A photoelectric integrated physiotherapy system

Abstract

The present application discloses a photoelectric integrated physiotherapy system, which belongs to the field of biomedical engineering technology. The system includes a physiotherapy device and a control terminal. The physiotherapy device is provided with a light output module, an electrode module and a data acquisition module; the light output module is used to output light to the operation object; the electrode module is used to output electric pulses to the operation object; the data acquisition module is used to collect data from the operation object and the environment to obtain environmental data and physiological data; the control terminal is used to analyze the real-time working parameters, environmental data and physiological data of the system equipment, generate parameter adjustment suggestions for the system, receive and respond to control inputs to adjust the light parameters of the light output module, the current parameters of the electrode module, and the position parameters of the physiotherapy device, and the control input is based on the parameter adjustment suggestions. The system can provide real-time operation guidance, meeting the needs of ordinary users for simplicity and ease of use.

Description

Technical Field

[0001] The present application belongs to the field of biomedical engineering technology, and in particular relates to a photoelectric integrated physiotherapy system. Background Art

[0002] Photoelectric therapy systems combine light therapy and electrical therapy technologies and are widely used in the medical and cosmetic fields, including laser therapy, photodynamic therapy (PDT), and radiofrequency therapy. These systems typically use a combination of light and electrical stimulation to treat skin conditions, relieve pain, and promote cell repair.

[0003] When designing, photoelectric integrated therapy systems are usually targeted at medical professionals. During use, users need to manually adjust the device parameters based on their knowledge, which is tedious. This requires users to have a deep understanding of the device's operating parameters and usage methods, and is prone to misoperation, which creates operational difficulties for ordinary users.

[0004] Therefore, there is an urgent need for an easy-to-operate optoelectronic integrated physiotherapy system to meet the needs of ordinary users for simplicity and ease of use. Summary of the Invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a photoelectric integrated physiotherapy system that can provide real-time operation guidance, meet the needs of ordinary users for simplicity and ease of use, and effectively avoid misoperation.

[0006] In a first aspect, the present application provides a photoelectric integrated physiotherapy system, which includes a physiotherapy device and a control terminal. The physiotherapy device is provided with a light output module, an electrode module and a data acquisition module;

[0007] A light output module, used to output light to the operation object;

[0008] An electrode module, used for outputting electric pulses to the operation object;

[0009] The data acquisition module is used to collect data on the operating object and the environment to obtain environmental data and physiological data;

[0010] The control end is used to analyze the real-time operating parameters of the system equipment, the environmental data and the physiological data, generate parameter adjustment suggestions for the system, receive and respond to control inputs to adjust the light parameters of the light output module, the current parameters of the electrode module, and the position parameters of the physiotherapy device, and the control input is based on the parameter adjustment suggestions.

[0011] According to one embodiment of the present application, the control end includes a light source module, a controller and an operating rod, and the controller is connected to the light source module and the operating rod;

[0012] The operating end of the operating rod is connected to the physiotherapy device, an optical cable and an electrical cable are provided in the operating rod, the light source module is connected to the light output module via the optical cable, and the controller is connected to the electrode module via the electrical cable;

[0013] The controller is used to receive the control input, generate a first control instruction to the light source module, and generate a second control instruction to the light output module and the electrode module, wherein the first control instruction is used to control the power and wavelength of the light output module, and the second control instruction is used to control the light intensity of the light output module and the current parameters of the electrode module.

[0014] According to one embodiment of the present application, the controller includes a solution generation module, a solution modification module, and an execution module that are interconnected;

[0015] a plan generating module, configured to determine a first physical therapy plan for the subject based on basic health data of the subject, the basic health data including a position and status of a part of the subject to be treated, the first physical therapy plan including a first operation path of the physical therapy area of ​​the subject and a corresponding first device operating parameter of the system;

[0016] a plan modification module, configured to modify the first operation path and the first device operating parameters based on the environmental data, obtain a second operation path and the corresponding second device operating parameters, and generate a second physical therapy plan;

[0017] An execution module is used to configure parameters according to the working parameters of the second device, and control the light source module, the operating rod, the light output module and the electrode module based on the second operation path to execute the second physical therapy plan.

[0018] According to one embodiment of the present application, the light source module includes a light source device, a filter assembly, and a lens assembly;

[0019] The light emitting surface of the light emitting module is provided with a light radiator; the light output by the light source device sequentially passes through the filter assembly, the lens assembly, the optical cable and the light radiator to act on the operation object;

[0020] The filter assembly includes a filter wheel, a drive motor and a position encoder; the filter wheel is provided with filters of multiple bands;

[0021] The driving shaft of the driving motor is connected to the bearing of the filter wheel to drive the filter wheel to rotate and change the position of each filter;

[0022] The position encoder is used to collect rotation data of the filter wheel and send the rotation data to the controller, receive and respond to a third control instruction sent by the controller based on the rotation data, and control the rotation of the filter wheel until the filter of the corresponding band is located between the light source device and the lens assembly.

[0023] According to one embodiment of the present application, the second physiotherapy plan includes multiple positioning points set on the second operation parameters, the operation duration, energy density threshold, minimum safety distance and emergency stop trigger condition corresponding to each positioning point, as well as the equipment action timing and energy management strategy of the system.

[0024] According to one embodiment of the present application, when the light radiator is a lamp bead array, each lamp bead in the lamp bead array is provided with an adjustable optical lens, and when the control input includes lens parameter adjustment, the control end configures the lens parameters of the adjustable optical lens.

[0025] According to an embodiment of the present application, the control end generates the parameter adjustment suggestion by calling the synergistic effect model to perform analysis and parameters, with the photoelectric synergistic effect value as the target and the optical power, current intensity and electric pulse frequency as the constraints, wherein;

[0026] The synergy effect model is:

[0027] E s =αE l +βE e +γE l ·E e

[0028] Among them, E s is the photoelectric synergistic effect value, α, β, and γ are all weight coefficients, α and β are the weight coefficients of phototherapy and electrotherapy respectively, and γ is the synergistic effect coefficient, which is used to describe the interaction between phototherapy and electrotherapy; E l E is the phototherapy response value; e is the electrotherapy response value;

[0029] The phototherapy response model is:

[0030]

[0031] Among them, E l is the phototherapy response value, k1 is the proportional coefficient, which is used to describe the comprehensive influence of light power and light wavelength on the light radiation effect, P is the light power; t is the irradiation time; μ is the light radiation tissue state of the skin of the operation object, which is used to describe the absorption and scattering state of the skin to light; D1 is the phototherapy individual difference factor, which is used to describe the influence of individual differences of the operation object on the light irradiation effect; λ is the light wavelength; λopt is the optimal light wavelength, which is determined based on the purpose of physical therapy; Δλ is the light wavelength bandwidth; k L L is the ambient light interference term, k L is the light interference coefficient, L is the ambient light intensity;

[0032] The electrotherapy effect model is:

[0033]

[0034] Among them, E e is the electrical effect value, k3 is the proportional coefficient, which is used to describe the comprehensive influence of current intensity, frequency and waveform on the electrical stimulation effect; I is the current intensity applied by the electrode module to the operation object, in milliamperes; f is the electric pulse frequency, in Hertz; σ is the conductivity; W factor is the waveform factor, which is used to describe the influence of different waveforms on the effect of electrical stimulation; f opt is the frequency at which the electrical stimulation effect reaches its maximum; Δf is the electrical frequency bandwidth factor, which is used to describe the electrical frequency and the optimal frequency f opt The effect attenuates corresponding to the degree of deviation; D2 is the individual difference factor of electrotherapy, which is used to describe the influence of individual differences of the subjects on the effect of electrical stimulation; is the electromagnetic interference term, k E is the electromagnetic interference coefficient, E n is the electromagnetic interference intensity.

[0035] According to one embodiment of the present application, the system further comprises an eye protection device;

[0036] The control terminal is further used to generate a three-dimensional model of the physical therapy process of the operation object by the physical therapy device and send the model to the eye protection device;

[0037] The eye protection device is used to display the physical therapy process, the environmental data, the physiological data and the parameter adjustment suggestions;

[0038] The eye protection device has a built-in human-computer interaction module, and the human-computer interaction module is used to receive the control input and broadcast information.

[0039] According to one embodiment of the present application, the system also includes a self-cleaning device, which includes a cleaning container, and a micro-electric brush and an ultrasonic module in the cleaning container. When the system is in cleaning mode, the control end controls the physiotherapy device to move into the cleaning container, and controls the micro-electric brush and the ultrasonic module to clean the physiotherapy device.

[0040] According to one embodiment of the present application, the control end is further used to transmit the environmental data and the physiological data to a cloud server, and receive calibration data returned by the cloud server based on the environmental data and the physiological data.

[0041] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application.

[0042] The photoelectric integrated physiotherapy system provided in this application has the following beneficial effects compared with the prior art:

[0043] (1) By comprehensively considering environmental data, physiological data and real-time working parameters of the equipment, the working parameters of the equipment are dynamically adjusted by real-time monitoring of the physiological reactions of the operating object, and the physical therapy process is adjusted using intelligent control. It can simultaneously superimpose light radiation and electric pulses and provide real-time operation guidance, meeting the needs of ordinary users for ease of use, so as to ensure the efficient, safe and personalized physical therapy of the photoelectric integrated physical therapy system, provide users with accurate health management and physical therapy suggestions, make physical therapy more accurate, avoid mistreatment or missed treatment, thereby improving the efficacy and reducing unnecessary physical therapy processes, reducing operational errors and skin damage caused by the movement of the physical therapy area of ​​the operating object during the physical therapy process, and can effectively avoid misoperation of non-physical therapy areas, thereby improving the safety of the system and the comfort of the operating object.

[0044] (2) The system can realize personalized and intelligent adjustments by analyzing basic health data, image data and environmental data, maximize the therapeutic effect and reduce human errors. It can also gradually optimize the therapeutic plan by analyzing the feedback data of the operating users, realize the precise therapy of the photoelectric integrated therapy system, improve the therapeutic effect and the satisfaction of the operating users, provide more accurate and personalized therapy plans, and improve the user experience and the intelligence level of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0046] Figure 1 This is a schematic structural diagram of a photoelectric integrated physiotherapy system provided in an embodiment of the present application;

[0047] Figure 2 This is a schematic top view of an optoelectronic integrated therapy system provided in an embodiment of the present application;

[0048] Figure 3 is a structural diagram of a light source module provided in an embodiment of the present application;

[0049] Figure 4 Schematic diagram of the structure of the filter assembly provided in an embodiment of the present application;

[0050] Figure 5 Schematic diagram of the structure of the light output surface of the light output module provided in an embodiment of the present application;

[0051] Reference numerals:

[0052] Physical therapy device 100; light output module 110; lamp bead 111; adjustable optical lens 112; air guide nozzle 113; electrode module 120, electrode sheet 121; data acquisition module 130; sensor group 131;

[0053] Control terminal 200; light source device 211; filter assembly 212; filter wheel 212a; filter 212b; bearing 212c; lens assembly 213. DETAILED DESCRIPTION

[0054] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0055] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0056] The following describes in detail an optoelectronic integrated therapy system provided by an embodiment of the present application through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0057] like Figure 1 and Figure 2 As shown, the photoelectric integrated therapy system includes a therapy device 100 and a control terminal 200. The therapy device 100 is provided with a light output module 110, an electrode module 120 and a data acquisition module 130.

[0058] A light output module, used to output light to the operation object;

[0059] An electrode module, used for outputting electric pulses to the operation object;

[0060] The data acquisition module is used to collect data on the operating object and the environment to obtain environmental data and physiological data;

[0061] The control end is used to analyze the real-time operating parameters of the system equipment, the environmental data and the physiological data, generate parameter adjustment suggestions for the system, receive and respond to control inputs to adjust the light parameters of the light output module, the current parameters of the electrode module, and the position parameters of the physiotherapy device, and the control input is based on the parameter adjustment suggestions.

[0062] The operation object is the user who needs photoelectric therapy. Figure 2 Physical therapy is performed on an adjustable seat in the apparatus. The photoelectric integrated physical therapy system can be operated by the operating object, or by the operating user (doctor) to operate the operating object (patient).

[0063] The light output of the light output module can be infrared light, red light, blue light, yellow light or green light, or can be bait laser or carbon dioxide laser. It can use tunable wavelength LED lamp or dual-channel laser head to output light of specific wavelength and power.

[0064] The electrode module can be composed of multiple electrodes, which can be used to stimulate the subject's skin with electrical current. Based on skin conditions such as moisture and thickness, the electrode pressure and contact surface are automatically adjusted to optimize current conduction. Current parameters such as frequency, intensity, and waveform can be adjusted according to treatment needs. A current safety detection mechanism can also be incorporated to monitor current intensity and distribution in real time to avoid safety issues caused by overcurrent.

[0065] The data acquisition module is equipped with a variety of sensors that can collect environmental data and physiological data.

[0066] Among them, environmental data is information related to the therapy environment obtained in real time during the therapy process, which may change with the therapy process. Environmental data may include ambient temperature, ambient humidity, ambient light intensity and electromagnetic interference, etc., which can affect the working state of the integrated electrical therapy system and the skin reaction of the operator, and can also be used to evaluate the impact of the surrounding environment on the therapy effect.

[0067] Depending on the ambient temperature, high temperatures may cause the device to overheat, affecting its normal operation and reducing its stability. In addition, high temperatures can accelerate blood circulation in the skin, which is beneficial for metabolism and cell repair. However, excessively high temperatures may cause the skin to overheat, causing discomfort, irritation, or even burns.

[0068] In a low-temperature environment, blood circulation will slow down and the skin's ability to absorb light energy will decrease, which may lead to a weakening of the photoelectric therapy effect, causing numbness of the skin in the treatment area, affecting comfort and treatment effects. In a low-temperature environment, the treatment time or intensity can be increased.

[0069] Depending on the ambient humidity, higher humidity can improve skin hydration and enhance the skin's ability to absorb light, which helps enhance the effectiveness of photoelectric therapy. A humid environment may enhance the light's penetration into the skin, positively impacting the therapy. However, excessive humidity can affect the device's electronic components, leading to malfunction or discomfort to the user.

[0070] In low humidity environments, the skin tends to dry out. Dry skin has a higher reflectivity to light, which reduces the penetration of light energy and may affect light absorption. This can also cause skin discomfort or irritation, affecting the comfort and effectiveness of physical therapy. In this case, moisturizing the skin may be necessary to enhance light absorption.

[0071] Depending on the ambient lighting, strong ambient light may interfere with the therapeutic effect of the optoelectronic therapy device. Excessive ambient light can lead to uneven light intensity in the treatment area, affecting the efficacy of the optoelectronic therapy device. For example, strong sunlight can interfere with the effectiveness of low-energy laser devices and reduce treatment accuracy. However, optoelectronic therapy in a darker environment can ensure that the therapy light source is not interfered with by external light, maximizing the device's therapeutic effect.

[0072] The environment of photoelectric therapy can be adjusted to make it warm, moderately humid and avoid strong light as much as possible to ensure the effect of therapy and the comfort of the operator.

[0073] It should be noted that physiological data may include skin temperature, skin humidity, skin resistance, local blood flow and image data, etc., which are helpful in judging skin conditions.

[0074] For example, if the skin resistance value is low, it may indicate dry skin or poor blood circulation. The current intensity and waveform of the electrode module can be adjusted to improve blood circulation. Heart rate, blood oxygen, and muscle activity help assess the overall health of the subject. If the heart rate is high or muscle activity is low, it can be inferred that the subject may be stressed or need muscle relaxation. If the ambient temperature is too high, the system will recommend reducing the light intensity of the light output module or switching to cooling mode through an additional cold air flow system or the cooling function of the electrode module. If the skin humidity is low or the skin resistance value is high, it is recommended to adjust the frequency and waveform of the electrode module to a treatment mode more suitable for dry skin, or to recommend the use of hydration equipment. If the heart rate is too high, the system can recommend reducing the current intensity or changing the current waveform to reduce the stimulation intensity.

[0075] Based on the user's input preferences such as intensity adjustment and therapy time, the control end will adjust the lighting parameters, the current parameters of the electrode module, and the position parameters of the therapy device.

[0076] Through sensors and image acquisition equipment, the skin light absorption ratio, skin temperature, skin humidity, skin resistance, local blood flow, image data, etc. of the operating object are collected. The image data can intuitively reflect the skin condition, such as redness, swelling, blisters, damage, etc., and is used to assist in analyzing the skin condition; at the same time, through heart rate monitoring, blood oxygen monitoring and muscle activity monitoring and other means, more comprehensive health data such as heart rate, blood oxygen saturation and muscle activity are obtained.

[0077] For example, environmental sensors collect real-time data on temperature, humidity, and light intensity. Assume the ambient temperature is 25°C, the humidity is 60%, and the light intensity is 200 lux. For the subject, the fiber optic sensor measures skin light absorption at 300 lux, and the infrared sensor measures skin temperature at 30°C. A skin moisture sensor measures skin humidity at 50%, and electrodes measure skin resistance at 1000Ω. Monitoring equipment measures the subject's heart rate at 70 beats / minute, blood oxygen saturation at 98%, and muscle activity at 20μV.

[0078] The real-time operating parameters of the equipment may include the current energy dissipation data, operating voltage, operating current, power data and system errors of each device in the system. The real-time operating parameters of the equipment can be used to analyze the stability of the system and identify potential safety hazards in advance, thereby ensuring the safety and effectiveness of physical therapy and the normal operation of the equipment, and avoiding harm to users caused by equipment damage or improper use.

[0079] The light output module is used for the implementation of light therapy, the electrode module is used for electric pulse therapy, and the data acquisition module is used to collect relevant data of the operating object and environment in real time. These modules are adjusted through instructions from the control end to ensure the accuracy and safety of the therapy process.

[0080] The control terminal 200 is used to analyze all collected environmental data, physiological data and real-time working parameters of the equipment, and generate corresponding adjustment suggestions. The user can make control inputs according to the adjustment suggestions through the touch screen or mobile device. The control terminal 200 receives the control input to adjust the light parameters of the light output module, the current parameters of the electrode module and the position parameters of the physiotherapy device to adjust the working state.

[0081] As the core control center, the control end can adjust the parameters of multiple modules in real time to ensure the efficiency and safety of the physical therapy process, and provide automatic control and feedback adjustment functions for the overall system.

[0082] In multimodal data fusion, in addition to environmental data and physiological data, the patient's heart rate, body temperature and other physiological reactions are also considered to dynamically adjust the physical therapy plan. Through real-time data acquisition, the system can promptly perceive any abnormal reactions during the physical therapy process and automatically adjust the equipment working parameters.

[0083] According to the parameter adjustment suggestions, the light output module is adjusted to the appropriate wavelength and power. The wavelength may be adjusted to blue light or red light, and the power is adjusted to a comfortable value based on skin reaction.

[0084] If the parameter adjustment suggestion includes improving blood circulation through current stimulation, the frequency of the electrode module can be set to 1 Hz, the current adjusted to 20 mA, and the waveform adjusted to a sinusoidal pulse wave to avoid overstimulation.

[0085] Through image acquisition, the system identifies the skin condition of the treatment area, such as redness or swelling, and automatically adjusts the treatment position of the therapy device to ensure that it focuses on the area requiring treatment.

[0086] During the therapy process, the device continuously monitors environmental and physiological data, such as skin temperature and heart rate, and adjusts parameters in real time based on feedback information.

[0087] If the heart rate is too fast or the skin is overheated during treatment, the system will automatically reduce the light intensity or adjust the current output to ensure comfort and safety.

[0088] Users can view real-time data and, based on their own physical sensations, adjust their personal therapy preferences, such as selecting a therapy mode or customizing therapy intensity.

[0089] The control terminal 200 autonomously adjusts and recommends alternative treatment plans based on the current real-time working parameters of the device, individual characteristics such as skin type, disease type, and historical records.

[0090] For example, if the skin resistance is low or the temperature is high, the light intensity is automatically reduced or the wavelength is adjusted to prevent over-irritation or burns to the skin.

[0091] By dynamically adjusting light parameters in real time, the safety of physical therapy can be improved, the negative effects of excessive light on the skin can be avoided, and the comfort and effectiveness of physical therapy can be ensured.

[0092] Based on image data collection, the treatment area is automatically identified and tracked in real time. For example, a camera is used to analyze the treatment area in real time, automatically identifying skin conditions, lesions, or areas requiring treatment, and then adjusting the lighting position and treatment time.

[0093] The system combines light irradiation and electrical stimulation for synergistic therapy, automatically switching between different therapy modes based on the patient's condition. For example, if the patient needs to enhance blood circulation during light therapy, microcurrent and infrared therapy can be performed simultaneously.

[0094] The combination of multiple physical therapy modes can improve the physical therapy effect, especially when treating complex symptoms or multiple diseases, and can provide more comprehensive physical therapy plans for different pathological problems.

[0095] The device has multiple safety protection mechanisms, such as overcurrent protection, temperature protection, and power failure protection. If the device detects overheating or other abnormal conditions, it will immediately stop output and issue a warning.

[0096] According to the photoelectric integrated therapy system provided in the embodiment of the present application, by comprehensively considering environmental data, physiological data and real-time working parameters of the equipment, the physiological reactions of the operating object are monitored in real time to dynamically adjust the working parameters of the equipment, and the therapy process is adjusted by intelligent control. It can superimpose light radiation and electric pulses at the same time and provide real-time operation guidance, meeting the needs of ordinary users for simplicity and ease of use, so as to ensure the efficient, safe and personalized therapy of the photoelectric integrated therapy system, provide users with accurate health management and therapy suggestions, make therapy more accurate, avoid mistreatment or missed treatment, thereby improving efficacy and reducing unnecessary therapy processes, reducing operational errors and skin damage caused by the movement of the therapy area of ​​the operating object during therapy, and can effectively avoid misoperation of non-therapy areas, thereby improving the safety of the system and the comfort of the operating object.

[0097] In some embodiments, the control end includes a light source module, a controller and an operating rod, and the controller is connected to the light source module and the operating rod;

[0098] The operating end of the operating rod is connected to the physiotherapy device, an optical cable and an electrical cable are provided in the operating rod, the light source module is connected to the light output module via the optical cable, and the controller is connected to the electrode module via the electrical cable;

[0099] The controller is used to receive the control input, generate a first control instruction to the light source module, and generate a second control instruction to the light output module and the electrode module, wherein the first control instruction is used to control the power and wavelength of the light output module, and the second control instruction is used to control the light intensity of the light output module and the current parameters of the electrode module.

[0100] The control end consists of a light source module, a controller, and an operating lever, with the operating lever having multiple degrees of freedom. The light source module is connected to the light output module via an optical cable, and the electrode module is connected to the controller via an electrical cable. The controller generates a first control instruction that can be used to adjust parameters such as the light power, wavelength, and duration of the light irradiation. A second control instruction can be used to adjust parameters such as the current intensity and pulse frequency of the electrode module, ensuring personalized and dynamic adjustment of the treatment process.

[0101] In some embodiments, the controller includes a plan generation module, a plan modification module, and an execution module connected to each other;

[0102] a plan generating module, configured to determine a first physical therapy plan for the subject based on basic health data of the subject, the basic health data including a position and status of a part of the subject to be treated, the first physical therapy plan including a first operation path of the physical therapy area of ​​the subject and a corresponding first device operating parameter of the system;

[0103] a plan modification module, configured to modify the first operation path and the first device operating parameters based on the environmental data, obtain a second operation path and the corresponding second device operating parameters, and generate a second physical therapy plan;

[0104] An execution module is used to configure parameters according to the working parameters of the second device, and control the light source module, the operating rod, the light output module and the electrode module based on the second operation path to execute the second physical therapy plan.

[0105] Basic health data refers to information related to the patient being treated, which does not change during the treatment process. This includes age, gender, medical history, allergy history, image data of the treatment area, lesion type, location, size, depth, and treatment recommendations.

[0106] Environmental data is information related to the therapy environment that is obtained in real time during the therapy process and may change as the therapy progresses.

[0107] In addition to basic data and environmental data, it is also possible to obtain comparative images before and after physical therapy, changes in biomarkers, etc., the feelings and feedback of the operating subject during the physical therapy process, such as pain level, comfort, etc., and the operating status of the physical therapy device, such as laser stability, electrode contact, etc., to comprehensively evaluate the physical therapy effect and optimize the physical therapy process.

[0108] The first physical therapy plan includes a first operation path generated according to the type of lesion and physical therapy needs and a first device operating parameter of the system for each section of the path.

[0109] The first device operating parameter and the second device operating parameter can be characterized by position information of the physical therapy device, wavelength, power, irradiation time of the light, power, frequency, action time of the electrode, etc.

[0110] In actual implementation, the plan generation module retrieves and analyzes the basic health data of the operating object through user input or the medical record system to determine basic information, physical treatment sites and physical treatment recommendations. It also performs image processing on the optical images in the basic health data to extract the boundary feature information of the physical treatment site. Based on the size and location of the lesion and the device operating parameters, it determines the operating range of the optical module and the electrode module. It calls the rolling online rapid exploration random tree (RRT) algorithm and other path planning algorithms to obtain the first operating path for the operating range, ensuring the accuracy and safety of physical treatment. It also constructs a mapping relationship between the structural information of the physical treatment site and the device operating parameters, obtains the first device operating parameters of the system for each path segment, and determines the first physical treatment plan.

[0111] To adapt to the current physical therapy environment, the correction module further adjusts the first operation path and the first device operating parameters according to the real-time collected environmental data to generate a second physical therapy plan including the second operation path and the second device operating parameters.

[0112] Among them, according to the therapy preference, the second therapy plan can provide multiple options such as recovery mode, pain relief mode, anti-aging mode, etc. for users to choose.

[0113] After receiving the user's option based on the second physical therapy plan, the execution module controls the light output module and the electrode module to perform physical therapy according to the planned second operation path and the second device operating parameters.

[0114] During the therapy process, the controller automatically adjusts the operating parameters of each device in the system based on real-time images and sensor data to adapt to changes in the therapy area.

[0115] In this embodiment, the system can achieve personalized and intelligent adjustments by analyzing basic health data, image data and environmental data, thereby maximizing the therapeutic effect and reducing human errors. It can also gradually optimize the therapeutic plan by analyzing the feedback data of the operating object, thereby achieving precise therapy of the optoelectronic integrated therapy system, improving the therapeutic effect and the satisfaction of the operating object, and providing more accurate and personalized therapy plans, while improving the user experience and the intelligence level of the equipment.

[0116] In some embodiments, the second therapy plan includes multiple positioning points set on the second operation path, the operation time, energy density threshold, minimum safety distance and emergency stop trigger condition corresponding to each positioning point, and the equipment action timing and energy management strategy of the system.

[0117] In the process of physical therapy for the operating object, the preset second operating path along which the physical therapy device moves may be a part of the physical therapy area. The device acts on multiple positioning points in sequence along this path to perform precise physical therapy.

[0118] A positioning point is a specific location on the second operating path where treatment is performed. At each positioning point, the therapy device will perform different operations such as energy output and treatment duration. Positioning points can be set based on the treatment goal, the needs of the operator, and the characteristics of the therapy device.

[0119] The operation time is the length of time the physiotherapy device performs the physiotherapy operation at each positioning point. It can be set according to factors such as physiotherapy needs and energy density to ensure the effectiveness and safety of physiotherapy.

[0120] The energy density threshold characterizes the maximum energy density required at each location during treatment. Energy density is the energy intensity applied per unit area, while the threshold is the maximum allowable value. Exceeding the threshold may cause adverse effects or damage to the subject. Therapy devices can adjust energy output based on the energy density threshold to ensure treatment safety.

[0121] Minimum safety distances can include minimum distance requirements between the therapy device and the patient, as well as minimum distance requirements between devices. This prevents the device from coming too close to the patient's skin or other devices, potentially causing injury or damage. The controller monitors and adjusts in real time to ensure this safety distance is consistently maintained.

[0122] Emergency stop trigger conditions occur during treatment, triggering the immediate halt of the treatment device when the system detects certain abnormal conditions. For example, if a device malfunctions, excessive energy output, or a positioning error occurs, the system will automatically detect and trigger an emergency stop, halting the treatment process immediately to ensure the safety of the patient.

[0123] The device action sequence is the operating order and timing of the physical therapy devices in the system. The devices perform operations in a predetermined order throughout the physical therapy process, such as turning on, adjusting energy output, moving to the next positioning point, etc. This can ensure the smooth progress of the physical therapy process while avoiding interference between different devices.

[0124] Energy management strategies regulate energy output at each location during treatment. Based on treatment goals and the patient's response, energy management strategies adjust energy density, output power, and duration at each location to achieve optimal treatment results and avoid excessive or insufficient energy output.

[0125] During actual execution, the execution module loads the second operation path, identifies all positioning points along it, and, based on pre-set safety policies such as minimum safe distance and energy density threshold, ensures that the energy output, treatment area, treatment duration, and device spacing between each positioning point meet safety and treatment requirements. Each positioning point includes not only the location information of the corresponding treatment area and the distance to the treatment area, but also sets different operation durations, energy density thresholds, minimum safe distances, and emergency stop trigger conditions based on requirements.

[0126] The execution module controls the light source module, electrode module, etc. in the physiotherapy device to start according to the path planning, and performs initialization and self-test to confirm the normal operation status of the equipment.

[0127] The energy output value of each device in the system is set based on the energy density threshold and treatment needs of each location point. The energy output is adjusted in real time based on the energy needs of each location point, avoiding unnecessary over-treatment or ineffective treatment. For example, some areas may require high energy output to target deep muscle tissue, while other areas may only require lower energy output.

[0128] The treatment duration for each location is set in the second treatment plan. When the therapy device reaches each location, the execution module calculates the time and performs the treatment according to the predetermined duration. For example, one location might take one minute, while another might take two minutes. The execution module dynamically adjusts the treatment time based on the needs of each location.

[0129] At each positioning point, the system will monitor the power, intensity and other energy outputs of each device in real time, and ensure that the output is stable and meets the set energy density threshold through the sensor's feedback loop mechanism. If the energy output of a certain positioning point exceeds the preset safety range, the controller will automatically adjust the output power to ensure safety during the physical therapy process.

[0130] The system ensures a minimum safe distance between treatment devices and between the device and the patient being treated, preventing injury from close contact. Sensors monitor the device's position in real time, and if any unusual proximity occurs, the system automatically issues an alarm and adjusts the treatment path.

[0131] Each positioning point is equipped with emergency stop trigger conditions, which may include equipment failure, excessive energy output, inappropriate energy density, position deviation, etc. When any emergency stop trigger condition is met, the system automatically triggers an emergency stop operation, immediately stopping all equipment to ensure the safety of the operating object. The system also initiates corresponding safety protection measures, such as alarm prompts, equipment shutdown, and fault diagnosis.

[0132] During the therapy process, the system continuously collects data such as the device's energy output, power, therapy duration, and device status, and dynamically adjusts the device's operating parameters, such as energy output and therapy time, based on real-time data to achieve the optimal therapy effect.

[0133] For example, the system can adjust energy output based on feedback from the subject's temperature sensor, skin reaction, etc. to ensure the accuracy and safety of physical therapy.

[0134] When all the positioning points on the therapy path complete the therapy tasks, the system will automatically end the therapy process and generate a detailed therapy report. The report includes information such as the therapy duration, energy output, and equipment operating status of each positioning point for reference by technicians or doctors. The report will also provide suggestions based on the use of the equipment, such as whether maintenance is needed and whether there are any equipment abnormalities.

[0135] After each treatment session, the system can review and analyze the progress and use the results to optimize future treatment plans. For example, based on the patient's actual response and treatment results, the system can further optimize energy allocation strategies, duration allocation strategies, and more.

[0136] During the treatment process, the system monitors the working status and energy consumption of the equipment, and regularly checks the operating health of the equipment to ensure that the equipment does not experience performance degradation or malfunction after long-term operation.

[0137] In this embodiment, through the second physiotherapy plan, the control system strictly follows the predetermined operation time, energy density, minimum safety distance and other conditions to execute the physiotherapy process of each positioning point in turn, ensuring the accuracy of real-time monitoring and feedback during the physiotherapy process, providing precise physiotherapy path control to the operating object, and ensuring the physiotherapy effect and operation safety through reasonable energy output, time arrangement and safety management, achieving a comprehensive improvement in the safety, accuracy and effect of the physiotherapy process. The physiotherapy of each positioning point is precisely controlled to ensure that the energy output of the equipment during the physiotherapy process meets the predetermined standards. At the same time, the physiotherapy effect and safety are improved through real-time feedback and intelligent optimization algorithms.

[0138] In some embodiments, as Figure 3 As shown, the light source module includes a light source device 211, a filter component 212 and a lens component 213;

[0139] The light emitting surface of the light emitting module is provided with a light radiator; the light output by the light source device sequentially passes through the filter assembly, the lens assembly, the optical cable and the light radiator to act on the operation object;

[0140] like Figure 4 As shown, the filter assembly includes a filter wheel 212a, a drive motor and a position encoder; the filter wheel is provided with filters 212b of multiple bands;

[0141] The driving shaft of the driving motor is connected to the bearing 212c of the filter wheel to drive the filter wheel to rotate and change the position of each filter;

[0142] The position encoder is used to collect rotation data of the filter wheel and send the rotation data to the controller, receive and respond to a third control instruction sent by the controller based on the rotation data, and control the rotation of the filter wheel until the filter of the corresponding band is located between the light source device and the lens assembly.

[0143] Among them, the filters may include infrared filters, red filters, yellow filters, blue filters and green filters;

[0144] For example, infrared filters are used to retain infrared light with a wavelength of 830nm or 850nm. Infrared light can increase body temperature, cause blood vessels to relax, increase the body's metabolic rate, increase the elasticity of ligaments, joint capsules, and muscles, and promote healing.

[0145] The red light filter is used to retain red light with a wavelength of 600nm or 633nm. Red light can inhibit inflammation by inhibiting cyclooxygenase. It can also promote blood circulation, stimulate collagen regeneration, reduce the formation of acne scars, reduce fine lines and wrinkles, improve skin texture, remove photodamaged skin, repair skin, improve microcirculation, promote hair growth, and promote hair regeneration.

[0146] The yellow light filter is used to retain yellow light with a wavelength of 590nm. Yellow light can improve the oxygen exchange function of cells, help the lymphatic system detoxify, promote blood circulation, increase capillary toughness, reduce skin sensitivity, and decompose pigments and lighten spots.

[0147] The green light filter is used to retain green light with a wavelength of 525nm. Green light can penetrate into the bottom layer of the skin, reduce pigmentation, and prevent the formation of spots, stretch marks, and aging pigments.

[0148] The blue light filter is used to retain blue light with a wavelength of 460nm, which can reduce inflammation, kill bacteria and calm the mind.

[0149] In actual implementation, the position encoder may be a magnetoelectric encoder or a photoelectric encoder for recording the rotation angle of the drive motor. The rotation data may be the rotation angle of the drive shaft of the drive motor collected by the position encoder over time.

[0150] The filter assembly controls the drive motor to rotate the filter wheel according to the third control instruction to adjust the filters of different bands, thereby adjusting the wavelength output by the light source, and automatically selecting the optimal spectral band according to different stages of physical therapy.

[0151] In some embodiments, as Figure 5 As shown, the light-emitting surface of the light-emitting module is provided with the electrode sheet 121 of the electrode module, and the relative distance between the electrode sheet and the light-emitting surface is greater than the relative distance between the light radiator and the light-emitting surface;

[0152] The light emitting surface of the light emitting module is further provided with an air guide nozzle 113;

[0153] The system further comprises an atomizing device, which is used to atomize the contents, and the atomizing device is connected to the air guide nozzle via a conduit in the operating rod;

[0154] In the case where the control input includes an atomization operation, the controller controls the atomization device to atomize the contents, acts on the operation object through the conduit and the air guide nozzle, and controls the angle and gear position of the air guide nozzle.

[0155] The light emitting surface of the light emitting module is provided with a sensor group 131 for collecting image data, skin temperature, skin temperature and other data.

[0156] The atomizing device atomizes the contents through a controller and delivers the atomized substance to the operating object through a catheter and an air guide nozzle.

[0157] By real-time monitoring of atomization effects such as skin temperature and skin humidity, the angle and gear position of the air nozzle are adjusted through a feedback mechanism to ensure the optimization of the therapeutic effect.

[0158] During treatment, the atomizer can cool or heat the contents, automatically adjusting to the patient's skin temperature to improve comfort and enhance the treatment effect. For example, during longer treatments, appropriately cooling the contents to cool the skin can reduce the risk of overheating.

[0159] The atomization effect can also be monitored and adjusted to ensure that the atomization effect is stable and effective during the treatment process.

[0160] In this embodiment, the atomized contents are applied to the physical therapy process through the air guide nozzle, which improves the comfort of the physical therapy, avoids the skin from being stimulated by overheating, prevents excessive heat from damaging the skin, and improves the stability of the physical therapy effect.

[0161] In some embodiments, the controller generates the parameter adjustment suggestion by calling a synergy effect model to perform analysis and parameters;

[0162] The synergy effect model is:

[0163] E s =αE l +βE e +γE l ·E e

[0164] Among them, E s is the photoelectric synergistic effect value, α, β, and γ are all weight coefficients, α and β are the weight coefficients of phototherapy and electrotherapy respectively, and γ is the synergistic effect coefficient, which is used to describe the interaction between phototherapy and electrotherapy; E l E is the phototherapy response value; e is the electrotherapy response value;

[0165] The phototherapy response model is:

[0166]

[0167] Among them, E l is the phototherapy response value, k1 is the proportional coefficient, which is used to describe the comprehensive influence of light power and light wavelength on the light radiation effect, P is the light power; t is the irradiation time; μ is the light radiation tissue state of the skin of the operation object, which is used to describe the absorption and scattering state of the skin to light; D1 is the phototherapy individual difference factor, which is used to describe the influence of individual differences of the operation object on the light irradiation effect; λ is the light wavelength; λ opt is the optimal light wavelength, which is determined based on the purpose of physical therapy; Δλ is the light wavelength bandwidth; k L L is the ambient light interference term, k L is the light interference coefficient, L is the ambient light intensity;

[0168] The electrotherapy effect model is:

[0169]

[0170] Among them, E e is the electrical effect value, k3 is the proportional coefficient, which is used to describe the comprehensive influence of current intensity, frequency and waveform on the electrical stimulation effect; I is the current intensity applied by the electrode module to the operation object, in milliamperes; f is the electric pulse frequency, in Hertz; σ is the conductivity; W factoris the waveform factor, which is used to describe the influence of different waveforms on the effect of electrical stimulation; f opt is the frequency at which the electrical stimulation effect reaches its maximum; Δf is the electrical frequency bandwidth factor, which is used to describe the electrical frequency and the optimal frequency f opt The effect attenuates corresponding to the degree of deviation; D2 is the individual difference factor of electrotherapy, which is used to describe the influence of individual differences of the subjects on the effect of electrical stimulation; is the electromagnetic interference term, k E is the electromagnetic interference coefficient, E n is the electromagnetic interference intensity.

[0171] It is understandable that the electrode module applies electrical stimulation of different waveforms such as square wave, sine wave, triangle wave to the operating object, and different waveforms have different stimulating effects on nerves and muscles. For example, square wave usually has a stronger stimulating effect. factor =1, while the sine wave is relatively mild, W factor =0.8.

[0172] The individual difference factor D1 of phototherapy is:

[0173] D1=d0(1+ρ S S-ρ D D+ρ fl fl)

[0174] Where d0 is the reference penetration depth; S is the skin type, which is used to characterize the different light absorption and scattering characteristics of different skin types; D is the disease state; fl is the local blood flow; ρ S , ρ D , ρ fl are the penetration depth correction factors for skin type, disease state, and local blood flow, respectively;

[0175] The light radiation tissue state μ is:

[0176] μ=(δ a -δ s )[1+ω T (T-T0)+ω H (H-H0)+ω S S+ω D D+ω fl fl-ω Th Th]

[0177] Among them, δ a is the reference absorption coefficient; δ s is the reference scattering coefficient; T is the skin temperature; T0 is the ambient temperature; H is the skin humidity; H0 is the ambient humidity; S is the skin type; D is the disease state; fl is the local blood flow; Th is the tissue thickness; ω T 、ω H 、ωS 、ω D 、ω fl 、ω Th are the correction factors for temperature, humidity, skin type, disease state, local blood flow, and tissue thickness;

[0178] The individual difference factor D2 of electrotherapy is:

[0179] D2=f0(1+τ S S+τ D D-τ R R+τ Th Th)

[0180] Where f0 is the critical reference frequency; S is the skin type; D is the disease state; R is the skin resistance value; Th is the tissue thickness; τ S , τ D , τ R , τ Th Frequency correction factors for skin type, disease state, skin resistance value, and tissue thickness;

[0181] The conductivity σ is:

[0182] σ=σ0[1+θ T (T-T0)+θ H (H-H0)+θ S S+θ D D-θ R R+θ fl fl-θ Th Th]

[0183] Wherein, σ0 is the reference conductivity; T is the skin temperature; T0 is the ambient temperature; H is the skin humidity; H0 is the ambient humidity; S is the skin type; D is the disease state; R is the skin resistance value; fl is the local blood flow; Th is the tissue thickness; θ T ,θ H ,θ S ,θ D ,θ R ,θ fl ,θ Th They are conductivity correction factors for temperature, humidity, skin type, disease state, skin resistance value, local blood flow and tissue thickness.

[0184] To maximize the photoelectric synergistic effect value E s The optimization objective is:

[0185] P≤P max

[0186] I≤I max

[0187] f∈[1Hz,100Hz]

[0188] The parameter combination (λ, P, t, I, f) is optimized through gradient descent or genetic algorithm to update the system's device operating parameters and adjust the parameters based on real-time collected skin temperature, resistance value and other data. For example, if an abnormality is detected (such as high skin temperature), the optical power or current intensity is automatically reduced.

[0189] In this embodiment, by introducing individual difference factors into the phototherapy response model and the electrotherapy response model, the response differences of different operating subjects to phototherapy and electrotherapy can be described more accurately, thereby achieving more precise personalized therapy, significantly improving the effect of combined phototherapy and providing a scientific basis for clinical practice.

[0190] In some embodiments, when the light radiator is a lamp bead array, each lamp bead 111 in the lamp bead array is provided with an adjustable optical lens 112, and when the control input includes lens parameter adjustment, the control end configures the lens parameters of the adjustable optical lens.

[0191] It is understandable that each lamp bead is equipped with an adjustable optical lens, which can be a liquid lens, used to shape and focus the light beam. It can dynamically adjust the focal length or shape of the lens according to the light intensity distribution requirements corresponding to the size and shape of the treatment area, shape and focus the laser beam to ensure precise focusing or diffusion of the light beam.

[0192] The control end can also dynamically adjust the driving current of each lamp bead to achieve uniform distribution of light irradiation, perform adaptive control at the control end, and automatically adjust the lens parameters to meet the needs of different treatment objects.

[0193] In addition, the light output module can also include a dual-channel laser head. The control end is provided with a laser, and the laser outputs bait laser and carbon dioxide laser respectively through the optical cable and the dual-channel laser head to cope with different skin conditions.

[0194] Bait laser is a pulsed laser with a wavelength of 2940nm, which acts on the superficial skin in a full-spot manner; the carbon dioxide laser has a wavelength of 10.6μm and acts on the deep skin in a dot matrix manner.

[0195] In this embodiment, by configuring an adjustable optical lens for each lamp bead and adjusting parameters thereof respectively, the adverse effects of unevenness on the skin can be avoided.

[0196] In some embodiments, the system further comprises eye protection;

[0197] The control terminal is further used to generate a three-dimensional model of the physical therapy process of the operation object by the physical therapy device and send the model to the eye protection device;

[0198] The eye protection device is used to display the physical therapy process, the environmental data, the physiological data and the parameter adjustment suggestions;

[0199] The eye protection device has a built-in human-computer interaction module, and the human-computer interaction module is used to receive the control input and broadcast information.

[0200] Among them, the eye protection device is equipped with augmented reality (AR) glasses for displaying the physical therapy process, environmental data and parameter adjustment suggestions of the eye protection device.

[0201] Users can use AR glasses to view treatment progress in real time and participate in the interactive process. For example, gesture recognition technology can be used to manipulate parameters or monitor the effects of the treatment area in real time during treatment, thus enhancing the user experience.

[0202] During the three-dimensional modeling process of the physiotherapy device, the control end compares and determines the physiotherapy effect of the operated area with the expected effect, generates a determination result, marks the operated area, and can provide real-time feedback on the physiotherapy progress and quality to the user. When it is determined based on the determination result that the deviation between the physiotherapy effect and the expected effect exceeds the deviation threshold, a supplementary physiotherapy plan is generated. The supplementary physiotherapy plan performs supplementary operations on the area exceeding the deviation threshold. The determination result is also used to correct the second physiotherapy plan.

[0203] The human-computer interaction module can also make voice recommendations for solutions and receive user voice input.

[0204] In this embodiment, augmented reality technology is used to provide real-time visualization of the therapy process to the operating subject and the operating user, thereby improving the therapy effect and the experience of the operating subject.

[0205] In some embodiments, the system also includes a self-cleaning device, which includes a cleaning container, and a micro-electric brush and an ultrasonic module in the cleaning container. When the system is in cleaning mode, the control end controls the physiotherapy device to move into the cleaning container, and controls the micro-electric brush and the ultrasonic module to clean the physiotherapy device.

[0206] The system's self-cleaning mechanism, used to clean the therapy device, includes not only a micro-motorized brush and ultrasonic cleaning, but also a UV sterilization module to ensure the device is thoroughly cleaned after use. Furthermore, an automated monitoring system can be introduced to automatically notify users of device cleaning cycles and parts requiring maintenance.

[0207] In this embodiment, by combining ultraviolet light and automatic monitoring, the hygiene and maintenance efficiency of the equipment are improved, and the service life of the equipment is extended.

[0208] In some embodiments, the control end is further used to transmit the environmental data and the physiological data to a cloud server, and receive calibration data returned by the cloud server based on the environmental data and the physiological data.

[0209] The system transmits environmental data and physiological data to the cloud server, which analyzes them in real time and generates calibration data based on a large amount of historical data and sends it to the control end. The control end automatically adjusts the equipment operating parameters based on the calibration data.

[0210] In this embodiment, by combining the control terminal with the cloud server, remote monitoring, diagnosis and treatment data analysis and storage are achieved. Users can view the treatment progress and historical records through mobile phones or computers, enhancing the flexibility and accessibility of the equipment.

[0211] In the description of this application, "first feature" and "second feature" may include one or more such features.

[0212] In the description of this application, “plurality” means two or more.

[0213] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0214] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0215] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A photoelectric integrated physiotherapy system, characterized in that: It includes a physiotherapy device and a control terminal. The physiotherapy device is provided with a light output module, an electrode module and a data acquisition module; A light output module, used to output light to the operation object; An electrode module, used for outputting electric pulses to the operation object; The data acquisition module is used to collect data on the operating object and the environment to obtain environmental data and physiological data; The control terminal is configured to analyze the real-time operating parameters of the system device, the environmental data, and the physiological data to generate parameter adjustment suggestions for the system, and receive and respond to control inputs to adjust light parameters of the light output module, current parameters of the electrode module, and position parameters of the physiotherapy device, wherein the control inputs are based on the parameter adjustment suggestions; The control end generates the parameter adjustment suggestion by calling the synergistic effect model to analyze and set parameters, taking the photoelectric synergistic effect value as the target and taking the optical power, current intensity and electric pulse frequency as the constraints. The synergistic effect model is: E s =αE l +βE e +γE l ·E e Among them, E s is the photoelectric synergistic effect value, α, β, and γ are all weight coefficients, α and β are the weight coefficients of phototherapy and electrotherapy respectively, and γ is the synergistic effect coefficient, which is used to describe the interaction between phototherapy and electrotherapy; E l E is the phototherapy response value; e is the electrotherapy response value; The phototherapy response model is: Among them, E l is the phototherapy response value, k1 is the proportional coefficient, which is used to describe the comprehensive influence of light power and light wavelength on the light radiation effect, P is the light power; t is the irradiation time; μ is the light radiation tissue state of the skin of the operation object, which is used to describe the absorption and scattering state of the skin to light; D1 is the phototherapy individual difference factor, which is used to describe the influence of individual differences of the operation object on the light irradiation effect; λ is the light wavelength; λ opt is the optimal light wavelength, which is determined based on the purpose of physical therapy; Δλ is the light wavelength bandwidth; k L L is the ambient light interference term, k L is the light interference coefficient, L is the ambient light intensity; The electrotherapy effect model is: Among them, E e is the electrical effect value, k3 is the proportional coefficient, which is used to describe the comprehensive influence of current intensity, frequency and waveform on the electrical stimulation effect; I is the current intensity applied by the electrode module to the operation object, in milliamperes; f is the electric pulse frequency, in Hertz; σ is the conductivity; W factor is the waveform factor, which is used to describe the influence of different waveforms on the effect of electrical stimulation; f opt is the frequency at which the electrical stimulation effect reaches its maximum; Δf is the electrical frequency bandwidth factor, which is used to describe the electrical frequency and the optimal frequency f opt The effect attenuates corresponding to the degree of deviation; D2 is the individual difference factor of electrotherapy, which is used to describe the influence of individual differences of the subjects on the effect of electrical stimulation; is the electromagnetic interference term, k E is the electromagnetic interference coefficient, E n is the electromagnetic interference intensity; The individual difference factor D1 of phototherapy is: D1=d0(1+ρ S S-p D D+r fl fl) Where d0 is the reference penetration depth; S is the skin type, which is used to characterize the different light absorption and scattering characteristics of different skin types; D is the disease state; fl is the local blood flow; ρ S , ρ D , ρ fl are the penetration depth correction factors for skin type, disease state, and local blood flow, respectively; The light radiation tissue state μ is: μ=(δ a -d s )[1+ω T (T-T0)+ω H (H-H0)+ω S S+ω D D+ω fl fl-oh Th Th]] Among them, δ a is the reference absorption coefficient; δ s is the reference scattering coefficient; T is the skin temperature; T0 is the ambient temperature; H is the skin humidity; H0 is the ambient humidity; S is the skin type; D is the disease state; fl is the local blood flow; Th is the tissue thickness; ω T 、ω H 、ω S 、ω D 、ω fl 、ω Th are the correction factors for temperature, humidity, skin type, disease state, local blood flow, and tissue thickness; The individual difference factor D2 of electrotherapy is: D2=f0(1+τ S S+t D D-t R R+t Th Th) Where f0 is the critical reference frequency; S is the skin type; D is the disease state; R is the skin resistance value; Th is the tissue thickness; τ S , τ D , τ R , τ Th Frequency correction factors for skin type, disease state, skin resistance value, and tissue thickness; The conductivity σ is: σ=σ0[1+θ T (T-T0)+θ H (H-H0)+θ S S+θ D D-θ R R+θ fl fl-θ Th [Th] Where σ0 is the reference conductivity; T is the skin temperature; T0 is the ambient temperature; H is the skin humidity; H0 is the ambient humidity; S is the skin type; D is the disease state; R is the skin resistance value; fl is the local blood flow; Th is the tissue thickness; θ T ,θ H ,θ S ,θ D ,θ R ,θ fl ,θ Th They are conductivity correction factors for temperature, humidity, skin type, disease state, skin resistance value, local blood flow and tissue thickness; To maximize the photoelectric synergistic effect value E s The optimization objective is: P≤P max I≤I max λ∈[1Hz,100Hz] The parameter combination (λ, P, t, I, f) is optimized by gradient descent method or genetic algorithm to update the equipment operating parameters of the system.

2. The photoelectric integrated therapy system according to claim 1, characterized in that: The control end includes a light source module, a controller and an operating rod, and the controller is connected to the light source module and the operating rod; The operating end of the operating rod is connected to the physiotherapy device, an optical cable and an electrical cable are provided in the operating rod, the light source module is connected to the light output module via the optical cable, and the controller is connected to the electrode module via the electrical cable; The controller is used to receive the control input, generate a first control instruction to the light source module, and generate a second control instruction to the light output module and the electrode module, wherein the first control instruction is used to control the power and wavelength of the light output module, and the second control instruction is used to control the light intensity of the light output module and the current parameters of the electrode module.

3. The photoelectric integrated therapy system according to claim 2, characterized in that: The controller includes a solution generation module, a solution modification module and an execution module which are interconnected; a plan generating module, configured to determine a first physical therapy plan for the subject based on basic health data of the subject, the basic health data including a position and status of a part of the subject to be treated, the first physical therapy plan including a first operation path of the physical therapy area of ​​the subject and a corresponding first device operating parameter of the system; a plan modification module, configured to modify the first operation path and the first device operating parameters based on the environmental data, obtain a second operation path and the corresponding second device operating parameters, and generate a second physical therapy plan; An execution module is used to configure parameters according to the working parameters of the second device, and control the light source module, the operating rod, the light output module and the electrode module based on the second operation path to execute the second physical therapy plan.

4. The photoelectric integrated therapy system according to claim 3, characterized in that: The second physiotherapy plan includes multiple positioning points set on the second operation path, the operation time, energy density threshold, minimum safety distance and emergency stop trigger condition corresponding to each positioning point, as well as the equipment action timing and energy management strategy of the system.

5. The photoelectric integrated therapy system according to claim 2, characterized in that: The light source module includes a light source device, a filter component and a lens component; The light emitting surface of the light emitting module is provided with a light radiator; the light output by the light source device sequentially passes through the filter assembly, the lens assembly, the optical cable and the light radiator to act on the operation object; The filter assembly includes a filter wheel, a drive motor and a position encoder; the filter wheel is provided with filters of multiple bands; The driving shaft of the driving motor is connected to the bearing of the filter wheel to drive the filter wheel to rotate and change the position of each filter; The position encoder is used to collect rotation data of the filter wheel and send the rotation data to the controller, receive and respond to a third control instruction sent by the controller based on the rotation data, and control the rotation of the filter wheel until the filter of the corresponding band is located between the light source device and the lens assembly.

6. The photoelectric integrated therapy system according to claim 5, characterized in that: When the light radiator is a lamp bead array, each lamp bead in the lamp bead array is provided with an adjustable optical lens. When the control input includes lens parameter adjustment, the control end configures the lens parameters of the adjustable optical lens.

7. The photoelectric integrated therapy system according to claim 1, characterized in that: The system also includes eye protection; The control terminal is further used to generate a three-dimensional model of the physical therapy process of the operation object by the physical therapy device and send the model to the eye protection device; The eye protection device is used to display the physical therapy process, the environmental data, the physiological data and the parameter adjustment suggestions; The eye protection device has a built-in human-computer interaction module, and the human-computer interaction module is used to receive the control input and broadcast information.

8. The photoelectric integrated therapy system according to claim 1, characterized in that: The system also includes a self-cleaning device, which includes a cleaning container, and a micro-electric brush and an ultrasonic module in the cleaning container. When the system is in cleaning mode, the control end controls the physiotherapy device to move into the cleaning container, and controls the micro-electric brush and the ultrasonic module to clean the physiotherapy device.

9. The photoelectric integrated therapy system according to claim 1, characterized in that: The control end is further used to transmit the environmental data and the physiological data to the cloud server, and receive calibration data returned by the cloud server based on the environmental data and the physiological data.

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