Knee osteoarthritis multifunctional comprehensive treatment system based on double mechanical arms

Abstract

The embodiment of the invention provides a multifunctional comprehensive treatment system for knee osteoarthritis based on double mechanical arms. The system is applied to the field of medical instruments, the system comprises control software and a comprehensive treatment module which performs data interaction with the control software, the comprehensive treatment module comprises a passive rehabilitation exercise device, a massage device, a constant-temperature traditional Chinese medicine external application device and an electrical stimulation device, and the passive rehabilitation exercise device is connected with the massage device and the constant-temperature traditional Chinese medicine external application device. The three-dimensional passive rehabilitation exercise module is used for dragging the shank of a patient to perform three-dimensional passive rehabilitation exercise according to a pre-established three-dimensional passive rehabilitation exercise therapy before treatment; the massage device is used for massaging the knees of the patient; the constant-temperature traditional Chinese medicine external application device is used for automatically supplying traditional Chinese medicine liquid to the knees of the patient and meanwhile conducting attaching external application and multi-point constant-temperature heating on the knees. The electrical stimulation device is used for conducting current stimulation on muscle movement points in a percutaneous mode. In this way, a better treatment effect can be achieved, and the treatment process is automatically completed.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and particularly to a multi-functional comprehensive treatment system for knee osteoarthritis based on dual robotic arms. Background Art

[0002] Knee osteoarthritis is a common chronic disease, mainly manifested as joint swelling, pain, deformity, etc. At present, there is no very satisfactory treatment method, and the effects of some treatment methods are unstable. Drug treatment is prone to gastrointestinal adverse reactions, and some patients are prone to allergic reactions to topical drugs. When treating with traditional Chinese medicine external application, the doctor soaks a towel in traditional Chinese medicine liquid heated to about 40°C. When the towel is expected to be heated to about 40°C, the towel is taken out of the liquid, most of the liquid is squeezed out, and then applied to the patient's knee. After about 5 minutes, the temperature of the towel drops to an unacceptable level, and the towel is placed in the 40°C liquid again to soak, repeating the above process. For one treatment of traditional Chinese medicine external application, the above process needs to be repeated 3 to 4 times, and the time is about 20 minutes. During one external application process of the traditional Chinese medicine external application towel, the temperature is relatively high at the initial stage and relatively low at the later stage, not a constant temperature, and the temperature control effect is relatively poor. When performing traditional Chinese medicine massage treatment, the techniques are too on-site, and the techniques of different doctors are also different, which hinders the popularization and quantitative research of the techniques. Whether it is traditional Chinese medicine massage or traditional Chinese medicine external application, the doctor must be present throughout the treatment process, which limits the number of patients that the doctor can treat at the same time. Summary of the Invention

[0003] The present disclosure provides a multi-functional comprehensive treatment system for knee osteoarthritis based on dual robotic arms, which solves the technical problems in the prior art such as the prone occurrence of gastrointestinal adverse reactions and allergic reactions when using drugs to treat knee osteoarthritis, the poor temperature control effect and treatment effect of traditional Chinese medicine external application, the too on-site nature of traditional Chinese medicine massage treatment techniques and the lack of popularization.

[0004] Specific technical solution: A multi-functional comprehensive treatment system for knee osteoarthritis based on dual robotic arms includes: a control software, and a comprehensive treatment module that performs data interaction with the control software. The comprehensive treatment module includes a passive rehabilitation exercise device, a massage device, a constant-temperature traditional Chinese medicine external application device, and an electrical stimulation device; wherein, The passive rehabilitation exercise device is used to drag the patient's calf to perform three-dimensional passive rehabilitation exercises according to a three-dimensional passive rehabilitation exercise therapy established in advance before treatment. Among them, the path of the passive rehabilitation exercise is completed by prior teaching activities or by retrieving a pre-stored treatment plan; The massage device is used to massage the patient's knee according to the traditional Chinese medicine massage techniques established in advance; The constant-temperature traditional Chinese medicine external application device is used to automatically supply traditional Chinese medicine liquid to the patient's knee according to a predetermined flow control strategy, and at the same time, externally apply the medicine to the knee by fitting and perform multi-point constant-temperature heating. The electrical stimulation device is used to perform electrical stimulation on the muscle motor points in a transcutaneous manner according to a preset low-frequency pulsed current stimulation mode.

[0005] In the above-mentioned aspects and any possible implementation manners, a further implementation manner is provided, wherein the passive rehabilitation exercise device includes a leg support device and a rehabilitation exercise robotic arm for dragging the leg support device to move, and the leg support device is fixedly arranged on one side of the end of the rehabilitation exercise robotic arm.

[0006] In the above-mentioned aspects and any possible implementation manners, a further implementation manner is provided, wherein the massage device includes a rehabilitation exercise robotic arm, a massage robotic arm, a three-finger electric gripper arranged at the end of the massage robotic arm, and a plastic glove. A plastic tactile glove is put on the three-finger electric gripper, and the plastic tactile glove is provided with a force sensor for collecting the massage strength; the rehabilitation exercise robotic arm has the function of real-time capturing its position; The rehabilitation exercise robotic arm is used to dynamically adjust the massage position and force applied to the patient according to the target pose and force input by the user received by the control software, and the position information of the rehabilitation exercise robotic arm and the massage strength information feedback by the rehabilitation exercise robotic arm and the force sensor in real time.

[0007] In the above-mentioned aspects and any possible implementation manners, a further implementation manner is provided, wherein the traditional Chinese medicine massage technique is established in the following way: Let an expert wear a rubber tactile glove to perform manual therapy on a volunteer or a human model, and record the force magnitude and force distribution data on the glove throughout the process; Use the force magnitude and force distribution data to train the rehabilitation system to form a massage expert system. At the same time, let the expert drag the end of the rehabilitation exercise robotic arm according to traditional Chinese medicine techniques, and the robotic arm records the relative path throughout the process to form a rehabilitation exercise expert system.

[0008] In the above-mentioned aspects and any possible implementation manners, a further implementation manner is provided, wherein the constant-temperature traditional Chinese medicine external application device includes a control board, a drug propulsion device, and a knee external application device; The constant-temperature traditional Chinese medicine external application device is used to automatically supply traditional Chinese medicine liquid to the patient's knee according to a predetermined flow control strategy, and at the same time, externally apply the medicine to the knee by fitting and perform multi-point constant-temperature heating, including: Among them, the parameters of the flow control strategy in the control software include the segmented flow rate and the corresponding duration of the flow rate, the total heating duration, the target temperature of each period and the duration of each period; The drug propulsion device is used to inject traditional Chinese medicine liquid into the knee external application device according to the liquid injection speed information preset in the control software; The knee external application device fits with the patient's knee and is used to perform multi-point constant temperature heating on the patient's knee and the liquid medicine according to the preset heating information.

[0009] In the above-described aspect and any possible implementation manner, a further implementation manner is provided, wherein the knee external application device includes a plastic substrate of an optional specification, a plurality of heating electrode sheets sequentially arranged on the plastic substrate, a traditional Chinese medicine liquid penetration pipeline, and an external connection cable, wherein The knee external application device is connected to the power supply and the control board through the external connection cable, and heats the patient's knee and the liquid medicine through the plurality of heating electrode sheets. The traditional Chinese medicine liquid penetration pipeline is used to transmit the liquid medicine and penetrate it into the medical material.

[0010] In the above-described aspect and any possible implementation manner, a further implementation manner is provided, wherein the drug propulsion device includes a syringe, a power driving device, a moving component, a displacement sensor, a support and fixing component, a medicine delivery tube component, and a guiding tube component. The syringe is fixed on the support and fixing component. The moving component is driven by the power driving device to push the piston end of the syringe forward to move, thereby pushing the drug in the syringe into the drug propulsion device. One end of the displacement sensor is fixed on the fixed end of the support and fixing component, and the other end is fixed on the moving component. During the moving process, the displacement sensor feeds back the displacement value to the control board, and the control board adjusts the moving speed of the moving component, thereby adjusting the drug injection rate; One end of the medicine delivery tube component is connected to the injection end of the syringe, and the other end is inserted into the guiding tube component. The guiding tube component is connected to the knee external application device through the traditional Chinese medicine liquid penetration pipeline; wherein, the medicine delivery tube component includes a needle seat, a soft catheter, and a medicine delivery tube. One end of the guiding tube component connected to the knee external application device passes through the central hole of the guiding tube locking component, and the other end is inserted into the central hole of the medicine delivery tube locking component and fixed to the medicine delivery tube locking component; the guiding tube locking component can move on the guiding tube component. When the length of the guiding tube component extending out of the guiding tube locking component reaches a predetermined length, the guiding tube locking component is locked so that the relative position between the guiding tube locking component and the guiding tube component is fixed; The guiding tube assembly includes a first guiding tube and a second guiding tube. The second guiding tube is inserted into the central lumen of the first guiding tube, and a partial space dimension is reserved between one end of the second guiding tube close to the knee external application device and one end of the first guiding tube connected to the knee external application device. The other end of the second guiding tube is not fully inserted into the first guiding tube. After the guiding tube locking assembly is locked, the relative position between the guiding tube locking assembly and the first guiding tube is fixed, and the relative positions of the first guiding tube and the second guiding tube are fixed. One end of the medicine delivery tube is fixedly connected to one end of the soft catheter, and the other end of the soft catheter is fixedly connected to the needle base. The medicine delivery tube is inserted into the second guiding tube of the guiding tube assembly. When it reaches a predetermined length, the medicine delivery tube locking assembly is tightened to fix the relative position between the medicine delivery tube and the second guiding tube.

[0011] In the aspect and any possible implementation manner as described above, a further implementation manner is provided, in which the preset liquid medicine injection speed information includes the total injection duration, the injection speed in each injection stage, and the duration of each injection stage. The preset heating information includes the total heating duration, the heating temperature in each heating stage, and the heating duration in each heating stage.

[0012] In the aspect and any possible implementation manner as described above, a further implementation manner is provided, in which the electrical stimulation device includes an electrical stimulator, a lead wire for conducting electrical signals, and an electrode patch. The electrical stimulator is provided with a plurality of electrical stimulation electrodes, and its pulse frequency, pulse width, output current intensity, single output time, power-off time, and treatment time can all be adjusted in real time according to the patient's condition.

[0013] In the aspect and any possible implementation manner as described above, a further implementation manner is provided, in which the material of the optional specification plastic substrate is a medical material meeting biocompatibility.

[0014] Compared with the prior art, the present disclosure has the following beneficial effects: a. A four-in-one treatment method is adopted, which integrates rehabilitation exercise, traditional Chinese medicine massage, traditional Chinese medicine external application, and electrical stimulation, and can be dynamically adjusted according to the patient's symptoms, or a fixed program can be called for automatic execution. b. The massage process realizes automatic operation, and the rehabilitation exercise and massage actions are precisely controllable. c. The control software pre-records the traditional Chinese medicine massage techniques and rehabilitation exercise techniques through the teaching method, and at the same time records the force table of the massage, so that the massage techniques have perfect consistency and can be popularized. d. A personalized treatment plan can be input through the control software. e. The control software comes with a built-in model library, simplifying the operation process; f. The injection process realizes automated operation, and the injection rate and heating temperature are precisely controllable; g. The control software enables autonomous adjustment of various parameters, quantifying the external application process of traditional Chinese medicine; h. The heating process realizes constant-temperature heating, and the temperature is adjustable in segments; i. The control software comes with a forming solution, and users can also save their commonly used solutions, simplifying the operation process; g. Uniform heating at multiple points avoids uneven heating of different parts of the knee. At the same time, it can be deliberately designed to have different temperatures at different points to achieve differential heating.

[0015] It should be understood that the content described in the section of the invention content is not intended to limit the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In combination with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent. The drawings are used to better understand the solution and do not constitute a limitation to the present disclosure. In the drawings, the same or similar reference numerals represent the same or similar elements, where: Figure 1 Shows the overall assembly diagram of a multifunctional comprehensive treatment system for knee osteoarthritis based on a dual robotic arm according to an embodiment of the present disclosure; Figure 2 Shows the structural schematic diagram of a passive rehabilitation exercise device of a multifunctional comprehensive treatment system for knee osteoarthritis based on a dual robotic arm according to an embodiment of the present disclosure; Figure 3 Shows the structural schematic diagram of a massage device of a multifunctional comprehensive treatment system for knee osteoarthritis based on a dual robotic arm according to an embodiment of the present disclosure; Figure 4 Shows the force position control diagram of a massage device of a multifunctional comprehensive treatment system for knee osteoarthritis based on a dual robotic arm according to an embodiment of the present disclosure; Figure 5 Shows the structural schematic diagram of a constant-temperature traditional Chinese medicine external application device of a multifunctional comprehensive treatment system for knee osteoarthritis based on a dual robotic arm according to an embodiment of the present disclosure; Figure 6 Shows the structural schematic diagram of a drug propulsion device in a constant-temperature traditional Chinese medicine external application device according to an embodiment of the present disclosure; Figure 7 Shows the connection schematic diagram of a drug delivery tube assembly and a guiding tube assembly in a drug propulsion device according to an embodiment of the present disclosure; Figure 8 Shows a schematic structural diagram of a drug delivery tube assembly in a drug propulsion device according to an embodiment of the present disclosure; Figure 9 Shows a schematic structural diagram of a guiding tube assembly in a drug propulsion device according to an embodiment of the present disclosure; Figure 10 Shows an injection rate control diagram of a drug propulsion device according to an embodiment of the present disclosure; Figure 11 Shows a schematic structural diagram of a knee external application device according to an embodiment of the present disclosure; Figure 12a 、 12b Shows a schematic diagram of an electrical stimulation device of a multi-functional comprehensive treatment system for knee osteoarthritis based on a dual robotic arm according to an embodiment of the present disclosure; Figure 13 Shows an operation interface diagram for selecting traditional Chinese medicine massage techniques during the operation of the passive rehabilitation exercise and traditional Chinese medicine massage part according to an embodiment of the present disclosure; Figure 14 Shows an operation interface diagram for parameter settings during the operation of the passive rehabilitation exercise and traditional Chinese medicine massage part according to an embodiment of the present disclosure.

[0017] Explanation of the reference numerals in the drawings: 1. Software; 2. Comprehensive treatment module; 21. Passive rehabilitation exercise device; 211. Leg support device; 212. Rehabilitation exercise robotic arm; 22. Massage device; 221. Massage robotic arm; 222. Three-finger electric gripper; 23. Constant temperature traditional Chinese medicine external application device; 231. Control board; 232. Drug propulsion device; 2321. Syringe; 2322. Power driving device; 2323. Moving component; 2324. Displacement sensor; 2325. Support and fixing component; 2326. Drug delivery tube assembly; 23261. Needle holder; 23262. Soft catheter; 23263. Drug delivery tube; 2327. Guiding tube assembly; 23271. First guiding tube; 23272. Second guiding tube; 2328. Drug delivery tube locking assembly; 2329. Guiding tube locking assembly; 233. Knee external application device; 2331. Optional specification plastic substrate; 2332. Heating electrode sheet; 2333. Traditional Chinese medicine liquid penetration pipeline; 2334. External connection cable; 24. Electrical stimulation device; 241. Electrical stimulator; 242. Lead wire; 243. Electrode sheet. Detailed implementation manners

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0019] In addition, the term "and / or" in this document is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally represents an "or" relationship between the preceding and following associated objects.

[0020] This solution provides a four-in-one multifunctional comprehensive treatment system for knee osteoarthritis based on dual robotic arms. The four-in-one in the treatment method refers to the integration of four methods: rehabilitation exercise, traditional Chinese medicine massage, traditional Chinese medicine external application, and electrostimulation. In terms of the system, this system consists of a passive rehabilitation exercise device, a massage device, a constant-temperature traditional Chinese medicine external application device, an electrostimulation device, control software, etc.

[0021] As Figure 1 shown, a multifunctional comprehensive treatment system for knee osteoarthritis based on dual robotic arms includes: control software 1 and a comprehensive treatment module 2 that performs data interaction with the control software. The comprehensive treatment module 2 includes a passive rehabilitation exercise device 21, a massage device 22, a constant-temperature traditional Chinese medicine external application device 23, and an electrostimulation device 24. Among them, the control software has a built-in model library and can input personalized treatment plans through the control software; The passive rehabilitation exercise device 21 is used to drag the patient's calf for three-dimensional passive rehabilitation exercise according to the three-dimensional passive rehabilitation exercise therapy established in advance before treatment. Among them, the path of the passive rehabilitation exercise is completed by prior teaching activities or by retrieving a pre-stored treatment plan; The massage device 22 is used to massage the patient's knee according to the traditional Chinese medicine massage techniques established in advance; The constant-temperature traditional Chinese medicine external application device 23 is used to automatically supply traditional Chinese medicine liquid to the patient's knee according to a predetermined flow control strategy, while externally applying the medicine to the knee in a fitting manner and heating it at multiple points with constant temperature. The traditional Chinese medicine external application device can supply medicine automatically at the flow rate required by the doctor, with constant temperature control and adjustable temperature, uniform heating at multiple points, and a shape designed according to the human knee bone for close fitting. The medicine propulsion device continuously injects the pre-prepared traditional Chinese medicine liquid at the flow rate set by the doctor through a stepper motor. The knee bone external application device is designed according to the shape of the human knee bone to achieve good fitting, and has multiple-point heating and constant temperature control. It adopts a layered design, taking into account both the heating effect and biocompatibility. For different people, disposable stickers are used to avoid cross-infection.

[0022] The electrical stimulation device 24 is used to perform electrical stimulation on the muscle motor points in a transcutaneous manner according to a pre-set low-frequency pulsed current stimulation mode. Specifically, the electrical stimulation device acts on the muscle motor points with low-frequency pulsed current in a transcutaneous (surface electrical stimulation) manner, and uses its electrophysiological effect to cause the muscle to contract rhythmically, so as to achieve the purpose of neuromuscular training. The pulse frequency, pulse width, output current intensity, single output time, power-off time, and treatment time can all be adjusted in real time according to the patient's condition.

[0023] The multifunctional comprehensive treatment system for knee osteoarthritis in this embodiment adopts a four-in-one treatment method, integrating rehabilitation exercise, traditional Chinese medicine massage, traditional Chinese medicine external application, and electrical stimulation. It can be dynamically adjusted according to the patient's symptoms, or a fixed program can be called for automatic execution. The massage process realizes automatic operation, and the rehabilitation exercise and massage actions are precisely controllable. The control software pre-records the traditional Chinese medicine massage techniques and rehabilitation exercise techniques through a teaching method, and at the same time records the force table of the massage, so that the massage techniques have perfect consistency and can be popularized. A personalized treatment plan can be input through the control software. The control software comes with a model library, simplifying the operation process. The injection process realizes automatic operation, and the injection rate and heating temperature are precisely controllable. The control software realizes autonomous adjustment of each parameter, quantifying the traditional Chinese medicine external application process. The heating process realizes constant temperature heating, and the temperature is adjustable in segments. The control software comes with a forming plan, and users can also save their own commonly used plans, simplifying the operation process. Uniform heating at multiple points avoids uneven heating of different parts of the knee. At the same time, it can also be deliberately designed to use different temperatures for heating at different points to achieve differential heating.

[0024] Further, the passive rehabilitation exercise device 21 includes a leg support device 211 and a rehabilitation exercise robotic arm 212 for dragging the leg support device to move. The leg support device 211 is fixedly arranged on one side of the end of the rehabilitation exercise robotic arm 212. Optionally, in this embodiment, the rehabilitation exercise robotic arm adopts the Thor12 of Thinker Robotics, taking into account the requirements of EMC and electrical safety in medical application scenarios while considering large loads.

[0025] Further, the massage device 22 includes a position controller (not shown in the figure), a massage robotic arm 221, a three-finger electric gripper 222 provided at the end of the massage robotic arm, and a plastic glove (not shown in the figure). A plastic tactile glove is put on the three-finger electric gripper. The plastic tactile glove is provided with a force sensor for massage strength. The rehabilitation exercise robotic arm has the function of capturing its position in real time. In this embodiment, putting a plastic glove on the three-finger electric gripper can significantly improve the comfort of massage.

[0026] Optionally, in this embodiment, the massage robotic arm uses the DIANA7 of Think. Each joint has a good force control effect, improving the safety of the product for the human body. The three-finger electric gripper uses The Robotiq 3-Finger Adaptive Robot Gripper, which not only ensures the strength requirements of traditional Chinese medicine massage but also pays attention to the fitting property of grasping circular objects.

[0027] The rehabilitation exercise robotic arm can dynamically adjust the massage position and force applied to the patient according to the target pose and force input by the user received by the control software, as well as the position information and massage strength information of the massage robotic arm reciprocating robotic arm feedback by the force sensor in real time, as Figure 4 shown.

[0028] Further, the traditional Chinese medicine massage technique is pre-established in the following way: Let an expert wear the rubber tactile glove to perform manipulative therapy on a volunteer or a human model, and record the force magnitude and force distribution data on the glove throughout the process; Use the force magnitude and force distribution data to train the rehabilitation system to form a massage expert system. At the same time, let the expert drag the end of the rehabilitation exercise robotic arm according to the traditional Chinese medicine technique, and the robotic arm records the relative path throughout the process to form a rehabilitation exercise expert system.

[0029] According to this embodiment, impedance control is realized by using a collaborative robot, so that the system has compliance, improving the manipulability and safety. The gripper at the end of the robot is equipped with a force sensor and can control the force applied to the patient, so that force feedback can be realized in the software.

[0030] Further, as Figure 5 shown, the constant temperature traditional Chinese medicine external application device 23 includes a control board 231, a drug propulsion device 232, and a knee external application device 233. In practical applications, the control board 231 and the drug propulsion device 232 are integrated inside the trolley. The knee external application device 233 is placed in the drawer on the side of the trolley when not in use and taken out when treatment is needed.

[0031] The constant-temperature traditional Chinese medicine external application device 23 is used to automatically supply traditional Chinese medicine liquid to the patient's knee according to a predetermined flow control strategy, and at the same time, perform conforming external application and multi-point constant-temperature heating on the knee, including: Among them, the parameters of the flow control strategy in the control software 1 include the segmented flow rate and the corresponding duration of the flow rate, the total heating duration, the target temperature of each period and the duration of each period; The drug propulsion device 232 is used to inject traditional Chinese medicine liquid into the knee external application device 233 according to the liquid injection speed information preset in the control software; The knee external application device 233 is attached to the patient's knee and is used to perform multi-point constant-temperature heating on the patient's knee and the liquid medicine according to the preset heating information.

[0032] Further, among them, as Figure 11 shown, the knee external application device 233 includes a plastic substrate 2331 with optional specifications, a plurality of heating electrode sheets 2332 sequentially arranged on the plastic substrate, a traditional Chinese medicine liquid penetration pipeline 2333 and an external connection cable 2334. Among them, the knee external application device 233 is connected to the power supply and the control board 231 through the external connection cable 2334, and heats the patient's knee and the liquid medicine through the plurality of heating electrode sheets 2332. The traditional Chinese medicine liquid penetration pipeline 2333 is used to transmit the liquid medicine and penetrate it into the medical material.

[0033] In this embodiment, in order to adapt to the knee sizes of different people, there are several specifications of the plastic substrate to choose from. Preferably, among them, the material of the plastic substrate 2331 with optional specifications is a medical material that meets biocompatibility. The traditional Chinese medicine liquid penetrates through the penetration pipeline and penetrates into the medical material.

[0034] Further, among them, as Figure 6 shown, the drug propulsion device 232 includes a syringe 2321, a power driving device 2322, a moving component 2323, a displacement sensor 2324, a support and fixing component 2325, a medicine delivery pipe component 2326, and a guiding pipe component 2327. The syringe is fixed on the support and fixing component. As Figure 10As shown, the moving component 2323, driven by the power drive device 2322, pushes the piston end of the syringe 2321 forward to move and thereby pushes the medicine in the syringe 2321 into the medicine delivery tube component 2326. One end of the displacement sensor 2324 is fixed on the fixed end of the supporting fixed component, and the other end is fixed on the moving component 2323. During the movement, the displacement sensor 2324 feeds back the displacement value to the control board 231, and the control board 231 adjusts the moving speed of the moving component 2323, thereby adjusting the drug injection rate. Because the knee external compress is dry at the beginning, a higher flow rate is required. Later, when there is more liquid, the flow rate needs to be appropriately reduced. The control software stores the segmented flow rate and the duration corresponding to the flow rate, the total heating time, the target temperature of each period and the duration of each period. These parameters can be manually entered or pre-stored for several sets of molding solutions. Table 1 is a built-in parameter table.

[0035] Table 1 Built-in parameter table

[0036] like Figures 7 - 8 As shown, the medicine delivery tube assembly 2326 has one end connected to the injection end of the syringe 2321, and the other end is inserted into the guide tube assembly 2327, and the guide tube assembly 2327 is connected to the knee external application device 233 through the Chinese medicine liquid infiltration pipeline; wherein, the medicine delivery tube assembly 2326 includes a needle seat 23261, a soft catheter 23262, and a medicine delivery tube 23263; One end of the guide tube assembly 2327 connected to the knee external application device 233 passes through the center hole of the guide tube locking assembly, and the other end is inserted into the center hole of the medicine delivery tube locking assembly 2328 and fixed to the medicine delivery tube locking assembly 2328; the guide tube locking assembly 2329 can move on the guide tube assembly 2327, and when the length of the guide tube assembly 2327 extending out of the guide tube locking assembly 2329 reaches a predetermined length, the guide tube locking assembly 2329 is locked so that the relative position of the guide tube locking assembly 2329 and the guide tube assembly 2327 is fixed; according to the above structure, the extension length of the guide tube can be adjusted and fixed separately as needed, and the structure is simple, and the catheter position can be positioned without the aid of external equipment or tools.

[0037] like Figure 9As shown, the guiding tube assembly 2327 includes a first guiding tube 23271 and a second guiding tube 23272. The second guiding tube 23272 is inserted into the central lumen of the first guiding tube 23271, and a partial space dimension is reserved between the end of the second guiding tube 23272 close to the knee external application device 233 and the end of the first guiding tube 23271 connected to the knee external application device 233. The other end of the second guiding tube 23272 is not completely inserted into the first guiding tube 23271. After the guiding tube locking assembly 2329 is locked, the relative position of the guiding tube locking assembly 2329 and the first guiding tube 23271 is fixed, and the relative positions of the first guiding tube 23271 and the second guiding tube 23272 are fixed. One end of the medicine delivery tube 23263 is fixedly connected to one end of the soft catheter 23262, and the other end of the soft catheter 23262 is fixedly connected to the needle base 23261. The medicine delivery tube 23263 is inserted into the second guiding tube 23272 of the guiding tube assembly 2327. When it reaches a predetermined length, the medicine delivery tube locking assembly 2328 is tightened so that the relative position of the medicine delivery tube 23263 and the second guiding tube 23272 is fixed.

[0038] Further, the preset liquid medicine injection speed information includes the total injection duration, the injection speed of each injection stage, and the duration of each injection stage. The preset heating information includes the total heating duration, the heating temperature of each heating stage, and the heating duration of each heating stage.

[0039] Further, as Figure 12a 、 12b shown, the electrical stimulation device 24 includes an electrical stimulator 241, a lead wire 242 for transmitting electrical signals, and electrode patches 243. The electrical stimulator 241 is integrated inside the trolley, and four electrical stimulation electrodes are exposed. The electrode patches 243 and the lead wire 242 are placed in a drawer on the side of the trolley when not in use and taken out when treatment is needed. The electrical stimulator 241 is provided with multiple electrical stimulation electrodes, and its pulse frequency, pulse width, output current intensity, single output time, power-off time, and treatment time can all be adjusted in real time according to the patient's condition. In this embodiment, the electrical stimulation device acts on the muscle motor points in a transcutaneous (surface electrical stimulation) manner with low-frequency pulsed current, and uses its electrophysiological effect to make the muscles contract rhythmically so as to achieve the purpose of neuromuscular training.

[0040] The control software 1 pre-collects three-dimensional passive rehabilitation exercise therapy and traditional Chinese medicine massage techniques before treatment; during the treatment process, it provides a user interface, supports personalized treatment plans, and pre-enters parameters such as the liquid medicine injection speed, heating time, heating temperature, etc. During the treatment process, it uniformly commands and schedules each component, monitors and controls the treatment parameters, enables them to cooperate with each other, achieves a better treatment effect, and automatically completes the treatment process. During on-site treatment, personalized parameters related to the current patient, such as the treatment course, massage time, heating time, heating temperature, etc. of the current patient, are entered through the user interface; and the rehabilitation strategy is dynamically adjusted according to the expert system and the patient's physiological data, so as to achieve personalized treatment.

[0041] (1) When using this system to treat a patient, the operation process of the passive rehabilitation exercise and traditional Chinese medicine massage parts involved in the treatment process is as follows: a. Pre-collect the massage parts and the corresponding intensities, and import the data into the control software; b. Teach the massage robotic arm and the rehabilitation exercise robotic arm, and the control software needs to record the entire process; c. Since the expert system is pre-integrated in the software, there are various traditional Chinese medicine massage techniques to choose from. Select a massage technique, such as Figure 13 shown; d. Enter the personalized parameters of the current patient, such as Figure 14 shown, and the personalized treatment plan; e. Enter the relative position of the rehabilitation exercise robotic arm relative to the main trolley, so that the two robotic arms will not collide with each other during the collaborative massage process; f. After the massage starts, the passive rehabilitation exercise device supports the patient's calf for three-dimensional rehabilitation exercise. At the same time, the massage device massages the patient's patella according to the pre-taught traditional Chinese medicine massage technique until the whole process ends.

[0042] (2) When using this system to treat a patient, the operation steps of traditional Chinese medicine external application involved in the treatment process include: a. First, use a syringe of unified size (which is convenient for measuring displacement and uniformly calculating the number of steps of the stepper motor) to extract the traditional Chinese medicine liquid medicine pre-heated to the specified temperature and place it at the specified position of the device; b. The input device enters the segmented flow rate and the corresponding duration of this flow rate, the total heating duration, the target temperature of each period and the duration of each period. These parameters can be entered manually or directly call the formed plan; c. Place the knee external application device on the patient's knee, fix it, and click the start button; d. Under the control of the control software, the drug propulsion device injects the drug into the knee external application device at the set injection speed of the current stage; e. When the liquid medicine is injected until time T1, the heating sheet in the knee external application device starts to heat, with multi-point uniform heating, or each point can be heated at different temperatures. During the heating process, the PID algorithm is used for constant temperature heating.

[0043] f. When the liquid medicine is injected until time T2, since the liquid in the knee external application device is sufficient, the injection speed starts to decrease. During the injection process, feedback is relied on the displacement sensor to ensure the injection accuracy.

[0044] g. During the subsequent treatment process, according to the previous settings, the heating temperature and the liquid medicine injection speed are changed in stages. h. After reaching the total duration, the heating and the liquid medicine injection are stopped.

[0045] (3) When using this system to treat a patient, the operation steps of the electrostimulation part involved in the treatment process include: a. The doctor pastes the electrode patches at the designated positions on the patient's body and connects the lead wires. b. Set the pulse frequency, pulse width, output current intensity, single output time, power-off time, treatment time, and click Start Treatment. c. During the treatment process, the parameters can be adjusted in real time according to the patient's condition.

[0046] It should be understood that various forms of the process shown above can be used, with steps reordered, added, or deleted. For example, the steps recorded in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solution disclosed in this disclosure can be achieved. This is not limited herein.

[0047] The above specific embodiments do not constitute a limitation to the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A multifunctional comprehensive treatment system for knee osteoarthritis based on dual robotic arms, characterized in that: include: Control software, and a comprehensive treatment module for data interaction with the control software, wherein the comprehensive treatment module includes a passive rehabilitation exercise device, a massage device, a constant temperature Chinese medicine external application device and an electrical stimulation device; wherein, The passive rehabilitation exercise device is used to drag the patient's lower leg to perform three-dimensional passive rehabilitation exercise according to the three-dimensional passive rehabilitation exercise therapy pre-established before treatment, wherein the path of the passive rehabilitation exercise is completed by a prior teaching activity or by calling a pre-stored treatment plan; The massage device is used to massage the patient's knee according to a pre-established Chinese medicine massage technique; The constant temperature Chinese medicine external application device is used to automatically supply Chinese medicine liquid to the patient's knee according to a predetermined flow control strategy while performing fitting external application and multi-point constant temperature heating on the knee; The electrical stimulation device is used to perform electrical stimulation on muscle motor points in a transcutaneous manner according to a preset low-frequency pulse current stimulation mode.

2. The multifunctional comprehensive treatment system for knee osteoarthritis according to claim 1, characterized in that: in, The passive rehabilitation exercise device comprises a leg supporting device and a rehabilitation exercise mechanical arm for dragging the leg supporting device to move, and the leg supporting device is fixedly arranged on one side of the end of the rehabilitation exercise mechanical arm.

3. The multifunctional comprehensive treatment system for knee osteoarthritis according to claim 1, characterized in that: in, The massage device comprises a rehabilitation motion mechanical arm, a massage mechanical arm, a three-finger electric gripper and a plastic glove arranged at the end of the massage mechanical arm, a plastic tactile glove is put on the three-finger electric gripper, and the plastic tactile glove is provided with a force sensor for collecting massage force, and the rehabilitation motion mechanical arm has the function of capturing its position in real time; The rehabilitation motion robotic arm is used to dynamically adjust the massage position and force applied to the patient based on the target posture and force input by the user received by the control software, as well as the position information and massage force information of the rehabilitation motion robotic arm fed back in real time by the rehabilitation motion robotic arm and the force sensor.

4. The multifunctional comprehensive treatment system for knee osteoarthritis according to claim 3, characterized in that: in, The Chinese medicine massage technique is pre-established in the following manner: Have the expert wear a rubber tactile glove to perform manual therapy on the volunteer or mannequin, and record the force magnitude and force distribution data on the glove throughout the process; The force magnitude and force distribution data are used to train the rehabilitation system to form a massage expert system. At the same time, an expert drags the end of the rehabilitation movement robotic arm according to traditional Chinese medicine techniques, and the robotic arm records the relative path throughout the process to form a rehabilitation movement expert system.

5. The multifunctional comprehensive treatment system for knee osteoarthritis according to claim 1, characterized in that: in, The constant temperature Chinese medicine external application device comprises a control panel, a medicine propulsion device and a knee external application device; The constant temperature Chinese medicine external application device is used to automatically supply Chinese medicine liquid to the patient's knee according to a predetermined flow control strategy, and at the same time, the knee is applied externally and heated at multiple points at a constant temperature. include: The parameters of the flow control strategy in the control software include segmented flow rate and the duration corresponding to the flow rate, the total heating time, the target temperature of each time period and the duration of each time period; The medicine propulsion device is used to push the Chinese medicine liquid into the knee external application device according to the medicine liquid push injection speed information preset in the control software; The knee external application device fits the patient's knee and is used to perform multi-point constant temperature heating on the patient's knee and the medicine solution according to pre-set heating information.

6. The multifunctional comprehensive treatment system for knee osteoarthritis according to claim 5, characterized in that: in, The knee external application device comprises a plastic substrate of selectable specifications, a plurality of heating electrode sheets sequentially arranged on the plastic substrate, a Chinese medicine liquid infiltration pipeline and an external connection cable, wherein: The knee external application device is connected to the power supply and the control panel via the external connection cable, and heats the patient's knee and the medicine liquid via the multiple heating electrode sheets. The Chinese medicine liquid infiltration pipeline is used to transport the medicine liquid and infiltrate it into the medical material.

7. The multifunctional comprehensive treatment system for knee osteoarthritis according to claim 6, characterized in that: in, The drug propulsion device comprises a syringe, a power drive device, a moving component, a displacement sensor, a support and fixed component, a drug delivery tube component, and a guide tube component. The syringe is fixed on the support and fixed component. The moving component pushes the piston end of the syringe forward under the drive of the power drive device to push the drug in the syringe into the drug propulsion device. One end of the displacement sensor is fixed on the fixed end of the support and fixed component, and the other end is fixed on the moving component. During the movement, the displacement sensor feeds back the displacement value to the control board, and the control board adjusts the moving speed of the moving component, thereby adjusting the drug injection rate. The medicine delivery tube assembly has one end connected to the injection end of the syringe and the other end inserted into the guide tube assembly, and the guide tube assembly is connected to the knee external application device via a Chinese medicine liquid infiltration pipeline; wherein the medicine delivery tube assembly includes a needle seat, a soft catheter, and a medicine delivery tube; One end of the guide tube assembly connected to the knee external application device passes through the central hole of the guide tube locking assembly, and the other end is inserted into the central hole of the medicine delivery tube locking assembly and fixed to the medicine delivery tube locking assembly; the guide tube locking assembly can be moved on the guide tube assembly, and when the length of the guide tube assembly extending out of the guide tube locking assembly reaches a predetermined length, the guide tube locking assembly is locked so that the relative position of the guide tube locking assembly and the guide tube assembly is fixed; The guide tube assembly includes a first guide tube and a second guide tube, the second guide tube is inserted into the central tube cavity of the first guide tube and some space is reserved between one end of the second guide tube close to the knee external application device and one end of the first guide tube connected to the knee external application device, the other end of the second guide tube is not completely inserted into the first guide tube, and after the guide tube locking assembly is locked, the relative positions of the guide tube locking assembly and the first guide tube are fixed, and the relative positions of the first guide tube and the second guide tube are fixed; one end of the drug delivery tube is fixedly connected to one end of the soft catheter, and the other end of the soft catheter is fixedly connected to the needle seat, the drug delivery tube is inserted into the second guide tube of the guide tube assembly, and when a predetermined length is reached, the drug delivery tube locking assembly is locked to fix the relative positions of the drug delivery tube and the second guide tube.

8. The multifunctional comprehensive treatment system for knee osteoarthritis according to claim 1, characterized in that: The preset drug solution injection speed information includes the total injection time, the injection speed of each injection stage and the duration of each injection stage; The preset heating information includes the total heating time, the heating temperature of each heating stage and the heating time of each heating stage.

9. The multifunctional comprehensive treatment system for knee osteoarthritis according to claim 1, characterized in that: in, The electrical stimulation device includes an electrical stimulator, lead wires for conducting electrical signals and electrodes. The electrical stimulator is provided with a plurality of electrical stimulation electrodes and its pulse frequency, pulse width, output current intensity, single output time, power-off time and treatment time can be adjusted in real time according to the patient's condition.

10. The multifunctional comprehensive treatment system for knee osteoarthritis according to claim 6, characterized in that: in, The material of the plastic substrate of the optional specification is a medical material that meets biocompatibility.

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