Physical therapy method and device based on mechanical arm massage and electrical stimulation

Abstract

The invention provides a physical therapy method and device based on mechanical arm massage and electrical stimulation. The problems that the physical therapy mode of an existing AI massage physical therapy robot is too single, and an electrical stimulation physical therapy mode and a massage physical therapy mode are integrated simply and affect each other are effectively solved. The method comprises the following steps: when a patient lies on a treatment bed and starts physiotherapy, the controller generates physiotherapy information for a treatment part based on the obtained treatment part of the patient; the controller moves the mechanical arm to the target physiotherapy path to perform physiotherapy on the patient; the controller controls the force sensor and the electromyographic sensor to collect massage pressure values and electromyographic signals in real time so as to adjust the physiotherapy parameters, and the adjusted physiotherapy parameters are obtained; and the controller adjusts the massage pressure value, the electrical stimulation value and the temperature data in real time according to the adjusted physiotherapy parameters and the electromyographic signals until the physiotherapy is finished.

Description

Technical Field

[0001] The present application relates to the technical field of robotic physiotherapy, and in particular to a physiotherapy method and device based on robotic arm massage and electrical stimulation. Background Art

[0002] With the aging of the population and the changes in modern lifestyles, people's demand for health and rehabilitation services is growing. Massage, as a traditional relaxation and treatment method, has been widely used to relieve muscle tension, improve blood circulation, and promote physical rehabilitation. However, traditional manual massage has problems such as high labor costs, different skill levels of masseurs, and difficulty in maintaining stable massage strength and speed for a long time. The derivative technology product of the robotic arm in the medical field is the AI ​​massage therapy robot. The emergence of the AI ​​massage therapy robot provides a new solution for relieving human muscle soreness and simulating professional massage.

[0003] However, in actual use, most AI massage therapy robots are based on a robotic arm plus a massage head through path planning and pressure preset to replace the existing manual massage therapy methods, that is, the AI ​​massage therapy robot's therapy methods are too single. As an emerging therapy method, electrical stimulation therapy has been widely used in pain management, muscle rehabilitation, nerve recovery and other fields. It is a method of using electric current to stimulate muscle and nerve tissue to achieve therapeutic purposes. Traditional electrical stimulation therapy requires patients to wear multiple electrodes, and these electrodes need to be pasted on the patient's treatment area. Not only is the operation cumbersome, but it is also inconvenient to change the position, and the contact quality between the electrode and the skin will also affect the treatment effect. If the electrical stimulation therapy and massage therapy are simply integrated together, the two therapy methods will affect each other and fail to achieve the maximum therapeutic effect. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a physiotherapy method and device based on robotic arm massage and electrical stimulation. The physiotherapy method and device based on robotic arm massage and electrical stimulation provide a robotic arm that integrates massage therapy and electrical stimulation therapy, effectively solving the problem that the existing AI massage therapy robot's physiotherapy method is too single and that the electrical stimulation therapy and massage therapy are simply integrated together and there is mutual influence.

[0005] In a first aspect, an embodiment of the present application provides a physical therapy method based on mechanical arm massage and electrical stimulation, which is applicable to a physical therapy system, wherein the physical therapy system includes a treatment bed, a mechanical arm, a controller, and a force sensor, wherein the treatment bed includes a positioning module, and the end of the mechanical arm includes a temperature detection sensor, an electromyographic sensor, an electrical stimulation massage head, and a temperature module, wherein the method includes:

[0006] When the patient lies on the treatment bed and starts physical therapy, the controller generates physical therapy information for the treatment part based on the acquired treatment part of the patient; the physical therapy information includes physical therapy mode, physical therapy parameters and target physical therapy path;

[0007] The controller moves the robotic arm to the target therapy path to control the electrical stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode;

[0008] The controller controls the positioning module to collect the real-time position of the patient during the physical therapy in real time, so as to adjust the target physical therapy path in real time based on the real-time position of the patient, and obtain the adjusted target physical therapy path, so that the controller controls the mechanical arm to move according to the adjusted target physical therapy path;

[0009] The controller controls the force sensor and the electromyographic sensor to respectively collect the massage pressure value applied to the patient by the electric stimulation massage head and the electromyographic signal generated by the patient during the physical therapy in real time, so as to adjust the physical therapy parameters based on the massage pressure value and the electromyographic signal generated by the patient to obtain the adjusted physical therapy parameters;

[0010] The controller adjusts the massage pressure value applied to the patient by the electric stimulation massage head, the electric stimulation value and the temperature data applied to the patient by the temperature module in real time through the adjusted physical therapy parameters and the electromyographic signal until the physical therapy is completed.

[0011] In combination with the first aspect, the embodiment of the present application provides a first possible implementation of the first aspect, wherein the physical therapy system further includes a gyroscope;

[0012] The controller moves the mechanical arm to the target therapy path to control the electric stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode, including:

[0013] The controller fuses the posture information of the robotic arm collected by the gyroscope with the position information of the electric stimulation massage head to obtain the position information of the end of the robotic arm, so as to determine whether the end of the robotic arm is located on the target physiotherapy path based on the position information of the end of the robotic arm;

[0014] If not, the controller controls the robotic arm to move to the target therapy path and perform therapy.

[0015] In combination with the first aspect, the embodiment of the present application provides a second possible implementation of the first aspect, wherein the controller moves the robotic arm to the target therapy path to control the electrical stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode, and further includes:

[0016] The controller controls the positioning module to collect the real-time position of the patient during the physical therapy process in real time, so as to adjust the target physical therapy path in real time based on the real-time position of the patient to obtain an adjusted target physical therapy path;

[0017] The controller controls the robotic arm to move according to the adjusted target therapy path.

[0018] In combination with the first aspect, the embodiment of the present application provides a third possible implementation of the first aspect, wherein the controller controls the robot arm to move according to the adjusted target physiotherapy path, including:

[0019] The controller calculates a position deviation between an initial position of the adjusted target therapy path and a position of the end of the robotic arm;

[0020] The controller controls the end of the robotic arm to move to the adjusted target therapy path through the position deviation based on the PID algorithm.

[0021] In combination with the first aspect, the embodiment of the present application provides a fourth possible implementation of the first aspect, wherein the physical therapy system further includes a visual sensor;

[0022] The controller generates physical therapy information for the treatment part based on the acquired treatment part of the patient, including:

[0023] The visual sensor automatically identifies and locates the treatment part of the patient to obtain treatment part information, and sends the treatment part information to the controller;

[0024] The controller processes the received treatment site information based on a preset treatment planning model to generate physical therapy information for the treatment site.

[0025] In combination with the first aspect, the embodiment of the present application provides a fifth possible implementation of the first aspect, wherein the controller controls the force sensor and the electromyographic sensor to respectively collect in real time the massage pressure value applied to the patient by the electric stimulation massage head during the physical therapy and the electromyographic signal generated by the patient, including:

[0026] The controller receives the massage pressure value of the contact surface between the electric stimulation massage head and the patient's skin collected by the force sensor to determine whether the massage pressure value is within a preset range;

[0027] If not, the controller adjusts the posture of the robotic arm to return the massage pressure value to within a preset range.

[0028] In combination with the first aspect, the embodiment of the present application provides a sixth possible implementation of the first aspect, wherein the controller adjusts the massage pressure value applied to the patient by the electric stimulation massage head and the electric stimulation value and the temperature data applied to the patient by the temperature module in real time through the adjusted physical therapy parameters and the electromyographic signal until the physical therapy ends, including:

[0029] The controller analyzes the electromyographic signal in real time to obtain real-time data of the patient's physical condition, so as to adjust the physical therapy parameters according to the real-time data of the patient's condition;

[0030] The controller adjusts the massage pressure value and the electrical stimulation value applied to the patient by the electrical stimulation massage head and the temperature applied to the patient by the temperature module based on the adjusted physical therapy parameters until the physical therapy is completed.

[0031] In a second aspect, an embodiment of the present application provides a physical therapy device based on mechanical arm massage and electrical stimulation, the device comprising:

[0032] An acquisition module, which is used when a patient lies on a treatment bed and starts physical therapy, and the controller generates physical therapy information for the treatment part based on the acquired treatment part of the patient; the physical therapy information includes a physical therapy mode, physical therapy parameters and a target physical therapy path;

[0033] A moving module, used for the controller to move the mechanical arm to the target therapy path, so as to control the electric stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode;

[0034] A control module, used for the controller to control the force sensor and the electromyographic sensor to respectively collect the massage pressure value applied to the patient by the electric stimulation massage head during the physical therapy and the electromyographic signal generated by the patient in real time, so as to adjust the physical therapy parameters based on the massage pressure value and the electromyographic signal generated by the patient to obtain the adjusted physical therapy parameters;

[0035] The adjustment module is used for the controller to adjust the massage pressure value applied to the patient by the electric stimulation massage head, the electric stimulation value and the temperature data applied to the patient by the temperature module in real time through the adjusted physical therapy parameters and the electromyographic signal until the physical therapy is completed.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, any step of a physiotherapy method based on robotic arm massage and electrical stimulation is performed.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the computer program executes any one of the steps of a physiotherapy method based on robotic arm massage and electrical stimulation.

[0038] A physiotherapy method based on robotic arm massage and electrical stimulation provided in an embodiment of the present application is applicable to a physiotherapy system, wherein the physiotherapy system includes a treatment bed, a robotic arm, a controller, and a force sensor. The treatment bed includes a positioning module, and the end of the robotic arm includes a temperature detection sensor, an electromyographic sensor, an electrical stimulation massage head, and a temperature module. The method first generates physiotherapy information for the treatment part based on the acquired treatment part of the patient when the patient lies on the treatment bed; the physiotherapy information includes a physiotherapy mode, physiotherapy parameters, and a target physiotherapy path; secondly, the controller moves the robotic arm to the target physiotherapy path to control the electrical stimulation massage head and the temperature module to perform physiotherapy for the patient according to the physiotherapy mode; then the controller controls the force sensor and the electromyographic sensor to collect the electrical stimulation massage head in real time. The massage pressure value applied to the patient and the electromyographic signal generated by the patient during the physical therapy process are used to adjust the physical therapy parameters based on the massage pressure value and the electromyographic signal generated by the patient to obtain the adjusted physical therapy parameters; finally, the controller adjusts the massage pressure value applied to the patient by the electric stimulation massage head and the electric stimulation value and the temperature data applied to the patient by the temperature module in real time through the adjusted physical therapy parameters and the electromyographic signal until the end of the physical therapy. An electric stimulation massage head is provided at the end of the robotic arm of the present application, and the electric stimulation massage head integrates two physical therapy methods, electric stimulation and massage, which solves the problem that the physical therapy methods of the existing AI massage physical therapy robots are too single. In addition, a temperature module and an electromyographic sensor are also provided on the electric stimulation massage head to assist the electric stimulation massage head when performing electric stimulation physical therapy and massage physical therapy for the patient at the same time, thereby ensuring the physical therapy effect of the electric stimulation massage head. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic flow chart of a first physical therapy method based on mechanical arm massage and electrical stimulation provided in an embodiment of the present application is shown;

[0041] Figure 2A schematic diagram of the use of the physiotherapy system provided in an embodiment of the present application is shown;

[0042] Figure 3 A schematic diagram showing the positions of the force sensor and the mechanical arm provided in an embodiment of the present application is shown;

[0043] Figure 4 A schematic diagram of the structure of an electric stimulation massage head provided in an embodiment of the present application is shown;

[0044] Figure 5 A schematic structural diagram of a first physiotherapy device based on mechanical arm massage and electrical stimulation provided in an embodiment of the present application is shown;

[0045] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0047] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0048] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0049] Most of the current AI massage therapy robots are based on mechanical arms and massage heads through path planning and pressure preset to replace the existing manual massage therapy methods. That is, the AI ​​massage therapy robot's therapy method is too single and cannot integrate an electric stimulation therapy method that uses electric current to stimulate muscles and nerve tissues to achieve the purpose of therapy. If the electric stimulation therapy method is simply integrated with the massage therapy method, the two therapy methods will affect each other and cannot achieve the maximum therapeutic effect.

[0050] Based on this, the embodiments of the present application provide a physical therapy method and device based on robotic arm massage and electrical stimulation, which will be described below through embodiments.

[0051] Example 1

[0052] To facilitate understanding of this embodiment, a physical therapy method based on mechanical arm massage and electrical stimulation disclosed in the embodiment of this application is first introduced in detail. Figure 1 A flowchart of a physiotherapy method based on mechanical arm massage and electrical stimulation is shown. The present application provides a physiotherapy method based on mechanical arm massage and electrical stimulation, which is applicable to a physiotherapy system. The physiotherapy system includes a treatment bed, a mechanical arm, a controller, and a force sensor. The treatment bed includes a positioning module. The end of the mechanical arm includes a temperature detection sensor, an electromyographic sensor, an electrical stimulation massage head, and a temperature module. The method includes:

[0053] S101, when the patient lies on the treatment bed and starts physical therapy, the controller generates physical therapy information for the treatment part based on the acquired treatment part of the patient; the physical therapy information includes physical therapy mode, physical therapy parameters and target physical therapy path;

[0054] S102, the controller moves the robotic arm to the target therapy path to control the electrical stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode;

[0055] S103, the controller controls the force sensor and the electromyographic sensor to respectively collect in real time the massage pressure value applied to the patient by the electric stimulation massage head during the physical therapy and the electromyographic signal generated by the patient, so as to adjust the physical therapy parameters based on the massage pressure value and the electromyographic signal generated by the patient to obtain the adjusted physical therapy parameters;

[0056] S104, the controller adjusts in real time the massage pressure value applied to the patient by the electric stimulation massage head, the electric stimulation value and the temperature data applied to the patient by the temperature module through the adjusted physical therapy parameters and the electromyographic signal until the physical therapy is completed.

[0057] The physical therapy schematic diagram of the physical therapy system described in this application is as follows Figure 2As shown, it includes a treatment bed, a mechanical arm, a controller and a positioning module. The end of the mechanical arm includes a force sensor, a temperature detection sensor, an electromyographic sensor, an electric stimulation massage head and a temperature module. The positioning module is installed at the four corners of the treatment bed. The specific form can be a positioning tag, which is used to locate the position of the patient on the treatment bed. If the patient has a more obvious posture change or position change, the positioning module sends the patient's real-time position to the controller. The controller communicates with the force sensor, the temperature detection sensor, the electromyographic sensor, the electric stimulation massage head, the temperature module and the positioning module through TCP / IP communication. The position diagram of the force sensor and the mechanical arm is shown in Figure 3 As shown, the force sensor, temperature detection sensor, and electromyographic sensor can be used with existing mature sensors. The temperature module includes a heating unit and a refrigeration unit for producing a heating and ice therapy effect on the patient. The temperature detection sensor, electromyographic sensor, and temperature module included at the end of the mechanical arm are integrated in the electric stimulation massage head. The electric stimulation massage head is also provided with a temperature sensor for detecting the temperature applied by the temperature module to the patient. Figure 4 As shown, the electric stimulation massage head achieves the electric stimulation effect through a circle of micro-electrode sheets.

[0058] In step S101, when the patient lies on the treatment bed and starts physical therapy, the controller generates physical therapy information for the treatment part based on the acquired treatment part of the patient; the physical therapy information includes physical therapy mode, physical therapy parameters and target physical therapy path, and the physical therapy information is based on the specific situation of the treatment part required by the patient input by the doctor through the human-computer interaction interface, including the condition, treatment needs, etc. The controller provides optional physical therapy modes for the patient according to the information input by the doctor, such as heating massage, neuromuscular electrical stimulation, etc. The patient or doctor selects the physical therapy mode through the human-computer interaction interface, and sets the corresponding physical therapy parameters such as the temperature provided by the temperature module, electrical stimulation parameters, massage parameters, physical therapy time, and physical therapy frequency. The electrical stimulation parameters include the intensity, frequency, and waveform of the electrical stimulation, and the massage parameters include the strength, speed, and mode of the massage. The target physical therapy path is generated according to the patient's condition and treatment needs.

[0059] In the specific implementation process of step S101, there is an embodiment in which: the physical therapy system further includes a visual sensor;

[0060] The controller generates physical therapy information for the treatment part based on the acquired treatment part of the patient, including:

[0061] S1011, the visual sensor automatically identifies and locates the treatment part of the patient to obtain treatment part information, and sends the treatment part information to the controller;

[0062] S1012: The controller processes the received treatment site information based on a preset treatment planning model to generate physical therapy information for the treatment site.

[0063] In steps S1011-S1012, the visual sensor included in the physiotherapy system uses a high-resolution camera and image processing technology, and the AI ​​massage therapy robot can capture the patient's body image and determine its position and shape, and determine the patient's treatment site information based on the patient's treatment site input by the patient or the doctor based on the human-computer interaction interface. The treatment site information includes the position of the treatment site. After determining the patient's treatment site information, the visual sensor sends the treatment site information to the controller. After receiving the treatment site information, the controller inputs the treatment site information into a preset treatment planning model to generate physiotherapy information for the treatment site. The treatment planning model is implemented based on a trained neural network. The specific training method is a mature existing technology and will not be elaborated here. After generating the physiotherapy information, the controller resets the robotic arm based on the physiotherapy information, thereby moving it to the starting position, and ensures that all joints of the robotic arm are in the initial state, and the electrode sheet on the electric stimulation massage head is in the off state. After the patient confirms that everything is correct, he presses the start button and the physical therapy system begins to treat the patient. At this time, the electric stimulation massage head performs a connection test to confirm that the electric stimulation cluster is correctly connected to the electrode sheet integrated at the end of the robotic arm. The electric stimulation slave, under the control of the controller, controls the electrode sheet on the electric stimulation massage head and starts the heating module in the temperature module to provide a comfortable auxiliary treatment environment for the patient.

[0064] In step S102, the controller controls the robotic arm based on the target therapy path in the generated therapy information, and moves the robotic arm to the target therapy path. When moving to the target therapy path, the electric stimulation massage head at the end of the robotic arm performs therapy on the patient according to the therapy mode included in the therapy information. For example, electric stimulation therapy may be performed first and then massage therapy, or massage therapy may be performed first and then electric stimulation therapy, or both therapy methods may be performed simultaneously. While the electric stimulation massage head is performing therapy on the patient, the controller controls the temperature module to apply a suitable temperature to the treatment part of the patient, thereby assisting the electric stimulation massage head to produce a more ideal therapy effect.

[0065] In the specific implementation process of step S102, there is an implementation mode: the physical therapy system further includes a gyroscope;

[0066] The controller moves the mechanical arm to the target therapy path to control the electric stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode, including:

[0067] S10211, the controller fuses the posture information of the robotic arm collected by the gyroscope with the position information of the electric stimulation massage head to obtain the position information of the end of the robotic arm, so as to determine whether the end of the robotic arm is located on the target physiotherapy path based on the position information of the end of the robotic arm;

[0068] S10212: If not, the controller controls the robotic arm to move to the target therapy path and perform therapy.

[0069] In steps S10211-S10212, the gyroscope is a commonly used inertial sensor that can measure and report the angular velocity and direction change of the robotic arm or its associated components. The controller fuses the posture information of the robotic arm collected by the gyroscope with the position information of the electric stimulation massage head to obtain the position information of the end of the robotic arm, wherein the controller corrects the position information of the electric stimulation massage head based on the posture information of the robotic arm, thereby obtaining accurate position information of the end of the robotic arm and the electric stimulation massage head, so as to judge the electric stimulation massage head at the end of the robotic arm based on the position information of the end of the robotic arm. Whether the massage head is on the target therapy path. If it is determined that the electric stimulation massage head at the end of the robotic arm is on the target therapy path, the posture information of the robotic arm continues to be collected based on the gyroscope. If not, the controller controls the robotic arm to move to the target therapy path and perform therapy, that is, it can be determined whether the position of the electric stimulation massage head is still on the target therapy path, so as to eliminate the positioning error caused by environmental changes or equipment errors, thereby improving the accuracy of the positioning module to ensure that the electric stimulation massage head is always on the target therapy path, thereby achieving accurate therapy for the patient and ensuring the treatment effect.

[0070] In the specific implementation process of step S102, there is another implementation mode: the controller moves the robotic arm to the target therapy path to control the electric stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode, including:

[0071] S10221, the controller controls the positioning module to collect the real-time position of the patient during the physical therapy process in real time, so as to adjust the target physical therapy path in real time based on the real-time position of the patient, and obtain an adjusted target physical therapy path;

[0072] S10222. The controller controls the robotic arm to move according to the adjusted target therapy path.

[0073] In steps S10221-S10222, the controller controls the positioning module to collect the real-time position of the patient during the physical therapy, so as to determine whether the patient has produced a more obvious change in the treatment site information of the treatment site during the physical therapy, that is, the position of the treatment site has changed, and outputs the real-time position of the patient collected by the positioning module to the controller. The controller prompts the doctor to adjust the target physical therapy path based on the human-computer interaction interface, or the controller adjusts the target physical therapy path in real time based on the real-time position of the patient to obtain the adjusted target physical therapy path, that is, the update or adjustment of the target physical therapy path is realized, so that the controller controls the robotic arm to move according to the adjusted target physical therapy path, to ensure that the electrode on the electric stimulation massage head continues to contact the patient's treatment site, to ensure that the electric stimulation massage head at the end of the robotic arm continues to perform physical therapy on the patient's treatment site, thereby ensuring the physical therapy effect.

[0074] In the specific implementation process of step S10222, there is an implementation method in which the controller controls the robot arm to move according to the adjusted target physiotherapy path, including:

[0075] S102221, the controller calculates the position deviation between the initial position of the adjusted target physiotherapy path and the position of the end of the robotic arm;

[0076] S102222. The controller controls the end of the robotic arm to move to the adjusted target therapy path through the position deviation based on the PID algorithm.

[0077] In steps S102221-S102222, after obtaining the adjusted target therapy path, the controller calculates the position deviation between the initial position of the target therapy path and the position of the end of the robotic arm. If the position of the electric stimulation massage head at the end of the robotic arm is the initial position of the target therapy path, that is, the position deviation is 0, the position of the end of the robotic arm is not changed. If the position of the electric stimulation massage head at the end of the robotic arm is not the initial position of the target therapy path, that is, the position deviation is not 0, then according to the position deviation, the controller controls the end of the robotic arm to move to the adjusted target therapy path through the position deviation based on the PID algorithm, so as to place the electric stimulation massage head at the end of the robotic arm on the treatment part of the patient, thereby continuing to treat the treatment part of the patient.

[0078] In step S103, the controller respectively controls the force sensor and the electromyographic sensor to collect in real time the massage pressure value applied to the patient by the electric stimulation massage head during the physical therapy and the electromyographic signal generated by the patient, that is, when the controller controls the robotic arm to perform physical therapy for the patient according to the target physical therapy path in the physical therapy information, the force sensor is used to collect the massage pressure value applied to the patient by the electric stimulation massage head, and the electromyographic sensor is used to collect the electromyographic signal generated by the patient due to the physical therapy. The electromyographic signal is transmitted to the controller, and the controller analyzes the patient's status according to the electromyographic signal to adjust the physical therapy parameters based on the massage pressure value and the electromyographic signal generated by the patient to obtain the adjusted physical therapy parameters.

[0079] In the specific implementation process of step S103, there is an implementation method in which the controller controls the force sensor and the electromyographic sensor to respectively collect the massage pressure value applied to the patient by the electric stimulation massage head during the physical therapy and the electromyographic signal generated by the patient in real time, including:

[0080] S1031, the controller actually receives the massage pressure value of the contact surface between the electric stimulation massage head and the patient's skin collected by the force sensor to determine whether the massage pressure value is within a preset range;

[0081] S1032: If not, the controller adjusts the posture of the robotic arm so that the massage pressure value returns to a preset range.

[0082] In steps S1031-S1032, the therapy information generated by the controller includes a preset range for the massage pressure value. The preset range is for making the patient safe and comfortable. It is generated by the controller and can also be changed according to the patient's described feelings. The controller actually receives the massage pressure value of the contact surface between the electric stimulation massage head and the patient's skin collected by the force sensor to determine whether the massage pressure value is within the preset range. If so, the robotic arm continues to perform massage therapy on the patient. If not, the controller gradually adjusts the posture of the robotic arm based on a preset control algorithm such as an admittance control algorithm to reduce or increase the massage pressure value applied to the patient, thereby gradually returning the massage pressure value to the preset range, thereby ensuring the patient's comfort and safety.

[0083] In step S104, after controlling the robotic arm to perform massage therapy or electrical stimulation therapy for the patient, the controller obtains adjusted therapy parameters based on the electromyographic signal generated by the patient or the patient's feedback, wherein the feedback includes micro-expressions or sounds, and the therapy parameters include intensity, frequency, etc., and comprehensively evaluates the therapy effect and comfort. The massage pressure value applied to the patient by the electrical stimulation massage head and the electrical stimulation value and the temperature data applied to the patient by the temperature module are adjusted in real time through the adjusted therapy parameters and the electromyographic signal until the therapy ends. The therapy end condition is the arrival of the treatment time or other stop conditions. After the therapy ends, the electrical stimulation therapy and massage therapy applied by the electrical stimulation massage head and the temperature applied by the temperature module are stopped. The controller also generates a detailed treatment report, including treatment parameters, patient reactions, electromyographic signal analysis results, comfort assessment and other information for the doctor's reference, and reminds medical staff to clean the treatment area, reset the robotic arm, electrode sheet, heating device and other equipment to the initial state, and prepare for the next treatment.

[0084] The physiotherapy system also has a self-check module. When the self-check module detects that the physiotherapy system has a fault, the robot arm, electrode sheet, heating device and other equipment are reset to an initial state and an alarm is issued to ensure the safety of the patient.

[0085] In the specific implementation process of step S104, there is an implementation method in which the controller adjusts the massage pressure value applied to the patient by the electric stimulation massage head and the electric stimulation value and the temperature data applied to the patient by the temperature module in real time through the adjusted physical therapy parameters and the electromyographic signal until the physical therapy ends, including:

[0086] S1041, the controller analyzes the electromyographic signal in real time to obtain real-time data of the patient's physical condition, so as to adjust the physical therapy parameters according to the real-time data of the patient's condition;

[0087] S1042. The controller adjusts the massage pressure value and the electrical stimulation value applied to the patient by the electrical stimulation massage head and the temperature applied to the patient by the temperature module based on the adjusted physical therapy parameters until the physical therapy is completed.

[0088] In steps S1041-S1042, the electromyographic sensor collects the electromyographic signals generated by the patient during the physical therapy in real time, and sends the electromyographic signals to the controller. The controller analyzes the electromyographic signals in real time to obtain real-time data on the patient's physical condition. The real-time data on the physical condition includes whether the patient's muscles are in an active state and whether the patient's body is still in a fatigued state, so as to adjust the physical therapy parameters according to the real-time data on the patient's state. The controller adjusts the massage pressure value and the electric stimulation value applied to the patient by the electric stimulation massage head and the temperature applied to the patient by the temperature module based on the adjusted physical therapy parameters until the physical therapy is completed, so that the patient produces corresponding physical therapy effects, and combines the electromyographic signals with the massage pressure value and the electric stimulation value to further ensure the physical therapy effects of the patient.

[0089] Example 2

[0090] The present application also provides a physical therapy device based on mechanical arm massage and electrical stimulation, such as Figure 5 The block diagram of a physiotherapy device based on mechanical arm massage and electrical stimulation is shown. The functions implemented by the physiotherapy device based on mechanical arm massage and electrical stimulation correspond to the steps of executing a physiotherapy method based on mechanical arm massage and electrical stimulation on a terminal device. The device can be understood as a component of a server including a processor, and the device includes:

[0091] An acquisition module 501 is used for generating physiotherapy information for a treatment part based on the acquired treatment part of the patient when the patient lies on the treatment bed and starts physiotherapy; the physiotherapy information includes physiotherapy mode, physiotherapy parameters and target physiotherapy path;

[0092] The moving module 502 is used for the controller to move the mechanical arm to the target physical therapy path, so as to control the electric stimulation massage head and the temperature module to perform physical therapy for the patient according to the physical therapy mode;

[0093] Control module 503, used for the controller to control the force sensor and the electromyographic sensor to respectively collect the massage pressure value applied to the patient by the electric stimulation massage head and the electromyographic signal generated by the patient during the physical therapy in real time, so as to adjust the physical therapy parameters based on the massage pressure value and the electromyographic signal generated by the patient to obtain the adjusted physical therapy parameters;

[0094] The adjustment module 504 is used for the controller to adjust the massage pressure value applied to the patient by the electric stimulation massage head, the electric stimulation value and the temperature data applied to the patient by the temperature module in real time through the adjusted physical therapy parameters and the electromyographic signal until the physical therapy is completed.

[0095] In a feasible implementation manner, the mobile module includes:

[0096] A fusion module, used for the controller to fuse the posture information of the robotic arm collected by the gyroscope with the position information of the electric stimulation massage head to obtain the position information of the end of the robotic arm, so as to determine whether the end of the robotic arm is located on the target physiotherapy path based on the position information of the end of the robotic arm;

[0097] The physiotherapy module is used for, if not, the controller controls the robotic arm to move to the target physiotherapy path and perform physiotherapy.

[0098] In a feasible implementation manner, the mobile module further includes:

[0099] A collection module, used for the controller to control the positioning module to collect the real-time position of the patient during the physical therapy process in real time, so as to adjust the target physical therapy path in real time based on the real-time position of the patient to obtain an adjusted target physical therapy path;

[0100] The first control module is used for the controller to control the robotic arm to move according to the adjusted target therapy path.

[0101] In a feasible implementation manner, the mobile module further includes:

[0102] A calculation module, used for the controller to calculate the position deviation between the initial position of the adjusted target physiotherapy path and the position of the end of the robotic arm;

[0103] The first moving module is used for the controller to control the end of the robot arm to move to the adjusted target therapy path through the position deviation based on the PID algorithm.

[0104] In a feasible implementation, the acquisition module includes:

[0105] An identification module, used for the visual sensor to automatically identify and locate the treatment part of the patient to obtain treatment part information, and send the treatment part information to the controller;

[0106] A processing module is used for the controller to process the received treatment site information based on a preset treatment planning model to generate physical therapy information for the treatment site.

[0107] In a feasible implementation manner, the control module includes:

[0108] A receiving module, used for the controller to receive the massage pressure value of the contact surface between the electric stimulation massage head and the patient's skin collected by the force sensor, so as to determine whether the massage pressure value is within a preset range;

[0109] The return module is used for, if not, the controller to adjust the posture of the robot arm so that the massage pressure value returns to the preset range.

[0110] In a feasible implementation manner, the adjustment module includes:

[0111] An analysis module, used for the controller to analyze the electromyographic signal in real time to obtain the real-time data of the patient's physical state, so as to adjust the physical therapy parameters according to the real-time data of the patient's state;

[0112] The application module is used for the controller to adjust the massage pressure value and the electrical stimulation value applied to the patient by the electrical stimulation massage head and the temperature applied to the patient by the temperature module based on the adjusted physical therapy parameters until the physical therapy is completed.

[0113] Example 3

[0114] The present application also provides an electronic device, such as Figure 6 As shown, it includes: a processor 601, a memory 602 and a bus 603, the memory 602 stores machine-readable instructions executable by the processor 601, when the electronic device is running, the processor 601 communicates with the memory 602 through the bus 603, and when the machine-readable instructions are executed by the processor 601, any one of the steps of the physiotherapy method based on robotic arm massage and electrical stimulation is performed.

[0115] Example 4

[0116] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer program executes any one of the steps of a physical therapy method based on robotic arm massage and electrical stimulation.

[0117] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0118] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0119] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0120] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a platform server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0121] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A physical therapy method based on mechanical arm massage and electrical stimulation, characterized in that: Applicable to a physical therapy system, the physical therapy system includes a treatment bed, a mechanical arm, a controller, and a force sensor, the treatment bed includes a positioning module, the end of the mechanical arm includes a temperature detection sensor, an electromyographic sensor, an electric stimulation massage head, and a temperature module, and the method includes: When the patient lies on the treatment bed and starts physical therapy, the controller generates physical therapy information for the treatment part based on the acquired treatment part of the patient; the physical therapy information includes physical therapy mode, physical therapy parameters and target physical therapy path; The controller moves the robotic arm to the target therapy path to control the electrical stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode; The controller controls the force sensor and the electromyographic sensor to respectively collect the massage pressure value applied to the patient by the electric stimulation massage head and the electromyographic signal generated by the patient during the physical therapy in real time, so as to adjust the physical therapy parameters based on the massage pressure value and the electromyographic signal generated by the patient to obtain the adjusted physical therapy parameters; The controller adjusts the massage pressure value applied to the patient by the electric stimulation massage head, the electric stimulation value and the temperature data applied to the patient by the temperature module in real time through the adjusted physical therapy parameters and the electromyographic signal until the physical therapy is completed.

2. The method according to claim 1, characterized in that: The physical therapy system also includes a gyroscope; The controller moves the mechanical arm to the target therapy path to control the electric stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode, including: The controller fuses the posture information of the robotic arm collected by the gyroscope with the position information of the electric stimulation massage head to obtain the position information of the end of the robotic arm, so as to determine whether the end of the robotic arm is located on the target physiotherapy path based on the position information of the end of the robotic arm; If not, the controller controls the robotic arm to move to the target therapy path and perform therapy.

3. The method according to claim 1, characterized in that: The controller moves the mechanical arm to the target therapy path to control the electric stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode, and further includes: The controller controls the positioning module to collect the real-time position of the patient during the physical therapy process in real time, so as to adjust the target physical therapy path in real time based on the real-time position of the patient to obtain an adjusted target physical therapy path; The controller controls the robotic arm to move according to the adjusted target therapy path.

4. The method according to claim 3, characterized in that The controller controls the robot arm to move according to the adjusted target physical therapy path, including: The controller calculates a position deviation between an initial position of the adjusted target therapy path and a position of the end of the robotic arm; The controller controls the end of the robotic arm to move to the adjusted target therapy path through the position deviation based on the PID algorithm.

5. The method according to claim 1, characterized in that The physical therapy system also includes a visual sensor; The controller generates physical therapy information for the treatment part based on the acquired treatment part of the patient, including: The visual sensor automatically identifies and locates the treatment part of the patient to obtain treatment part information, and sends the treatment part information to the controller; The controller processes the received treatment site information based on a preset treatment planning model to generate physical therapy information for the treatment site.

6. The method according to claim 1, characterized in that The controller controls the force sensor and the electromyographic sensor to respectively collect the massage pressure value applied to the patient by the electric stimulation massage head during the physical therapy and the electromyographic signal generated by the patient in real time, including: The controller receives the massage pressure value of the contact surface between the electric stimulation massage head and the patient's skin collected by the force sensor to determine whether the massage pressure value is within a preset range; If not, the controller adjusts the posture of the robotic arm to return the massage pressure value to within a preset range.

7. The method according to claim 1, characterized in that The controller adjusts the massage pressure value and the electrical stimulation value applied to the patient by the electric stimulation massage head and the temperature data applied to the patient by the temperature module in real time through the adjusted physical therapy parameters and the electromyographic signal until the physical therapy ends, including: The controller analyzes the electromyographic signal in real time to obtain real-time data of the patient's physical condition, so as to adjust the physical therapy parameters according to the real-time data of the patient's condition; The controller adjusts the massage pressure value and the electrical stimulation value applied to the patient by the electrical stimulation massage head and the temperature applied to the patient by the temperature module based on the adjusted physical therapy parameters until the physical therapy is completed.

8. A physical therapy device based on mechanical arm massage and electrical stimulation, characterized in that: The device comprises: An acquisition module, which is used when a patient lies on a treatment bed and starts physical therapy, and the controller generates physical therapy information for the treatment part based on the acquired treatment part of the patient; the physical therapy information includes a physical therapy mode, physical therapy parameters and a target physical therapy path; A moving module, used for the controller to move the mechanical arm to the target therapy path, so as to control the electric stimulation massage head and the temperature module to perform therapy for the patient according to the therapy mode; A control module, used for the controller to control the force sensor and the electromyographic sensor to respectively collect the massage pressure value applied to the patient by the electric stimulation massage head during the physical therapy and the electromyographic signal generated by the patient in real time, so as to adjust the physical therapy parameters based on the massage pressure value and the electromyographic signal generated by the patient to obtain the adjusted physical therapy parameters; The adjustment module is used for the controller to adjust the massage pressure value applied to the patient by the electric stimulation massage head, the electric stimulation value and the temperature data applied to the patient by the temperature module in real time through the adjusted physical therapy parameters and the electromyographic signal until the physical therapy is completed.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of a physiotherapy method based on robotic arm massage and electrical stimulation as described in any one of claims 1 to 7 are performed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of a physical therapy method based on robotic arm massage and electrical stimulation as described in any one of claims 1 to 7.

Images