to stop running.

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