Intelligent pelvic floor automatic treatment device and control method thereof

Abstract

The application provides a kind of intelligent pelvic floor automatic treatment device and control method thereof, including treatment equipment, the treatment equipment is used to determine treatment scheme and emit energy for treatment;The treatment equipment is electrically connected with intelligent motion driving module and treatment execution module, the intelligent motion driving module includes clamping mechanism, control circuit system and multidimensional multi-angle driving mechanism;The clamping mechanism is detachably connected with the treatment execution module, and the multidimensional multi-angle driving mechanism is connected with the clamping mechanism;The control circuit system is used to control the multidimensional multi-angle driving mechanism to drive the treatment execution module to carry out multidimensional multi-angle motion;The intelligent pelvic floor automatic treatment device of the application drives the treatment execution module to carry out multidimensional multi-angle motion by controlling the intelligent motion driving module, so that the treatment execution module enters the predetermined position of pelvic floor for treatment, and the application has high accuracy by intelligently controlling depth, position and pressing degree.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology, specifically to an intelligent automated pelvic floor treatment device and its control method. Background Technology

[0002] Pelvic floor treatment is divided into surgical and non-surgical treatments. Non-surgical treatments mainly include pelvic floor muscle exercises, biofeedback therapy, and energy stimulation therapy, which can truly correct damaged muscles and nerves and have long-term effects. In existing pelvic floor treatment equipment, energy source technology for pelvic floor treatment generally uses a manually held handle with treatment electrodes, or the handheld end of the treatment electrode, or the treatment electrode is placed directly inside the vagina.

[0003] During treatment, the operator must hold the handle continuously, using intermittent rotation of the treatment head, forward and backward feeding of the treatment head, multi-angle rotation of the treatment head, or pressing of the treatment head. Holding the handle for extended periods is tiring, and maintaining the same posture is difficult. Furthermore, manually controlling specific angles, depths, positions, and pressure levels is challenging, making it difficult to achieve high precision. It relies entirely on subjective judgment, and as the duration of a single treatment session increases, fatigue also increases, leading to greater deviations in later stages. This compromises the accuracy and consistency of treatment, thus compromising the reliability of treatment results. Moreover, the handheld handle and treatment head method does not adequately protect the user's privacy. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide an intelligent automated pelvic floor treatment device and its control method. This device can solve the problems of existing handheld treatment devices, which are difficult to control manually to rotate specific angles, depths, positions, and pressure levels, making it impossible to achieve high precision and relying entirely on subjective judgment, thus failing to guarantee the reliability of treatment effects.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] This invention is achieved through the following technical solution: an intelligent automated pelvic floor treatment device, comprising...

[0007] A treatment device is used to determine a treatment plan and emit therapeutic energy; the treatment device is electrically connected to an intelligent motion drive module and a treatment execution module, the intelligent motion drive module including a clamping mechanism, a control circuit system, and a multi-dimensional, multi-angle drive mechanism; the clamping mechanism is detachably connected to the treatment execution module, and the multi-dimensional, multi-angle drive mechanism is connected to the clamping mechanism; the control circuit system is used to control the multi-dimensional, multi-angle drive mechanism to drive the treatment execution module to perform multi-dimensional, multi-angle motion.

[0008] Furthermore, the treatment device includes an interactive system, a control system, and an energy source emission system, wherein the interactive system and the energy source emission system are connected to the control system; the interactive system is used to set a treatment plan, and the energy source emission system is used to emit any one of the following energy sources: radio frequency, electrical stimulation, ultrasound, magnetic stimulation, light, and shock wave.

[0009] Furthermore, the treatment execution module includes an energy delivery section, an energy carrying section, a feedback sensor, and a support body. The support body has the energy delivery section, the energy carrying section, and the feedback sensor on its side. The energy delivery section is used to deliver the energy emitted by the energy source emission system to the energy carrying section for treatment. The feedback sensor includes a temperature sensor and a pressure sensor.

[0010] Furthermore, the multi-dimensional, multi-angle driving mechanism includes a combined arm, which comprises a horizontal moving component, a protective cover, a fixed shell, a first linear driving component, a rotary driving component, a fixed ring, and a limiting ring. The rotary driving component is connected to the clamping mechanism and is used to drive the clamping mechanism to rotate. A fixed shell is fixed to the outside of the rotary driving component, and a protective cover is provided on the outside of the fixed shell. A horizontal moving component is provided between the fixed shell and the protective cover, and the horizontal moving component is used to drive the clamping mechanism to move horizontally. A pushing ring is provided on the outside of the protective cover, and a limiting ring is provided on the outside of the pushing ring. An elastic material is used to fill the space between the pushing ring and the limiting ring. Multiple through holes are arranged in a ring array on the outer surface of the limiting ring, and each through hole corresponds to a first linear driving component.

[0011] Furthermore, the rotary drive assembly includes a second motor, a second gear, and a third gear. The third gear is located on the outside of the clamping mechanism and meshes with the second gear. The second gear is connected to the second motor. The horizontal movement assembly includes a fixed frame, a first gear, a first motor, and a slider. A sliding groove is formed on the side of the protective cover. The slider is slidably connected to the sliding groove. A fixed shell is fixed to the top of the slider. A toothed plate is provided at the bottom of the slider. The toothed plate meshes with the first gear. The first gear is connected to the first motor. The first motor and the first gear are located inside the fixed frame.

[0012] Furthermore, the axial angle between the treatment execution module and the clamping mechanism ranges from 0 to 30°.

[0013] Furthermore, the multi-dimensional, multi-angle driving mechanism includes a robotic arm, which comprises a support arm, a second linear drive assembly, a third linear drive assembly, a rotary disk, a base, and a third motor. One end of the rotary disk is connected to a clamping mechanism, and the other end of the rotary disk is connected to the third motor. The rotary disk is rotatably connected to the third linear drive assembly, and the third linear drive assembly is rotatably connected to the support arm. A second linear drive assembly is provided between the support arm and the third linear drive assembly, and the second linear drive assembly is used to drive the third linear drive assembly to change its angle. The bottom end of the support arm is connected to the base.

[0014] A control method for an intelligent pelvic floor automated treatment device, comprising:

[0015] Based on the user's basic information and symptoms, determine the treatment plan on the treatment device;

[0016] The treatment device determines the operating parameters of the intelligent motion drive module according to the treatment plan;

[0017] The intelligent motion drive module drives the treatment execution module to perform multi-dimensional and multi-angle movements according to the operating parameters until the treatment execution module reaches the preset position.

[0018] The treatment equipment and treatment execution module are activated to output energy, and the treatment energy and time are adjusted based on feedback from the feedback sensors.

[0019] Furthermore, the treatment device determines the operating parameters of the intelligent motion drive module according to the treatment plan, including...

[0020] The treatment device calculates the parameter values ​​x, y, z, and angle θ of each motion mechanism of the combined arm based on age m, vaginal internal dimensions a, b, c, and symptoms:

[0021] x = f1(a, b, c) + x0,

[0022] y = f2(a, b, c) + y0,

[0023] y = f3(a, b, c) + z0,

[0024] θ = f4(a, b, c) + θ0;

[0025] In the above formula, x0, y0, and z0 are all infinite rigid constants; f1, f2, f3, and f4 are motion control algorithm functions.

[0026] Furthermore, the treatment device determines the operating parameters of the intelligent motion drive module according to the treatment plan, including...

[0027] The treatment device calculates the robotic arm's posture control parameters and position control parameters based on age m, vaginal internal dimensions a, b, c, the robotic arm's mounting origin x1, y1, z1, and symptoms.

[0028] θ=f -1 (x, y, z, α, β, γ)

[0029] x1=xx b

[0030] y1=yy b

[0031] z1 = zz

[0032] Where θ represents the angles of each joint of the robotic arm, x, y, and z represent the positions of the robotic arm's end effector, and a, β, and γ represent the postures of the robotic arm's end effector. a y b z b f represents the spatial coordinates of position B of the robotic arm; -1 (x) is the formula for calculating inverse kinematics.

[0033] Compared with the prior art, the beneficial effects of the present invention include:

[0034] The intelligent pelvic floor automated treatment device of the present invention drives the treatment execution module to perform multi-dimensional and multi-angle movements by controlling the intelligent motion drive module, so that the treatment execution module can enter the predetermined position of the pelvic floor for treatment. The present invention achieves high precision by intelligently controlling the depth, position and pressure. Even after long-term treatment, there is no deviation. The treatment is accurate and consistent, ensuring the reliability of the treatment effect, while also providing good protection for the user's private parts. Attached Figure Description

[0035] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:

[0036] Figure 1 This is a system block diagram of an intelligent pelvic floor automated treatment device according to the present invention;

[0037] Figure 2 This is a schematic diagram of a partial structure of the combined arm in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the overall structure of the combined arm in an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the combined arm in use according to an embodiment of the present invention;

[0040] Figure 5 These are schematic diagrams of the structures of different treatment execution mechanisms after installation in different embodiments of the present invention;

[0041] Figure 6 This is a comparative structural diagram of the first linear drive component before and after driving, as described in an embodiment of the present invention.

[0042] Figure 7 This is a schematic diagram of the structure of the robotic arm in an embodiment of the present invention;

[0043] Figure 8 This is a schematic diagram of the control method of the intelligent pelvic floor automated treatment device of the present invention;

[0044] Figure 9 This is a schematic diagram of the control method for the intelligent pelvic floor automated treatment device of the present invention during treatment.

[0045] The diagram is labeled as follows: 1. Treatment equipment; 11. Interactive system; 12. Control system; 13. Energy source emission system; 2. Intelligent motion drive module; 21. Clamping mechanism; 22. Control circuit system; 23. Multi-dimensional and multi-angle drive mechanism; 3. Treatment execution module; 4. Combined arm; 41. Horizontal movement component; 411. Fixing frame; 412. First gear; 413. First motor; 414. Slider; 42. Protective cover; 43. Fixing shell; 44. First linear drive component; 45. Rotary drive component; 451. Second motor; 452. Second gear; 453. Third gear; 46. Push ring; 47. Limiting ring; 5. Robotic arm; 51. Support arm; 52. Second linear drive component; 53. Third linear drive component; 54. Rotary disk; 55. Base; 56. Third motor. Detailed Implementation

[0046] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0047] This invention provides an intelligent automated pelvic floor treatment device, such as... Figure 1 As shown,

[0048] It includes a treatment device 1, which is used to determine a treatment plan and emit energy for treatment; specifically, the treatment device 1 includes an interaction system 11, a control system 12, and an energy source emission system 13;

[0049] The interactive system 11 and the energy source emission system 13 are connected to the control system 12; the interactive interface of the interactive system 11 is used to set the treatment plan, and the energy source emission system 13 is used to emit any one of the following energy types: radio frequency, electrical stimulation, ultrasound, magnetic stimulation, light, and shock wave.

[0050] The treatment device 1 is electrically connected to the intelligent motion drive module 2 and the treatment execution module 3. The intelligent motion drive module 2 includes a clamping mechanism 21, a control circuit system 22, and a multi-dimensional, multi-angle drive mechanism 23. The clamping mechanism 21 is detachably connected to the treatment execution module 3. Various types of treatment execution modules 3 are available, each with a different tilt angle (relative to the clamping mechanism 21). Generally, the axial angle between the treatment execution module 3 and the clamping mechanism 21 ranges from 0° to 30°. For example,... Figure 5 As shown in the figure, a represents the treatment head portion of the treatment execution module 3 in a vertical position, and b represents the treatment head portion of the treatment execution module 3 deflected at a certain angle (exemplary). Figure 5 Part b in the diagram refers to the treatment execution module 3 being deflected by 30° relative to the clamping mechanism 21. Therefore, treatment execution modules 3 with different tilt angles can be used according to different needs. The treatment execution module 3, deflected at a certain angle, performs a controllable conical rotational motion during the rotational motion to achieve the treatment requirements. The multi-dimensional multi-angle drive mechanism 23 is connected to the clamping mechanism 21; the control circuit system 22 is electrically connected to the control system 12. The control circuit system 22 is used to control the multi-dimensional multi-angle drive mechanism 23 to drive the treatment execution module 3 to perform multi-dimensional multi-angle movements; the multi-dimensional multi-angle movements include, but are not limited to, rotational movements, linear movements, fixed-point pressing, and controllable tilt angle rotational movements.

[0051] The treatment execution module 3 includes an energy delivery section, an energy carrying section, a feedback sensor, and a support body. The support body has the energy delivery section, energy carrying section, and feedback sensor on its side. The energy delivery section is used to deliver the energy emitted by the energy source emission system 13 to the energy carrying section for treatment. The energy carrying section includes one of the following: an electrode plate, a coil, an ultrasonic transducer, or a shock wave energy converter. The specific energy carrying section is determined according to the energy source of the energy source emission system 13. The feedback sensor includes a temperature sensor and a pressure sensor.

[0052] Implementation Case 1: For example Figure 2 , Figure 3 and Figure 4As shown, the multi-dimensional, multi-angle driving mechanism 23 includes a combined arm 4, which includes a horizontal moving component 41, a protective cover 42, a fixed shell 43, a first linear driving component 44, a rotary driving component 45, a pushing ring 46, and a limiting ring 47. The rotary driving component 45 is connected to the clamping mechanism 21 and is used to drive the clamping mechanism 21 to rotate. For example, the rotary driving component 45 includes a second motor 451, a second gear 452, and a third gear 453, wherein the third gear 453 is located on the outside of the clamping mechanism 21. 3. The second gear 452 is engaged, and the second gear 452 is connected to the second motor 451. The second motor 451 drives the second gear 452 to rotate, which in turn drives the third gear 453 to rotate, so that the clamping mechanism 21 can drive the treatment execution module 3 to rotate. A fixed shell 43 is fixed to the outside of the rotation drive assembly 45, and a protective cover 42 is provided on the outside of the fixed shell 43. A horizontal moving assembly 41 is provided between the fixed shell 43 and the protective cover 42. The horizontal moving assembly 41 is used to drive the clamping mechanism 21 to move horizontally. For example, the horizontal moving assembly 41 includes... The device includes a fixed frame 411, a first gear 412, a first motor 413, and a slider 414. A sliding groove is formed on the side of the protective cover 42, and the slider 414 is slidably connected to the sliding groove. A fixed shell 43 is fixed to the top of the slider 414, and a toothed plate is provided at the bottom of the slider 414. The toothed plate meshes with the first gear 412, and the first gear 412 is connected to the first motor 413. The first motor 413 and the first gear 412 are housed within the fixed frame 411. When the first motor 413 starts, it drives the first gear 412 to rotate, and the rotation of the first gear 412 drives the slider 414. Moving within the protective cover 42 allows the treatment execution module 3 to move horizontally. The outer side of the protective cover 42 is provided with a push ring 46, and the outer side of the push ring 46 is provided with a limiting ring 47. The limiting ring 47 can cooperate with the support base to support the entire combined arm 4. The push ring 46 and the limiting ring 47 are filled with an elastic material. In the absence of external force, the push ring 46 is concentric with the limiting ring 47 under the action of the elastic material. The outer surface of the limiting ring 47 has multiple through holes arranged in a ring array, each through hole corresponding to a first linear drive component 44. For example,... Figure 3 As shown, there are three first linear drive components 44. Each first linear drive component 44 passes through a through hole and contacts the push ring 46, pushing the push ring 46 to move the internal structure to one side, as shown. Figure 4 As shown, Figure 4 The leftmost linear drive component 44 pushes the entire interior of the push ring 46 to the right, completing the pressing operation of the treatment execution module 3. (Refer to...) Figure 6 , Figure 6The overall top view shows the change from before (c) to after (d) the first linear drive assembly 44 is pushed; in addition, the first linear drive assembly 44 includes one of electric push rod, hydraulic push rod, and pneumatic push rod, but is not limited to these. Any component capable of driving linear motion is within the protection scope of this invention.

[0053] One application scenario of this invention is pelvic floor cavity therapy, suitable for full-cavity segmented treatment (rotational motion), full-cavity treatment at different depths (linear motion + rotational motion), cavity-specific treatment (linear motion + rotational motion), cavity-specific pressure therapy (linear motion + rotational motion + pressure), and controllable tilt-angle rotational motion (rotational motion + pressure + a mass execution module tilted at a certain angle). The doctor selects a treatment plan on the treatment device based on the user's symptoms. After entering the treatment plan, the intelligent motion drive module is activated, driving the treatment execution module to perform corresponding movements according to the selected treatment plan. The treatment execution module is electrically connected to the treatment device, delivering energy. The treatment execution module is equipped with a feedback sensor; when a set value is reached, the treatment device will control the energy output, simultaneously displaying the treatment location area, the motion trajectory, and real-time sensor values ​​on the device's display interface.

[0054] This invention also provides a control method for an intelligent pelvic floor automated treatment device, such as... Figure 8 As shown, it includes the following steps:

[0055] Step 1: Determine the treatment plan on the treatment device based on the user's symptoms and basic information;

[0056] Specifically, the symptoms include physical examination symptoms and chief complaint symptoms, and the basic information includes the user's age and vaginal size. The treatment plan, namely the treatment location, treatment energy intensity, and treatment time, is determined from the interface of the treatment device's interactive system.

[0057] Step 2: The treatment device determines the operating parameters of the intelligent motion drive module according to the treatment plan;

[0058] Specifically, the treatment device calculates the parameter values ​​x, y, z, and angle θ of each motion mechanism of the intelligent motion drive module based on the user's age m, vaginal internal space dimensions a, b, c, physical examination symptoms, and chief complaint.

[0059] x = f1(a, b, c) + x0,

[0060] y = f2(a, b, c) + y0,

[0061] y = f3(a, b, c) + z0,

[0062] θ = f4(a, b, c) + θ0;

[0063] In the above formula, x0, y0, and z0 are all infinite rigid constants, and f1, f2, f3, and f4 are motion control algorithm functions.

[0064] Step 3: The intelligent motion driving module drives the treatment execution module to perform multi-dimensional and multi-angle movements according to the operating parameters until the treatment execution module reaches the preset position;

[0065] The intelligent motion drive module adjusts the position of the treatment execution module according to the treatment plan until it reaches the treatment site. Specifically, after determining the treatment site and treatment plan, the intelligent motion drive module drives the treatment execution module to move linearly and / or press, so that the treatment execution module reaches the preset position, and then rotates the treatment execution module through rotational motion.

[0066] Step 4: Start the treatment equipment and treatment execution module to output energy, and adjust the energy and time of the treatment equipment according to the feedback from the feedback sensor; for example, the treatment energy P and time t of the treatment equipment are adjusted by combining the real-time temperature value temp obtained from the feedback sensor. Wherein:

[0067] P = f5(Z) t temp)

[0068] Z T = a0 + a1*cos(T*w) + b1*sin(T*w)

[0069] In the formula: a0, a1, b1, w are all infinite rigid constants, T is the target temperature, and Z is the constant. T This refers to the impedance of biological tissues.

[0070] Specifically, the treatment equipment and treatment execution module are activated, allowing the energy emitted by the energy source emission system to be transmitted to the treatment execution module for treatment; the treatment process is as follows: Figure 9 As shown,

[0071] When energy is delivered to the treatment execution module, it is determined whether a preset value has been reached. For example, a temperature sensor is used to detect the temperature value to determine whether the preset temperature has been reached. If the preset value has not been reached, energy delivery continues. If the preset value has been reached, the power is maintained at a low level, and it is determined whether the preset time has been reached. If not, the power maintenance continues at a low level. If so, the energy output ends, the automated treatment device exits the treatment site, and the treatment is completed.

[0072] Implementation Case 2: For example Figure 4As shown, the multi-dimensional, multi-angle driving mechanism 23 includes a robotic arm 5, exemplarily illustrated by two sections of the robotic arm 5. The robotic arm 5 includes a support arm 51, a second linear drive assembly 52, a third linear drive assembly 53, a rotating disk 54, a base 55, and a third motor 56. One end of the rotating disk 54 is connected to the clamping mechanism 21, and the other end is connected to the third motor 56. The third motor 56 drives the rotating disk 54 to rotate, thereby causing the treatment execution module 3 to rotate. The rotating disk 54 is rotatably connected to the third linear drive assembly 53, which drives the treatment execution module 3 to perform horizontal movement. The third linear drive assembly 53 is rotatably connected to the support arm 51; a second linear drive assembly 52 is provided between the support arm 51 and the third linear drive assembly 53, the second linear drive assembly 52 is used to drive the third linear drive assembly 53 to change the angle, and is used to realize the change of the tilt angle of the treatment execution module 3 to perform fixed-point pressing motion and controllable tilt angle rotation motion; the bottom end of the support arm 51 is connected to the base 55; wherein the second linear drive assembly 52 and the third linear drive assembly 53 include one of electric push rod, hydraulic push rod, and pneumatic push rod, but are not limited to these, any one capable of driving linear motion is within the protection scope of this invention.

[0073] This invention provides a control method for an intelligent automated pelvic floor treatment device, comprising the following steps:

[0074] Step 1: Determine the treatment plan on the treatment device based on the user's symptoms and basic information;

[0075] Specifically, the symptoms include physical examination symptoms and chief complaint symptoms, and the basic information includes the user's age and vaginal size. The treatment plan, namely the treatment location, treatment energy intensity, and treatment time, is determined from the interactive interface of the treatment device's interactive system.

[0076] Step 2: The treatment device determines the operating parameters of the intelligent motion drive module according to the treatment plan;

[0077] Specifically, treatment plans are set based on the user's physical examination symptoms, chief complaints, age, and vaginal size. Based on the origin positions x1, y1, and z1 of the robotic arm, the treatment device can calculate the posture and position control parameters of the multi-axis robotic arm according to the user's age m, vaginal sizes a, b, and c, the robotic arm origin positions x1, y1, and z1, and the symptoms. Joint motion-based control is a joint-based motion control principle that decomposes the complex spatial motion of the robotic arm into the motion of each joint to control the robotic arm to reach a designated position. In joint motion control, precise joint control is required. Position or velocity sensors are typically used to detect the real-time position or velocity of the joints, and then a control algorithm is used to make the joints reach the predetermined position or velocity.

[0078] θ=f -1 (x, y, z, α, β, γ)

[0079] x1=xx b

[0080] y1=yy b

[0081] z1 = zz b

[0082] Where θ represents the angles of each joint of the robotic arm, x, y, and z represent the positions of the robotic arm's end effector, and a, β, and γ represent the postures of the robotic arm's end effector. a y b z b f represents the spatial coordinates of position B of the robotic arm; -1 (x) is the formula for calculating inverse kinematics.

[0083] Step 3: The intelligent motion driving module drives the treatment execution module to perform multi-dimensional and multi-angle movements according to the operating parameters until the treatment execution module reaches the preset position;

[0084] The intelligent motion drive module adjusts the position of the treatment execution module according to the treatment plan until it reaches the treatment site. Specifically, after determining the treatment site and treatment plan, the intelligent motion drive module drives the treatment execution module to move linearly and / or press at a controllable tilt angle, so that the treatment execution module reaches the preset position, and then rotates the treatment execution module through rotational motion.

[0085] Step 4: Start the treatment equipment and treatment execution module to output energy, and adjust the energy and time of the treatment equipment according to the feedback from the feedback sensor.

[0086] The intelligent pelvic floor automated treatment device of the present invention drives the treatment execution module to perform multi-dimensional and multi-angle movements by controlling the intelligent motion drive module, so that the treatment execution module can enter the predetermined position of the pelvic floor. The present invention achieves high precision by intelligently controlling the rotation of specific angles, depths, positions and pressure. Even after long-term treatment, there is no deviation. The treatment is accurate and consistent, ensuring the reliability of the treatment effect, while also providing good protection for the user's private parts.

[0087] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. An intelligent automated pelvic floor treatment device, characterized in that: include A treatment device is used to determine a treatment plan and emit therapeutic energy. The treatment device is electrically connected to an intelligent motion drive module and a treatment execution module. The intelligent motion drive module includes a clamping mechanism, a control circuit system, and a multi-dimensional, multi-angle drive mechanism. The clamping mechanism is detachably connected to the treatment execution module, and the multi-dimensional, multi-angle drive mechanism is connected to the clamping mechanism. The control circuit system is used to control the multi-dimensional, multi-angle drive mechanism to drive the treatment execution module to perform multi-dimensional, multi-angle movements. The multi-dimensional, multi-angle movements include rotational movement, linear movement, fixed-point pressure, and controllable tilt angle rotational movement. The treatment execution module includes an energy delivery section, an energy carrying section, a feedback sensor, and a support body. The support body has the energy delivery section, energy carrying section, and feedback sensor on its side. The energy delivery section is used to deliver the energy emitted by the energy source emission system to the energy carrying section for treatment. The feedback sensor includes a temperature sensor and a pressure sensor. The multi-dimensional, multi-angle driving mechanism includes a combined arm, which comprises a horizontal moving component, a protective cover, a fixed shell, a first linear driving component, a rotary driving component, a fixed ring, and a limiting ring. The rotary driving component is connected to the clamping mechanism and is used to drive the clamping mechanism to rotate. A fixed shell is fixed to the outside of the rotary driving component, and a protective cover is provided on the outside of the fixed shell. A horizontal moving component is provided between the fixed shell and the protective cover, and is used to drive the clamping mechanism to move horizontally. A pushing ring is provided on the outside of the protective cover, and a limiting ring is provided on the outside of the pushing ring. The pushing ring and the limiting ring are filled with an elastic material. In the absence of external force, the pushing ring is concentric with the limiting ring under the action of the elastic material. The outer surface of the limiting ring has multiple through holes arranged in a ring array. Each through hole corresponds to a first linear driving component. The first linear driving component passes through the through hole and contacts the pushing ring, and is used to push the pushing ring to move the overall structure inside the protective cover relative to the limiting ring to one side, so as to complete the pressing operation of the treatment execution module.

2. The intelligent pelvic floor automated treatment device according to claim 1, characterized in that: The treatment device includes an interactive system, a control system, and an energy source emission system. The interactive system and the energy source emission system are connected to the control system. The interactive system is used to set the treatment plan, and the energy source emission system is used to emit any one of the following energy types: radio frequency, electrical stimulation, ultrasound, magnetic stimulation, light, and shock wave.

3. The intelligent pelvic floor automated treatment device according to claim 1, characterized in that: The rotary drive assembly includes a second motor, a second gear, and a third gear. The third gear is located on the outside of the clamping mechanism and meshes with the second gear. The second gear is connected to the second motor. The horizontal movement assembly includes a fixed frame, a first gear, a first motor, and a slider. A sliding groove is formed on the side of the protective cover. The slider is slidably connected to the sliding groove. A fixed shell is fixed to the top of the slider. A toothed plate is provided at the bottom of the slider. The toothed plate meshes with the first gear. The first gear is connected to the first motor. The first motor and the first gear are located inside the fixed frame.

4. The intelligent pelvic floor automated treatment device according to claim 1, characterized in that, The axial angle between the treatment execution module and the clamping mechanism is in the range of 0~30°.

5. An intelligent automated pelvic floor treatment device according to any one of claims 1-4, characterized in that: The multi-dimensional, multi-angle driving mechanism includes a robotic arm, which comprises a support arm, a second linear drive assembly, a third linear drive assembly, a rotary disk, a base, and a third motor. One end of the rotary disk is connected to a clamping mechanism, and the other end of the rotary disk is connected to the third motor. The rotary disk is rotatably connected to the third linear drive assembly, and the third linear drive assembly is rotatably connected to the support arm. A second linear drive assembly is provided between the support arm and the third linear drive assembly, and the second linear drive assembly is used to drive the third linear drive assembly to change its angle. The bottom end of the support arm is connected to the base.

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