Shock wave therapy rehabilitation robot based on passive compliant terminal and working method

Abstract

The present invention discloses a shock wave therapy rehabilitation robot and method based on a passive compliant terminal, which can achieve flexible response to external force. Compared with active compliant control, the passive compliant terminal has higher anti-interference ability and safety. Especially when dealing with patient surface deformation, it can achieve treatment more stably, realize constant output force and adaptive adjustment of treatment position, solve the problem of sensor dependence and control complexity, and improve the reliability and application value of the system. It includes: a load (1), a constant force device, a mechanical arm (6), and a depth camera (7). The constant force device includes: a gear-connecting rod combination actuator (2), a gear elastic system (3), an adjustment connecting rod mechanism, and a linear displacement platform (5).

Description

Technical Field

[0001] The invention belongs to the technical field of ultrasonic therapy, and in particular relates to a shock wave therapy rehabilitation robot based on a passive compliant end, and a working method of the shock wave therapy rehabilitation robot based on a passive compliant end. Background Art

[0002] As a non-invasive therapy, shock wave therapy is widely used in the rehabilitation of soft tissue injuries and bone repair. Traditional shock wave therapy equipment relies on manual operation, and the effect is affected by the operator's experience. It lacks consistency and precision, especially in the control of contact force. There is uncertainty, resulting in unsatisfactory treatment results. In addition, traditional devices are difficult to achieve automatic adjustment, which affects the precise positioning of the treatment site and the efficiency of rehabilitation.

[0003] The development of rehabilitation robot technology has provided new possibilities for shock wave therapy. The multi-degree-of-freedom robotic arm can accurately adjust the position of the treatment head and realize automatic control in combination with the force feedback system. However, existing rehabilitation robots are highly dependent on precision sensors and complex control algorithms, which increases the development cost and complexity of the system, and has high requirements for the stability and accuracy of the sensors, affecting the safety and effectiveness of the system. Therefore, how to reduce the dependence on sensors and simplify the system structure is an important issue facing the current shock wave rehabilitation robots. Summary of the invention

[0004] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to provide a shock wave therapy rehabilitation robot based on a passive flexible end, which can achieve flexible response to external force. Compared with active flexible control, the passive flexible end has higher anti-interference ability and safety, especially when dealing with patient surface deformation, it can achieve treatment more stably, realize constant output force and adaptive adjustment of treatment position, solve the problems of sensor dependence and control complexity, and improve the reliability and application value of the system.

[0005] The technical solution of the present invention is: this kind of shock wave therapy rehabilitation robot based on passive compliant terminal includes: a load 1, a constant force device, a mechanical arm 6, a depth camera 7, and the constant force device includes: a gear-connecting rod combination actuator 2, a gear elastic system 3, an adjustment connecting rod mechanism, and a linear displacement platform 5;

[0006] The load is a shock wave therapy device, which is in direct contact with the patient as a rehabilitation treatment device;

[0007] The gear-connecting rod combination actuator includes a first articulated arm 21 and a second articulated arm 22, each articulated arm includes a proximal input gear and a distal input gear, and the two articulated arms are hinged to each other through a plurality of connecting rods, and the meshing of the proximal and distal input gears forms an angle constraint of the connecting rod, forming a parallelogram-like structure, so as to maintain the stable state of the robot during the lifting process, convert the contour change of the patient's body surface into the input of the gear elastic system, and realize the constant contact force of the end;

[0008] The gear elastic system includes a gear set and a spring set to provide the desired feedback torque according to the position input of the load;

[0009] The adjusting link mechanism includes a left support 41, a right support 42, a left link 43, and a right link 44. The gear elastic system is installed on the adjusting link mechanism through a rotating joint. The intersection of the left link and the right link is the adjusting point P. The movement of the adjusting point drives the posture change of the adjusting link mechanism.

[0010] The linear displacement platform is connected to the adjustment point to control the linear displacement of the adjustment point, thereby adjusting the magnitude of the end force, and after adjustment, it enters a self-locking state to maintain constant force;

[0011] The end of the robotic arm is connected to a linear displacement platform, which plans the path of rehabilitation treatment for different lesion locations of the patient according to the rehabilitation treatment strategy;

[0012] The depth camera is mounted on the gear-link combination actuator to provide color image and depth image information within the treatment area.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. Constant force output: This system can achieve constant contact force output during the treatment process, avoiding the problem of inconsistent contact force caused by different operator experience in traditional manual operation, thereby improving the consistency and reliability of the treatment effect, and is particularly suitable for complex and dynamic rehabilitation treatment scenarios.

[0015] 2. Reduce system complexity: The end output force can be controlled without the need for precision sensors, greatly reducing the system's dependence on sensors and overall complexity.

[0016] 3. Adaptive adjustment: The robotic arm, combined with the passive and compliant end design, can perform adaptive posture adjustments for different treatment areas, accurately treat the patient's lesion location and apply stable force, thereby shortening the treatment time, improving treatment efficiency, and significantly enhancing the patient's rehabilitation experience.

[0017] A working method of a shock wave therapy rehabilitation robot based on a passive compliant end is also provided, which comprises the following steps:

[0018] (1) Initial state: The linear displacement platform is in a locked state, the position of the adjustment point and the posture of the adjustment linkage mechanism remain fixed; the gear-linkage combination actuator is in a free state, and the spring of the gear elastic system is in a force balance state;

[0019] (2) Compression state: The linear displacement platform and the adjustment linkage mechanism are in a locked state, the load is in contact with the patient's body surface, and the height of the gear-link combination actuator is h Due to the change of the patient's body surface contour, the proximal input gear rotates and transmits the angle to the gear elastic system. The spring length and elastic force change. The elastic torque formed is finally transmitted to the proximal input gear through the meshing of the proximal input gear and the driven gear. The gear-link combination actuator converts the elastic torque into a constant force at the end. f 1. Finally, a stable pressure contact is formed between the load and the patient's body surface; at this time, the three driven gear sets in the gear elastic system are on the same horizontal line, and the contact force is at a peak state;

[0020] (3) Adjustment state: The linear displacement platform controls the adjustment point to produce displacement, thereby changing the posture of the adjustment linkage mechanism, driving the first driven gear and the third driven gear in the gear elastic system to revolve around the second driven gear and rotate around their own rotation axis. The spring length and elastic force change accordingly, and the elastic torque generated thereby also changes, thereby adjusting the end contact force. At this time, the contact force is adjusted to nf 1, where 0< n <1; when the linear displacement platform is adjusted, it enters the self-locking state; when the adjustment point is fixed, the gear-link combination actuator adapts to the changes in the patient's body surface contour, and the contact force between the load and the patient's body surface is at any height of the body surface. h Keep constant at nf 1.

[0021] Another working method of a shock wave therapy rehabilitation robot based on a passive compliant end is also provided, which comprises the following steps:

[0022] (I) In the initial stage of the treatment cycle, the linear displacement platform is in a locked state, the position of the adjustment point and the posture of the adjustment link mechanism remain unchanged, the robotic arm moves the load to the preset treatment starting position, and the gear-link combination actuator is set to a free state. At this time, the spring group in the gear elastic system is in an initial force balance state;

[0023] (II) In the early stage of treatment, after the load establishes initial contact with the patient's body surface, the robotic arm gradually moves downward to adapt to the changes in the contour of the patient's body surface; the height change of the gear-link combination actuator causes the proximal input gear to rotate and transmit it to the gear elastic system, triggering the length change of the spring. The linear displacement platform and the adjustment linkage mechanism continue to remain in a locked state, ensuring that the gear set is on the same horizontal line. The constant compression torque is transmitted through the gear meshing to achieve a constant contact force between the load and the patient's body surface. f 1;

[0024] (III) During the treatment process, the linear displacement platform controls the movement of the adjustment point, triggering the change in the posture of the adjustment link mechanism and entering the adjustment state; the first driven gear and the third driven gear revolve around the second driven gear, changing the length and elastic force of the spring, and the output torque changes accordingly, and the contact force is adjusted to nf 1,0 < n < 1, adapt to individual needs;

[0025] (IV) The force state during the treatment process is monitored in real time through the force, position and posture feedback module to obtain feedback data, which is analyzed through a deep learning algorithm to dynamically optimize the response parameters of the gear elastic system and adjust the posture of the connecting rod mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A structural diagram of the basic elastic system and actuator provided by the present invention. Figure 1 a is a common mechanical characteristic curve of a tension spring, where the X-axis is length and the Y-axis is elastic force. Figure 1 b is the basic elastic system configuration. Figure 1 c is the working status of the basic elastic system. Figure 1 d is the gear-link actuator.

[0027] Figure 2 The composition and principle diagram of the adjustable basic elastic system provided by the present invention. Figure 2 a is the mechanism transition diagram. Figure 2 b is the combination of the elastic system and the four-bar linkage. Figure 2 c is a schematic diagram of the combination of the elastic system and the four-bar linkage. Figure 2 d is the adjustment description of the output torque of the elastic system after combining with the four-bar linkage.

[0028] Figure 3 This is a structural block diagram of the shock wave therapy rehabilitation robot based on the passive compliant end provided by the present invention.

[0029] Figure 4 This is a schematic diagram of a robot treatment plan provided by the present invention. Figure 4 a shows the constant force device, depth camera, and load; Figure 4 b shows the patient's treatment points / acupuncture points; Figure 4 c is the treatment diagram with the patient in the sitting position; Figure 4 d is the treatment diagram with the patient in prone position.

[0030] Figure 5 This is a structural diagram of the passive compliant terminal provided by the present invention.

[0031] Figure 6 This is a diagram of different working states of the passive compliant terminal provided by the present invention. Figure 6 a is the initial state, Figure 6 b is the compressed state, Figure 6 c is the regulation state.

[0032] Figure 7 A schematic flow chart of a working method of a shock wave therapy rehabilitation robot based on a passive compliant terminal provided by the present invention.

[0033] Figure 8 This is a working principle diagram of the shock wave therapy rehabilitation robot based on the passive compliant end provided by the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is 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 used to explain the present invention and are not used to limit the present invention.

[0035] In order to make the description of the present disclosure more detailed and complete, the following provides an illustrative description of the implementation and specific embodiments of the present invention; however, this is not the only form of implementing or using the specific embodiments of the present invention. The implementation covers the features of multiple specific embodiments and the method steps and sequences used to construct and operate these specific embodiments. However, other specific embodiments can also be used to achieve the same or equivalent functions and step sequences.

[0036] The synergy of the gear set and the spring achieves constant control of the terminal output force. The device adopts a dual elastic system design, including two symmetrically arranged springs and a set of gears. This structural design allows the initial forces of the springs to offset each other under the symmetrical arrangement, and the elastic torque generated by the spring at the joint of the gear-link actuator is transmitted to the output end through mechanical connection, thereby achieving constant output force at any body surface height.

[0037] When the device is working, as the actuator moves, the gear set drives the spring length to change, and controls the output torque by adjusting the factor. The elastic system in the system has a zero free length characteristic, ensuring a strict proportional relationship between the elastic force and the deformation, thereby achieving constant control of the output force. At the same time, through the arrangement of gears and connecting rods, the torque of the spring can be effectively transmitted and adjusted to adapt to different operating conditions and external load requirements.

[0038] The basic principle of the constant force device is explained below:

[0039] (1) Basic principle of elastic system: Extension spring is a common component of mechanical constant force output. The basic principle of constant force device is to convert the elastic force of the spring into a constant output force at the end through a mechanical structure. This usually requires the spring to have a zero free length characteristic, that is, the elastic force and deformation are in a strictly proportional relationship. f = k △ x (Elastic force = spring stiffness × spring deformation). In actual implementation, the tension spring has an initial force that cannot be eliminated due to the manufacturing process and material properties. f 0, its force characteristic curve is f = f 0+ k △ x ,like Figure 1 The present invention adopts a gear combination to transmit the angle change of the actuator to the large gears 2-1 and 2-2 through the meshing of large and small gears with a reduction ratio of 1:2, and two tension springs of the same specification are arranged on both sides of the large gear shaft to form a basic elastic system (Bacis Elastic System, BES), as shown in FIG. Figure 1 As shown in b, at this time, both springs are in a stretched state. Since the two springs have the same specifications, the output torque on pinion 1 is is 0; Figure 1 As shown in c, when pinion 1 rotates by angle θ When , due to the gear meshing constraint, the lengths of the two springs increase and decrease respectively , the elastic forces generated by the two springs are:

[0040] ,

[0041] The resulting output torque on pinion 1 is:

[0042] ,

[0043] The elastic torque on the pinion is Figure 1 The transformation of the gear linkage actuator shown in d is ultimately converted into the output force on the end load mounting platform :

[0044] ,

[0045] That is, the end output force and the rotation angle of the gear linkage actuator θ Regardless, the agency h A constant output force is achieved.

[0046] (2) Adjustment principle of elastic system: Based on the above basic elastic system BES, an additional set of large gears 2-3 and springs with the same configuration are added to the right side of the large gear 2-1. Figure 2 As shown in a, the elastic moment on the small gear in the basic elastic system BES is doubled:

[0047] ;

[0048] like Figure 2 As shown in b, a symmetrical four-bar linkage is designed, and the large gears 2-1 and 2-2 on the left and right sides are installed on the four-bar linkage to form a planetary gear mechanism around the middle large gear 2-1. When the adjustment point in the four-bar linkage moves downward, the large gears 2-2 and 2-3 revolve around the middle large gear 2-1 and rotate due to the meshing of the gears. When the orbital angle is When , the output torque on the pinion is:

[0049] ,

[0050] That is, a regulation factor is added to the output torque It can be seen that by adjusting the vertical position of the adjustment point on the four-bar linkage, the revolution angle can be controlled. , adjust the output torque of the elastic system, and thus adjust the final output force:

[0051] .

[0052] like Figure 3-5 As shown, the shock wave therapy rehabilitation robot based on passive compliant end includes: a load 1, a constant force device, a mechanical arm 6, a depth camera 7, and the constant force device includes: a gear-connecting rod combination actuator 2, a gear elastic system 3, an adjustment connecting rod mechanism, and a linear displacement platform 5;

[0053] The load is a shock wave therapy device, which is in direct contact with the patient as a rehabilitation treatment device;

[0054] The gear-connecting rod combination actuator includes a first articulated arm 21 and a second articulated arm 22. Both ends of each articulated arm are provided with a proximal input gear and a distal input gear. The two articulated arms are hinged to each other through a plurality of connecting rods. The meshing of the proximal and distal input gears forms an angle constraint of the connecting rod, forming a parallelogram-like structure, so as to maintain the stable state of the robot during the lifting process, convert the contour change of the patient's body surface into the input of the gear elastic system, and realize the constant contact force at the end.

[0055] The gear elastic system includes a gear set and a spring set to provide the desired feedback torque according to the position input of the load;

[0056] The adjusting link mechanism includes a left support 41, a right support 42, a left link 43, and a right link 44. The gear elastic system is installed on the adjusting link mechanism through a rotating joint. The intersection of the left link and the right link is the adjusting point P. The movement of the adjusting point drives the posture change of the adjusting link mechanism.

[0057] The linear displacement platform is connected to the adjustment point to control the linear displacement of the adjustment point, thereby adjusting the magnitude of the end force, and after adjustment, it enters a self-locking state to maintain constant force;

[0058] The end of the robotic arm is connected to a linear displacement platform, which plans the path of rehabilitation treatment for different lesion locations of the patient according to the rehabilitation treatment strategy;

[0059] The depth camera is mounted on the gear-link combination actuator to provide color image and depth image information within the treatment area.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] 1. Constant force output: This system can achieve constant contact force output during the treatment process, avoiding the problem of inconsistent contact force caused by different operator experience in traditional manual operation, thereby improving the consistency and reliability of the treatment effect, and is particularly suitable for complex and dynamic rehabilitation treatment scenarios.

[0062] 2. Reduce system complexity: The end output force can be controlled without the need for precision sensors, greatly reducing the system's dependence on sensors and overall complexity.

[0063] 3. Adaptive adjustment: The robotic arm, combined with the passive and compliant end design, can perform adaptive posture adjustments for different treatment areas, accurately treat the patient's lesion location and apply stable force, thereby shortening the treatment time, improving treatment efficiency, and significantly enhancing the patient's rehabilitation experience.

[0064] Preferably, the gear set includes a first driven gear 31, a second driven gear 32, and a third driven gear 33, and the gears are meshed to transmit motion to achieve power transmission and synchronous motion; the spring set includes a first spring 34 and a second spring 35;

[0065] The movement of the adjustment point drives the first driven gear and the third driven gear to revolve around the second driven gear, and the gears rotate around their own axes due to meshing.

[0066] Preferably, the robotic arm is a 6DOF collaborative robotic arm.

[0067] A working method of a shock wave therapy rehabilitation robot based on a passive compliant end is also provided, which comprises the following steps:

[0068] (1) Initial state ( Figure 6 a): The linear displacement platform is in a locked state, the position of the adjustment point and the posture of the adjustment link mechanism remain fixed; the gear-link combination actuator is in a free state, and the spring of the gear elastic system is in a force balance state;

[0069] (2) Compression state ( Figure 6 b): The linear displacement platform and the adjusting linkage mechanism are in a locked state, the load is in contact with the patient's body surface, and the height of the gear-link combination actuator h Due to the change of the patient's body surface contour, the proximal input gear rotates and transmits the angle to the gear elastic system. The spring length and elastic force change. The elastic torque formed is finally transmitted to the proximal input gear through the meshing of the proximal input gear and the driven gear. The gear-link combination actuator converts the elastic torque into a constant force at the end. f 1. Finally, a stable pressure contact is formed between the load and the patient's body surface; at this time, the three driven gear sets in the gear elastic system are on the same horizontal line, and the contact force is at a peak state;

[0070] (3) Adjustment status ( Figure 6 c): The linear displacement platform controls the adjustment point to produce displacement, thereby changing the posture of the adjustment link mechanism, driving the first driven gear and the third driven gear in the gear elastic system to revolve around the second driven gear, and due to the meshing of the gears, the spring length and elastic force change accordingly, and the resulting elastic torque also changes, thereby adjusting the end contact force. At this time, the contact force is adjusted to nf 1, where 0< n <1; when the linear displacement platform is adjusted, it enters the self-locking state; when the adjustment point is fixed, the gear-link combination actuator adapts to the changes in the patient's body surface contour, and the contact force between the load and the patient's body surface is at any height of the body surface. h Keep constant at nf1.

[0071] like Figure 7 , Figure 8 As shown, another working method of a shock wave therapy rehabilitation robot based on a passive compliant end is also provided, which includes the following steps:

[0072] (I) In the initial stage of the treatment cycle, the linear displacement platform is in a locked state, the position of the adjustment point and the posture of the adjustment link mechanism remain unchanged, the robotic arm moves the load to the preset treatment starting position, and the gear-link combination actuator is set to a free state. At this time, the spring group in the gear elastic system is in an initial force balance state;

[0073] (II) In the early stage of treatment, after the load establishes initial contact with the patient's body surface, the robotic arm gradually moves downward to adapt to the changes in the contour of the patient's body surface; the height change of the gear-link combination actuator causes the proximal input gear to rotate and transmit it to the gear elastic system, triggering the length change of the spring. The linear displacement platform and the adjustment linkage mechanism continue to remain in a locked state, ensuring that the gear set is on the same horizontal line. The constant compression torque is transmitted through the gear meshing to achieve a constant contact force between the load and the patient's body surface. f 1;

[0074] (III) During the treatment process, the linear displacement platform controls the movement of the adjustment point, triggering the change in the posture of the adjustment link mechanism and entering the adjustment state; the first driven gear and the third driven gear revolve around the second driven gear, and rotate around their own axes due to the meshing of the gears, changing the length and elastic force of the spring, and the output torque changes accordingly, and the contact force is adjusted to nf 1,0 < n < 1, adapt to individual needs;

[0075] (IV) The force state during the treatment process is monitored in real time through the force, position and posture feedback module to obtain feedback data, which is analyzed through a deep learning algorithm to dynamically optimize the response parameters of the gear elastic system and adjust the posture of the connecting rod mechanism.

[0076] Preferably, in step (I), the locking state of the linear displacement platform cooperates with the initial force balance of the gear elastic system so as to output a constant force at different treatment stages.

[0077] Preferably, in step (II), the gear-link combination actuator works in coordination with the gear elastic system and the gain adjustment mechanism so as to perform a constant force response to changes in the patient's body surface contour and a sudden increase in pressure before treatment.

[0078] Preferably, in step (III), the linear displacement platform and the adjustment point are adjusted in coordination so that the elastic parameters of the spring group are adjusted so that the output torque remains constant during the treatment process.

[0079] Preferably, in step (IV), in the later stage of treatment, when the shock wave generates a relatively gentle negative pressure, the system adjusts the feedback gain by reducing the control gain and adjusting the damping parameters to reduce mechanical fluctuations and maintain stable contact between the load and the patient's body surface, thereby ensuring constant force output in the negative pressure stage.

[0080] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A shock wave therapy rehabilitation robot based on a passive compliant end, characterized by: It includes: A load (1), a constant force device, a mechanical arm (6), and a depth camera (7). The constant force device includes a gear-connecting rod combination actuator (2), a gear elastic system (3), an adjustment connecting rod mechanism, and a linear displacement platform (5). The load is a shock wave therapy device, which is in direct contact with the patient as a rehabilitation treatment device; The gear-connecting rod combination actuator comprises a first articulated arm (21) and a second articulated arm (22), each articulated arm comprising a proximal input gear and a distal input gear, the two articulated arms are mutually hinged via a plurality of connecting rods to form a parallelogram-like structure, so as to maintain the stability of the robot during the lifting process, and the gear meshing of the proximal and distal connecting rods forms a connecting rod angle constraint, converts the contour change of the patient's body surface into the input of the gear elastic system, and realizes a constant contact force at the end; The gear elastic system includes a gear set and a spring set to provide the desired feedback torque according to the load position input; The adjusting link mechanism comprises a left support (41), a right support (42), a left connecting rod (43), and a right connecting rod (44); the gear elastic system is mounted on the adjusting link mechanism via a rotating joint; the intersection of the left connecting rod and the right connecting rod is an adjusting point (P); the movement of the adjusting point drives the posture change of the adjusting link mechanism; The linear displacement platform is connected to the adjustment point to control the linear displacement of the adjustment point, thereby adjusting the magnitude of the end force, and after adjustment, it enters a self-locking state to maintain constant force; The end of the robotic arm is connected to a linear displacement platform, which plans the path of rehabilitation treatment for different lesion locations of the patient according to the rehabilitation treatment strategy; The depth camera is mounted on the gear-link combination actuator to provide color image and depth image information within the treatment area.

2. The shock wave therapy rehabilitation robot based on a passive compliant end according to claim 1, characterized in that: The gear set comprises a first driven gear (31), a second driven gear (32), and a third driven gear (33), and the gears are meshed to transmit motion, thereby achieving power transmission and synchronous motion; the spring set comprises a first spring (34) and a second spring (35); The movement of the adjustment point drives the first driven gear and the third driven gear to revolve around the second driven gear, and the gears rotate around their own axes due to meshing.

3. The shock wave therapy rehabilitation robot based on a passive compliant end according to claim 1, characterized in that: The robotic arm is a 6DOF collaborative robotic arm.

4. The working method of the shock wave therapy rehabilitation robot based on the passive compliant end according to claim 2 is characterized in that: The working method comprises the following steps: (1) Initial state: The linear displacement platform is in a locked state, the position of the adjustment point and the posture of the adjustment linkage mechanism remain fixed; the gear-linkage combination actuator is in a free state, and the spring of the gear elastic system is in a force balance state; (2) Compression state: The linear displacement platform and the adjustment linkage mechanism are in a locked state, the load is in contact with the patient's body surface, and the height of the gear-link combination actuator is h Due to the change of the patient's body surface contour, the proximal input gear rotates and transmits the angle to the gear elastic system. The spring length and elastic force change. The elastic torque formed is finally transmitted to the proximal input gear through the meshing of the proximal input gear and the driven gear. The gear-link combination actuator converts the elastic torque into a constant force at the end. f 1. Finally, a stable pressure contact is formed between the load and the patient's body surface; at this time, the three driven gear sets in the gear elastic system are on the same horizontal line, and the contact force is at a peak state; (3) Adjustment state: The linear displacement platform controls the adjustment point to produce displacement, thereby changing the position of the adjustment linkage mechanism, driving the first driven gear and the third driven gear in the gear elastic system to revolve around the second driven gear and rotate around their own rotation axis. The spring length and elastic force change accordingly, and the elastic torque generated thereby also changes, thereby adjusting the end contact force. At this time, the contact force is adjusted to nf 1, where 0< n <1; when the linear displacement platform is adjusted, it enters the self-locking state; when the adjustment point is fixed, the gear-link combination actuator adapts to the changes in the patient's body surface contour, and the contact force between the load and the patient's body surface is at any height of the body surface. h Keep constant at nf 1.

5. The working method of the shock wave therapy rehabilitation robot based on the passive compliant end according to claim 2 is characterized in that: The working method comprises the following steps: (I) In the initial stage of the treatment cycle, the linear displacement platform is in a locked state, the position of the adjustment point and the posture of the adjustment link mechanism remain unchanged, the robotic arm moves the load to the preset treatment starting position, and the gear-link combination actuator is set to a free state. At this time, the spring group in the gear elastic system is in an initial force balance state; (II) In the early stage of treatment, after the load establishes initial contact with the patient's body surface, the robotic arm gradually moves downward to adapt to the changes in the contour of the patient's body surface; the height change of the gear-link combination actuator causes the proximal input gear to rotate and transmit it to the gear elastic system, triggering the length change of the spring. The linear displacement platform and the adjustment linkage mechanism continue to remain in a locked state to ensure that the gear group is on the same horizontal line. The elastic torque generated by the spring is transmitted through the gear meshing to achieve a constant contact force between the load and the patient's body surface. f 1; (III) During the treatment process, the linear displacement platform controls the movement of the adjustment point, triggering the change in the posture of the adjustment link mechanism and entering the adjustment state; the first driven gear and the third driven gear revolve around the second driven gear and rotate around their own rotation axis, changing the length and elastic force of the spring, and the output torque changes accordingly, and the contact force is adjusted to nf 1,0 < n < 1, adapt to individual needs; (IV) The force state during the treatment process is monitored in real time through the force, position and posture feedback module to obtain feedback data, which is analyzed through a deep learning algorithm to dynamically optimize the response parameters of the gear elastic system and adjust the posture of the connecting rod mechanism.

6. The working method of the shock wave therapy rehabilitation robot based on the passive compliant end according to claim 5, characterized in that: In the step (I), the locking state of the linear displacement platform cooperates with the initial force balance of the gear elastic system so as to output a constant force at different treatment stages.

7. The working method of the shock wave therapy rehabilitation robot based on the passive compliant end according to claim 6 is characterized in that: In the step (II), the gear-link combination actuator works in coordination with the gear elastic system and the gain adjustment mechanism so as to implement a constant force response to changes in the patient's body surface contour and a sudden increase in pressure before treatment.

8. The working method of the shock wave therapy rehabilitation robot based on the passive compliant end according to claim 7, characterized in that: In the step (III), the linear displacement platform and the adjustment point are adjusted in coordination so that the elastic parameters of the spring group are adjusted so that the output torque remains constant during the treatment process.

9. The working method of the shock wave therapy rehabilitation robot based on the passive compliant end according to claim 8, characterized in that: In step (IV), in the later stage of treatment, when the shock wave generates a relatively gentle negative pressure, the system adjusts the feedback gain by reducing the control gain and adjusting the damping parameters to reduce mechanical fluctuations and maintain stable contact between the load and the patient's body surface, thereby ensuring constant force output in the negative pressure stage.

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