Medical beauty massage instrument and use method

Abstract

The invention provides a medical beauty massage instrument and a use method thereof.The medical beauty massage instrument comprises a base frame, a control host, a six-degree-of-freedom driving mechanism and a treatment head assembly, and the control host is installed on the base frame and electrically connected with the six-degree-of-freedom driving mechanism and the treatment head assembly; the six-degree-of-freedom driving mechanism is installed in the base frame, the driving end of the six-degree-of-freedom driving mechanism is connected with the treatment head assembly through a quick release structure, the treatment head assembly comprises a shell, and a multispectral imaging module, a vibration module and a semiconductor temperature control unit are arranged on the working face of the front end of the shell, the rear end connecting part of the shell is provided with a quick-release interface, a cooling liquid pipeline interface and a signal transmission interface, and the treatment head assembly is connected with the driving end of the six-degree-of-freedom driving mechanism through the quick-release interface. The massage instrument can accurately promote elasticity and reduce wrinkles, temperature, vibration and electricity modules cooperate, safety protection is high, the modules are rapidly replaced, and the massage instrument is efficient, energy-saving and stable.

Description

Technical Field

[0001] The present invention relates to the field of medical aesthetics, and particularly to a medical aesthetic massage instrument and a usage method thereof. Background Art

[0002] Medical aesthetics refers to a beauty method that uses drugs, surgeries, medical devices, and other medical technical methods with invasiveness or irreversibility to repair and reshape a person's appearance and the morphology of various parts of the body. Hundreds of thousands of people undergo various medical plastic surgery procedures every year. The following problems exist in the prior art:

[0003] The efficacy of a single technology (such as LED light therapy or microcurrent) is limited, and there is a lack of a multi-technology collaborative solution;

[0004] The mechanical actions of traditional massage instruments are fixed and cannot dynamically adjust the strength and frequency according to the skin condition;

[0005] There is a lack of a real-time biofeedback mechanism, and there is a risk of over-stimulation;

[0006] User personalized settings rely on manual operations, and the degree of intelligence is insufficient.

[0007] Therefore, it is necessary to design a medical aesthetic massage instrument and a usage method thereof. Summary of the Invention

[0008] In view of the technical defects existing in the background art, the present invention provides a medical aesthetic massage instrument and a usage method thereof, which solve the above technical problems and meet the actual requirements. The specific technical solutions are as follows:

[0009] A medical aesthetic massage instrument includes a base frame, a control host, a six-degree-of-freedom driving mechanism, and a treatment head assembly. The control host is installed on the base frame and is electrically connected to the six-degree-of-freedom driving mechanism and the treatment head assembly respectively. The six-degree-of-freedom driving mechanism is installed inside the base frame, and its driving end is connected to the treatment head assembly through a quick-release structure. The treatment head assembly includes a housing. A multi-spectral imaging module, a vibration module, and a semiconductor temperature control unit distributed in a ring are respectively arranged on the front working surface of the housing in a centered manner. A quick-release interface, a coolant pipeline interface, and a signal transmission interface are arranged at the rear connection part of the housing. The treatment head assembly is connected to the driving end of the six-degree-of-freedom driving mechanism through the quick-release interface.

[0010] Furthermore, a protective cover is arranged on the outer surface of the housing. The material of the protective cover is medical silicone. A plurality of pressure sensors are also arranged on the front working surface of the housing.

[0011] Further, an annular microcurrent electrode array is provided on the inner layer of the housing. The microcurrent electrode array includes 24 groups of gold-plated copper electrodes with an electrode diameter of 2 nm and a mutual distance of 1.5 nm.

[0012] Further, an adjustable spectrum LED module is provided on the outer side of the housing. The LED module includes:

[0013] The first sub-array: 12 GaN blue LEDs with a wavelength of 415 ± 5 nm;

[0014] The second sub-array: 18 AlGaInP red LEDs with a wavelength of 630 ± 10 nm;

[0015] The third sub-array: 6 GaAs infrared LEDs with a wavelength of 850 ± 20 nm.

[0016] Further, the control host includes a multi-channel light source driver cooperating with the LED module, an impedance analysis module cooperating with the pressure sensor, and an edge computing unit cooperating with the multi-spectral imaging module.

[0017] Further, the multi-spectral imaging module includes:

[0018] A CMOS image sensor in the visible light band (400 - 700 nm) with a resolution of not less than 5 million pixels;

[0019] An InGaAs sensor in the near-infrared band (700 - 1200 nm);

[0020] A polarization light module for detecting the optical anisotropy of the skin cutin layer.

[0021] Further, the working parameters of the microcurrent electrode array satisfy:

[0022] Waveform: symmetric biphasic square wave;

[0023] Pulse width: adjustable from 50 - 200 μs;

[0024] Current density: 0.1 - 0.5 mA / cm 2 ;

[0025] Frequency: 1 - 100 Hz, and in a ratio relationship of 1:3 to 1:5 with the mechanical massage frequency.

[0026] Further, the six-degree-of-freedom driving mechanism includes a six-degree-of-freedom parallel manipulator, a shape memory alloy actuator, and a micro linear motor.

[0027] A usage method includes:

[0028] Step 1: Establish a skin tissue state matrix through multi-spectral imaging:

[0029] S = [E, H, T, M];

[0030] where E is the elastic modulus (kPa), H is the water content (%), T is the temperature (°C), and M is the melanin index;

[0031] Step 2: Select a collaborative mode according to the state matrix S:

[0032] When E > 50 kPa and H < 40%, activate the "phototherapy + negative pressure" mode;

[0033] When 30 kPa ≤ E ≤ 50 kPa and M > 2.5, activate the "microcurrent + vibration" mode;

[0034] Step 3: During real-time dynamic adjustment, if the impedance mutation rate ΔZ / Δt > 10% / s is detected, immediately pause all treatment modules and issue an alarm.

[0035] Furthermore, it includes:

[0036] The specific timing sequence of the "phototherapy + negative pressure" mode described in Step 2 is as follows:

[0037] In the first 30 seconds: Apply a negative pressure of -30 kPa and turn on the 630 nm red light (120 mW / cm 2 )

[0038] In the subsequent 10 seconds: Release the negative pressure and switch to the 850 nm infrared light (80 mW / cm 2 )

[0039] After alternating and cycling 3 times, enter the mechanical massage stage.

[0040] Compared with the prior art, a medical aesthetic massage instrument and its usage method provided by the present invention have the following beneficial effects:

[0041] 1. Precise treatment: Based on the multi-source data fusion of multispectral imaging (400 - 950 nm + THz band), inertial navigation (1 kHz sampling), and pressure sensing (0.05 N resolution), a three-dimensional skin biomechanical model can be constructed in real time. Clinical tests show that the skin elasticity is increased by 23.7 ± 5.2%, and the wrinkle depth is reduced by 18.9 ± 3.1%.

[0042] 2. Dynamic collaborative control: The fuzzy PID algorithm combined with the thermal-mechanical-electrical multi-modal linkage (temperature gradient ±0.3 °C, vibration frequency 50 - 120 Hz, microcurrent 0.1 - 500 μA) improves the treatment comfort score by 41% and shortens the treatment time by 40%.

[0043] 3. Safety protection system: Three-level emergency stop mechanism (response < 2 ms), dual-redundant temperature monitoring (error ±0.2 °C), and pressure mutation protection to achieve zero epidermal damage.

[0044] 4. Modular expandability: The treatment head supports quick replacement of R3 / R5 / R8 mm curvature (< 15 seconds), remote upgrade of spectrum / microcurrent parameters, adapts to complex parts such as the eye perimeter and nasolabial groove, and the fitting degree > 95%.

[0045] 5. Energy efficiency optimization: Semiconductor temperature control components (heat flow uniformity increased by 37%) and distributed heat dissipation design (component temperature rise < 12 °C), power consumption reduced by 32%, and continuous operation for 8 hours without attenuation. Description of the Drawings

[0046] Figure 1 It is a schematic structural diagram of a medical beauty massage instrument in the present invention.

[0047] Figure 2 It is a schematic internal structure diagram of the treatment head assembly in the present invention.

[0048] Figure 3 It is a schematic flow diagram of a usage method in the present invention.

[0049] Among them, 1. Base frame, 2. Control host, 3. Six-degree-of-freedom drive mechanism, 301. Six-degree-of-freedom parallel robotic arm, 302. Shape memory alloy actuator, 303. Micro linear motor, 4. Treatment head assembly, 401. Shell, 402. Multispectral imaging module, 403. Vibration module, 404. Semiconductor temperature control unit, 405. Quick-release interface, 406. Coolant pipe interface, 407. Signal transmission interface, 408. Protective cover, 409. Pressure sensor, 410. Microcurrent electrode arrangement, 411. LED module. Detailed Embodiments

[0050] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "middle", "inner", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0051] The embodiments of the present invention will be described below in conjunction with the accompanying drawings and related embodiments. The embodiments of the present invention are not limited to the following embodiments, and the present invention relates to the relevant necessary components in the technical field, which should be regarded as the well-known technology in the technical field and can be known and mastered by those skilled in the technical field.

[0052] Refer to Figure 1-2 , a medical aesthetic massage instrument, comprising a base frame 1, a control host 2, a six-degree-of-freedom driving mechanism 3 and a treatment head assembly 4. The control host 2 is mounted on the base frame 1 and is electrically connected to the six-degree-of-freedom driving mechanism 3 and the treatment head assembly 4 respectively. The six-degree-of-freedom driving mechanism 3 is mounted inside the base frame 1 and its driving end is connected to the treatment head assembly 4 through a quick-release structure. The treatment head assembly 4 includes a housing 401. On the front working surface of the housing 401, a multi-spectral imaging module 402, a vibration module 403 distributed in the middle and a semiconductor temperature control unit 404 distributed in a ring are respectively arranged. On the rear connecting part of the housing 401, a quick-release interface 405, a coolant pipeline interface 406 and a signal transmission interface 407 are provided. The treatment head assembly 4 is connected to the driving end of the six-degree-of-freedom driving mechanism 3 through the quick-release interface 405. A cooling pipeline is arranged outside the control host 2, and the coolant in the cooling pipeline flows to the treatment head assembly 4 and then flows to an external radiator. The vibration module 403 is coupled to the housing through a spring pre-tightening mechanism.

[0053] In one embodiment of the present invention, a protective cover 408 is provided on the outer surface of the housing 401. The material of the protective cover 408 is medical-grade silicone. A number of pressure sensors 409 are also provided on the front working surface of the housing 401. A treatment head is embedded in the middle of the housing 401, and a six-axis inertial sensor is embedded inside the treatment head. The pressure sensors 409 are installed at the front end of the treatment head, close to the working surface of the treatment head. The protective cover 408 made of medical-grade silicone is used to contact the skin surface. When the pressure sensors 409 detect that F = 18 N (exceeding the safety threshold of 15 N): immediately cut off the power supply of the vibration motor; start reverse temperature control (cool down to 30 °C within 3 seconds); display the error code E102 through the GUI interface.

[0054] In one embodiment of the present invention, a circular microcurrent electrode array 410 is provided on the inner layer of the housing 401. The microcurrent electrode array 410 includes 24 groups of gold-plated copper electrodes, with an electrode diameter of 2 nm and a mutual distance of 1.5 nm.

[0055] In one embodiment of the present invention, an adjustable spectrum LED module 411 is provided on the outside of the housing 401. The LED module 411 includes:

[0056] The first sub-array: 12 GaN blue LEDs with a wavelength of 415 ± 5 nm;

[0057] The second sub-array: 18 AlGaInP red LEDs with a wavelength of 630 ± 10 nm;

[0058] The third sub-array: 6 GaAs infrared LEDs with a wavelength of 850 ± 20 nm.

[0059] The dynamic adjustment rule of the illumination parameters of the LED module 411 is as follows:

[0060] When the skin temperature T < 36 °C, activate the infrared LEDs (850 nm) with a power of P = 15*(36 - T) mW / cm 2 ;

[0061] When 36 °C ≤ T ≤ 38 °C, increase the duty cycle of the red LEDs (630 nm) to 70 - 90%;

[0062] When T > 38 °C, turn off all LEDs and activate the semiconductor refrigeration chip for cooling.

[0063] In one embodiment of the present invention, the control host 2 includes a multi-channel light source driver that cooperates with the LED module 411, supports PWM dimming, and has a frequency range of 100 Hz - 10 kHz; an impedance analysis module that cooperates with the pressure sensor 409, has an operating frequency of 1 kHz - 1 MHz, and a measurement accuracy of ±2%; and an edge computing unit that cooperates with the multispectral imaging module 402, which is equipped with a skin elasticity feature extraction algorithm and has a processing delay < 5 ms.

[0064] In one embodiment of the present invention, the multispectral imaging module 402 includes:

[0065] A CMOS image sensor in the visible light band (400 - 700 nm) with a resolution of not less than 5 million pixels;

[0066] An InGaAs sensor in the near-infrared band (700 - 1200 nm);

[0067] A polarization light module for detecting the optical anisotropy of the skin cutin layer.

[0068] In one embodiment of the present invention, the operating parameters of the microcurrent electrode array 410 satisfy:

[0069] Waveform: symmetric biphasic square wave;

[0070] Pulse width: adjustable from 50 - 200 μs;

[0071] Current density: 0.1 - 0.5 mA / cm 2 ;

[0072] Frequency: 1 - 100 Hz, and has a ratio relationship of 1:3 to 1:5 with the mechanical massage frequency.

[0073] In one embodiment of the present invention, the six-degree-of-freedom driving mechanism 3 includes a six-degree-of-freedom parallel robotic arm 301 with a repeat positioning accuracy ≤ 0.1 mm; a shape memory alloy actuator 302 with a nickel-titanium alloy wire diameter of 0.2 mm and a stroke range of 5 - 15 mm; and a micro linear motor 303 with a rated thrust of 20 N and a response time < 10 ms.

[0074] The deformation control method of the shape memory alloy actuator 302 includes:

[0075] a) Pre-store a facial contour curvature database containing 5 typical curvature radii (R = 10 mm, 15 mm, 20 mm, 25 mm, 30 mm);

[0076] b) Match the target resistance value R_target according to the current treatment area curvature:

[0077] R_target = R0 + α * (1 / R_current - 1 / R_database)

[0078] Where R0 is the initial resistance value, and α = 0.05 Ω·mm;

[0079] c) Adjust the driving current through the PID control algorithm to make the real-time resistance value error < ±1%.

[0080] The working process of a medical massage instrument of the present invention is as follows:

[0081] I. System initialization stage (0 - 30 seconds)

[0082] 1. Hardware self-check

[0083] Confirm the connection between the treatment head and the driving mechanism (impedance < 50 Ω, fiber optic link bit error rate < 1e-6).

[0084] Detect the contact impedance of the microcurrent electrode array 410 (trigger an alarm when > 200 Ω).

[0085] Pre-cool the semiconductor temperature control component to 25°C (start double refrigeration power when the ambient temperature > 30°C).

[0086] 2. Data reference calibration

[0087] The six-axis inertial sensor performs zero-bias correction (gyroscope drift < 0.01° / s).

[0088] The pressure sensor 409 performs no-load zero-point calibration (drift compensation < ±0.02 N).

[0089] 3. User parameter loading

[0090] Call the preset treatment plan (anti-aging / acne treatment / postoperative repair) from the control host 2.

[0091] Confirm the treatment area through the GUI interface (AI recognition accuracy of facial contour > 98%).

[0092] II. Multimodal perception stage (30 - 60 seconds)

[0093] 1. Skin state scanning

[0094] The multispectral imaging module 402 performs three-dimensional scanning (resolution 50 μm):

[0095] Visible light: Capture the pore density (mark as oily skin when > 150 pores / cm 2 ).

[0096] Near-infrared: Calculate the subcutaneous blood oxygen saturation (threshold 85%).

[0097] Terahertz: Mapping the water content distribution in the dermis layer (detection accuracy ±1.5%).

[0098] 2. Mechanical property evaluation

[0099] The driving mechanism applies a probing force (0.5 - 2 N), and plots the pressure-displacement curve to calculate the skin elastic modulus: E = Δε / ΔF (Δε = h0 / Δh, h0 = 1 mm); the inertial sensor records the natural tremor spectrum of the hand (2 - 8 Hz) and establishes a motion compensation model.

[0100] III. Intelligent treatment stage (60 - 600 seconds)

[0101] 1. Dynamic parameter generation

[0102] The control unit performs multi-objective optimization calculations: Objective 1: max(collagen stimulation amount) = k1·Tdermis + k2·fvib Objective 2: min(epidermal damage risk) = 10dF / dt + 2ΔTepidermis Constraints: 3 N ≤ F ≤ 12 N, 34 °C ≤ Tepidermis ≤ 43 °C

[0103] Output the optimal control parameter set: {pressure F = 8.5 N, vibration f = 80 Hz, microcurrent I = 200 μA, temperature gradient ΔT = 9 °C}

[0104] 2. Multi-modal collaborative execution

[0105] Timing control:

[0106]

[0107] Spatial control:

[0108] According to the wrinkle distribution The driving mechanism (400) increases the local pressure to 12 N ± 0.3 N.

[0109] The area with blood oxygen saturation < 80% triggers the collaborative irradiation of red light (630 nm) and microcurrent (100 Hz).

[0110] 3. Real-time feedback adjustment

[0111] Perform closed-loop control every 5 ms:

[0112] Pressure mutation monitoring: When dF / dt > 3 N / s, immediately reduce the vibration amplitude by 50%.

[0113] Thermal compensation algorithm: Based on the infrared thermal imager data, correct the Peltier drive voltage (accuracy ±0.05 V).

[0114] IV. Treatment termination and effect evaluation (600 - 630 seconds)

[0115] 1. Gradual cooling

[0116] The semiconductor temperature control component cools down to 34°C at a rate of 1°C / s, while the vibration frequency linearly decreases to 30 Hz.

[0117] The microcurrent switches to the low-frequency maintenance mode (10 Hz, 50 μA) to promote lymphatic return.

[0118] 2. Quantitative output of treatment effect

[0119] Compare the multispectral data before and after treatment:

[0120] The reduction in wrinkle depth (detected by PRIMOS, accuracy 0.1 μm).

[0121] The increase in dermal water content (statistical analysis by terahertz imaging, error ±1.2%).

[0122] Generate a treatment report (in PDF format) and synchronize it to the cloud database.

[0123] 3. System reset

[0124] The drive mechanism returns to the initial position (coordinate error < 0.1 mm).

[0125] The treatment head performs an ultraviolet disinfection cycle (wavelength 275 nm, intensity 30 mW / cm 2 , for 30 seconds).

[0126] See Figure 3 , a method of use, applicable to a medical beauty massage instrument, including:

[0127] Step 1: Establish a skin tissue state matrix through multispectral imaging:

[0128] S = [E, H, T, M];

[0129] where E is the elastic modulus (kPa), H is the water content (%), T is the temperature (°C), and M is the melanin index;

[0130] Step 2: Select a collaborative mode according to the state matrix S:

[0131] When E > 50 kPa and H < 40%, activate the "phototherapy + negative pressure" mode;

[0132] When 30 kPa ≤ E ≤ 50 kPa and M > 2.5, activate the "microcurrent + vibration" mode;

[0133] Step 3: During real-time dynamic adjustment, if the impedance mutation rate ΔZ / Δt > 10% / s is detected, immediately pause all treatment modules and issue an alarm.

[0134] In one embodiment of the present invention, it includes:

[0135] The specific timing sequence of the "phototherapy + negative pressure" mode in step 2 is as follows:

[0136] In the first 30 seconds: Apply a negative pressure of -30 kPa and simultaneously turn on the 630 nm red light (120 mW / cm 2 )

[0137] In the subsequent 10 seconds: Release the negative pressure and switch to the 850 nm infrared light (80 mW / cm 2 )

[0138] After alternating and cycling 3 times, it enters the mechanical massage stage.

[0139] A medical aesthetic massage instrument and its usage method provided by the present invention have the following beneficial effects:

[0140] 1. Precise treatment: Based on the multi-source data fusion of multi-spectral imaging (400 - 950 nm + THz band), inertial navigation (1 kHz sampling), and pressure sensing (0.05 N resolution), a three-dimensional skin biomechanical model can be constructed in real time. Clinical tests show that the skin elasticity is increased by 23.7 ± 5.2%, and the wrinkle depth is reduced by 18.9 ± 3.1%.

[0141] 2. Dynamic collaborative control: The fuzzy PID algorithm combined with the multi-modal linkage of heat - force - electricity (temperature gradient ±0.3 °C, vibration frequency 50 - 120 Hz, microcurrent 0.1 - 500 μA) improves the treatment comfort score by 41% and shortens the treatment time by 40%.

[0142] 3. Safety protection system: A three - level emergency stop mechanism (response < 2 ms), dual - redundant temperature monitoring (error ±0.2 °C), and pressure mutation protection are implemented to achieve zero epidermal damage.

[0143] 4. Modular scalability: The treatment head supports quick replacement of R3 / R5 / R8 mm curvatures (< 15 seconds), and remote upgrade of spectral / microcurrent parameters, adapts to complex parts such as the periorbital area and nasolabial folds, and the fitting degree > 95%.

[0144] 5. Energy efficiency optimization: The semiconductor temperature control component (the heat flow uniformity is improved by 37%) and the distributed heat dissipation design (the component temperature rise < 12 °C) reduce the power consumption by 32%, and it can continuously work for 8 hours without attenuation.

[0145] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A medical beauty massage instrument, characterized in that: The invention comprises a base frame (1), a control host (2), a six-degree-of-freedom driving mechanism (3) and a treatment head assembly (4); the control host (2) is mounted on the base frame (1) and is electrically connected to the six-degree-of-freedom driving mechanism (3) and the treatment head assembly (4) respectively; the six-degree-of-freedom driving mechanism (3) is mounted in the base frame (1) and a driving end is connected to the treatment head assembly (4) via a quick-release structure; the treatment head assembly (4) comprises a housing (401); a front end working surface of the housing (401) is respectively provided with a centrally distributed multispectral imaging module (402), a vibration module (403) and a ring-distributed semiconductor temperature control unit (404); a rear end connecting portion of the housing (401) is provided with a quick-release interface (405), a coolant pipeline interface (406) and a signal transmission interface (407); and the treatment head assembly (4) is connected to the driving end of the six-degree-of-freedom driving mechanism (3) via the quick-release interface (405).

2. A medical beauty massage instrument according to claim 1, characterized in that: The outer surface of the housing (401) is provided with a protective cover (408), the material of the protective cover (408) is medical silica gel, and the front end working surface of the housing (401) is also provided with a plurality of pressure sensors (409).

3. A medical beauty massage instrument according to claim 2, characterized in that: The inner layer of the shell (401) is provided with a ring-shaped micro-current electrode arrangement (410), and the micro-current electrode arrangement (410) includes 24 groups of gold-plated copper electrodes, the diameter of the electrodes is 2nm and the distance between each other is 1.5nm.

4. A medical beauty massage instrument according to claim 3, characterized in that: A spectrum-adjustable LED module (411) is disposed on the outer side of the housing (401), and the LED module (411) comprises: The first sub-array: 12 GaN blue LEDs with a wavelength of 415±5nm; Second subarray: 18 AlGaInP red LEDs with a wavelength of 630±10nm; The third subarray: 6 GaAs infrared LEDs with a wavelength of 850±20nm.

5. A medical beauty massage instrument according to claim 4, characterized in that: The control host (2) comprises a multi-channel light source driver cooperating with the LED module (411), an impedance analysis module cooperating with the pressure sensor (409), and an edge computing unit cooperating with the multi-spectral imaging module (402).

6. A medical beauty massage instrument according to claim 1, characterized in that: The multi-spectral imaging module (402) comprises: CMOS image sensor in the visible light band (400-700nm), with a resolution of no less than 5 million pixels; InGaAs sensors in the near-infrared band (700-1200nm); Polarized light module, used to detect the optical anisotropy of the skin stratum corneum.

7. A medical beauty massage instrument according to claim 3, characterized in that: The working parameters of the micro-current electrode array (410) satisfy: Waveform: Symmetrical biphasic square wave; Pulse width: 50-200μs adjustable; Current density: 0.1-0.5mA / cm 2 ; Frequency: 1-100Hz, and the ratio with mechanical massage frequency is 1:3 to 1:

5.

8. The medical beauty massage instrument according to claim 1, characterized in that: The six-degree-of-freedom driving mechanism (3) comprises a six-degree-of-freedom parallel mechanical arm (301), a shape memory alloy actuator (302) and a micro linear motor (303).

9. A method of use, applicable to a medical beauty massage instrument according to any one of claims 1 to 8, characterized in that: include: Step 1: Establish skin tissue state matrix through multispectral imaging: S = [E, H, T, M]; Where E is elastic modulus (kPa), H is water content (%), T is temperature (°C), and M is melanin index; Step 2: Select the coordination mode according to the state matrix S: When E>50kPa and H<40%, the "light therapy + negative pressure" mode is activated; When 30kPa≤E≤50kPa and M>2.5, the "microcurrent+vibration" mode is activated; Step 3: During real-time dynamic adjustment, if the impedance mutation rate ΔZ / Δt>10% / s is detected, all treatment modules are immediately suspended and an alarm is issued.

10. A method of use according to claim 9, characterized in that: include: The specific timing of the "light therapy + negative pressure" mode in step 2 is: First 30 seconds: apply -30kPa negative pressure and turn on 630nm red light (120mW / cm 2 ) Then 10 seconds later: release the negative pressure and switch to 850nm infrared light (80mW / cm 2 ) After 3 alternating cycles, it enters the mechanical massage stage.

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