Multi-device intelligent cooperative traditional Chinese medicine treatment robot based on personalized rehabilitation requirements

Abstract

The invention provides a multi-device intelligent cooperative traditional Chinese medicine treatment robot based on personalized rehabilitation requirements. The multi-device intelligent cooperative traditional Chinese medicine treatment robot comprises an intelligent control system and a multi-mode treatment device interacting with the intelligent control system. Wherein the intelligent control system dynamically generates a personalized rehabilitation treatment scheme according to real-time health data and disease types of a patient, and controls cooperative work of the treatment equipment so as to optimize the treatment effect; the multi-mode treatment device comprises at least one of the following devices, and each device can adjust parameters in a self-adaptive mode so as to adapt to individual requirements of a patient: a mechanical massage device; steam medicated bath equipment; a high-frequency electronic acupuncture device; a far infrared treatment device; moxibustion treatment equipment; a vacuum cupping device; a drug spraying device; provided is a local thermal therapy device. According to the embodiment of the invention, an individualized and comprehensive multifunctional rehabilitation treatment scheme can be more accurately provided for the patient.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and in particular, relates to a multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs. Background Art

[0002] In recent years, with the development and progress of traditional Chinese medicine, traditional Chinese medicine has been increasingly recognized by patients, and traditional Chinese medical devices have been widely used. However, the traditional Chinese medical devices on the domestic market currently have a single function, that is, all patients are given rehabilitation treatment according to the default mode, and are unable to provide patients with individualized, comprehensive and multifunctional rehabilitation treatment plans.

[0003] Therefore, how to more accurately provide patients with individualized, comprehensive and multifunctional rehabilitation treatment plans is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The embodiment of the present application provides a multi-device intelligent collaborative traditional Chinese medicine treatment robot for individualized rehabilitation programs, which can more accurately provide patients with individualized, comprehensive and multifunctional rehabilitation treatment programs.

[0005] The present application embodiment provides a multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs, including:

[0006] Intelligent control systems and multimodal therapeutic devices that interact with them;

[0007] Among them, the intelligent control system dynamically generates personalized rehabilitation treatment plans based on the patient's real-time health data and disease type, and controls the collaborative work of treatment equipment to optimize the treatment effect;

[0008] Multimodal treatment devices, including at least one of the following, each of which is capable of adaptively adjusting parameters to suit individual patient needs:

[0009] Mechanical massage equipment is used to simulate traditional Chinese medicine massage techniques and adjust the strength and rhythm according to the patient's muscle and joint conditions;

[0010] Steam medicinal bath equipment, used to mix medicinal steam containing different Chinese medicinal ingredients, and control the temperature and humidity to meet the needs of different diseases;

[0011] High-frequency electronic acupuncture equipment can achieve personalized acupoint stimulation on acupuncture patches by dynamically adjusting the output electric field, magnetic field, temperature and vibration parameters;

[0012] Far infrared therapy equipment can adjust the intensity and wavelength of far infrared rays according to the skin thickness and lesion depth of different patients;

[0013] Moxibustion treatment equipment is used to add a variety of Chinese medicinal ingredients to moxa sticks, and control the burning rate and position of the moxa sticks through a program to ensure the uniformity of the moxibustion effect;

[0014] Vacuum cupping equipment, including a multi-layer vacuum adjustment system, can be intelligently adjusted according to the adsorption tolerance of the patient's skin to achieve the best cupping effect;

[0015] Drug spray equipment uses nano-level atomization technology to evenly spray the essence of traditional Chinese medicine to cover the patient's lesion area, thereby improving the drug penetration rate;

[0016] Local hyperthermia equipment is used to adjust local heat intensity according to the temperature requirements of the patient's affected area and monitor the treatment effect through smart sensors.

[0017] Optionally, also include:

[0018] The patient feedback system collects patient feedback data in real time and transmits it to the intelligent control system to dynamically optimize the treatment plan and achieve personalized precision treatment.

[0019] Optional, mechanical massage equipment that simulates traditional Chinese medicine massage techniques and adjusts the force and rhythm according to the patient's muscle and joint conditions, including:

[0020] Use sensors to collect real-time data on patients’ muscles and joints, including muscle tension, joint range of motion, and pain point locations;

[0021] The collected data is input into the data analysis module, and the specific state parameters of the patient's muscles and joints are calculated through algorithms;

[0022] The device has a set of parameterized models of traditional Chinese medicine massage techniques, each of which corresponds to different strengths, frequencies and movement ranges;

[0023] Based on the patient data, a matching algorithm is used to select a massage technique combination suitable for the patient's current condition from the technique library;

[0024] The force sensors monitor the force applied by the device to the patient's muscles and joints in real time to ensure that it does not exceed the preset safety threshold, while making dynamic adjustments based on the patient's pain feedback;

[0025] According to the sensor feedback, the pressure of the massage head is adjusted by the servo motor or hydraulic system to ensure the moderate massage intensity;

[0026] Dynamically adjust the rhythm of massage according to the patient's muscle response and joint movement feedback;

[0027] According to the selected massage technique and the adjusted strength and rhythm parameters, the control module of the device controls the massage head or massage arm to perform the corresponding massage action;

[0028] The device uses a multi-axis control system to enable the massage head to move precisely in three-dimensional space, simulating manual massage techniques;

[0029] The device collects real-time feedback data from patients through sensors;

[0030] Based on the feedback data, the device will dynamically adjust the massage strength, rhythm and combination of techniques to ensure the best massage effect;

[0031] Record the process data of each massage, including the patient's muscle and joint response, as well as the frequency and intensity of the massage techniques;

[0032] Based on the accumulation and analysis of data after multiple massages, the device generates a massage plan that better meets the individual needs of the patient, further optimizing the combination of massage techniques and strength rhythm;

[0033] During the massage, the device monitors the intensity, rhythm and massage time in real time to ensure that the safety threshold is not exceeded;

[0034] When an abnormal situation occurs, the device will issue an alarm and suspend operation to ensure patient safety.

[0035] Optional, steam bath equipment is used to mix medicinal steam containing different Chinese medicine ingredients and control the temperature and humidity to meet the needs of different diseases, including:

[0036] According to the patient's symptoms and needs, select appropriate Chinese medicine ingredients through systematic analysis;

[0037] Automatically select the proportion of Chinese medicine ingredients according to the patient's specific needs;

[0038] The selected Chinese herbal ingredients are mixed according to the set ratio and prepared into liquid medicine; there are multiple independent medicine storage chambers in the equipment for storing different Chinese herbal ingredients, and the liquid medicine is automatically extracted according to the set ratio;

[0039] Start the heating system to preheat the liquid medicine to ensure that the steam is generated faster and the temperature of the steam reaches the preset requirements;

[0040] The heated liquid medicine is converted into drug vapor through an atomizer or heating device; the atomizer granulates the liquid medicine to produce fine and uniform vapor, which helps the drug ingredients to be better absorbed by the patient;

[0041] The steam temperature is monitored in real time through the temperature sensor, and the power of the heating system is adjusted according to the set disease requirements to achieve the appropriate steam temperature;

[0042] The steam humidity is monitored by a humidity sensor, and the system adjusts the humidity by controlling the supply speed and evaporation amount of the liquid medicine to ensure that the appropriate humidity range is reached;

[0043] The equipment adjusts the atomization speed and evaporation concentration according to the characteristics of different drug components to ensure that different components are evenly distributed in the steam;

[0044] Special sensors are used to monitor the concentration of each drug component in the steam in real time, and the delivery rate of the drug solution is automatically adjusted through a feedback control system to ensure that the concentration of the steam components meets the treatment needs;

[0045] According to the standardized treatment plans for different diseases, the system automatically adjusts the temperature and humidity parameters and the concentration of drug ingredients;

[0046] The device provides personalized temperature, humidity and drug concentration adjustment options based on the patient's real-time feedback or the doctor's set requirements to meet individualized treatment needs;

[0047] During the steam bath process, the equipment automatically controls the temperature, humidity and drug concentration of the steam according to the preset parameters;

[0048] When the steam temperature and humidity exceed the safe range, the equipment will automatically adjust or suspend operation to protect patient safety.

[0049] Optional, high-frequency electronic acupuncture equipment, through dynamic adjustment of the output electric field, magnetic field, temperature and vibration parameters, to achieve personalized acupoint stimulation on the acupuncture patch, including:

[0050] According to the patient's symptoms and physical condition, choose the corresponding acupoints;

[0051] According to the selected acupuncture points and their corresponding treatment plans, the initial electric field, magnetic field, temperature and vibration parameters are set as the basis for stimulation;

[0052] The electric field strength is initially set based on the patient’s individual tolerance and acupoint requirements;

[0053] Select pulsed magnetic field or continuous magnetic field according to treatment needs, and adjust the intensity and frequency of the magnetic field;

[0054] Set the appropriate temperature range on the device to ensure that the temperature is within a comfortable range while achieving the warming effect;

[0055] Choose the appropriate vibration frequency and intensity;

[0056] The device uses sensors to monitor the patient's skin conductivity, temperature, and muscle reaction feedback in real time to determine the patient's tolerance and effect of the current stimulation;

[0057] Dynamically adjust the intensity and frequency of the electric and magnetic fields based on feedback data to ensure that the acupoints are stimulated at the optimal level;

[0058] When the temperature sensor detects changes in skin temperature, it automatically adjusts the output temperature to ensure that the temperature is constant within the set range to achieve the best effect of moxibustion therapy;

[0059] Dynamically adjust the vibration frequency and intensity according to the patient's tolerance to vibration and the stimulation effect to ensure a balance between stimulation depth and comfort;

[0060] The adjusted electric field, magnetic field, temperature and vibration are outputted simultaneously on the acupuncture patch to achieve multi-dimensional stimulation of the acupuncture points;

[0061] According to the needs of acupoint stimulation, the device outputs intermittent or continuous pulse stimulation;

[0062] Real-time monitoring of acupoint stimulation effects, including muscle reactions and skin temperature changes, is achieved through feedback data, ensuring the stability of the electric field, magnetic field, temperature and vibration output by the device during treatment;

[0063] During the treatment process, the device makes fine adjustments based on real-time feedback data and automatically optimizes various parameters to ensure the best treatment effect.

[0064] Optional far infrared therapy equipment that can adjust the intensity and wavelength of far infrared rays according to the skin thickness and lesion depth of different patients, including:

[0065] Use ultrasound or infrared measurement equipment to measure the thickness of the patient's skin to understand the skin barrier penetration requirements;

[0066] Use imaging scanning technology to assess the depth of the lesion area and determine the required penetration depth of far infrared rays;

[0067] The collected skin thickness and lesion depth information is input into the equipment control system as the basis for far infrared adjustment;

[0068] According to the preset treatment plan and the characteristics of the lesion, set the initial intensity of the far infrared ray;

[0069] According to the commonly used treatment wavelength range, select an appropriate wavelength range as the initial treatment parameter;

[0070] Automatically adjust the intensity of far infrared rays according to the patient's skin thickness;

[0071] Dynamically adjust wavelength according to lesion depth;

[0072] Built-in sensors monitor skin temperature and the response of the treatment area, dynamically fine-tuning the intensity and wavelength to ensure treatment effectiveness while protecting patient safety.

[0073] The device can be selected in continuous mode or pulse mode;

[0074] Using a precisely controlled optical system, far infrared rays are focused on specific lesion areas, reducing the impact on surrounding healthy tissues and improving the accuracy of treatment;

[0075] The device monitors the temperature of the skin surface in real time through a temperature sensor to avoid discomfort or damage caused by excessive temperature;

[0076] Sensors are used to monitor minute temperature changes and blood circulation at the lesion site to determine the effectiveness of treatment and further adjust the intensity and wavelength;

[0077] Based on the feedback from the monitored skin and lesions, the output parameters are automatically optimized to ensure that the temperature and penetration effects during treatment are optimal.

[0078] Optional, moxibustion treatment equipment, used to add a variety of Chinese medicinal ingredients to the moxa stick, control the burning rate and position of the moxa stick through the program to ensure the uniformity of the moxibustion effect, including:

[0079] According to the patient's disease needs, select Chinese herbal ingredients with corresponding therapeutic effects;

[0080] The wormwood powder is mixed with the selected traditional Chinese medicine ingredients in a certain proportion and pressed into wormwood sticks;

[0081] Determine the acupoints required for moxibustion according to the patient's symptoms and treatment plan;

[0082] Install a moxa stick fixing device that can accurately position the moxa stick in the equipment to ensure that the moxa stick remains in the proper position during treatment and avoids displacement;

[0083] According to the treatment needs, the burning speed of the moxa stick can be controlled by program;

[0084] Install a temperature sensor near the moxa stick to monitor the burning temperature of the moxa stick in real time;

[0085] The combustion rate is adjusted by controlling the oxygen supply;

[0086] The device is equipped with a movable moxa stick holder or a mechanical arm to move the moxa stick on the designated acupoints according to the treatment plan to ensure the uniformity and coverage of the moxibustion.

[0087] Use the sensor positioning system to detect the relative position of the moxa stick and the patient's acupuncture points to ensure that the moxa stick is always in the best position for the acupuncture points;

[0088] The temperature distribution of the skin around the acupoints is monitored by infrared sensors to ensure that the moxibustion heat evenly covers the entire acupoint area;

[0089] According to the temperature distribution, the position of the moxa stick is automatically adjusted to make the heat of the moxibustion evenly distributed in the acupoint area to avoid overheating or cold spots;

[0090] Monitor the temperature of the skin surface and moxa sticks through real-time temperature data to ensure that the temperature is within the acceptable range for the patient;

[0091] During the treatment process, the burning rate is automatically adjusted according to temperature feedback to ensure the continuity and stability of the moxibustion effect.

[0092] Optional, vacuum cupping equipment, including a multi-layer vacuum adjustment system, can be intelligently adjusted according to the patient's skin's absorption tolerance to achieve the best cupping effect, including:

[0093] The thickness, elasticity and sensitivity data of the patient's skin are collected through pressure sensors or skin sensors. These data will be used to evaluate the skin's adsorption tolerance;

[0094] Based on the collected data, the patient's skin absorption tolerance threshold is calculated to ensure that the cupping process does not cause discomfort or damage;

[0095] According to the tolerance threshold, the initial vacuum pressure range is set to provide appropriate suction force at the beginning of cupping;

[0096] The multi-layer vacuum adjustment system has vacuum layers of different strengths. Choose the appropriate level as the initial adsorption strength to avoid sudden irritation to the patient's skin.

[0097] Start the vacuum pump to gradually generate negative pressure in the cupping device and begin to suck the patient's skin;

[0098] The sensor monitors the skin adsorption conditions, including the skin deformation degree and local blood circulation changes, to ensure that the cupping effect reaches the expected results;

[0099] According to real-time feedback, if the skin adsorption is insufficient, the device automatically increases the negative pressure intensity; if the skin adsorption is excessive or there is discomfort feedback, the device automatically reduces the negative pressure intensity;

[0100] The device can switch between different vacuum layers according to the real-time effect of skin adsorption;

[0101] In the initial stage of cupping, the negative pressure is gradually increased to allow the skin to gradually adapt and avoid discomfort caused by sudden high-intensity suction;

[0102] The device automatically controls the negative pressure intensity based on sensor feedback data, so that the adsorption force is always maintained within the optimal range of the patient's skin tolerance;

[0103] The sensor detects the changes in local skin temperature and blood flow to determine whether cupping effectively promotes blood circulation;

[0104] The device automatically controls the duration of cupping according to the treatment needs and the individual conditions of the patient; when it detects moderate congestion of the skin or reaches the preset effect, the adsorption force is gradually weakened;

[0105] During the cupping process, the system will make fine adjustments based on the real-time feedback data from the skin to ensure a balance between the comfort of adsorption and the therapeutic effect;

[0106] At the end of the cupping process, the device gradually releases the vacuum to avoid skin discomfort caused by rapid release of negative pressure;

[0107] During the negative pressure release process, the sensor monitors the skin condition in real time to ensure a smooth vacuum release process and avoid excessive pulling or damage to the skin.

[0108] Optional, drug spray equipment, through nano-level atomization technology, sprays the essence of traditional Chinese medicine evenly to cover the patient's lesion area, improving the drug penetration rate, including:

[0109] According to the patient's disease needs, select Chinese herbal ingredients with corresponding therapeutic effects;

[0110] Process the Chinese medicinal materials and extract the essence of the Chinese medicinal materials through soaking, decoction, concentration and other methods to ensure the activity of the medicinal ingredients;

[0111] The essence of traditional Chinese medicine is processed by nano-crystallization to make the drug molecules smaller and improve the penetration effect after spraying; the stability and uniformity of the drug solution are ensured by adding appropriate amounts of solvents and dispersants;

[0112] According to the treatment needs, set the spray intensity, flow rate and atomized particle size of the nebulizer;

[0113] Adjust the temperature and humidity in the nebulizer to ensure the stability of the nebulized drug and the comfort of the patient;

[0114] Use image recognition or sensor scanning technology to locate the patient's lesion area, ensuring that the spray only covers the area that needs treatment, avoiding drug waste;

[0115] Adjust the position of the spray device according to the scan results and the patient's body position so that the spray angle and distance are suitable for the coverage requirements of the lesion area;

[0116] Start the nano-atomization device of the spray equipment to convert the Chinese medicine essence solution into nano-scale fine particle spray to ensure that the drug particles are fine and uniform;

[0117] The equipment automatically adjusts the spray angle and range to ensure that the Chinese medicine essence spray evenly covers the lesion area;

[0118] Adjust the flow rate and pressure of the spray according to the needs of the affected area to ensure that the drug can properly penetrate the skin surface without being too intense and causing discomfort to the patient;

[0119] The device uses technologies such as microcurrent or low-frequency vibration to further enhance the drug penetration effect, allowing the drug ingredients to enter the deeper layers of the skin faster;

[0120] Providing moderate warmth to the affected area through a temperature control device helps to open the pores and increase the absorption rate of the drug, thereby enhancing the penetration of the drug.

[0121] Optional, local hyperthermia device, used to adjust the local heat intensity according to the temperature requirements of the patient's affected area, and monitor the treatment effect through smart sensors, including:

[0122] Use a temperature sensor to measure the initial temperature of the patient's affected area to understand the local temperature status;

[0123] Determine the target temperature range based on the patient's condition and treatment plan;

[0124] According to the target temperature range, set the initial heat intensity as the baseline value for the start of treatment;

[0125] Activate the device's heating element to achieve initial heat intensity, ensuring that heat is immediately applied upon contact with the affected area;

[0126] The device controls the intensity of heat by adjusting the power to the heating element to ensure the target temperature range is reached;

[0127] For different areas of the affected area, the device makes local fine adjustments based on sensor data to ensure that the temperature of each part is within the appropriate range;

[0128] The temperature changes of the affected area are monitored in real time through intelligent sensors to ensure that the temperature of the affected area is stable within the target range;

[0129] Equipped with tactile sensors or through a feedback system with the patient to collect data to understand the patient's comfort level; if the patient feels overheated or uncomfortable, the device will automatically reduce the heat intensity;

[0130] Dynamically adjust heating intensity based on sensor data and patient feedback to keep the temperature within the target range and prevent temperature fluctuations from affecting treatment outcomes;

[0131] The device has built-in intelligent control algorithms that automatically optimize heat output based on real-time feedback;

[0132] Sensors are used to monitor changes in the temperature and blood circulation of the affected area to assess the effectiveness of thermal therapy; continued application of heat should increase blood flow to the affected area to promote healing;

[0133] During treatment, the device records temperature changes and patient responses in real time;

[0134] When the treatment is about to end, the device gradually reduces the heating power to gradually restore the temperature of the affected area to normal levels, avoiding discomfort caused by sudden cooling;

[0135] After the heat output completely stops, the device will keep the sensor monitoring for a period of time to ensure that the temperature of the affected area is stable and there is no temperature rebound. BRIEF DESCRIPTION OF THE DRAWINGS

[0136] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0137] Figure 1 It is a structural diagram of a multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs provided by an embodiment of the present application. DETAILED DESCRIPTION

[0138] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0139] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0140] In order to solve the problems of the prior art, the embodiment of the present application provides a multi-device intelligent collaborative traditional Chinese medicine treatment robot for individualized rehabilitation solutions.

[0141] Figure 1 This is a schematic diagram of the structure of a multi-device intelligent collaborative TCM treatment robot based on personalized rehabilitation needs provided by an embodiment of the present application. Figure 1 As shown in the figure, the multi-device intelligent collaborative TCM treatment robot based on personalized rehabilitation needs includes:

[0142] Intelligent control systems and multimodal therapeutic devices that interact with them;

[0143] Among them, the intelligent control system dynamically generates personalized rehabilitation treatment plans based on the patient's real-time health data and disease type, and controls the collaborative work of treatment equipment to optimize the treatment effect;

[0144] Multimodal treatment devices, including at least one of the following, each of which is capable of adaptively adjusting parameters to suit individual patient needs:

[0145] Mechanical massage equipment is used to simulate traditional Chinese medicine massage techniques and adjust the strength and rhythm according to the patient's muscle and joint conditions;

[0146] Steam medicinal bath equipment, used to mix medicinal steam containing different Chinese medicinal ingredients, and control the temperature and humidity to meet the needs of different diseases;

[0147] High-frequency electronic acupuncture equipment can achieve personalized acupoint stimulation on acupuncture patches by dynamically adjusting the output electric field, magnetic field, temperature and vibration parameters;

[0148] Far infrared therapy equipment can adjust the intensity and wavelength of far infrared rays according to the skin thickness and lesion depth of different patients;

[0149] Moxibustion treatment equipment is used to add a variety of Chinese medicinal ingredients to moxa sticks, and control the burning rate and position of the moxa sticks through a program to ensure the uniformity of the moxibustion effect;

[0150] Vacuum cupping equipment, including a multi-layer vacuum adjustment system, can be intelligently adjusted according to the adsorption tolerance of the patient's skin to achieve the best cupping effect;

[0151] Drug spray equipment uses nano-level atomization technology to evenly spray the essence of traditional Chinese medicine to cover the patient's lesion area, thereby improving the drug penetration rate;

[0152] Local hyperthermia equipment is used to adjust local heat intensity according to the temperature requirements of the patient's affected area and monitor the treatment effect through smart sensors.

[0153] In one embodiment, it further includes:

[0154] The patient feedback system collects patient feedback data in real time and transmits it to the intelligent control system to dynamically optimize the treatment plan and achieve personalized precision treatment.

[0155] In one embodiment, a mechanical massage device is used to simulate traditional Chinese medicine massage techniques and adjust the strength and rhythm according to the patient's muscle and joint conditions, including:

[0156] Use sensors to collect real-time data on patients’ muscles and joints, including muscle tension, joint range of motion, and pain point locations;

[0157] The collected data is input into the data analysis module, and the specific state parameters of the patient's muscles and joints are calculated through algorithms;

[0158] The device has a set of parameterized models of traditional Chinese medicine massage techniques, each of which corresponds to different strengths, frequencies and movement ranges;

[0159] Based on the patient data, a matching algorithm is used to select a massage technique combination suitable for the patient's current condition from the technique library;

[0160] The force sensors monitor the force applied by the device to the patient's muscles and joints in real time to ensure that it does not exceed the preset safety threshold, while making dynamic adjustments based on the patient's pain feedback;

[0161] According to the sensor feedback, the pressure of the massage head is adjusted by the servo motor or hydraulic system to ensure the moderate massage intensity;

[0162] Dynamically adjust the rhythm of massage according to the patient's muscle response and joint movement feedback;

[0163] According to the selected massage technique and the adjusted strength and rhythm parameters, the control module of the device controls the massage head or massage arm to perform the corresponding massage action;

[0164] The device uses a multi-axis control system to enable the massage head to move precisely in three-dimensional space, simulating manual massage techniques;

[0165] The device collects real-time feedback data from patients through sensors;

[0166] Based on the feedback data, the device will dynamically adjust the massage strength, rhythm and combination of techniques to ensure the best massage effect;

[0167] Record the process data of each massage, including the patient's muscle and joint response, as well as the frequency and intensity of the massage techniques;

[0168] Based on the accumulation and analysis of data after multiple massages, the device generates a massage plan that better meets the individual needs of the patient, further optimizing the combination of massage techniques and strength rhythm;

[0169] During the massage, the device monitors the intensity, rhythm and massage time in real time to ensure that the safety threshold is not exceeded;

[0170] When an abnormal situation occurs, the device will issue an alarm and suspend operation to ensure patient safety.

[0171] In one embodiment, the steam medicinal bath equipment is used to mix medicinal steam containing different Chinese medicinal ingredients and control the temperature and humidity to meet the needs of different diseases, including:

[0172] According to the patient's symptoms and needs, select appropriate Chinese medicine ingredients through systematic analysis;

[0173] Automatically select the proportion of Chinese medicine ingredients according to the patient's specific needs;

[0174] The selected Chinese herbal ingredients are mixed according to the set ratio and prepared into liquid medicine; there are multiple independent medicine storage chambers in the equipment for storing different Chinese herbal ingredients, and the liquid medicine is automatically extracted according to the set ratio;

[0175] Start the heating system to preheat the liquid medicine to ensure that the steam is generated faster and the temperature of the steam reaches the preset requirements;

[0176] The heated liquid medicine is converted into drug vapor through an atomizer or heating device; the atomizer granulates the liquid medicine to produce fine and uniform vapor, which helps the drug ingredients to be better absorbed by the patient;

[0177] The steam temperature is monitored in real time through the temperature sensor, and the power of the heating system is adjusted according to the set disease requirements to achieve the appropriate steam temperature;

[0178] The steam humidity is monitored by a humidity sensor, and the system adjusts the humidity by controlling the supply speed and evaporation amount of the liquid medicine to ensure that the appropriate humidity range is reached;

[0179] The equipment adjusts the atomization speed and evaporation concentration according to the characteristics of different drug components to ensure that different components are evenly distributed in the steam;

[0180] Special sensors are used to monitor the concentration of each drug component in the steam in real time, and the delivery rate of the drug solution is automatically adjusted through a feedback control system to ensure that the concentration of the steam components meets the treatment needs;

[0181] According to the standardized treatment plans for different diseases, the system automatically adjusts the temperature and humidity parameters and the concentration of drug ingredients;

[0182] The device provides personalized temperature, humidity and drug concentration adjustment options based on the patient's real-time feedback or the doctor's set requirements to meet individualized treatment needs;

[0183] During the steam bath process, the equipment automatically controls the temperature, humidity and drug concentration of the steam according to the preset parameters;

[0184] When the steam temperature and humidity exceed the safe range, the equipment will automatically adjust or suspend operation to protect patient safety.

[0185] In one embodiment, the high-frequency electronic acupuncture device realizes personalized acupoint stimulation on the acupuncture patch by dynamically adjusting the output electric field, magnetic field, temperature and vibration parameters, including:

[0186] According to the patient's symptoms and physical condition, choose the corresponding acupoints;

[0187] According to the selected acupuncture points and their corresponding treatment plans, the initial electric field, magnetic field, temperature and vibration parameters are set as the basis for stimulation;

[0188] The electric field strength is initially set based on the patient’s individual tolerance and acupoint requirements;

[0189] Select pulsed magnetic field or continuous magnetic field according to treatment needs, and adjust the intensity and frequency of the magnetic field;

[0190] Set the appropriate temperature range on the device to ensure that the temperature is within a comfortable range while achieving the warming effect;

[0191] Choose the appropriate vibration frequency and intensity;

[0192] The device uses sensors to monitor the patient's skin conductivity, temperature, and muscle reaction feedback in real time to determine the patient's tolerance and effect of the current stimulation;

[0193] Dynamically adjust the intensity and frequency of the electric and magnetic fields based on feedback data to ensure that the acupoints are stimulated at the optimal level;

[0194] When the temperature sensor detects changes in skin temperature, it automatically adjusts the output temperature to ensure that the temperature is constant within the set range to achieve the best effect of moxibustion therapy;

[0195] Dynamically adjust the vibration frequency and intensity according to the patient's tolerance to vibration and the stimulation effect to ensure a balance between stimulation depth and comfort;

[0196] The adjusted electric field, magnetic field, temperature and vibration are outputted simultaneously on the acupuncture patch to achieve multi-dimensional stimulation of the acupuncture points;

[0197] According to the needs of acupoint stimulation, the device outputs intermittent or continuous pulse stimulation;

[0198] Real-time monitoring of acupoint stimulation effects, including muscle reactions and skin temperature changes, is achieved through feedback data, ensuring the stability of the electric field, magnetic field, temperature and vibration output by the device during treatment;

[0199] During the treatment process, the device makes fine adjustments based on real-time feedback data and automatically optimizes various parameters to ensure the best treatment effect.

[0200] In one embodiment, the far infrared treatment device can adjust the intensity and wavelength of the far infrared rays according to the skin thickness and lesion depth of different patients, including:

[0201] Use ultrasound or infrared measurement equipment to measure the thickness of the patient's skin to understand the skin barrier penetration requirements;

[0202] Use imaging scanning technology to assess the depth of the lesion area and determine the required penetration depth of far infrared rays;

[0203] The collected skin thickness and lesion depth information is input into the equipment control system as the basis for far infrared adjustment;

[0204] According to the preset treatment plan and the characteristics of the lesion, set the initial intensity of the far infrared ray;

[0205] According to the commonly used treatment wavelength range, select an appropriate wavelength range as the initial treatment parameter;

[0206] Automatically adjust the intensity of far infrared rays according to the patient's skin thickness;

[0207] Dynamically adjust wavelength according to lesion depth;

[0208] Built-in sensors monitor skin temperature and the response of the treatment area, dynamically fine-tuning the intensity and wavelength to ensure treatment effectiveness while protecting patient safety.

[0209] The device can be selected in continuous mode or pulse mode;

[0210] Using a precisely controlled optical system, far infrared rays are focused on specific lesion areas, reducing the impact on surrounding healthy tissues and improving the accuracy of treatment;

[0211] The device monitors the temperature of the skin surface in real time through a temperature sensor to avoid discomfort or damage caused by excessive temperature;

[0212] Sensors are used to monitor minute temperature changes and blood circulation at the lesion site to determine the effectiveness of treatment and further adjust the intensity and wavelength;

[0213] Based on the feedback from the monitored skin and lesions, the output parameters are automatically optimized to ensure that the temperature and penetration effects during treatment are optimal.

[0214] In one embodiment, a moxibustion treatment device is used to add a variety of Chinese medicinal ingredients to moxa sticks, and control the burning rate and position of the moxa sticks through a program to ensure the uniformity of the warming moxibustion effect, including:

[0215] According to the patient's disease needs, select Chinese herbal ingredients with corresponding therapeutic effects;

[0216] The wormwood powder is mixed with the selected traditional Chinese medicine ingredients in a certain proportion and pressed into wormwood sticks;

[0217] Determine the acupoints required for moxibustion according to the patient's symptoms and treatment plan;

[0218] Install a moxa stick fixing device that can accurately position the moxa stick in the equipment to ensure that the moxa stick remains in the proper position during treatment and avoids displacement;

[0219] According to the treatment needs, the burning speed of the moxa stick can be controlled by program;

[0220] Install a temperature sensor near the moxa stick to monitor the burning temperature of the moxa stick in real time;

[0221] The combustion rate is adjusted by controlling the oxygen supply;

[0222] The device is equipped with a movable moxa stick holder or a mechanical arm to move the moxa stick on the designated acupoints according to the treatment plan to ensure the uniformity and coverage of the moxibustion.

[0223] Use the sensor positioning system to detect the relative position of the moxa stick and the patient's acupuncture points to ensure that the moxa stick is always in the best position for the acupuncture points;

[0224] The temperature distribution of the skin around the acupoints is monitored by infrared sensors to ensure that the moxibustion heat evenly covers the entire acupoint area;

[0225] According to the temperature distribution, the position of the moxa stick is automatically adjusted to make the heat of the moxibustion evenly distributed in the acupoint area to avoid overheating or cold spots;

[0226] Monitor the temperature of the skin surface and moxa sticks through real-time temperature data to ensure that the temperature is within the acceptable range for the patient;

[0227] During the treatment process, the burning rate is automatically adjusted according to temperature feedback to ensure the continuity and stability of the moxibustion effect.

[0228] In one embodiment, a vacuum cupping device includes a multi-layer vacuum adjustment system that can be intelligently adjusted according to the adsorption tolerance of the patient's skin to achieve the best cupping effect, including:

[0229] The thickness, elasticity and sensitivity data of the patient's skin are collected through pressure sensors or skin sensors. These data will be used to evaluate the skin's adsorption tolerance;

[0230] Based on the collected data, the patient's skin absorption tolerance threshold is calculated to ensure that the cupping process does not cause discomfort or damage;

[0231] According to the tolerance threshold, the initial vacuum pressure range is set to provide appropriate suction force at the beginning of cupping;

[0232] The multi-layer vacuum adjustment system has vacuum layers of different strengths. Choose the appropriate level as the initial adsorption strength to avoid sudden irritation to the patient's skin.

[0233] Start the vacuum pump to gradually generate negative pressure in the cupping device and begin to suck the patient's skin;

[0234] The sensor monitors the skin adsorption conditions, including the skin deformation degree and local blood circulation changes, to ensure that the cupping effect reaches the expected results;

[0235] According to real-time feedback, if the skin adsorption is insufficient, the device automatically increases the negative pressure intensity; if the skin adsorption is excessive or there is discomfort feedback, the device automatically reduces the negative pressure intensity;

[0236] The device can switch between different vacuum layers according to the real-time effect of skin adsorption;

[0237] In the initial stage of cupping, the negative pressure is gradually increased to allow the skin to gradually adapt and avoid discomfort caused by sudden high-intensity suction;

[0238] The device automatically controls the negative pressure intensity based on sensor feedback data, so that the adsorption force is always maintained within the optimal range of the patient's skin tolerance;

[0239] The sensor detects the changes in local skin temperature and blood flow to determine whether cupping effectively promotes blood circulation;

[0240] The device automatically controls the duration of cupping according to the treatment needs and the individual conditions of the patient; when it detects moderate congestion of the skin or reaches the preset effect, the adsorption force is gradually weakened;

[0241] During the cupping process, the system will make fine adjustments based on the real-time feedback data from the skin to ensure a balance between the comfort of adsorption and the therapeutic effect;

[0242] At the end of the cupping process, the device gradually releases the vacuum to avoid skin discomfort caused by rapid release of negative pressure;

[0243] During the negative pressure release process, the sensor monitors the skin condition in real time to ensure a smooth vacuum release process and avoid excessive pulling or damage to the skin.

[0244] In one embodiment, the drug spray device uses nano-scale atomization technology to spray the essence of traditional Chinese medicine to evenly cover the lesion area of ​​the patient, thereby improving the drug penetration rate, including:

[0245] According to the patient's disease needs, select Chinese herbal ingredients with corresponding therapeutic effects;

[0246] Process the Chinese medicinal materials and extract the essence of the Chinese medicinal materials through soaking, decoction, concentration and other methods to ensure the activity of the medicinal ingredients;

[0247] The essence of traditional Chinese medicine is processed by nano-crystallization to make the drug molecules smaller and improve the penetration effect after spraying; the stability and uniformity of the drug solution are ensured by adding appropriate amounts of solvents and dispersants;

[0248] According to the treatment needs, set the spray intensity, flow rate and atomized particle size of the nebulizer;

[0249] Adjust the temperature and humidity in the nebulizer to ensure the stability of the nebulized drug and the comfort of the patient;

[0250] Use image recognition or sensor scanning technology to locate the patient's lesion area, ensuring that the spray only covers the area that needs treatment, avoiding drug waste;

[0251] Adjust the position of the spray device according to the scan results and the patient's body position so that the spray angle and distance are suitable for the coverage requirements of the lesion area;

[0252] Start the nano-atomization device of the spray equipment to convert the Chinese medicine essence solution into nano-scale fine particle spray to ensure that the drug particles are fine and uniform;

[0253] The equipment automatically adjusts the spray angle and range to ensure that the Chinese medicine essence spray evenly covers the lesion area;

[0254] Adjust the flow rate and pressure of the spray according to the needs of the affected area to ensure that the drug can properly penetrate the skin surface without being too intense and causing discomfort to the patient;

[0255] The device uses technologies such as microcurrent or low-frequency vibration to further enhance the drug penetration effect, allowing the drug ingredients to enter the deeper layers of the skin faster;

[0256] Providing moderate warmth to the affected area through a temperature control device helps to open the pores and increase the absorption rate of the drug, thereby enhancing the penetration of the drug's efficacy.

[0257] In one embodiment, a local hyperthermia treatment device is used to adjust the local heat intensity according to the temperature requirement of the affected part of the patient, and monitor the treatment effect through an intelligent sensor, including:

[0258] Use a temperature sensor to measure the initial temperature of the patient's affected area to understand the local temperature status;

[0259] Determine the target temperature range based on the patient's condition and treatment plan;

[0260] According to the target temperature range, set the initial heat intensity as the baseline value for the start of treatment;

[0261] Activate the device's heating element to achieve initial heat intensity, ensuring that heat is immediately applied upon contact with the affected area;

[0262] The device controls the intensity of heat by adjusting the power to the heating element to ensure the target temperature range is reached;

[0263] For different areas of the affected area, the device makes local fine adjustments based on sensor data to ensure that the temperature of each part is within the appropriate range;

[0264] The temperature changes of the affected area are monitored in real time through intelligent sensors to ensure that the temperature of the affected area is stable within the target range;

[0265] Equipped with tactile sensors or through a feedback system with the patient to collect data to understand the patient's comfort level; if the patient feels overheated or uncomfortable, the device will automatically reduce the heat intensity;

[0266] Dynamically adjust heating intensity based on sensor data and patient feedback to keep the temperature within the target range and prevent temperature fluctuations from affecting treatment outcomes;

[0267] The device has built-in intelligent control algorithms that automatically optimize heat output based on real-time feedback;

[0268] Sensors are used to monitor changes in the temperature and blood circulation of the affected area to assess the effectiveness of thermal therapy; continued application of heat should increase blood flow to the affected area to promote healing;

[0269] During treatment, the device records temperature changes and patient responses in real time;

[0270] When the treatment is about to end, the device gradually reduces the heating power to gradually restore the temperature of the affected area to normal levels, avoiding discomfort caused by sudden cooling;

[0271] After the heat output completely stops, the device will keep the sensor monitoring for a period of time to ensure that the temperature of the affected area is stable and there is no temperature rebound.

[0272] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0273] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0274] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0275] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0276] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs, characterized in that: include: Intelligent control systems and multimodal therapeutic devices that interact with them; Among them, the intelligent control system dynamically generates personalized rehabilitation treatment plans based on the patient's real-time health data and disease type, and controls the collaborative work of treatment equipment to optimize the treatment effect; Multimodal treatment devices, including at least one of the following, each of which is capable of adaptively adjusting parameters to suit individual patient needs: Mechanical massage equipment is used to simulate traditional Chinese medicine massage techniques and adjust the strength and rhythm according to the patient's muscle and joint conditions; Steam medicinal bath equipment, used to mix medicinal steam containing different Chinese medicinal ingredients, and control the temperature and humidity to meet the needs of different diseases; High-frequency electronic acupuncture equipment can achieve personalized acupoint stimulation on acupuncture patches by dynamically adjusting the output electric field, magnetic field, temperature and vibration parameters; Far infrared therapy equipment can adjust the intensity and wavelength of far infrared rays according to the skin thickness and lesion depth of different patients; Moxibustion treatment equipment is used to add a variety of Chinese medicinal ingredients to moxa sticks, and control the burning rate and position of the moxa sticks through a program to ensure the uniformity of the moxibustion effect; Vacuum cupping equipment, including a multi-layer vacuum adjustment system, can be intelligently adjusted according to the adsorption tolerance of the patient's skin to achieve the best cupping effect; Drug spray equipment uses nano-level atomization technology to evenly spray the essence of traditional Chinese medicine to cover the patient's lesion area, thereby improving the drug penetration rate; Local hyperthermia equipment is used to adjust local heat intensity according to the temperature requirements of the patient's affected area and monitor the treatment effect through smart sensors.

2. The multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs according to claim 1 is characterized in that: Also includes: The patient feedback system collects patient feedback data in real time and transmits it to the intelligent control system to dynamically optimize the treatment plan and achieve personalized precision treatment.

3. The multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs according to claim 1 is characterized in that: Mechanical massage equipment is used to simulate traditional Chinese medicine massage techniques and adjust the strength and rhythm according to the patient's muscle and joint conditions, including: Use sensors to collect real-time data on patients’ muscles and joints, including muscle tension, joint range of motion, and pain point locations; The collected data is input into the data analysis module, and the specific state parameters of the patient's muscles and joints are calculated through algorithms; The device has a set of parameterized models of traditional Chinese medicine massage techniques, each of which corresponds to different strengths, frequencies and movement ranges; Based on the patient data, a matching algorithm is used to select a massage technique combination suitable for the patient's current condition from the technique library; The force sensors monitor the force applied by the device to the patient's muscles and joints in real time to ensure that it does not exceed the preset safety threshold, while making dynamic adjustments based on the patient's pain feedback; According to the sensor feedback, the pressure of the massage head is adjusted by the servo motor or hydraulic system to ensure the moderate massage intensity; Dynamically adjust the rhythm of massage according to the patient's muscle response and joint movement feedback; According to the selected massage technique and the adjusted strength and rhythm parameters, the control module of the device controls the massage head or massage arm to perform the corresponding massage action; The device uses a multi-axis control system to enable the massage head to move precisely in three-dimensional space, simulating manual massage techniques; The device collects real-time feedback data from patients through sensors; Based on the feedback data, the device will dynamically adjust the massage strength, rhythm and combination of techniques to ensure the best massage effect; Record the process data of each massage, including the patient's muscle and joint response, as well as the frequency and intensity of the massage techniques; Based on the accumulation and analysis of data after multiple massages, the device generates a massage plan that better meets the individual needs of the patient, further optimizing the combination of massage techniques and strength rhythm; During the massage, the device monitors the intensity, rhythm and massage time in real time to ensure that the safety threshold is not exceeded; When an abnormal situation occurs, the device will issue an alarm and suspend operation to ensure patient safety.

4. The multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs according to claim 1 is characterized in that: Steam bath equipment is used to mix medicinal steam containing different Chinese medicine ingredients and control the temperature and humidity to meet the needs of different diseases, including: According to the patient's symptoms and needs, select appropriate Chinese medicine ingredients through systematic analysis; Automatically select the proportion of Chinese medicine ingredients according to the patient's specific needs; The selected Chinese herbal ingredients are mixed according to the set ratio and prepared into liquid medicine; there are multiple independent medicine storage chambers in the equipment for storing different Chinese herbal ingredients, and the liquid medicine is automatically extracted according to the set ratio; Start the heating system to preheat the liquid medicine to ensure that the steam is generated faster and the temperature of the steam reaches the preset requirements; The heated liquid medicine is converted into drug vapor through an atomizer or heating device; the atomizer granulates the liquid medicine to produce fine and uniform vapor, which helps the drug ingredients to be better absorbed by the patient; The steam temperature is monitored in real time through the temperature sensor, and the power of the heating system is adjusted according to the set disease requirements to achieve the appropriate steam temperature; The steam humidity is monitored by a humidity sensor, and the system adjusts the humidity by controlling the supply speed and evaporation amount of the liquid medicine to ensure that the appropriate humidity range is reached; The equipment adjusts the atomization speed and evaporation concentration according to the characteristics of different drug components to ensure that different components are evenly distributed in the steam; Special sensors are used to monitor the concentration of each drug component in the steam in real time, and the delivery rate of the drug solution is automatically adjusted through a feedback control system to ensure that the concentration of the steam components meets the treatment needs; According to the standardized treatment plans for different diseases, the system automatically adjusts the temperature and humidity parameters and the concentration of drug ingredients; The device provides personalized temperature, humidity and drug concentration adjustment options based on the patient's real-time feedback or the doctor's set requirements to meet individualized treatment needs; During the steam bath process, the equipment automatically controls the temperature, humidity and drug concentration of the steam according to the preset parameters; When the steam temperature and humidity exceed the safe range, the equipment will automatically adjust or suspend operation to protect patient safety.

5. The multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs according to claim 1 is characterized in that: High-frequency electronic acupuncture equipment can achieve personalized acupoint stimulation on acupuncture patches by dynamically adjusting the output electric field, magnetic field, temperature and vibration parameters, including: According to the patient's symptoms and physical condition, choose the corresponding acupoints; According to the selected acupuncture points and their corresponding treatment plans, the initial electric field, magnetic field, temperature and vibration parameters are set as the basis for stimulation; The electric field strength is initially set based on the patient’s individual tolerance and acupoint requirements; Select pulsed magnetic field or continuous magnetic field according to treatment needs, and adjust the intensity and frequency of the magnetic field; Set the appropriate temperature range on the device to ensure that the temperature is within a comfortable range while achieving the warming effect; Choose the appropriate vibration frequency and intensity; The device uses sensors to monitor the patient's skin conductivity, temperature, and muscle reaction feedback in real time to determine the patient's tolerance and effect of the current stimulation; Dynamically adjust the intensity and frequency of the electric and magnetic fields based on feedback data to ensure that the acupoints are stimulated at the optimal level; When the temperature sensor detects changes in skin temperature, it automatically adjusts the output temperature to ensure that the temperature is constant within the set range to achieve the best effect of moxibustion therapy; Dynamically adjust the vibration frequency and intensity according to the patient's tolerance to vibration and the stimulation effect to ensure a balance between stimulation depth and comfort; The adjusted electric field, magnetic field, temperature and vibration are outputted simultaneously on the acupuncture patch to achieve multi-dimensional stimulation of the acupuncture points; According to the needs of acupoint stimulation, the device outputs intermittent or continuous pulse stimulation; Real-time monitoring of acupoint stimulation effects, including muscle reactions and skin temperature changes, is achieved through feedback data, ensuring the stability of the electric field, magnetic field, temperature and vibration output by the device during treatment; During the treatment process, the device makes fine adjustments based on real-time feedback data and automatically optimizes various parameters to ensure the best treatment effect.

6. The multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs according to claim 1 is characterized in that: Far infrared therapy equipment can adjust the intensity and wavelength of far infrared rays according to the skin thickness and lesion depth of different patients, including: Use ultrasound or infrared measurement equipment to measure the thickness of the patient's skin to understand the skin barrier penetration requirements; Use imaging scanning technology to assess the depth of the lesion area and determine the required penetration depth of far infrared rays; The collected skin thickness and lesion depth information is input into the equipment control system as the basis for far infrared adjustment; According to the preset treatment plan and the characteristics of the lesion, set the initial intensity of the far infrared ray; According to the commonly used treatment wavelength range, select an appropriate wavelength range as the initial treatment parameter; Automatically adjust the intensity of far infrared rays according to the patient's skin thickness; Dynamically adjust wavelength according to lesion depth; Built-in sensors monitor skin temperature and the response of the treatment area, dynamically fine-tuning the intensity and wavelength to ensure treatment effectiveness while protecting patient safety. The device can be selected in continuous mode or pulse mode; Using a precisely controlled optical system, far infrared rays are focused on specific lesion areas, reducing the impact on surrounding healthy tissues and improving the accuracy of treatment; The device monitors the temperature of the skin surface in real time through a temperature sensor to avoid discomfort or damage caused by excessive temperature; Sensors are used to monitor minute temperature changes and blood circulation at the lesion site to determine the effectiveness of treatment and further adjust the intensity and wavelength; Based on the feedback from the monitored skin and lesions, the output parameters are automatically optimized to ensure that the temperature and penetration effects during treatment are optimal.

7. The multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs according to claim 1 is characterized in that: Moxibustion treatment equipment is used to add a variety of Chinese medicinal ingredients to moxa sticks, and control the burning rate and position of the moxa sticks through a program to ensure the uniformity of the moxibustion effect, including: According to the patient's disease needs, select Chinese herbal ingredients with corresponding therapeutic effects; The wormwood powder is mixed with the selected traditional Chinese medicine ingredients in a certain proportion and pressed into wormwood sticks; Determine the acupoints required for moxibustion according to the patient's symptoms and treatment plan; Install a moxa stick fixing device that can accurately position the moxa stick in the equipment to ensure that the moxa stick remains in the proper position during treatment and avoids displacement; According to the treatment needs, the burning speed of the moxa stick can be controlled by program; Install a temperature sensor near the moxa stick to monitor the burning temperature of the moxa stick in real time; The combustion rate is adjusted by controlling the oxygen supply; The device is equipped with a movable moxa stick holder or a mechanical arm to move the moxa stick on the designated acupoints according to the treatment plan to ensure the uniformity and coverage of the moxibustion. Use the sensor positioning system to detect the relative position of the moxa stick and the patient's acupuncture points to ensure that the moxa stick is always in the best position for the acupuncture points; The temperature distribution of the skin around the acupoints is monitored by infrared sensors to ensure that the moxibustion heat evenly covers the entire acupoint area; According to the temperature distribution, the position of the moxa stick is automatically adjusted to make the heat of the moxibustion evenly distributed in the acupoint area to avoid overheating or cold spots; Monitor the temperature of the skin surface and moxa sticks through real-time temperature data to ensure that the temperature is within the acceptable range for the patient; During the treatment process, the burning rate is automatically adjusted according to temperature feedback to ensure the continuity and stability of the moxibustion effect.

8. The multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs according to claim 1 is characterized in that: Vacuum cupping equipment, including a multi-layer vacuum adjustment system, can be intelligently adjusted according to the adsorption tolerance of the patient's skin to achieve the best cupping effect, including: The thickness, elasticity and sensitivity data of the patient's skin are collected through pressure sensors or skin sensors. These data will be used to evaluate the skin's adsorption tolerance; Based on the collected data, the patient's skin absorption tolerance threshold is calculated to ensure that the cupping process does not cause discomfort or damage; According to the tolerance threshold, the initial vacuum pressure range is set to provide appropriate suction force at the beginning of cupping; The multi-layer vacuum adjustment system has vacuum layers of different strengths. Choose the appropriate level as the initial adsorption strength to avoid sudden irritation to the patient's skin. Start the vacuum pump to gradually generate negative pressure in the cupping device and begin to suck the patient's skin; The sensor monitors the skin adsorption conditions, including the skin deformation degree and local blood circulation changes, to ensure that the cupping effect reaches the expected results; According to real-time feedback, if the skin adsorption is insufficient, the device automatically increases the negative pressure intensity; if the skin adsorption is excessive or there is discomfort feedback, the device automatically reduces the negative pressure intensity; The device can switch between different vacuum layers according to the real-time effect of skin adsorption; In the initial stage of cupping, the negative pressure is gradually increased to allow the skin to gradually adapt and avoid discomfort caused by sudden high-intensity suction; The device automatically controls the negative pressure intensity based on sensor feedback data, so that the adsorption force is always maintained within the optimal range of the patient's skin tolerance; The sensor detects the changes in local skin temperature and blood flow to determine whether cupping effectively promotes blood circulation; The device automatically controls the duration of cupping according to the treatment needs and the individual conditions of the patient; when it detects moderate congestion of the skin or reaches the preset effect, the adsorption force is gradually weakened; During the cupping process, the system will make fine adjustments based on the real-time feedback data from the skin to ensure a balance between the comfort of adsorption and the therapeutic effect; At the end of the cupping process, the device gradually releases the vacuum to avoid skin discomfort caused by rapid release of negative pressure; During the negative pressure release process, the sensor monitors the skin condition in real time to ensure a smooth vacuum release process and avoid excessive pulling or damage to the skin.

9. The multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs according to claim 1 is characterized in that: The drug spray equipment uses nano-level atomization technology to evenly spray the essence of traditional Chinese medicine to cover the patient's lesion area and improve the drug penetration rate, including: According to the patient's disease needs, select Chinese herbal ingredients with corresponding therapeutic effects; Process the Chinese medicinal materials and extract the essence of the Chinese medicinal materials through soaking, decoction, concentration and other methods to ensure the activity of the medicinal ingredients; The essence of traditional Chinese medicine is processed by nano-crystallization to make the drug molecules smaller and improve the penetration effect after spraying; the stability and uniformity of the drug solution are ensured by adding appropriate amounts of solvents and dispersants; According to the treatment needs, set the spray intensity, flow rate and atomized particle size of the nebulizer; Adjust the temperature and humidity in the nebulizer to ensure the stability of the nebulized drug and the comfort of the patient; Use image recognition or sensor scanning technology to locate the patient's lesion area, ensuring that the spray only covers the area that needs treatment, avoiding drug waste; Adjust the position of the spray device according to the scan results and the patient's body position so that the spray angle and distance are suitable for the coverage requirements of the lesion area; Start the nano-atomization device of the spray equipment to convert the Chinese medicine essence solution into nano-scale fine particle spray to ensure that the drug particles are fine and uniform; The equipment automatically adjusts the spray angle and range to ensure that the Chinese medicine essence spray evenly covers the lesion area; Adjust the flow rate and pressure of the spray according to the needs of the affected area to ensure that the drug can properly penetrate the skin surface without being too intense and causing discomfort to the patient; The device uses technologies such as microcurrent or low-frequency vibration to further enhance the drug penetration effect, allowing the drug ingredients to enter the deeper layers of the skin faster; Providing moderate warmth to the affected area through a temperature control device helps to open the pores and increase the absorption rate of the drug, thereby enhancing the penetration of the drug's efficacy.

10. The multi-device intelligent collaborative traditional Chinese medicine treatment robot based on personalized rehabilitation needs according to claim 1 is characterized in that: Local hyperthermia equipment, used to adjust the local heat intensity according to the temperature requirements of the patient's affected area, and monitor the treatment effect through smart sensors, including: Use a temperature sensor to measure the initial temperature of the patient's affected area to understand the local temperature status; Determine the target temperature range based on the patient's condition and treatment plan; According to the target temperature range, set the initial heat intensity as the baseline value for the start of treatment; Activate the device's heating element to achieve initial heat intensity, ensuring that heat is delivered immediately upon contact with the affected area; The device controls the intensity of heat by adjusting the power to the heating element to ensure the target temperature range is reached; For different areas of the affected area, the device makes local fine adjustments based on sensor data to ensure that the temperature of each part is within the appropriate range; The temperature changes of the affected area are monitored in real time through intelligent sensors to ensure that the temperature of the affected area is stable within the target range; Equipped with tactile sensors or through a feedback system with the patient to collect data to understand the patient's comfort level; if the patient feels overheated or uncomfortable, the device will automatically reduce the heat intensity; Dynamically adjust heating intensity based on sensor data and patient feedback to keep the temperature within the target range and prevent temperature fluctuations from affecting treatment outcomes; The device has built-in intelligent control algorithms that automatically optimize heat output based on real-time feedback; Sensors are used to monitor changes in the temperature and blood circulation of the affected area to assess the effectiveness of thermal therapy; continued application of heat should increase blood flow to the affected area to promote healing; During treatment, the device records temperature changes and patient responses in real time; When the treatment is about to end, the device gradually reduces the heating power to gradually restore the temperature of the affected area to normal levels, avoiding discomfort caused by sudden cooling; After the heat output completely stops, the device will keep the sensor monitoring for a period of time to ensure that the temperature of the affected area is stable and there is no temperature rebound.

Images