Control method and equipment for intelligent electro-therapeutic apparatus

Abstract

The invention provides a control method and device for an intelligent electro-therapeutic apparatus, and relates to an intelligent control technology, and the method comprises the steps: generating a standard stimulation point location model according to point location configuration data, determining a stimulation point location corresponding to a user physiotherapy parameter in the stimulation point location model, obtaining the dynamic data of a part shot by a physiotherapy device, and obtaining the dynamic data of the part; generating posture calibration information corresponding to the dynamic part data, displaying the posture calibration information, based on calibration completion information of a physiotherapy terminal, obtaining a human body part image shot by the physiotherapy equipment, constructing a part twinborn model corresponding to the human body part image, and according to the positioning parameters of the stimulation point positions, obtaining a part twinborn model corresponding to the human body part image. Target point locations corresponding to the stimulation point locations in the part twinning model are determined, it is determined that the electrical stimulation conduction parts located in the positioning areas of the target point locations meet the physiotherapy conditions according to the movement control data of the electrical stimulation conduction parts, and the hand acupuncture points of the human body can be accurately positioned.

Description

Technical Field

[0001] The present invention relates to intelligent control technology, and in particular to a control method and device for an intelligent electrotherapy apparatus. Background Art

[0002] With the continuous advancement of medical technology and the widespread application of intelligent equipment, electrotherapy devices, as an important physical therapy equipment, are playing an increasingly important role in rehabilitation treatment, pain relief, and muscle function recovery.

[0003] In the process of providing rehabilitation treatment for patients by stimulating the acupuncture points on their hands with an electrotherapy device, it is crucial to accurately find the locations of the acupuncture points on the hands. In the prior art, physicians usually rely on their experience or professional knowledge to determine the acupuncture points on the patients' hands that require physical therapy. However, for physicians with less experience, they may lack sufficient practical experience and theoretical knowledge, so it may be difficult to accurately determine the specific locations of the acupuncture points. In addition, each patient has different body structures and body shapes, so the specific locations of the acupuncture points on the hands may also be different. Relying on the physician's experience may lead to deviations in the positioning of acupuncture points on different patients, resulting in inaccurate acupuncture point positioning, which may cause the stimulation of the electrotherapy device to fail to accurately act on the target acupuncture points, thereby possibly reducing the treatment effect.

[0004] Therefore, how to accurately locate the acupuncture points on the human hand has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides a control method and device for an intelligent electrotherapy apparatus, which can accurately locate acupuncture points on a human hand.

[0006] A first aspect of the present invention provides a control method for an intelligent electrotherapy apparatus, comprising: Generate a standard stimulation point model according to the point configuration data, and determine the stimulation points in the stimulation point model corresponding to the user's physical therapy parameters; Acquire the dynamic data of the part captured by the physiotherapy equipment, and generate the posture calibration information corresponding to the dynamic data of the part for display; Based on the calibration completion information of the physiotherapy terminal, an image of a human body part taken by the physiotherapy device is obtained, and a twin model of the part corresponding to the image of the human body part is constructed; According to the positioning parameters of each stimulation point, the target point corresponding to each stimulation point in the part twin model is determined, and according to the movement control data of the electric stimulation conduction component, it is determined that the electric stimulation conduction component located in the positioning area of ​​the target point meets the physical therapy conditions.

[0007] Optionally, in a possible implementation of the first aspect, generating a standard stimulation point model according to the point configuration data, and determining the stimulation points corresponding to the user's physical therapy parameters in the stimulation point model include: Acquiring point configuration data of the physiotherapy terminal for the standard part model, and marking a plurality of stimulation points in the standard part model according to the point configuration data to obtain a stimulation point model; Identify multiple characteristic nodes in the stimulation point model, and arrange the characteristic nodes from small to large according to the distance between each stimulation point and each characteristic node to obtain a node sequence corresponding to each stimulation point; Obtaining the nearest node group and the farthest node group corresponding to each stimulation point according to the node sequence, determining the positioning parameters of each stimulation point based on the relative position relationship between each stimulation point and its corresponding nearest node group and farthest node group, and binding the positioning parameters to the stimulation point model; The user physiotherapy parameters input by the physiotherapy terminal are obtained, and stimulation points in the stimulation point model corresponding to the physiotherapy points in the user physiotherapy parameters are determined.

[0008] Optionally, in a possible implementation of the first aspect, obtaining the nearest node group and the farthest node group corresponding to each of the stimulation points according to the node sequence, and determining the positioning parameters of each stimulation point based on the relative position relationship between each of the stimulation points and the nearest node group and the farthest node group corresponding to the stimulation point, including: A preset number of feature nodes in the node sequence are selected in sequence to obtain the closest node group, and the first and last feature nodes in the node sequence are selected to obtain the farthest node group; Coordinate processing is performed on the stimulation point model to obtain first coordinates corresponding to each stimulation point and second coordinates corresponding to the joint position point of each characteristic node; Calculating the slope of each characteristic node in the nearest node group and the farthest node group corresponding to each stimulation point according to the first coordinate and the second coordinate; Based on the slope, the relative position relationship between each stimulation point and its corresponding nearest node group and farthest node group is obtained, and each stimulation point is bound to its corresponding slope group to obtain its corresponding positioning parameter.

[0009] Optionally, in a possible implementation of the first aspect, obtaining the part dynamic data photographed by the physiotherapy device, and generating posture calibration information corresponding to the part dynamic data for display include: Extracting the part contour in the part dynamic data, and obtaining the palm and wrist parts in the part contour; Connecting the first part point of the palm and the second part point of the wrist to obtain a calibration line, acquiring multiple fingers in the part contour, and connecting the third part point of each finger and the first part point to obtain multiple posture lines; According to the first angle between each posture line and the calibration line, the dynamic posture parameter of each finger is obtained, the standard posture parameter corresponding to each finger module in the stimulation point model is obtained, and according to the comparison result of the dynamic posture parameter and the standard posture parameter, the finger with the angle difference greater than the threshold is determined as the calibration target; A calibration guide line corresponding to the calibration target is generated in the part dynamic data, and posture calibration information is obtained based on the calibration guide line for display.

[0010] Optionally, in a possible implementation manner of the first aspect, connecting a first part point of the palm and a second part point of the wrist to obtain a calibration line, acquiring multiple fingers in the part contour, and connecting a third part point of each of the fingers and the first part point to obtain multiple posture lines, includes: Determine the center point of the palm as the first part point, obtain the connecting pixel points of the palm and the wrist, determine the center point of each connecting pixel point as the second part point, and connect the first part point and the second part point to obtain a calibration line; Extracting characteristic nodes of each finger, wherein the characteristic nodes include a metacarpophalangeal joint point, a proximal interphalangeal joint point, and a distal interphalangeal joint point, and determining the metacarpophalangeal joint point as a third part point; Acquire a first directional angle between a proximal interphalangeal joint point and a third part point, and a second directional angle between the distal interphalangeal joint point and the third part point; When the first pointing angle and the second pointing angle are both smaller than the angle change threshold, the third part point and the first part point are connected to obtain a posture line corresponding to the corresponding finger.

[0011] Optionally, in a possible implementation of the first aspect, obtaining a first directional angle between a proximal interphalangeal joint point and a third part point, and obtaining a second directional angle between the distal interphalangeal joint point and the third part point includes: Constructing a coordinate system with the first part point as the coordinate origin, and obtaining a first vector pointing from the first part point to the third part point; Acquire a second vector pointing from the third position point to the proximal interphalangeal joint point, and calculate a first pointing angle between the first vector and the second vector; A third vector pointing from the third position point to the distal interphalangeal joint point is obtained, and a second pointing angle between the first vector and the third vector is calculated.

[0012] Optionally, in a possible implementation manner of the first aspect, generating a calibration guide line corresponding to the calibration target in the part dynamic data, and obtaining posture calibration information according to the calibration guide line for display, including: Based on the preset abnormal pixel value, the posture line corresponding to the calibration target is updated to obtain an abnormal part line, and the standard angle corresponding to the calibration target is determined; Taking the calibration line as a reference, generating a calibration guide line passing through the first part point based on the standard angle, and updating the calibration guide line based on a preset guide pixel value; The angle turning direction from the abnormal part line to the calibration guide line is determined as the guide direction, a guide mark corresponding to the guide direction is generated, and posture calibration information is obtained according to the calibration guide line and the guide mark for display.

[0013] Optionally, in a possible implementation of the first aspect, according to the positioning parameters of each of the stimulation points, determining the target point corresponding to each stimulation point in the part twin model, and according to the movement control data of the electrical stimulation conduction component, determining that the electrical stimulation conduction component located in the positioning area of ​​the target point meets the physical therapy condition, including: Obtaining the identification nodes corresponding to each characteristic node in the part twin model, and determining the identification nodes corresponding to the nearest node group and the farthest node group of each stimulation point as selected nodes; Corresponding the characteristic nodes in the nearest node group and the farthest node group to the corresponding selected nodes, and determining the slope of the characteristic node as the positioning slope of the corresponding selected node; Taking the joint position points corresponding to each selected node as a reference, generating a positioning line passing through the corresponding joint position points based on the positioning slope, and determining the intersection of multiple positioning lines corresponding to each stimulation point in the part twin model as the target point; Determine the real-time position point of the electrical stimulation conduction component in the part contour according to the dynamic video data captured by the physiotherapy device, determine the mapping position point corresponding to the real-time position point in the part twin model, and obtain the movement control data according to the mapping position point; Taking the target point as the center point, a positioning area is determined according to a preset radius, and when the mapping position point is located in the positioning area, it is determined that the electrical stimulation conduction component meets the physical therapy condition.

[0014] Optionally, in a possible implementation of the first aspect, after determining the target point corresponding to each stimulation point in the part twin model according to the positioning parameters of each stimulation point, the method further includes: According to the movement information of the target point by the physiotherapy terminal, the adjustment point after the movement is determined, the point distance between the adjustment point and the target point is obtained, and the training coefficient is obtained according to the ratio of the point distance to the reference distance; Obtaining the adjustment slope of the adjustment point and the corresponding selected node, and determining the slope difference between the adjustment slope and the slope corresponding to the corresponding feature node; Obtaining a proportional coefficient according to the product of the training coefficient and the proportional weight, and obtaining an adjustment value based on the product of the slope difference and the proportional coefficient; Based on the sum of the slope of the corresponding feature node and the adjustment value, the training slope corresponding to the corresponding feature node is obtained, and the training positioning parameters corresponding to the stimulation point are obtained according to the multiple training slopes corresponding to the stimulation point.

[0015] A second aspect of the present invention provides a control device for an intelligent electrotherapy apparatus, comprising: A generation module, used to generate a standard stimulation point model according to the point configuration data, and determine the stimulation points in the stimulation point model corresponding to the user's physical therapy parameters; An acquisition module is used to acquire the dynamic data of the part taken by the physiotherapy device, and generate posture calibration information corresponding to the dynamic data of the part for display; A construction module, used to obtain the human body part image taken by the physiotherapy device based on the calibration completion information of the physiotherapy terminal, and construct a part twin model corresponding to the human body part image; A determination module is used to determine the target point corresponding to each stimulation point in the part twin model according to the positioning parameters of each stimulation point, and to determine whether the electrical stimulation conduction component located in the positioning area of ​​the target point meets the physical therapy conditions according to the movement control data of the electrical stimulation conduction component.

[0016] The beneficial effects of the present invention are as follows: 1. The present invention can generate a part twin model corresponding to the user's hand based on the user's hand image, and find the position points corresponding to the acupoints to be treated by the user in the part twin model according to the relative position relationship between the therapeutic acupoints and the corresponding hand joints, so as to more accurately locate the hand acupoints to be treated by the user.

[0017] 2. When determining the relative position relationship between the therapeutic acupuncture points and the corresponding hand joints, the present invention can construct a standard stimulation point model, include stimulation points corresponding to multiple therapeutic acupuncture points in the standard stimulation point model, and coordinate the stimulation point model to determine the coordinate values ​​corresponding to each stimulation point and the corresponding feature node, calculate the slope between each stimulation point and the corresponding feature node according to the coordinate value, and determine the relative position relationship between the stimulation point and the corresponding feature node through the slope, so that the positioning data corresponding to the stimulation point can be determined more accurately.

[0018] 3. Before determining the therapeutic acupuncture points, the present invention can first calibrate the user's hand posture so that the user's hand posture is consistent with the hand posture corresponding to the standard stimulation point model, thereby more accurately determining the specific location points corresponding to the acupuncture points that the user needs to undergo therapy, thereby improving the accuracy of determining the therapeutic acupuncture points.

[0019] 4. When calibrating the hand posture, the present invention can generate posture calibration information and display it to the user through real-time video acquisition and posture analysis. The user can intuitively adjust his or her hand posture according to the posture calibration information, thereby facilitating subsequent more accurate positioning of the physical therapy acupuncture points.

[0020] 5. The present invention can accurately determine the target point corresponding to each stimulation point in the part twin model by combining the relative position relationship between the stimulation point and the corresponding feature node, thereby improving the accuracy of physical therapy positioning. By acquiring the video data captured in real time by the physical therapy equipment, the real-time position point of the electrode patch during the movement process can be determined. According to the real-time position point, the corresponding mapping position point can be determined in the part twin model, so as to more accurately judge whether the electrode patch is accurately placed at the target point, thereby improving the accuracy of the electrode patch placement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a flow chart of a control method for an intelligent electrotherapy apparatus provided by an embodiment of the present invention; Figure 2 is a schematic diagram of determining a posture line corresponding to a corresponding finger portion provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a calibration guide line provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a control system for an intelligent electrotherapy apparatus provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0024] See also Figure 1 , is a schematic diagram of a control method for an intelligent electrotherapy apparatus provided by an embodiment of the present invention, Figure 1 The execution subject of the method shown may be a software and / or hardware device. The execution subject of the present application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDA) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S4, as follows: S1, generating a standard stimulation point model according to the point configuration data, and determining the stimulation points in the stimulation point model corresponding to the user's physical therapy parameters.

[0025] Among them, the point configuration data refers to the position data corresponding to multiple hand acupoints pre-configured by the physician, the stimulation point model refers to a standard hand model containing multiple hand acupoints, the user therapy parameters refer to the acupoints that the user needs to undergo therapy, and the stimulation points refer to the points in the stimulation point model corresponding to the acupoints that the user needs to undergo therapy.

[0026] In actual applications, acupoints on the hands are associated with various parts and organs of the body. By accurately locating and stimulating these acupoints through an electrotherapy device, the circulation of qi and blood in the human body can be regulated to achieve the purpose of treating diseases, relieving pain, and restoring functions. However, if the acupoints are not accurately located, non-target areas may be stimulated, causing discomfort or pain to the patient. In extreme cases, it may also cause nerve damage or other complications. In order to avoid the above situation, this solution can generate a twin model corresponding to the user based on the user's hand image, and find the position point corresponding to the acupoint where the user wants to undergo physical therapy in the twin model corresponding to the user based on the relative position relationship between the acupoint and the corresponding hand joint, thereby achieving accurate positioning of the acupoint on the user's hand where the user wants to undergo physical therapy.

[0027] Specifically, a pre-built standard hand model can be obtained, and a professional physician can pre-configure the position data corresponding to multiple hand acupoints based on traditional Chinese medicine theory and practical experience, that is, point configuration data. According to the point configuration data, the position points corresponding to the multiple hand acupoints pre-configured by the physician can be marked in the standard hand model, thereby generating a standard stimulation point model. In the standard stimulation point model, the relative position relationship between multiple acupoints and hand joints can be accurately recorded, and this relative position relationship remains relatively stable between different hand shapes, that is, regardless of the size of the hand, the relative position relationship between the acupoints and the corresponding hand joints is almost consistent.

[0028] Since the acupoints on the hands are associated with different parts and organs of the body, stimulating different acupoints will produce different therapeutic effects. For example, stimulating Shaoshang acupoint can treat symptoms such as sore throat, nosebleeds, and high fever, while stimulating Shangyang acupoint can relieve symptoms such as toothache and constipation. Since the corresponding physical therapy purposes of different users may be different, the corresponding hand acupoints can be selected for stimulation according to the user's specific physical therapy purposes. For example, if the user wants to treat sore throat, he can choose to stimulate Shaoshang acupoint. If the user wants to treat constipation, he can choose to stimulate Shangyang acupoint, etc. By selecting acupoints for stimulation in a targeted manner, the user's body functions can be better regulated to achieve the purposes of treating diseases and relieving pain. After obtaining the standard stimulation point model, since different acupoints are associated with different parts and organs of the body and have different therapeutic effects, the corresponding acupoints can be selected for stimulation according to the user's physical therapy purpose. The acupoints corresponding to different physical therapy purposes are also different. Therefore, the physical therapy acupoints corresponding to different users may be different, that is, the user's physical therapy parameters may be different. According to the user's physical therapy parameters, the points corresponding to the corresponding acupoints can be determined in the stimulation point model, that is, the stimulation points.

[0029] In some embodiments, the specific implementation of step S1 may be: S11, obtaining point configuration data of the physiotherapy terminal for the standard part model, and marking a plurality of stimulation points in the standard part model according to the point configuration data to obtain a stimulation point model.

[0030] Specifically, a standard hand model, that is, a standard part model, can be retrieved. The physician can configure the positions of multiple hand acupoints through a physical therapy terminal, such as a computer, to obtain corresponding point configuration data, and mark multiple stimulation points in the corresponding standard part model according to the point configuration data to obtain the corresponding stimulation point model.

[0031] The physical therapy terminal may be a smart terminal held by a physician, and the standard part model refers to a standard hand model.

[0032] S12, identifying a plurality of characteristic nodes in the stimulation point model, and arranging the characteristic nodes from small to large according to the distance between each stimulation point and each characteristic node to obtain a node sequence corresponding to each stimulation point.

[0033] Specifically, multiple joints of the hand, namely, characteristic joints, can be identified from the stimulation point model, and the distance between each stimulation point and each characteristic node can be obtained. According to the distance between the stimulation point and each characteristic node, each characteristic node is arranged in order from small to large, and the node sequence corresponding to each stimulation point can be obtained. Since the distance between different stimulation points and each characteristic node may be different, the node sequence corresponding to different stimulation points may be different.

[0034] The characteristic nodes refer to multiple joints of the hand, and the node sequence refers to a sequence obtained by arranging the characteristic nodes in ascending order according to the distance between the stimulation point and each characteristic node.

[0035] S13, obtaining the nearest node group and the farthest node group corresponding to each of the stimulation points according to the node sequence, determining the positioning parameters of each stimulation point based on the relative position relationship between each of the stimulation points and the corresponding nearest node group and farthest node group, and binding the positioning parameters to the stimulation point model.

[0036] Among them, the nearest node group refers to the node group composed of the feature nodes closest to the stimulation point, the farthest node group refers to the node group composed of a feature node closest to the stimulation point and a feature node farthest from the stimulation point, the relative position relationship refers to the position relationship between the stimulation point and the corresponding feature node, and the positioning parameter refers to the positioning data obtained based on the relative position relationship between the stimulation point and the corresponding joint under the premise of a certain hand posture.

[0037] Specifically, according to the node sequence corresponding to each stimulation point, the node group with the closest distance to each stimulation point, i.e., the nearest node group, and the node group with the farthest distance, i.e., the farthest node group, can be obtained. The farthest node group is obtained because by considering the farthest point for slope calculation, the distribution of the stimulation points in the standard hand model can be grasped from a more macroscopic perspective. The nearest node group is determined because the slope is used to determine the relative position relationship between the stimulation point and the corresponding hand joint in the subsequent determination. Selecting the feature node closest to the stimulation point to calculate the slope can often more accurately reflect the stimulation. The relative position relationship between the point and the corresponding hand joint, because the closer the distance is, the stronger the correlation between the stimulation point and the corresponding feature node is, and the determined slope is more in line with the actual position relationship between the hand acupoint and the corresponding hand joint. Therefore, the slope calculated according to the feature node closest to the stimulation point is used to determine the corresponding position of the stimulation point, which can better fit the relative position relationship between the hand acupoint and the surrounding parts, so that the positioning data corresponding to the stimulation point can be accurately determined. Therefore, the relative position relationship between the stimulation point and the corresponding hand joint can be more accurately determined based on the farthest node group and the nearest node group.

[0038] Since each stimulation point has a corresponding nearest node group and farthest node group, the relative position relationship between each stimulation point and its corresponding nearest node group and farthest node group can be obtained. According to the relative position relationship, the positioning data corresponding to each stimulation point can be determined, that is, the positioning parameters. By binding the positioning parameters to the stimulation point model, the positioning parameters corresponding to each hand acupoint can be obtained subsequently, so that the position relationship corresponding to each acupoint can be quickly determined.

[0039] In some embodiments, the step S13 of "obtaining the nearest node group and the farthest node group corresponding to each stimulation point according to the node sequence, and determining the positioning parameters of each stimulation point based on the relative position relationship between each stimulation point and its corresponding nearest node group and farthest node group" includes the following steps: S131, sequentially select a preset number of feature nodes in the node sequence to obtain the nearest node group, and select the first and last feature nodes in the node sequence to obtain the farthest node group. Specifically, a preset number of feature nodes are selected in sequence from the node sequence corresponding to the stimulation point. For example, two feature nodes can be selected to obtain the closest node group corresponding to the stimulation point, and the first and last feature nodes are selected from the node sequence to obtain the farthest node group corresponding to the stimulation point. The preset number can be 2.

[0040] S132, coordinate processing is performed on the stimulation point model to obtain the first coordinates corresponding to each stimulation point and the second coordinates corresponding to the joint position point of each characteristic node.

[0041] Specifically, the stimulation point model can be processed into coordinates to obtain the coordinates corresponding to each stimulation point, i.e., the first coordinates, and the coordinates corresponding to the joint position points of each characteristic node, i.e., the second coordinates. The first coordinates refer to the coordinates corresponding to each stimulation point in the stimulation point model, the joint position points can be the center points of the corresponding joints, and the second coordinates refer to the coordinates corresponding to the characteristic nodes, which can be the coordinates corresponding to the center points of the characteristic nodes.

[0042] S133, calculating the slopes of the characteristic nodes in the nearest node group and the farthest node group corresponding to each stimulation point according to the first coordinate and the second coordinate.

[0043] Specifically, according to the first coordinate corresponding to the stimulation point and the second coordinate corresponding to the two characteristic nodes in the nearest node group corresponding to the stimulation point, the slope between the stimulation point and the two characteristic nodes in the nearest node group can be calculated respectively through the slope calculation formula. For the two characteristic nodes in the nearest node group, two slope values ​​can be obtained. These two slopes can reflect the inclination of the straight line between the stimulation point and the two characteristic nodes in the nearest node group, which can be used to determine the positional relationship of the stimulation point relative to the two characteristic nodes in the nearest node group. Similarly, according to the first coordinate corresponding to the stimulation point and the second coordinate corresponding to the two characteristic nodes in the farthest node group corresponding to the stimulation point, the slope corresponding to the two characteristic nodes in the farthest node group can be calculated, and then the positional relationship of the stimulation point relative to the two characteristic nodes in the farthest node group can be determined. Among them, the slope refers to the value reflecting the inclination of the straight line between the stimulation point and the characteristic node.

[0044] S134, based on the slope, the relative position relationship between each stimulation point and its corresponding nearest node group and farthest node group is obtained, and each stimulation point is bound to its corresponding slope group to obtain its corresponding positioning parameter.

[0045] Specifically, based on the slope information between the stimulation point and each feature node, the relative position relationship between each stimulation point and its corresponding nearest node group and farthest node group can be determined. The relative position relationship can be accurately described by the positive and negative sign and size of the slope. For example, a positive slope can indicate that the stimulation point is above the feature node and tilted to the right, and a negative slope can indicate that the stimulation point is above the feature node and tilted to the left. The size of the slope can reflect the degree of tilt. Each stimulation point can then be bound to its corresponding slope group, including the slopes between the feature nodes in the nearest node group and the farthest node group, to form the positioning parameters corresponding to the stimulation point.

[0046] Through the above implementation, the relative position relationship between the stimulation point and the corresponding feature node can be obtained more accurately.

[0047] S14, obtaining the user physiotherapy parameters input by the physiotherapy terminal, and determining the stimulation points in the stimulation point model corresponding to the physiotherapy points in the user physiotherapy parameters.

[0048] Specifically, the physician can input the acupuncture points that the user needs to undergo physical therapy, that is, the user physical therapy parameters, through the physical therapy terminal. In the stimulation point model, the stimulation points corresponding to the physical therapy points in the user physical therapy parameters can be determined. The physical therapy points corresponding to different users may be different. For example, if the user wants to treat sore throat, the user can choose to stimulate Shaoshang acupoint, and the corresponding physical therapy point is the point corresponding to Shaoshang acupoint. If the user wants to treat constipation problems, the user can choose to stimulate Shangyang acupoint, and the corresponding physical therapy point is the point corresponding to Shangyang acupoint. Among them, the physical therapy point refers to the acupuncture point that needs physical therapy.

[0049] Through the above implementation, the relative position relationship between multiple hand acupoints and hand joints can be accurately recorded, so that the target acupoints for the user to perform physical therapy can be quickly located.

[0050] S2, obtaining the dynamic data of the part photographed by the physiotherapy equipment, and generating posture calibration information corresponding to the dynamic data of the part for display.

[0051] Among them, the physiotherapy equipment refers to a device that performs physiotherapy on the user by stimulating acupoints, for example, it can be an electrotherapy device, the part dynamic data refers to the video data obtained by capturing the user's hands through the physiotherapy equipment, and the posture calibration information refers to the information for calibrating the user's hand posture.

[0052] Before determining the acupoints, since the hand posture corresponding to the standard stimulation point model has been determined, the user's current hand posture may be different from the standard hand posture, and there may be errors in the subsequent acupoint determination. Therefore, the user's hand posture can be calibrated first to make the user's hand posture consistent with the hand posture corresponding to the standard stimulation point model, so that the specific location points corresponding to the acupoints where the user needs to undergo physical therapy can be determined more accurately.

[0053] Specifically, the physiotherapy device is provided with a shooting component that can take pictures, for example, a miniature camera. The shooting component on the physiotherapy device can first capture a video of the user's hand to obtain the corresponding dynamic data of the part, and then the dynamic data of the user's part can be analyzed. If the user's hand posture is different from the hand posture corresponding to the standard stimulation point model, guidance information for calibrating the user's hand posture, i.e., posture calibration information, can be generated, and the posture calibration information can be displayed on a display screen configured for the physiotherapy device. The user can refer to the posture calibration information to make corresponding adjustments to the hand posture.

[0054] Based on the above embodiment, the specific implementation of step S2 may be: S21, extracting a part contour from the part dynamic data, and obtaining a palm and a wrist from the part contour.

[0055] Specifically, the user's hand contour, i.e., the part contour, can be extracted from the part dynamic data. The part corresponding to the palm or back of the hand, i.e., the palm, and the part corresponding to the wrist, i.e., the wrist, can be obtained from the part contour. When obtaining the palm and wrist of the part contour, feature points in the part contour can be extracted, such as wrist joints, finger joints, etc. The detection of feature points helps to determine the positions of the palm and wrist. The palm can be identified based on the positional relationship corresponding to the feature points. Usually, the palm is located between the base of the fingers and the wrist, and is relatively flat and has a large area. The wrist is usually located below the palm, connected to the arm, and the wrist contour is relatively thin and usually has an obvious bending point. The position of the wrist can be identified through the extension direction and shape characteristics of the part contour.

[0056] The part contour refers to the contour corresponding to the user's hand, the palm part may be the back of the user's hand in the part contour, and the wrist part may be the wrist part of the user in the part contour.

[0057] S22, connecting the first part point of the palm and the second part point of the wrist to obtain a calibration line, obtaining multiple fingers in the part contour, and connecting the third part point of each finger and the first part point to obtain multiple posture lines.

[0058] Specifically, the first part point corresponding to the palm and the second part point corresponding to the wrist can be obtained. By connecting the first part point and the second part point, the corresponding calibration line can be obtained. Through the calibration line, it can be determined whether there is a difference between the direction of each finger and the direction of each finger in the standard stimulation point model. Then, the part corresponding to each finger, that is, the finger part, can be extracted from the part contour, and the third part point corresponding to each finger part can be connected with the first part point to obtain multiple posture lines. Subsequently, the direction corresponding to each finger part can be determined according to the angle between each posture line and the calibration line. Among them, the first part point refers to the point corresponding to the palm, the second part point refers to the point corresponding to the wrist, the calibration line refers to a line that can be used to determine the direction of the user's finger part, the finger part refers to each finger of the user in the part contour, the third part point refers to the point corresponding to each finger part, and the posture line refers to a straight line that can be used to represent the direction of each finger.

[0059] Based on the above embodiment, the specific implementation of step S22 may be: S221, determining the center point of the palm as the first part point, obtaining the connecting pixel points of the palm and the wrist, determining the center point of each connecting pixel point as the second part point, and connecting the first part point and the second part point to obtain a calibration line.

[0060] Specifically, the center point of the palm can be determined as the first part point. Since there are multiple connected pixel points between the palm and the wrist, namely, the connected pixel points, the center point of the multiple connected pixel points can be obtained and used as the second part point. By connecting the first part point with the second part point, the corresponding calibration line can be obtained. In actual application, if the user's wrist is not captured in the dynamic part data, the user can be reminded to expose the wrist to ensure that the physical therapy equipment can capture a clear and complete wrist, palm and finger part. Among them, the connected pixel point refers to the pixel point connecting the palm and the wrist.

[0061] S222, extracting characteristic nodes of each finger, wherein the characteristic nodes include a metacarpophalangeal joint, a proximal interphalangeal joint, and a distal interphalangeal joint, and determining the metacarpophalangeal joint as a third part point.

[0062] Specifically, feature nodes corresponding to each finger can be extracted from the user's part contour, and these feature nodes include metacarpophalangeal joints, i.e., joints where fingers connect to palms, proximal interphalangeal joints, i.e., joints on fingers close to metacarpophalangeal joints, and distal interphalangeal joints, i.e., joints on fingers far from metacarpophalangeal joints. After obtaining the feature nodes corresponding to each finger, since the metacarpophalangeal joints are the key starting joints for finger movements, they play a leading role in determining the finger posture. When the fingers flex and extend, although the angles of the proximal interphalangeal joints and the distal interphalangeal joints will change, if the angle changes of the proximal interphalangeal joints relative to the metacarpophalangeal joints, and the distal interphalangeal joints relative to the metacarpophalangeal joints are small, it can be considered that the flexion and extension degree of the interphalangeal joints is limited, and has little effect on the overall finger pointing. At this time, the final pointing of the finger is basically consistent with the approximate extension direction corresponding to the metacarpophalangeal joints. Therefore, the metacarpophalangeal joints corresponding to each finger can be determined as the third part points. Among them, the metacarpophalangeal joint refers to the joint point where the finger connects to the palm, the proximal interphalangeal joint refers to the joint point on the finger close to the metacarpophalangeal joint, and the distal interphalangeal joint refers to the joint point on the finger farthest from the metacarpophalangeal joint.

[0063] S223, obtaining a first directional angle between the proximal interphalangeal joint point and the third part point, and a second directional angle between the distal interphalangeal joint point and the third part point.

[0064] Before determining the direction of the corresponding finger according to the approximate extension direction of the metacarpophalangeal joint, it is first necessary to determine the angle change of the proximal interphalangeal joint relative to the metacarpophalangeal joint, and the angle change of the distal interphalangeal joint relative to the proximal interphalangeal joint, and determine whether the direction of the corresponding finger can be determined according to the approximate extension direction of the metacarpophalangeal joint based on the size of the angle change. Specifically, the first pointing angle corresponding to the finger can be obtained based on the proximal joint point and the third part point, and the second pointing angle corresponding to the finger can be obtained based on the distal interphalangeal joint point and the third part point. Only when the first pointing angle and the second pointing angle are both small, it can be considered that the flexion and extension of the interphalangeal joint have little effect on the change of the corresponding finger's direction. At this time, the direction of the corresponding finger can be determined according to the approximate extension direction set by the metacarpophalangeal joint. Among them, the first pointing angle refers to the angle that can reflect the angle change of the proximal interphalangeal joint relative to the metacarpophalangeal joint, and the second pointing angle refers to the angle that can reflect the angle change of the distal interphalangeal joint relative to the metacarpophalangeal joint.

[0065] In some embodiments, the specific implementation of step S223 may be: S2231, constructing a coordinate system with the first part point as the coordinate origin, and obtaining a first vector pointing from the first part point to the third part point.

[0066] Specifically, when obtaining the first pointing angle and the second pointing angle, a coordinate system can be constructed with the first part point as the coordinate origin. In the coordinate system, the coordinate values ​​corresponding to the first part point, the third part point and each interphalangeal joint point can be obtained. According to the coordinate values ​​corresponding to the first part point and the third part point, the first vector pointing from the first part point to the third part point can be obtained. For example, when the coordinate value corresponding to the first part point is (x1, y1) and the coordinate value corresponding to the third part point is (x2, y2), the first vector pointing from the first part point to the third part point can be (x2-x1, y2-y1). The first vector refers to the directed line segment from the first part point to the third part point, representing the direction and distance from the first part point to the third part point.

[0067] S2232, obtaining a second vector pointing from the third position point to the proximal interphalangeal joint point, and calculating a first pointing angle between the first vector and the second vector.

[0068] Specifically, according to the coordinate value corresponding to the third part point and the coordinate value corresponding to the proximal interphalangeal joint point, the second vector pointing from the third part point to the proximal interphalangeal joint point can be obtained. For example, when the coordinate value corresponding to the proximal interphalangeal joint point is (x3, y3) and the coordinate value corresponding to the third part point is (x2, y2), the second vector pointing from the third part point to the proximal interphalangeal joint point can be (x3-x2, y3-y2). According to the first vector and the second vector, the first pointing angle between the first vector and the second vector can be calculated. Among them, the second vector refers to a directed line segment from the third part point to the proximal interphalangeal joint point, representing the direction and distance from the third part point to the proximal interphalangeal joint point.

[0069] In some embodiments, the angle between two vectors may be calculated using the following formula: in, can represent the first pointing angle, can represent the first vector, can represent the second vector, can represent the sum of the products of the corresponding components of the first vector and the second vector, for example, when for , for When, then , It can represent the modulus of the first vector, that is, the distance between the first point and the third point. It can represent the modulus of the second vector, that is, the distance between the proximal interphalangeal joint point and the third part point.

[0070] S2233, obtaining a third vector pointing from the third position point to the distal interphalangeal joint point, and calculating a second pointing angle between the first vector and the third vector.

[0071] Specifically, according to the coordinate value corresponding to the third part point and the coordinate value corresponding to the distal interphalangeal joint point, the second vector pointing from the third part point to the distal interphalangeal joint point can be obtained. For example, when the coordinate value corresponding to the proximal interphalangeal joint point is (x4, y4) and the coordinate value corresponding to the third part point is (x2, y2), the second vector pointing from the third part point to the proximal interphalangeal joint point can be (x4-x2, y4-y2). According to the first vector and the third vector, the second pointing angle between the first vector and the third vector can be calculated by referring to the above formula for calculating the angle between the two vectors. Among them, the third vector refers to a directed line segment from the third part point to the distal interphalangeal joint point, representing the direction and distance from the third part point to the distal interphalangeal joint point.

[0072] S224: When the first pointing angle and the second pointing angle are both smaller than the angle change threshold, the third part point and the first part point are connected to obtain a posture line corresponding to the corresponding finger.

[0073] Specifically, when the first pointing angle and the second pointing angle are both smaller than the angle change threshold, it can be considered that the pointing direction of the corresponding finger is roughly consistent with the extension direction corresponding to the metacarpophalangeal joint, and the third part point and the first part point can be connected to obtain the posture line corresponding to the corresponding finger. The angle change threshold refers to a threshold that can be used to measure the size of the pointing angle.

[0074] See also Figure 2 , which is a schematic diagram of determining a posture line corresponding to a corresponding finger portion provided by an embodiment of the present invention, such as Figure 2 As shown in the middle left figure, by constructing a coordinate system with the first part point as the coordinate origin, we can obtain a first vector from the first part point to the third part point, a second vector from the third part point to the proximal finger joint point, and a third vector from the third part point to the distal finger joint point. Figure 2 As can be seen from the left figure in , the first pointing angle between the first vector and the second vector is small, so it can be considered that the first pointing angle is smaller than the angle change threshold. Similarly, it can be seen that the second pointing angle between the first vector and the third vector is also very small, so it can be considered that the second pointing angle is also smaller than the angle change threshold. Therefore, Figure 2 As shown in the right figure in , by connecting the first part point and the third part point corresponding to the corresponding finger, the posture line corresponding to the corresponding finger can be obtained.

[0075] Through the above implementation, the accuracy of posture calibration can be improved.

[0076] S23, obtaining the dynamic posture parameters of each finger according to the first angle between each posture line and the calibration line, obtaining the standard posture parameters corresponding to each finger module in the stimulation point model, and determining the finger with an angle difference greater than a threshold as the calibration target according to the comparison result between the dynamic posture parameters and the standard posture parameters.

[0077] Specifically, after obtaining the posture line corresponding to each finger, the angle between each posture line and the calibration line, that is, the first angle, can be obtained. According to the first angle between the posture line and the calibration line, the dynamic posture parameters corresponding to the corresponding finger can be obtained. In the stimulation point model, the standard posture parameters corresponding to each finger module can be obtained. When obtaining the standard posture parameters corresponding to each finger module in the stimulation point model, the first module point corresponding to the palm module and the second module point corresponding to the wrist module in the stimulation point model can be obtained. By connecting the first module point and the second module point, the corresponding standard calibration line can be obtained. Then, the third module point corresponding to each finger module can be connected to the first module point to obtain multiple standard posture lines. According to the standard angle between each standard posture line and the standard calibration line, the standard posture parameters corresponding to each finger module can be obtained.

[0078] After obtaining the standard posture parameters, the standard angle corresponding to the standard posture parameters can be compared with the first angle corresponding to the dynamic posture parameters. If the angle difference between the corresponding standard angle and the corresponding first angle is greater than the threshold, it can be considered that the corresponding finger is placed very differently from the corresponding finger module in the standard stimulation point model and needs to be calibrated. The corresponding finger part can be determined as the calibration target, and when comparing the standard posture parameters with the dynamic posture parameters, it is necessary to ensure that the same fingers are being compared. For example, the dynamic posture parameters corresponding to the user's index finger in the part dynamic data can be compared with the standard posture parameters corresponding to the index finger module in the stimulation point model.

[0079] S24, generating a calibration guide line corresponding to the calibration target in the part dynamic data, and obtaining posture calibration information according to the calibration guide line for display.

[0080] Specifically, after obtaining the calibration target, the posture line corresponding to the calibration target can be highlighted, for example, the posture line corresponding to the calibration target can be marked in red, and the user can intuitively see through the red posture line that the corresponding finger placement is problematic, so that the corresponding finger can be adjusted accordingly, and in order to allow the user to intuitively see how to adjust the corresponding finger, a guide line corresponding to the correct position where the finger should be placed can be generated, that is, a calibration guide line, according to which information for calibrating the user's hand posture can be obtained, and the corresponding posture calibration information can be displayed. Among them, the calibration guide line refers to a line that can guide the user to adjust the hand posture.

[0081] In some embodiments, step S24 includes S241 to S243, which are specifically as follows: S241, updating the posture line corresponding to the calibration target based on the preset abnormal pixel value to obtain an abnormal part line, and determining the standard angle corresponding to the calibration target.

[0082] Specifically, the posture line corresponding to the calibration target can be obtained, and the pre-configured abnormal pixel value, that is, the preset abnormal pixel value, can be retrieved, for example, the red pixel value, and the pixel value of the posture line corresponding to the calibration target is updated according to the preset abnormal pixel value, and the corresponding abnormal part line can be obtained, and the angle corresponding to the calibration target in the correct placement position, that is, the standard angle, can be obtained. Among them, the preset abnormal pixel value refers to the pre-configured pixel value indicating the posture abnormality, the abnormal part line refers to the line obtained by updating the posture line corresponding to the calibration target by the preset abnormal pixel value, and the standard angle refers to the angle corresponding to the calibration target in the correct placement posture.

[0083] S242: Taking the calibration line as a reference, generating a calibration guide line passing through the first part point based on the standard angle, and updating the calibration guide line based on a preset guide pixel value.

[0084] Specifically, with the calibration line as a reference, a straight line passing through the first part point can be generated at a standard angle, and the straight line is the calibration guide line, and a pre-configured guide pixel value, i.e., a preset guide pixel value, can be retrieved, such as a green pixel value, to update the pixel value of the calibration guide line. The preset guide pixel value refers to a pre-configured pixel value that can highlight the calibration guide line.

[0085] S243, determining the turning direction of the angle from the abnormal part line to the calibration guide line as the guidance direction, generating a guidance mark corresponding to the guidance direction, and obtaining posture calibration information according to the calibration guide line and the guidance mark for display.

[0086] For details, see Figure 3, which is a schematic diagram of a calibration guide line provided by an embodiment of the present invention, Figure 3 It can be seen from FIG. 1 that after the abnormal part line and the calibration guide line are obtained, there is an angle between the abnormal part line and the calibration guide line, and the angle turning direction from the abnormal part line to the calibration guide line can be determined, and the angle turning direction can be determined as the guiding direction, such as Figure 3 As shown in , it can be the direction from the abnormal part line to the calibration guide line, and a guide mark corresponding to the guide direction can be generated, for example, an arrow mark, and the corresponding posture calibration information can be obtained according to the calibration guide line and the corresponding guide mark, and the posture calibration information can be displayed accordingly, and the user can make corresponding adjustments to the calibration target according to the corresponding posture calibration information. Among them, the angle steering direction refers to the direction from the abnormal part line to the calibration guide line, the guide direction refers to the direction that guides the user to adjust the calibration target to the corresponding calibration guide line, and the guide mark refers to a mark that can display the guide direction.

[0087] Through the above implementation, the accuracy of the hand posture during physical therapy is ensured, thereby improving the precision of physical therapy.

[0088] S3, based on the calibration completion information of the physiotherapy terminal, obtain the human body part image taken by the physiotherapy device, and construct a part twin model corresponding to the human body part image.

[0089] Among them, the calibration completion information refers to the information on the completion of the user's hand posture calibration, the human body part image refers to the image obtained by photographing the calibrated hand posture, and the part twin model refers to the virtual model corresponding to the user's hand.

[0090] Specifically, when the doctor finds that the user's hand posture has been calibrated, the corresponding calibration completion information can be sent, and then the specific position of the acupoint corresponding to the stimulation point on the user's hand can be determined. Since the shape and size of each user's hands are different, in order to make the subsequent positioning of the acupoints more consistent with the user's actual hand condition and improve the accuracy of acupoint positioning, a twin model corresponding to the user's hand can be constructed, that is, a part twin model. Specifically, the image obtained by the physical therapy equipment of the calibrated hand posture can be obtained, that is, the human body part image. According to the human body part image, a corresponding part twin model can be constructed.

[0091] When constructing a part twin model, after the doctor confirms that the user's hand posture calibration is completed, the user's hand image, that is, the human body part image, can be captured by the camera on the physical therapy equipment. The human body part image should clearly show the shape, size, posture and possible feature points of the user's hand, such as joint points. Computer vision techniques such as feature point matching are used to detect key points of the hand in the human body part image, such as fingertips, joints, etc. These key points can be used as the basis for constructing the twin model. A feature description is performed for each detected key point, including information such as the position and direction corresponding to the key point. These feature descriptions can be used for subsequent model construction and matching. According to the extracted key points and feature descriptions, a three-dimensional model corresponding to the user's hand is constructed using three-dimensional reconstruction techniques such as stereo vision and structured light, that is, a part twin model corresponding to the human body part image.

[0092] S4, according to the positioning parameters of each stimulation point, determine the target point corresponding to each stimulation point in the part twin model, and according to the movement control data of the electric stimulation conduction component, determine whether the electric stimulation conduction component located in the positioning area of ​​the target point meets the physical therapy conditions.

[0093] Among them, the target point refers to the point in the part twin model corresponding to the stimulation point, the electrical stimulation conduction component can be an electrode patch, the movement control data refers to the video data obtained by video acquisition of the electrical stimulation conduction component during the movement process, the positioning area refers to the area within a certain range around the target point, and the physical therapy condition refers to the electrode patch being located in the positioning area.

[0094] In actual applications, under the premise of a certain hand posture, the relative position relationship between the acupoints and joints of the hand will not change. Therefore, the positioning data, that is, the positioning parameters, can be obtained based on the relative position relationship between the stimulation point and the corresponding joint, and the target point corresponding to the stimulation point can be determined in the part twin model. After determining the target point, these target points can be displayed to users and doctors so that users and doctors can understand the location of the physical therapy to be performed, and then the electrode patch, that is, the electrical stimulation conduction component, can be affixed to the corresponding position. In actual operation, it may not be possible to judge whether the electrode patch is accurately placed on the target point by vision alone. At this time, video data obtained by video acquisition of the electrical stimulation conduction component during the movement process can be obtained, that is, movement control data. When the movement control data shows that the electrode patch reaches the positioning area corresponding to the target point, it can be considered that the corresponding electrical stimulation conduction component meets the physical therapy conditions, that is, the electrode patch has been accurately placed on the acupoint to be stimulated.

[0095] Based on the above embodiment, the specific implementation of step S4 may be: S41, obtaining the identification nodes corresponding to each feature node in the part twin model, and determining the identification nodes corresponding to the nearest node group and the farthest node group of each stimulation point as selected nodes.

[0096] Specifically, the joint points corresponding to each feature node, i.e., identification nodes, can be determined in the part twin model corresponding to the user, and the identification nodes corresponding to the feature nodes in the nearest node group and the farthest node group of the stimulation point can be determined as selected nodes. Among them, the identification nodes refer to the points corresponding to each feature node in the part twin model, and the selected nodes refer to the identification nodes corresponding to the feature nodes in the nearest node group and the farthest node group.

[0097] S42, matching the characteristic nodes in the nearest node group and the farthest node group with the corresponding selected nodes, and determining the slope of the characteristic node as the positioning slope of the corresponding selected node.

[0098] Specifically, since there are multiple corresponding feature nodes in the nearest node group and the farthest node group, there are also multiple selected nodes determined. Each feature node in the nearest node group and the farthest node group is matched with the corresponding selected node one by one. Since each feature node in the nearest node group and the farthest node group has a corresponding slope, the slope of the feature node can be determined as the positioning slope corresponding to the corresponding selected node. Among them, the positioning slope refers to the slope that can be used to locate the corresponding position point of the stimulation point in the part twin model according to the selected node. The size of the positioning slope of the selected node is consistent with the size of the slope of the corresponding feature node.

[0099] S43, taking the joint position points corresponding to each selected node as a reference, generating a positioning line passing through the corresponding joint position points based on the positioning slope, and determining the intersection of multiple positioning lines corresponding to each stimulation point in the part twin model as the target point.

[0100] Specifically, in the part twin model, the joint position points corresponding to each selected node can be determined. The joint position points corresponding to the selected nodes are used as references, and positioning lines passing through the corresponding joint position points can be generated according to the corresponding positioning slopes. Since each stimulation point has a corresponding nearest node group and farthest node group, each stimulation point has multiple corresponding positioning lines in the part twin model. According to the intersection of multiple positioning lines, the position point corresponding to the stimulation point in the part twin model, i.e., the target point, can be determined. Among them, the joint position point corresponding to the selected node refers to the joint point corresponding to the feature node in the part twin model, the positioning line refers to the line that can locate the position point corresponding to the stimulation point in the part twin model, and the target point refers to the position point corresponding to the stimulation point in the part twin model.

[0101] S44, determining the real-time position point of the electrical stimulation conduction component in the part contour according to the dynamic video data captured by the physiotherapy equipment, and determining the mapping position point corresponding to the real-time position point in the part twin model, and obtaining the movement control data according to the mapping position point.

[0102] Specifically, after obtaining the target point, the corresponding electric stimulation conduction component can be attached to the corresponding target point. During the attachment process, in order to be able to more accurately judge whether the electrode patch is attached to the corresponding target point, the video data of the electric stimulation conduction component in the movement process captured by the physiotherapy equipment in real time can be obtained, that is, dynamic video data. According to the dynamic video data, the real-time position point of the electric stimulation conduction component in the process of moving on the part contour can be obtained, and the position point corresponding to the real-time position point can be determined in the part twin model, that is, the mapping position point. The actual position point of the electric stimulation conduction component can be viewed through the mapping position point, and the control data of the current movement of the electric stimulation conduction component can be obtained according to the mapping position point, that is, the movement control data.

[0103] Among them, dynamic video data refers to the video data of the electric stimulation conduction component during movement captured in real time by the physical therapy equipment, the real-time position point refers to the point corresponding to the real-time position of the electric stimulation conduction component on the part contour, the mapping position point refers to the position point corresponding to the real-time position point in the part twin model, and the movement control data refers to the control data when the electric stimulation conduction component is moved.

[0104] In some embodiments, the mapping position point corresponding to the real-time position point in the part twin model can be determined by: S441, extracting a component contour corresponding to the electrical stimulation conduction component in the dynamic video data, and obtaining a contour center point corresponding to the component contour.

[0105] Specifically, the contour corresponding to the electrical stimulation conduction component, i.e., the component contour, can be extracted from the dynamic video data, for example, the contour corresponding to the electrode patch, and the center point corresponding to the component contour, i.e., the contour center point, can be obtained. The component contour refers to the contour corresponding to the electrical stimulation conduction component, and the contour center point refers to the center point corresponding to the component contour.

[0106] S442, determining the center point of the contour as the real-time position point of the electrical stimulation conduction component in the contour of the part.

[0107] Specifically, the center point of the contour can be determined as the real-time position point of the electrical stimulation conduction component in the part contour, and the real-time position of the center point of the contour on the part contour can be observed in real time based on the dynamic video data.

[0108] S443, obtaining multiple image frames corresponding to the dynamic video data, constructing a first coordinate system in the image frames with the center point of the part contour as the coordinate origin, and obtaining the real-time coordinates corresponding to the real-time position points in each of the image frames in the first coordinate system.

[0109] Specifically, multiple image frames corresponding to dynamic video data can be obtained. In each image frame, the center point of the part contour can be determined as the coordinate origin to construct a first coordinate system. The first coordinate system can be used to describe the corresponding position of the electrical stimulation conduction component in the current image frame. In the first coordinate system, the coordinates corresponding to the real-time position points in each frame of the image can be obtained, that is, the real-time coordinates. The real-time coordinates can reflect the position of the electrical stimulation conduction component in each frame of the image. Among them, the first coordinate refers to the coordinate system constructed in each image frame, and the real-time coordinates refer to the coordinates corresponding to the real-time position points in the first coordinate system.

[0110] S444, taking the center point of the part twin model as the coordinate origin, coordinate processing is performed on the part twin model to obtain a second coordinate system corresponding to the part twin model.

[0111] Specifically, the center point of the part twin model can be obtained, and it can be used as the coordinate origin to coordinate the part twin model to obtain the second coordinate system corresponding to the part twin model, and the second coordinate system can be used to describe the corresponding position of the electrical stimulation conduction component in the part twin model. Among them, the second coordinate system refers to the coordinate system obtained by coordinate processing the part twin model.

[0112] S445: Determine mapping coordinates corresponding to the real-time coordinates in the second coordinate system, and determine a mapping position point corresponding to the real-time position point according to the mapping coordinates.

[0113] Specifically, the shooting parameters of the physiotherapy equipment when taking real-time photos of the electrical stimulation conduction component, such as the shooting height, are fixed, and the shooting parameters are consistent with the shooting parameters when constructing the part twin model. Therefore, the first coordinate system and the second coordinate system are almost the same. Therefore, according to the real-time coordinates, the corresponding position points can be found in the second coordinate system, and the coordinates of the corresponding position points in the second coordinate system can be used as mapping coordinates. These mapping coordinates can be used to describe the position of the electrical stimulation conduction component in the part twin model. According to the mapping coordinates, the mapping position points corresponding to the real-time position points can be determined in the part twin model. These mapping position points change in real time with the update of the image frame, and can reflect the real-time position of the electrical stimulation conduction component in the part twin model.

[0114] Among them, the preset conversion ratio refers to the ratio that can be used to convert the real-time coordinates in the video image into the mapping coordinates in the part twin model, and the mapping coordinates refer to the position coordinates of the electrical stimulation conduction component in the part twin model.

[0115] S45, taking the target point as the center point, determining a positioning area according to a preset radius, and when the mapping position point is located in the positioning area, determining that the electrical stimulation conduction component meets the physical therapy condition.

[0116] Specifically, the target point can be taken as the center point, and a circular area with the target point as the center can be determined according to a preset radius. The corresponding area can be determined as the positioning area corresponding to the target point. When the mapping position point moves into the positioning area, it can be considered that the corresponding electrical stimulation conduction component has moved to the target point. At this time, it can be considered that the electrical stimulation conduction component meets the physical therapy conditions.

[0117] Through the above implementation, it is possible to more accurately determine whether the electrode patch is accurately placed at the target point, thereby improving the accuracy of the electrode patch placement.

[0118] Based on the above steps, this solution also includes the following embodiments: A1, according to the movement information of the target point by the physiotherapy terminal, determine the adjustment point after the movement, obtain the point distance between the adjustment point and the target point, and obtain the training coefficient according to the ratio of the point distance and the reference distance.

[0119] In actual applications, when the doctor finds that the position of the electrode patch is deviated, he can make corresponding adjustments to it. After the adjustment, the slope corresponding to the originally configured stimulation point can be trained according to the corresponding adjustment data, so that the subsequent positioning of the physical therapy acupuncture points can be more accurate.

[0120] Specifically, if the physician makes corresponding adjustments to the target point through the physical therapy terminal, the physician can obtain information on the movement of the target point, that is, the movement information. According to the movement information, the adjusted point after the target point is moved can be determined, and the part twin model can be coordinate-processed to obtain the coordinates corresponding to the original target point and the coordinates corresponding to the adjusted point after the move. According to the distance formula between the two points, the distance between the target point and the adjusted point, that is, the point distance, can be obtained. By calculating the ratio of the point distance and the pre-configured reference distance, the corresponding training coefficient can be obtained. The larger the point distance, the larger the corresponding adjustment range, and the larger the corresponding training coefficient.

[0121] Among them, movement information refers to information indicating the movement of the destination point, adjustment point refers to the point after the destination point is moved, point distance refers to the interval distance between the destination point and the adjustment point, reference distance refers to the interval distance between pre-configured standard points, and training coefficient refers to the coefficient that can be used to train the slope.

[0122] A2, obtaining the adjustment slope of the adjustment point and the corresponding selected node, and determining the slope difference between the adjustment slope and the slope corresponding to the corresponding feature node.

[0123] Specifically, the coordinate value of the corresponding selected node corresponding to the target point can be obtained. According to the coordinate value corresponding to the adjustment point and the coordinate value corresponding to the corresponding selected node, the slope between the adjustment point and the corresponding selected node, i.e., the adjustment slope, can be calculated. After obtaining the adjustment slope, the slope corresponding to the feature node corresponding to the corresponding selected node can be obtained, and the offset value between the adjustment slope and the slope corresponding to the corresponding feature node can be calculated, i.e., the slope difference. Subsequently, the slope corresponding to the corresponding feature node can be trained according to the size of the slope difference. Among them, the adjustment slope refers to the slope between the adjustment point and the corresponding phase node, and the slope difference refers to the difference between the adjustment slope and the slope corresponding to the corresponding feature node.

[0124] A3, obtaining a proportional coefficient according to the product of the training coefficient and the proportional weight, and obtaining an adjustment value based on the product of the slope difference and the proportional coefficient.

[0125] Specifically, by multiplying the training coefficient with the pre-configured proportional weight, the corresponding proportional coefficient can be obtained, and by multiplying the slope difference with the proportional coefficient, the corresponding adjustment value can be obtained. Among them, the proportional weight refers to the weight value that can be used to represent the influence of the training coefficient on the slope adjustment, the proportional coefficient refers to the coefficient when adjusting the slope difference, and the adjustment value refers to the value of adjusting the slope corresponding to the corresponding feature node.

[0126] A4, based on the sum of the slope of the corresponding feature node and the adjustment value, obtain the training slope corresponding to the corresponding feature node, and obtain the training positioning parameters corresponding to the stimulation point according to the multiple training slopes corresponding to the stimulation point.

[0127] Specifically, by adding the slope of the corresponding feature node to the adjustment value, the training slope corresponding to the corresponding feature node can be obtained. Since each stimulation point corresponds to multiple feature nodes, the training positioning parameters corresponding to the stimulation point can be obtained according to the multiple training slopes corresponding to the stimulation point. Among them, the training slope refers to the value after the slope corresponding to the corresponding feature node is adjusted, and the training positioning parameter refers to the slope parameter that can be used to more accurately locate the actual position point corresponding to the stimulation point.

[0128] Through the above implementation, the accuracy of positioning the therapeutic acupuncture points can be improved.

[0129] See also Figure 4 , is a structural diagram of a control system for an intelligent electrotherapy apparatus provided by an embodiment of the present invention, and the data processing system based on the control system for the intelligent electrotherapy apparatus includes: A generation module, used to generate a standard stimulation point model according to the point configuration data, and determine the stimulation points in the stimulation point model corresponding to the user's physical therapy parameters; An acquisition module is used to acquire the dynamic data of the part taken by the physiotherapy device, and generate posture calibration information corresponding to the dynamic data of the part for display; A construction module, used to obtain the human body part image taken by the physiotherapy device based on the calibration completion information of the physiotherapy terminal, and construct a part twin model corresponding to the human body part image; A determination module is used to determine the target point corresponding to each stimulation point in the part twin model according to the positioning parameters of each stimulation point, and to determine whether the electrical stimulation conduction component located in the positioning area of ​​the target point meets the physical therapy conditions according to the movement control data of the electrical stimulation conduction component.

[0130] Figure 4 The apparatus of the embodiment shown can be used to perform Figure 1 The implementation principles and technical effects of the steps in the method embodiment shown are similar and will not be repeated here.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for an intelligent electrotherapy apparatus, characterized in that: include: Generate a standard stimulation point model according to the point configuration data, and determine the stimulation points in the stimulation point model corresponding to the user's physical therapy parameters; Acquire the dynamic data of the part captured by the physiotherapy equipment, and generate the posture calibration information corresponding to the dynamic data of the part for display; Based on the calibration completion information of the physiotherapy terminal, an image of a human body part taken by the physiotherapy device is obtained, and a twin model of the part corresponding to the image of the human body part is constructed; According to the positioning parameters of each stimulation point, the target point corresponding to each stimulation point in the part twin model is determined, and according to the movement control data of the electric stimulation conduction component, it is determined that the electric stimulation conduction component located in the positioning area of ​​the target point meets the physical therapy conditions.

2. The method according to claim 1, characterized in that: Generating a standard stimulation point model according to the point configuration data, and determining the stimulation points in the stimulation point model corresponding to the user's physical therapy parameters, including: Acquiring point configuration data of the physiotherapy terminal for the standard part model, and marking a plurality of stimulation points in the standard part model according to the point configuration data to obtain a stimulation point model; Identify multiple characteristic nodes in the stimulation point model, and arrange the characteristic nodes from small to large according to the distance between each stimulation point and each characteristic node to obtain a node sequence corresponding to each stimulation point; Obtaining the nearest node group and the farthest node group corresponding to each stimulation point according to the node sequence, determining the positioning parameters of each stimulation point based on the relative position relationship between each stimulation point and its corresponding nearest node group and farthest node group, and binding the positioning parameters to the stimulation point model; The user physiotherapy parameters input by the physiotherapy terminal are obtained, and stimulation points in the stimulation point model corresponding to the physiotherapy points in the user physiotherapy parameters are determined.

3. The method according to claim 2, characterized in that Obtaining the nearest node group and the farthest node group corresponding to each stimulation point according to the node sequence, and determining the positioning parameters of each stimulation point based on the relative position relationship between each stimulation point and its corresponding nearest node group and farthest node group, including: A preset number of feature nodes in the node sequence are selected in sequence to obtain the closest node group, and the first and last feature nodes in the node sequence are selected to obtain the farthest node group; Coordinate processing is performed on the stimulation point model to obtain first coordinates corresponding to each stimulation point and second coordinates corresponding to the joint position point of each characteristic node; Calculating the slope of each characteristic node in the nearest node group and the farthest node group corresponding to each stimulation point according to the first coordinate and the second coordinate; Based on the slope, the relative position relationship between each stimulation point and its corresponding nearest node group and farthest node group is obtained, and each stimulation point is bound to its corresponding slope group to obtain its corresponding positioning parameter.

4. The method according to claim 1, characterized in that: Acquiring the dynamic data of the part captured by the physiotherapy device, and generating the posture calibration information corresponding to the dynamic data of the part for display, including: Extracting the part contour in the part dynamic data, and obtaining the palm and wrist parts in the part contour; Connecting the first part point of the palm and the second part point of the wrist to obtain a calibration line, acquiring multiple fingers in the part contour, and connecting the third part point of each finger and the first part point to obtain multiple posture lines; According to the first angle between each posture line and the calibration line, the dynamic posture parameter of each finger is obtained, the standard posture parameter corresponding to each finger module in the stimulation point model is obtained, and according to the comparison result of the dynamic posture parameter and the standard posture parameter, the finger with the angle difference greater than the threshold is determined as the calibration target; A calibration guide line corresponding to the calibration target is generated in the part dynamic data, and posture calibration information is obtained based on the calibration guide line for display.

5. The method according to claim 4, characterized in that Connecting the first part point of the palm and the second part point of the wrist to obtain a calibration line, acquiring multiple fingers in the part contour, and connecting the third part point of each finger and the first part point to obtain multiple posture lines, including: Determine the center point of the palm as the first part point, obtain the connecting pixel points of the palm and the wrist, determine the center point of each connecting pixel point as the second part point, and connect the first part point and the second part point to obtain a calibration line; Extracting characteristic nodes of each finger, wherein the characteristic nodes include a metacarpophalangeal joint point, a proximal interphalangeal joint point, and a distal interphalangeal joint point, and determining the metacarpophalangeal joint point as a third part point; Acquire a first directional angle between a proximal interphalangeal joint point and a third part point, and a second directional angle between the distal interphalangeal joint point and the third part point; When the first pointing angle and the second pointing angle are both smaller than the angle change threshold, the third part point and the first part point are connected to obtain a posture line corresponding to the corresponding finger.

6. The method according to claim 5, characterized in that Acquiring a first directional angle between a proximal interphalangeal joint point and a third part point, and a second directional angle between the distal interphalangeal joint point and the third part point, comprising: Constructing a coordinate system with the first part point as the coordinate origin, and obtaining a first vector pointing from the first part point to the third part point; Acquire a second vector pointing from the third position point to the proximal interphalangeal joint point, and calculate a first pointing angle between the first vector and the second vector; A third vector pointing from the third position point to the distal interphalangeal joint point is obtained, and a second pointing angle between the first vector and the third vector is calculated.

7. The method according to claim 4, characterized in that Generating a calibration guide line corresponding to the calibration target in the part dynamic data, and obtaining posture calibration information according to the calibration guide line for display, including: Based on the preset abnormal pixel value, the posture line corresponding to the calibration target is updated to obtain an abnormal part line, and the standard angle corresponding to the calibration target is determined; Taking the calibration line as a reference, generating a calibration guide line passing through the first part point based on the standard angle, and updating the calibration guide line based on a preset guide pixel value; The angle turning direction from the abnormal part line to the calibration guide line is determined as the guide direction, a guide mark corresponding to the guide direction is generated, and posture calibration information is obtained according to the calibration guide line and the guide mark for display.

8. The method according to claim 3, characterized in that According to the positioning parameters of each stimulation point, the target point corresponding to each stimulation point in the part twin model is determined, and according to the movement control data of the electrical stimulation conduction component, the electrical stimulation conduction component located in the positioning area of ​​the target point satisfies the physical therapy condition, including: Obtaining the identification nodes corresponding to each characteristic node in the part twin model, and determining the identification nodes corresponding to the nearest node group and the farthest node group of each stimulation point as selected nodes; Corresponding the characteristic nodes in the nearest node group and the farthest node group to the corresponding selected nodes, and determining the slope of the characteristic node as the positioning slope of the corresponding selected node; Taking the joint position points corresponding to each selected node as a reference, generating a positioning line passing through the corresponding joint position points based on the positioning slope, and determining the intersection of multiple positioning lines corresponding to each stimulation point in the part twin model as the target point; Determine the real-time position point of the electrical stimulation conduction component in the part contour according to the dynamic video data captured by the physiotherapy device, determine the mapping position point corresponding to the real-time position point in the part twin model, and obtain the movement control data according to the mapping position point; Taking the target point as the center point, a positioning area is determined according to a preset radius, and when the mapping position point is located in the positioning area, it is determined that the electrical stimulation conduction component meets the physical therapy condition.

9. The method according to claim 8, characterized in that After determining the target point corresponding to each stimulation point in the part twin model according to the positioning parameters of each stimulation point, the method further includes: According to the movement information of the target point by the physiotherapy terminal, the adjustment point after the movement is determined, the point distance between the adjustment point and the target point is obtained, and the training coefficient is obtained according to the ratio of the point distance to the reference distance; Obtaining the adjustment slope of the adjustment point and the corresponding selected node, and determining the slope difference between the adjustment slope and the slope corresponding to the corresponding feature node; Obtaining a proportional coefficient according to the product of the training coefficient and the proportional weight, and obtaining an adjustment value based on the product of the slope difference and the proportional coefficient; Based on the sum of the slope of the corresponding feature node and the adjustment value, the training slope corresponding to the corresponding feature node is obtained, and the training positioning parameters corresponding to the stimulation point are obtained according to the multiple training slopes corresponding to the stimulation point.

10. A control device for an intelligent electrotherapy apparatus, characterized in that: include: A generation module, used to generate a standard stimulation point model according to the point configuration data, and determine the stimulation points in the stimulation point model corresponding to the user's physical therapy parameters; An acquisition module is used to acquire the dynamic data of the part taken by the physiotherapy device, and generate posture calibration information corresponding to the dynamic data of the part for display; A construction module, used to obtain the human body part image taken by the physiotherapy device based on the calibration completion information of the physiotherapy terminal, and construct a part twin model corresponding to the human body part image; A determination module is used to determine the target point corresponding to each stimulation point in the part twin model according to the positioning parameters of each stimulation point, and to determine whether the electrical stimulation conduction component located in the positioning area of ​​the target point meets the physical therapy conditions according to the movement control data of the electrical stimulation conduction component.

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