Light wave cauterization robot

Abstract

This invention discloses a light wave moxibustion robot, comprising a body, a robotic arm, a treatment head, and a thermal imaging camera assembly. The robotic arm has a fixed end and a movable end capable of multi-degree-of-freedom movement; the fixed end is connected to the body. The treatment head is connected to the movable end of the robotic arm and is used for moxibustion and massage. The thermal imaging camera assembly is connected to the movable end of the robotic arm and is used to generate thermal images of the moxibustion area. This invention can effectively perform moxibustion on the human body. By setting up the thermal imaging camera assembly, the thermal imaging camera assembly performs thermal imaging on the area to be moxibusted to obtain thermal images of the area. After the treatment head performs moxibustion on the human body, the thermal imaging camera assembly performs thermal imaging on the post-moxibustion area to obtain thermal images of the post-moxibustion area. By comparing the two thermal images, the temperature change before and after can be clearly indicated, allowing the user to intuitively view the before-and-after comparison.

Description

Technical Field

[0001] This invention relates to the field of moxibustion equipment, and more particularly to a light wave moxibustion robot. Background Technology

[0002] Moxibustion is a therapy that uses heat to treat physical ailments. By transferring heat to specific areas of the body, it aims to promote the body's natural balance.

[0003] CN209108060U discloses a device for moxibustion, including a base, a sleeve mounted on the base, a lifting cylinder mounted above the inner cavity of the sleeve, a lifting shaft mounted inside the lifting cylinder via an elastic element, a fixing element mounted at the lower end of the lifting shaft for fixing a moxa product, and a lifting mechanism mounted on the sleeve for the lifting shaft to move up and down along the lifting cylinder. The base serves as the base, upon which the sleeve is mounted, and the lifting shaft, which can move up and down, is mounted on the sleeve. Since the lifting shaft is connected to the lifting cylinder via an elastic element, it can be reset by the elastic element after the lifting cylinder descends. To better fix the moxa product, a fixing element is mounted at the lower end of the lifting shaft. To enable the lifting shaft to move up and down, a lifting mechanism is mounted on the sleeve, thereby enabling the lifting shaft to move up and down, and consequently, the moxa product to move up and down.

[0004] The aforementioned moxibustion device uses moxa products that can be raised and lowered for moxibustion. This type of moxibustion device cannot show the temperature changes of the human body before and after moxibustion, nor can it intuitively show the changes in the human skin before and after moxibustion to the patient. Summary of the Invention

[0005] In view of this, it is necessary to provide a light wave moxibustion robot to solve the technical problem in the existing technology that cannot show the temperature changes of the human body before and after moxibustion.

[0006] To achieve the above-mentioned technical objectives, the present invention provides a light wave moxibustion robot, comprising:

[0007] Organism;

[0008] A robotic arm having a fixed end and a movable end capable of moving with multiple degrees of freedom, the fixed end being connected to the body;

[0009] A treatment head, which is connected to the movable end of the robotic arm, is used for moxibustion and massage.

[0010] A thermal imaging camera assembly, connected to the moving end of the robotic arm, is used to generate thermal images of the ablation area.

[0011] In one embodiment, a control component is also included, the control component comprising:

[0012] A three-dimensional imager, connected to the moving end of the robotic arm, is used to capture three-dimensional surface images of the acupuncture area;

[0013] The processor is connected to both the 3D imager and the robotic arm. The processor is used to plan the movement path of the treatment head and to plan the movement trajectory of the robotic arm based on the movement path of the treatment head and the 3D image acquired by the 3D imager.

[0014] In one embodiment, the body has an outwardly formed push handle, which is U-shaped and has its two ends connected to the body.

[0015] In one embodiment, a plurality of rollers are also included, which are spaced apart at the bottom of the body.

[0016] In one embodiment, the bottom of the machine body extends outward with multiple support portions, and the rollers correspond one-to-one with the support portions. The rollers are disposed at the bottom of the support portions and are rotatably connected to the machine body via the support portions.

[0017] In one embodiment, a display component is also included, the display component including a support arm and a display, one end of the support arm being connected to the body and the display being connected to the other end of the support arm.

[0018] In one embodiment, a host is also included, the host being connected to the body, and the processor is built into the host.

[0019] In one embodiment, the terminals of the host are oriented towards the body.

[0020] In one embodiment, a support assembly is further included, comprising a first fixed frame, a second fixed frame, a third fixed frame, and a limiting member. The first fixed frame is connected to the body, one side of the second fixed frame is hinged to the first fixed frame, one side of the third fixed frame is hinged to the first fixed frame, and the other side is slidably connected to the second fixed frame. The limiting member connects the second fixed frame and the third fixed frame and is used to restrict the sliding of the third fixed frame relative to the second fixed frame. The main unit is fixed to the second fixed frame and is also fixed to the main unit via the second fixed frame.

[0021] In one embodiment, the host and the robotic arm are located on both sides of the body.

[0022] Compared with the prior art, the beneficial effects of the present invention include: when in use, the treatment head is controlled by a robotic arm to fit against a designated area of ​​the human body, and under the control of the robotic arm, the treatment head is driven to move along a predetermined trajectory while fitting against the human body, so that the treatment head fits against the human body and performs moxibustion on the human body.

[0023] By setting up a thermal imaging camera component, before the treatment head applies moxibustion to the human body, the thermal imaging camera component performs thermal imaging on the area to be treated to obtain a thermal image of the area; after the treatment head applies moxibustion to the human body, the thermal imaging camera component performs thermal imaging on the area after the treatment to obtain a thermal image of the area after the treatment. By comparing the two thermal images before and after, the temperature change can be clearly indicated, allowing the user to intuitively see the before and after comparison. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the light wave moxibustion robot according to an embodiment of the present invention;

[0025] Figure 2 yes Figure 1 A magnified view of a portion of point A in the middle;

[0026] Figure 3 This is a schematic diagram of the structure of the light wave moxibustion robot according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the support assembly in the light wave moxibustion robot according to an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the limiting component in the light wave moxibustion robot according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of the thermal imaging camera component, control component, three-dimensional imager, processor, display and host in the light wave moxibustion robot according to an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] Body 1;

[0032] Pushing hands 11;

[0033] Support part 12;

[0034] Robotic arm 2;

[0035] Treatment of head 3;

[0036] Thermal imaging camera component 4;

[0037] Control component 5;

[0038] 3D imager 51;

[0039] Processor 52;

[0040] 6 rollers;

[0041] Display component 7;

[0042] Support arm 71;

[0043] Monitor 72;

[0044] Support assembly 8;

[0045] First fixing frame 81;

[0046] Second fixing bracket 82;

[0047] Third fixing frame 83;

[0048] Limiting component 84;

[0049] Rack 84a;

[0050] First rotating shaft 84b;

[0051] Second shaft 84c;

[0052] 84d collar;

[0053] Hook 84e;

[0054] Slider 84f;

[0055] The push button weighs 84g.

[0056] Push block 84h;

[0057] Linkage 84i;

[0058] Host 9. Detailed Implementation

[0059] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0060] like Figures 1 to 6 As shown, this invention provides a light wave moxibustion robot, including a body 1, a robotic arm 2, a treatment head 3, and a thermal imaging camera assembly 4. The robotic arm 2 has a fixed end and a movable end capable of multi-degree-of-freedom movement, with the fixed end connected to the body 1. The thermal imaging camera assembly 4 is connected to the movable end of the robotic arm 2 and is used to generate thermal images of the moxibustion area. It should be understood that the body 1 can be various types of frames, chassis, etc., and the body 1 can house various types of control electrical appliances, control circuits, etc. The treatment head 3 is used to locally heat the skin through electricity or infrared radiation to achieve the effect of moxibustion. The thermal imaging camera assembly 4 can be a thermal imaging camera or thermal imaging video camera, etc.

[0061] It should be understood that the treatment head 3 can be a container for moxibustion, an infrared structure that emits infrared light or other light waves, an electrothermal structure, or a combination of the above structures.

[0062] In use, the robotic arm 2 controls the treatment head 3 to fit against a designated area of ​​the human body. Under the control of the robotic arm 2, the treatment head 3 is driven to move along a predetermined trajectory while fitting against the human body.

[0063] By setting up a thermal imaging camera component 4, before the treatment head 3 performs moxibustion on the human body, the thermal imaging camera component 4 performs thermal imaging on the part of the human body to be treated to obtain a thermal image of the part to be treated; after the treatment head 3 performs moxibustion on the human body, the thermal imaging camera component 4 performs thermal imaging on the part of the human body after moxibustion to obtain a thermal image of the part after moxibustion. By comparing the two thermal images before and after, the temperature change before and after can be clearly indicated, so that the user can intuitively see the before and after comparison.

[0064] In one embodiment, the robotic arm 2 can be a six-axis robotic hand. It should be understood that the robotic arm 2 can also be a three-axis, four-axis, five-axis, or other robotic hand.

[0065] By setting the robotic arm 2 as a six-axis robotic hand, the six-axis robotic hand can drive the treatment head 3 to move and control the treatment head 3 to always be in contact with the human skin when moving, with sufficient degrees of freedom of movement.

[0066] In one embodiment, the light wave moxibustion robot further includes a control component 5, which includes a 3D imager 51 and a processor 52. The 3D imager 51 is connected to the moving end of the robotic arm 2 and is used to capture 3D surface images of the moxibustion area. The processor 52 is connected to both the 3D imager 51 and the robotic arm 2. The processor 52 is used to plan the movement path of the treatment head 3 and to plan the movement trajectory of the robotic arm 2 based on the movement path of the treatment head 3 and the 3D images acquired by the 3D imager 51. It should be understood that the 3D imager 51 can be a structured light lens, a binocular stereo vision camera, a lidar camera, or a time-of-flight camera, etc., and the processor 52 can be an industrial control computer, an embedded processor, a PLC, an embedded computer, etc. It should be understood that the robotic arm 2 can also be manually controlled to drive the treatment head 3 to perform moxibustion on the human body.

[0067] A 3D imager 51, located at the moving end of the robotic arm 2, is responsible for capturing 3D surface images of the moxibustion area. This allows for the acquisition of the patient's skin surface's true condition, providing accurate information for subsequent moxibustion procedures. The processor 52, based on the 3D images acquired by the imager 51, plans the movement path of the treatment head 3. Following the planned path, the robot precisely performs moxibustion in the desired area. Simultaneously, the processor 52 also plans the trajectory of the robotic arm 2 based on the movement path of the treatment head 3 and the acquired 3D images. This ensures the accuracy and safety of the robotic arm 2 during moxibustion operations. This method, while guaranteeing treatment effectiveness, eliminates the need for manual operation, automating moxibustion and reducing the risk of human error.

[0068] In one embodiment, the body 1 has an outwardly formed push handle 11, which is U-shaped and connected to the body 1 at both ends.

[0069] By setting up pusher 11, pusher 11 can easily push the body 1 to move, so that the body 1 moves to the preset area.

[0070] In one embodiment, the light wave ablation robot also includes a plurality of rollers 6, which are spaced apart at the bottom of the body 1.

[0071] By setting multiple rollers 6, the light wave moxibustion robot can be moved easily under the action of the multiple rollers 6, so that the light wave moxibustion robot can move to the set position to perform moxibustion.

[0072] In one embodiment, a plurality of support portions 12 extend outward from the bottom of the body 1, and rollers 6 correspond one-to-one with the support portions 12. The rollers 6 are disposed at the bottom of the support portions 12 and are rotatably connected to the body 1 via the support portions 12. It should be understood that the support portions 12 can be rods, blocks, etc.; the number of support portions 12 and rollers 6 can be three, four, or five, etc.

[0073] By extending outward to form a support part 12, the roller 6 is connected to the body 1 via the support part 12, so that the position of the roller 6 is offset outward, increasing the area between multiple rollers 6, and thus more effectively supporting the body 1.

[0074] In one embodiment, the light wave ablation robot further includes a display component 7, which includes a support arm 71 and a display 72. One end of the support arm 71 is connected to the body 1, and the display 72 is connected to the other end of the support arm 71. It should be understood that the display 72 is electrically connected to the processor 52.

[0075] By setting up a support arm 71 and a display 72, the display 72 is used to display the control interface and the movement path and trajectory of the treatment head 3.

[0076] In one embodiment, the light wave ablation robot also includes a host 9, which is connected to the body 1, and a processor 52 is built into the host 9. It should be understood that the host 9 is also provided with a screen or the like for interacting with the processor 52.

[0077] By setting up host 9 and embedding processor 52 in host 9, host 9 can better protect processor 52 and enable information exchange through host 9.

[0078] In one embodiment, the terminals of the host 9 face the body 1.

[0079] The above settings prevent the wiring terminals of the main unit 9 from being exposed.

[0080] In one embodiment, the light wave moxibustion robot further includes a support assembly 8, which includes a first fixed frame 81, a second fixed frame 82, a third fixed frame 83, and a limiting member 84. The first fixed frame 81 is connected to the body 1. One side of the second fixed frame 82 is hinged to the first fixed frame 81. One side of the third fixed frame 83 is hinged to the first fixed frame 81, and the other side is slidably connected to the second fixed frame 82. The limiting member 84 connects the second fixed frame 82 and the third fixed frame 83 and is used to limit the sliding of the third fixed frame 83 relative to the second fixed frame 82. The main unit 9 is electrically connected to the infrared structure 34 and fixed to the second fixed frame 82.

[0081] By setting the first fixed frame 81, the second fixed frame 82 and the third fixed frame 83, the main unit 9 can be supported on the body 1. Moreover, when it is necessary to transport or wire the light wave moxibustion robot, the sliding restriction on the third fixed frame 83 can be released by controlling the limiting member 84. The third fixed frame 83 slides relative to the second fixed frame 82, so that the second fixed frame 82 rotates relative to the first fixed frame 81. The second fixed frame 82 drives the main unit 9 to rotate, which can reduce the space occupied by the main unit 9, facilitate wiring on the back of the main unit 9, and reduce the space required for packaging.

[0082] In one embodiment, the processor 52 is built into the host 9 and is electrically connected to the thermal imaging camera assembly 4, the 3D imager 51, the robotic arm 2, the display 72, and the treatment head 3.

[0083] In one embodiment, the host 9 and the robotic arm 2 are located on both sides of the body 1.

[0084] By placing the main unit 9 and the robotic arm 2 on both sides of the machine body 1, the two components can act parallel to each other, reducing the instability caused by the center of gravity of the equipment.

[0085] In one embodiment, the limiting member 84 includes a rack 84a, a first rotating shaft 84b, a second rotating shaft 84c, a collar 84d, a hook 84e, two sliders 84f, two push buttons 84g, a push block 84h, and two connecting rods 84i. The rack 84a is connected to a second fixing frame 82 and extends in a direction away from the first fixing frame 81. The first rotating shaft 84b is rotatably connected to a third fixing frame 83 and slidably connected to the second fixing frame 82. The axes of the second rotating shaft 84c and the first rotating shaft 84b are parallel to each other and are slidably connected to the second fixing frame 82. The frame 82 has a collar 84d rotatably fitted onto the first rotating shaft 84b. One end of the hook 84e is connected to the collar 84d, and the other end can engage with the teeth of the rack 84a. Two sliders 84f are slidably connected to the first rotating shaft 84b and the second rotating shaft 84c, and are located at both ends of the first rotating shaft 84b. Two push buttons 84g are respectively connected to the two sliders 84f. A push block 84h is located between the two sliders 84f. One end of each of the two connecting rods 84i is hinged to the two sliders 84f, and the other end of each connecting rod 84i is hinged to the push block 84h. It should be understood that the second fixed frame 82 has a groove along the direction away from the first fixed frame 81, and the first rotating shaft 84b and the second rotating shaft 84c are slidably inserted into the groove. It should be understood that a torsion spring may also be provided between the collar 84d and the first rotating shaft 84b to provide elastic force for the collar 84d and hook 84e to return to their original position after rotation. The hook 84e may also engage with the rack 84a under the action of gravity.

[0086] When the limiting member 84 needs to release the rotation restriction on the second fixed frame 82, the two push buttons 84g are pressed at the same time. The two push buttons 84g move towards each other. The push buttons 84g that are close to each other tend to push the block 84h away from the first rotating shaft 84b through the two connecting rods 84i. This pushes the hook 84e away from the rack 84a, thereby disengaging the hook 84e from the rack 84a and releasing the connection between the second fixed frame 82 and the first fixed frame 81. At this time, the third fixed frame 83 can slide relative to the second fixed frame 82, so that the second fixed frame 82 can rotate relative to the first fixed frame 81.

[0087] When one of the two push buttons 84g is accidentally pressed, the push button 84g pushes the other push button 84g to move via the push block 84h and the connecting rod 84i until the push button 84g abuts against the second fixed frame 82. Even then, the push button 84g cannot drive the hook 84e to move. Both push buttons 84g need to be pressed at the same time to make the hook 84e rotate. This can effectively prevent the third fixed frame 83 from sliding relative to the second fixed frame 82 when the push button 84g is accidentally pressed, thus preventing the main unit 9 from sliding off the second fixed frame 82.

[0088] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A light wave moxibustion robot, characterized in that, include: Organism; A robotic arm having a fixed end and a movable end capable of moving with multiple degrees of freedom, the fixed end being connected to the body; A treatment head, which is connected to the movable end of the robotic arm, is used for moxibustion and massage. A thermal imaging camera assembly, connected to the moving end of the robotic arm, is used to generate thermal images of the ablation area. It also includes a control component, which includes: A three-dimensional imager, connected to the moving end of the robotic arm, is used to capture three-dimensional surface images of the acupuncture area; The processor is connected to both the 3D imager and the robotic arm. The processor is used to plan the movement path of the treatment head and to plan the movement trajectory of the robotic arm based on the movement path of the treatment head and the 3D image acquired by the 3D imager. The body has an outward-facing push handle, which is U-shaped and connected to the body at both ends. It also includes a host computer, which is connected to the body, and the processor is built into the host computer; The wiring terminals of the host are oriented towards the machine body; It also includes a support assembly, which includes a first fixed frame, a second fixed frame, a third fixed frame, and a limiting member. The first fixed frame is connected to the machine body. One side of the second fixed frame is hinged to the first fixed frame. One side of the third fixed frame is hinged to the first fixed frame and the other side is slidably connected to the second fixed frame. The limiting member connects the second fixed frame and the third fixed frame and is used to limit the sliding of the third fixed frame relative to the second fixed frame. The main unit is fixed to the second fixed frame and is fixed to the main unit via the second fixed frame. The limiting component includes a rack, a first rotating shaft, a second rotating shaft, a collar, a hook, two sliders, two push buttons, a push block, and two connecting rods. The rack is connected to a second fixed frame and extends away from the first fixed frame. The first rotating shaft is rotatably connected to a third fixed frame and slidably connected to the second fixed frame. The second rotating shaft is parallel to the axis of the first rotating shaft and slidably connected to the second fixed frame. The collar is rotatably fitted onto the first rotating shaft. One end of the hook is connected to the collar, and the other end can engage with the teeth of the rack. Both sliders are slidably connected to the first and second rotating shafts and are located at both ends of the first rotating shaft. The two push buttons are respectively connected to the two sliders. The push block is located between the two sliders. One end of each connecting rod is hinged to one of the two sliders, and the other end of each connecting rod is hinged to the push block.

2. The light wave moxibustion robot according to claim 1, characterized in that, It also includes multiple rollers, which are spaced apart at the bottom of the machine body.

3. The light wave moxibustion robot according to claim 2, characterized in that, Multiple support sections extend outward from the bottom of the machine body. Each roller corresponds to one of the support sections. The rollers are located at the bottom of the support sections and are rotatably connected to the machine body via the support sections.

4. The light wave moxibustion robot according to claim 1, characterized in that, It also includes a display component, which includes a support arm and a display, with one end of the support arm connected to the body and the display connected to the other end of the support arm.

5. The light wave moxibustion robot according to claim 1, characterized in that, The host and the robotic arm are located on both sides of the machine body.

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