Physiotherapy path regulation and control method and device of rehabilitation bed and rehabilitation bed

Abstract

The invention belongs to the field of auxiliary medical instruments, and provides a physical therapy path regulation and control method and device of a rehabilitation bed and the rehabilitation bed aiming at the problem that the rehabilitation bed adopts a fixed physical therapy path and is difficult to adapt to various user requirements, and the method comprises the following steps: acquiring initial contour information of a target object according to a physical therapy starting instruction; adjusting the initial position of the traction block according to the initial contour information to obtain an initial position set; determining a corresponding physiotherapy basic path model according to a physiotherapy control instruction from a user; modulating the physiotherapy basic path model according to the initial position set to obtain a physiotherapy target path model; and when the traction block is driven to move according to the physiotherapy target path model, the physiotherapy target path model is modulated and updated according to the feedback signal and a preset physiotherapy feedback rule. And setting an initial position set according to the obtained contour of the target object so as to adjust the physiotherapy basic path model selected by the user, thereby realizing fine adjustment of the physiotherapy path according to the body form of the target object.

Description

Technical Field

[0001] This application relates to the field of control of auxiliary medical devices, and particularly to a physical therapy path regulation method, device, and rehabilitation bed for a rehabilitation bed. Background Art

[0002] A rehabilitation bed is a device that assists in physical therapy through traction and stretching. Existing rehabilitation beds often operate according to preset track paths. To adapt to target objects with different physical signs, the invention application with the application number CN202310823583.7 discloses an electric lifting physical therapy massage bed, which proposes to make the rehabilitation bed height-adjustable and angle-adjustable. However, the shape of the part of the bed surface that can contact the human body remains fixed. Facing target objects with different morphological characteristics (such as hunchback, scoliosis), only the staff can rely on to select from the existing paths. These fixed paths cannot fully fit the body shape of the target object. For example, a target object with a fat body type requires the traction block to be more outward, a target object with a thin body type requires the traction block to be more inward, and a target object with a scoliosis condition needs to adjust the horizontal position and depth position of the traction block according to its own shape. And for these target objects with different body types, it is also necessary to customize a suitable movement path for the traction block, eliminating the trouble that the target object needs to frequently adjust its own position during physical therapy to ensure the physical therapy effect. For this reason, a traction block regulation method, device, and rehabilitation bed that can be adaptively adjusted according to the physical condition of the target object are proposed. Summary of the Invention

[0003] In order to solve the problem that the existing rehabilitation bed with a fixed physical therapy path is difficult to adapt to the body shapes of various target objects, a physical therapy path regulation method, device, and rehabilitation bed for a rehabilitation bed are proposed.

[0004] A physical therapy path regulation method, device, and rehabilitation bed provided by this application adopt the following technical solutions: A physical therapy path regulation method for a rehabilitation bed, applied to a rehabilitation bed with multiple traction blocks, the method includes: Obtain the initial contour information of the target object according to the physical therapy start instruction from the user; Adjust the initial positions of the traction blocks according to the initial contour information to meet the physical therapy initial rules, and obtain an initial position set; Determine the corresponding physical therapy basic path model according to the physical therapy control instruction from the user; Modulate the physical therapy basic path model according to the initial position set to obtain a physical therapy target path model; When driving the traction block to move according to the physical therapy target path model, obtain a feedback signal generated from the reflection detection signal of the target object, and modulate and update the physical therapy target path model according to the feedback signal according to a preset physical therapy feedback rule.

[0005] By adopting the above technical solution, an initial position set is set according to the obtained contour of the target object, and then the physical therapy basic path model selected by the user is adjusted based on the initial position set, so as to realize the adjustment of the physical therapy path for the body shape of the target object, and ensure that during the working process of the rehabilitation bed, the movement of the traction block is adjusted according to the body curve of the target object. This case will further adjust and update the target physical therapy path according to the feedback signal during the physical therapy process, ensuring that when the rehabilitation bed is working, the traction position for the target object is appropriate, and the strength / depth when limiting the target object can be appropriate.

[0006] Optionally, obtaining the initial contour information of the target object according to the physical therapy start instruction from the user includes: According to the physical therapy start instruction from the user, start the position sensor of the rehabilitation bed; According to the fixed position information of the position sensor and the target position signal feedback after the position sensor is started, obtain the target site information; According to all the target site information, obtain the initial contour information of the target object according to a preset drafting rule.

[0007] By adopting the above technical solution, the rehabilitation bed starts the position sensor under the physical therapy start instruction. After the position sensor is started, it emits a detection signal in the direction of the target object and receives the target position signal reflected back after the detection signal contacts the surface of the target object. According to the feedback target position signal and the fixed position information of the position sensor itself, the target site information is calculated. Then, these target site information are sorted out and, according to the drafting rule, the initial contour information of the target object is planned.

[0008] In this case, the target object is detected by the position sensor to obtain the initial contour information, which is beneficial to subsequent adjustment of the physical therapy basic path model corresponding to each traction block according to the initial contour of the target object, optimizing the physical therapy path, realizing the adaptive adjustment of the physical therapy path of the rehabilitation bed according to the physical condition of the target object, and improving the adaptability of the rehabilitation bed during physical therapy.

[0009] Optionally, adjusting the initial position of the traction block according to the initial contour information to meet the physical therapy initial rule to obtain an initial position set includes: According to the initial contour information and a plurality of preset basic limit points, obtain the effective limit points within the initial contour information; The position whose distance from the effective limit point satisfies the initial physiotherapy rule is used as the initial limit point, and the initial limit points are aggregated into the initial position set.

[0010] By adopting the above technical solution, based on the preset basic limit points and combined with the site mapping rule, the corresponding effective limit points in the initial contour information are found, and the effective limit points are the optimal positions of the traction block on the rehabilitation bed during operation in theory. However, considering that the ability to adjust the position of the traction block on the rehabilitation bed in actual application is limited and it may be difficult to reach the position of the effective limit point, the initial physiotherapy rule is also set in this case. Under the condition of ensuring the physiotherapy effect, the qualified initial limit points are selected as the lower-level substitutes for the foregoing effective limit points, and these initial limit points are set as the initial position set according to these initial limit points. The initial position set means that the initial position or movement trajectory of the traction block on the rehabilitation bed can be made to match the actual body contour of the target object as much as possible. Ensuring that the physiotherapy process carried out by the rehabilitation bed can truly adjust the movement trajectory according to the physical condition of the target object is beneficial to the care of people with body deformities.

[0011] Optionally, determining the corresponding physiotherapy basic path model according to the physiotherapy control instruction from the user, including: searching for the corresponding physiotherapy basic path model from the preset database according to the physiotherapy control instruction generated by the button touch on the rehabilitation bed; Modulating the physiotherapy basic path model according to the initial position set to obtain the physiotherapy target path model, including: finding multiple physiotherapy alternative path models corresponding to the physiotherapy basic path model from the preset database; calculating the distance values between each physiotherapy alternative path model and the initial position set, and taking the physiotherapy alternative path model corresponding to the minimum distance value as the physiotherapy target path model.

[0012] By adopting the above technical solution, a plurality of physiotherapy control instructions are stored in the preset database, each physiotherapy control instruction corresponds to a physiotherapy basic path model, and each physiotherapy basic path model is equipped with a corresponding plurality of physiotherapy alternative path models. Buttons are set on the rehabilitation bed, and when the buttons are triggered, physiotherapy control instructions are generated, and the corresponding physiotherapy basic path models are searched from the database according to the physiotherapy control instructions, so as to realize the selection of the basic working mode. Subsequently, after confirming the physiotherapy basic path model, the closest one is selected from the multiple physiotherapy alternative path models as the physiotherapy target path model, so as to realize the optimization of the physiotherapy basic path model.

[0013] Optionally, modulating the physiotherapy basic path model according to the initial position set to obtain the physiotherapy target path model, including: Modulate the physical therapy basic path model according to the set of initial positions until the difference degree between the data set of the physical therapy basic path model at the initial moment and the set of initial positions meets the preset difference degree requirement, and use the modulated physical therapy basic path model as the physical therapy target path model.

[0014] By adopting the above technical solution, directly modulate the physical therapy basic path model according to the set of initial positions until the difference degree between the physical therapy basic path model and the set of initial positions meets the requirement. By directly modulating the physical therapy basic path model, the physical therapy target path model is obtained.

[0015] Optionally, when driving the traction block to move according to the physical therapy target path model, obtain the feedback signal generated by the reflected detection signal from the target object, including: Generate a time-driven signal sequence according to the physical therapy start instruction from the user and in combination with the physical therapy target path model, where the time-driven signal sequence includes corresponding time information and drive signals; drive the traction block to move along the physical therapy target path model according to the drive signals; According to the physical therapy start instruction from the user, the traction block applies an external force corresponding to the physical therapy start instruction to the target object, and the traction block obtains the feedback signal generated by the reflected detection signal from the target object, and the feedback signal corresponds to the external force.

[0016] Through the above technical solution, after the rehabilitation bed is started according to the physical therapy start instruction, it drives the traction block to move according to the corresponding physical therapy target path model, and, while moving, these traction blocks will also adjust the pressure applied to the target object by themselves according to the feedback signal, on the one hand, avoiding discomfort caused by excessive compression to the target object, and on the other hand, it can also realize the traction stretching rehabilitation movement for the target object within the specified range.

[0017] Optionally, modulate and update the physical therapy target path model according to the feedback signal according to the preset physical therapy feedback rule, including modulating and updating the physical therapy target path model according to the movable range of the traction block, specifically: Calculate the depth value according to the physical therapy target path model and the default position of the traction block; Adjust the physical therapy target path model according to the depth value to meet the movable range of the traction block, and update the physical therapy target path model.

[0018] By adopting the above technical solution, modulate the physical therapy target path model according to the movable range of each actual traction block in the rehabilitation bed to ensure that the rehabilitation bed can drive the traction block according to the physical therapy target path model.

[0019] Optionally, adjust the physical therapy target path model according to the depth value to meet the movable range of the traction block, and update the physical therapy target path model, including, when the depth value exceeds the movable range of the traction block, replacing the corresponding site of the physical therapy target path model with the maximum distance site of the traction block in the depth value direction, so as to update the physical therapy target path model.

[0020] The present invention also provides a physical therapy path control device for a rehabilitation bed, including: An instruction acquisition module, configured to receive a physical therapy start instruction and a physical therapy control instruction from a user; A contour acquisition module, configured to acquire initial contour information of a target object according to the physical therapy start instruction; An initial position adjustment module, configured to adjust the initial position of the traction block according to the initial contour information to meet the physical therapy initial rule, and obtain an initial position set; A physical therapy basis selection module, configured to determine a corresponding physical therapy basis path model according to the physical therapy control instruction; A physical therapy basis modulation module, configured to modulate the physical therapy basis path model according to the initial position set to obtain a physical therapy target path model; A physical therapy driving module, configured to drive the traction block to move according to the physical therapy target path model; A physical therapy feedback signal acquisition module, configured to receive a feedback signal corresponding to the external force applied by the traction block to the target object; A depth modulation module, configured to modulate and update the physical therapy target path model according to the movable range of the traction block.

[0021] The present invention also provides a rehabilitation bed, including an upper trunk physical therapy group, a lower trunk physical therapy group, a traction block, a driving device, and a physical therapy path control device of the rehabilitation bed to implement the above physical therapy path control method; the instruction generation module includes a start button, a mode control button, and a close button, the start button is used to turn on the power supply and generate a physical therapy start instruction, the mode control button is used to generate a physical therapy control instruction, and the close button is used to disconnect the power supply.

[0022] By adopting the above technical solution, a position sensor is usually arranged in the traction block to sense the initial contour information of the target object, and then adjust its own movement trajectory. According to the body shape of the target object, the original basic limit points under various physiotherapy modes are adjusted to obtain effective limit points, and further expanded into an initial position set according to reasons such as errors. Then, the physiotherapy basic path model is modulated according to the initial position set to obtain the physiotherapy target path. Furthermore, the driving device drives the traction block to move according to the physiotherapy target path model and updates the initial position set and the physiotherapy target path in real time. It realizes adjusting the position of the traction block used for limiting the target object according to the body shape of the target object. It is worth mentioning that the basic limit point can not only be a clamping action that fits the target object, but also an action of relaxing and kneading the clamping part of the target object to ensure the physiotherapy effect (such as clamping once, loosening once, clamping forcefully, and then relaxing again, this kind of pinching cycle).

[0023] In summary, the present application includes at least one of the following beneficial technical effects: 1. Set the initial position set according to the obtained contour of the target object, and then adjust the selected physiotherapy basic path model based on the initial position set, realizing the adjustment of the physiotherapy path for the body shape of the target object, ensuring that during the physiotherapy process, the traction block used for limiting can fit the body curve of the target object, ensuring the limiting effect, and other traction blocks will also fine-tune their respective corresponding physiotherapy paths according to the body curve of the target object during the physiotherapy process.

[0024] 2. This case also sets the initial physiotherapy rule. Under the condition of ensuring the physiotherapy effect, select the eligible initial limit points as the lower-level substitutes for the aforementioned effective limit points, and set them as the initial position set according to these initial limit points.

[0025] 3. When the button is triggered, a physiotherapy control instruction is generated, and the corresponding physiotherapy basic path model is searched from the database according to the physiotherapy control instruction, so as to realize the selection of the basic working mode. Subsequently, after confirming the physiotherapy basic path model, select the closest one from multiple physiotherapy alternative path models as the physiotherapy target path model, so as to realize the optimization of the physiotherapy basic path model.

[0026] 4. Determine whether the process of modulating the physiotherapy basic path model by the initial position set is completed according to whether the difference degree between the physiotherapy basic path model and the initial position set meets the requirements, and use the modulated physiotherapy basic path model as the physiotherapy target path model, realizing the determination of whether the modulation process is completed and avoiding over-modulation.

[0027] 5. By adjusting the depth of the movement path of the traction block for limiting, an ideal limiting effect of adopting different clamping depths according to the body shape of the target object is achieved. According to the feedback signal collected when the traction block works and the preset physical therapy feedback rule, the depth value is calculated to realize further real-time adjustment of the movement path of the traction block. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the distribution of the traction blocks of a rehabilitation bed in the first embodiment of the present invention; Figure 2 is a flowchart of a physical therapy path regulation method of a rehabilitation bed in the first embodiment of the present invention; Figure 3 is Figure 2 a flowchart of step 101 in Figure 4 is Figure 2 another flowchart of step 101 in Figure 5 is Figure 2 a flowchart of step 102 in Figure 6 is Figure 2 a flowchart of step 104 in Figure 7 is Figure 2 a flowchart of step 106 in Figure 8 is a schematic diagram of the modules of a physical therapy path regulation device of a rehabilitation bed in the second embodiment of the present invention; Figure 9 is a schematic diagram of the modules of a rehabilitation bed in the third embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The following further describes the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] In the following description, for the purpose of explanation, many specific details are set forth in order to provide a thorough understanding of the inventive concept. As part of this specification, some of the drawings in the present disclosure represent structures and devices in block diagram form to avoid obscuring the disclosed principles. For clarity, not all features of the actual specific implementation need to be described. References to "a specific implementation" or "specific implementations" in the present disclosure mean that the particular features, structures, or characteristics described in connection with that specific implementation are included in at least one specific implementation, and multiple references to "a specific implementation" or "specific implementations" should not necessarily be construed as all referring to the same specific implementation.

[0031] Unless explicitly defined, the terms "a", "an", and "the" are not intended to refer to a singular entity, but rather to include the general category for which specific examples can be used for illustration. Thus, the use of the term "a" or "an" can mean any number of at least one, including "one", "one or more", "at least one", and "one or more than one". The term "or" means any one of the options and any combination of the options, including all options, unless the options are explicitly indicated to be mutually exclusive. The phrase "at least one of" when combined with a list of items refers to a single item in the list or any combination of the items in the list. The phrase does not require all of the listed items, unless explicitly so defined.

[0032] First Embodiment: The first embodiment of the present invention provides a method for regulating the physical therapy path of a rehabilitation bed, which is applied to a rehabilitation bed having a plurality of traction blocks. Refer to Figure 1 As shown, the rehabilitation bed includes an upper torso physical therapy group, a lower torso physical therapy group, traction blocks, a driving device (not shown in the figure), and a physical therapy path regulating device of the rehabilitation bed (not shown in the figure). The upper torso physical therapy group includes a head support block 301, a chest support block 302, and an upper torso main support block 303; the lower torso physical therapy group includes a lower torso main support block 306 and a leg support block 307; the traction blocks include an upper torso limit traction block 304, a lower torso limit traction block 305, and a leg limit traction block 308.

[0033] Among them, the head support block 301, the chest support block 302, the upper torso main support block 303, the lower torso main support block 306, and the leg support block 307 are all used to support the current target (i.e., the user) lying or sitting on the rehabilitation bed, and under the control of the driving device, move along the physical therapy basic paths of the respective support blocks corresponding to the physical therapy control instructions, so as to guide the movement of the target object's body. The upper torso limit traction block 304 and the lower torso limit traction block 305 are used to limit the position of the current target (i.e., the user) on the rehabilitation bed, and under the control of the driving device, move along the physical therapy basic paths of the respective limit traction blocks corresponding to the physical therapy control instructions, so as to limit the movement range of the target object on the rehabilitation bed and prevent the user from disengaging from the rehabilitation bed during physical therapy.

[0034] The method for regulating the physical therapy path of the rehabilitation bed provided by this solution mainly acts on the traction blocks for limiting, that is, at least one of the upper torso limit traction block 304, the lower torso limit traction block 305, and the leg limit traction block 308. Here, the traction block is an entire part, or can also be multiple separately controllable structural units. And the method for regulating the physical therapy path applied to the traction block in this case can also be applied to each support block of the upper torso physical therapy group and / or the lower torso physical therapy group, and the support block includes multiple separately controllable support units.

[0035] A physical therapy path control method for a rehabilitation bed includes: obtaining initial contour information of a target object according to a physical therapy start instruction from a user; adjusting an initial position of a traction block according to the initial contour information to meet an initial physical therapy rule, obtaining an initial position set; determining a corresponding basic physical therapy path model according to a physical therapy control instruction from the user; modulating the basic physical therapy path model according to the initial position set to obtain a target physical therapy path model; when driving the traction block to move according to the target physical therapy path model, obtaining a feedback signal generated by a reflection detection signal of the target object, and modulating and updating the target physical therapy path model according to the feedback signal according to a preset physical therapy feedback rule.

[0036] Set an initial position set according to the obtained contour of the target object, and then adjust the basic physical therapy path model selected by the user based on the initial position set to realize the adjustment of the physical therapy path for the body shape of the target object, ensuring that during the physical therapy process, the traction block for limiting fits the body curve of the target object. In this case, the target physical therapy path will be further adjusted and updated according to the feedback signal during the physical therapy process, ensuring that the depth information representing the limiting force is appropriate.

[0037] The implementation details of a physical therapy path control method for a rehabilitation bed in this embodiment will be specifically described below. The following content is only implementation details provided for convenient understanding and is not necessary for implementing this solution. The specific process of this embodiment is as Figure 2 shown and includes the following steps: Step 101, obtain initial contour information of a target object according to a physical therapy start instruction from a user.

[0038] Specifically, there are three ways to obtain a physical therapy start instruction: a. There is a button set on the rehabilitation bed, which can be a push-button, a touch button, or a touch panel, etc., installed on the selected device of the rehabilitation bed; b. Generated by a remote control device connected to the rehabilitation bed. The connection between the remote control device and the rehabilitation bed can be a Bluetooth connection or a connection in other frequency bands; c. A client that communicates with the rehabilitation bed. The user can control the client to scan the secret key on the rehabilitation bed or manually input the secret key and other methods to realize the communication connection between the client and the rehabilitation bed.

[0039] In some examples, referring to Figure 3 , obtaining initial contour information of a target object according to a physical therapy start instruction from a user includes: S1-1, start the position sensor of the rehabilitation bed according to the physical therapy start instruction from the user; S1-2, obtain target site information according to the fixed position information of the position sensor and the target position signal fed back after the position sensor is started; S1-3. According to all the target site information, obtain the initial contour information of the target object according to the preset formulation rules.

[0040] In this example, in S1-1, the acquisition of the user's physiotherapy start instruction can be obtained through the self-detection of the rehabilitation bed (for example, buttons are set on the rehabilitation bed to detect the button state), can be generated by obtaining other connected devices (for example, the remote control corresponding to the rehabilitation bed), and can also be obtained through the client connected by remote communication (for example, the client remotely communicatively connected to the rehabilitation bed to realize remote network control of the rehabilitation bed).

[0041] The position sensor is used to detect the initial contour information of the current target using the rehabilitation bed (which can be the user who generates the physiotherapy start instruction or other personnel). The position sensor can be installed at any position on the rehabilitation bed, can be set inside the traction block (including at least one of the upper torso limit traction block 304, the lower torso limit traction block 305, and the leg limit traction block 308 of the rehabilitation bed), can be set on the surface of the traction block, and can even be directly distributed on the surfaces of the upper torso physiotherapy group and the lower torso physiotherapy group of the rehabilitation bed.

[0042] The position sensor can adopt a pressure sensor to obtain the target position signal according to the pressure, calculate the target site information by combining its own fixed position information, and then fit these target site information through methods such as three-dimensional modeling to obtain the initial contour information of the target object. The position sensor can also adopt a method similar to scan feedback, and calculate the target site information according to the obtained target position signal and the fixed position information of the position sensor itself. The position sensor can even be replaced by other sensors that can detect the contour of the target object, such as a camera.

[0043] Sort out these target site information and plan the initial contour information of the target object according to the formulation rules (equivalent to modeling and fitting). Here, the formulation rules are pre-formulated rules, usually set as the rules for connecting smooth curves based on multiple points. In this case, the initial contour information of the target object is detected through the position sensor of the rehabilitation bed, which is beneficial for subsequently adjusting the physiotherapy basic path model according to the initial contour of the target object, optimizing the physiotherapy path, realizing the adaptive adjustment of the physiotherapy position / physiotherapy path of the rehabilitation bed according to the physical condition of the target object, and improving the accuracy of the rehabilitation bed during physiotherapy.

[0044] In some examples, to obtain the initial contour information of the target object, it can also be imported by authorized personnel through the client. The import method can be direct document scanning import (including scanning the QR code corresponding to the case), manual input of the file, or import from multiple alternative initial contour information. This case supports the automatic archiving and calling functions of the initial contour information. The acquisition of the initial contour information supports multiple methods, such as direct on-site collection, manual recording of relevant parameter information, such as the import of authorized users, such as selection during multiple archiving periods, and manual modification based on the archive.

[0045] In some examples, referring to Figure 4 , to obtain the initial contour information of the target object, it can also be: A camera is set on the rehabilitation bed. The camera periodically reads the initial images in the target direction. An image with the proportion of pixels conforming to human characteristics in the initial image reaching the default value (usually 80%) is selected as a valid image. Subsequently, image recognition is performed on the images within a preset length before and after the valid image to obtain the basic contour features corresponding to each valid image, and these basic contour features are fused to obtain the initial contour features.

[0046] In this example, the target direction is usually the conventional direction of using the rehabilitation bed, such as the directly upward direction of the rehabilitation bed, the direction on the common side for getting on the bed of the rehabilitation bed, etc. The camera periodically reads the initial images in the target direction to facilitate directly photographing the contour of the target object about to use the rehabilitation bed. The determination of human characteristics can be based on human skin color, or based on the reference image of the clothing matched with the rehabilitation bed (the target object needs to first put on the clothing corresponding to the rehabilitation bed when applying the rehabilitation bed), etc.

[0047] Through image recognition technology, the initial images corresponding to the camera on the rehabilitation bed are screened to reduce the amount of computation and improve the efficiency. Subsequently, the basic contour features corresponding to each valid image are identified according to the previous and subsequent image frames of each valid image, and then 3D modeling is performed again based on these basic contour features to obtain the initial contour features of the target object in the three-dimensional form.

[0048] Step 102, adjust the initial position of the traction block according to the initial contour information to meet the initial physiotherapy rule, and obtain the initial position set.

[0049] Specifically, set the initial position set according to the obtained contour of the target object to ensure that the rehabilitation bed can fit the body curve (initial contour information) of the target object before it officially runs. Referring to Figure 5 , adjust the initial position of the traction block according to the initial contour information to meet the initial physiotherapy rule, and obtain the initial position set, including: S2-1, obtaining effective limit points within the initial contour information according to the initial contour information and a plurality of preset basic limit points; S2-2, taking a position whose distance from the effective limit point satisfies the initial rule of physical therapy as an initial limit point, and grouping the initial limit points into the initial position set.

[0050] The initial contour information is the curve of the outer surface of the body of the target object (i.e., the body shape of the target object), and the basic limit point is the point in the basic motion curve corresponding to each preset traction block when the rehabilitation bed is in operation. The point where the outer surface curve of the body overlaps with the basic motion curve of each traction block is called the effective limit point, that is, the point that can effectively limit the spatial position of the target object in the physiotherapy path of the traditional traction block. Then, according to the preset basic limit point and the initial contour information, combined with the pre-set site mapping rules, find other effective limit points corresponding to the initial contour information. The effective limit point is theoretically the optimal position of the traction block corresponding to the current target when the rehabilitation bed is in operation. The site mapping rule is to compare the initial contour information with the basic contour information, so as to know the mapping relationship between each site between the target object and the standard object, apply the mapping relationship between the basic contour information and the basic limit point to the initial contour information, and find the effective limit point corresponding to the initial contour information.

[0051] Then, with the effective limit point as the center, the radial diffusion is performed along the line between the effective limit points to generate the initial position set. The initial rule of physical therapy represents the range of radial diffusion. In order to ensure the accuracy of physical therapy, the initial rule of physical therapy is usually set to a distance of 0, that is, the set composed of all effective limit points is used as the initial position set.

[0052] Taking into account the errors in actual application, the initial rule of physical therapy is set to a distance of a. At this time, all points whose distance difference with the effective limit point is within the range of a are used as initial limit points. The initial limit points are used as lower-level substitutes for the aforementioned effective limit points, and are set as initial position sets based on these initial limit points. The initial position set means to ensure that the initial position or motion trajectory of the traction block in the rehabilitation bed can fit the actual body contour of the target object as closely as possible. It ensures that the physical therapy process performed by the rehabilitation bed can truly adjust the motion trajectory according to the physical condition of the target object, which is conducive to the care of people with abnormal body shapes. The abnormal people here include target objects with partial deformities, partial swelling, etc., whose shapes are different from standard objects.

[0053] Step 103, determining a corresponding basic physical therapy path model according to the physical therapy control instruction from the user.

[0054] Specifically, the implementation of step 103 includes: searching for a corresponding basic physiotherapy path model from a preset database according to the user physiotherapy control instructions generated and / or received by the rehabilitation bed itself.

[0055] In this solution, the way to obtain the physiotherapy control instructions can be to directly generate them through the input devices on the rehabilitation bed (such as buttons, touches, switches, keyboards connected via serial ports), to generate them through a remote control (such as an infrared remote control) that communicates with the rehabilitation bed in a short-range manner, or to generate them through a client that communicates with the rehabilitation bed remotely. In this case, when a button is triggered, a user physiotherapy control instruction is generated, and a corresponding basic physiotherapy path model is searched from the database according to this physiotherapy control instruction, so as to realize the selection of the basic working mode.

[0056] In some examples, a plurality of physiotherapy control instructions are stored in the preset database, each physiotherapy control instruction corresponds to a basic physiotherapy path model, and each basic physiotherapy path model is equipped with a corresponding plurality of alternative physiotherapy path models. Step 103 includes: searching for a corresponding basic physiotherapy path model from the preset database according to the physiotherapy control instruction generated by the button trigger on the rehabilitation bed; finding a plurality of alternative physiotherapy path models corresponding to the basic physiotherapy path model from the preset database; calculating the distance value between each alternative physiotherapy path model and the initial position set, and taking the alternative physiotherapy path model corresponding to the minimum distance value as the physiotherapy target path model.

[0057] A plurality of physiotherapy control instructions are stored in the preset database, each physiotherapy control instruction corresponds to a basic physiotherapy path model, and each basic physiotherapy path model is equipped with a corresponding plurality of alternative physiotherapy path models. Buttons are set on the rehabilitation bed. When the button is triggered, a physiotherapy control instruction is generated, and a corresponding basic physiotherapy path model is searched from the database according to this physiotherapy control instruction, so as to realize the selection of the basic working mode. Subsequently, after confirming the basic physiotherapy path model, the closest one is selected from the plurality of alternative physiotherapy path models as the physiotherapy target path model, so as to realize the optimization of the basic physiotherapy path model.

[0058] Step 104, modulating the basic physiotherapy path model according to the initial position set to obtain a physiotherapy target path model.

[0059] Specifically, the initial position set is set according to the obtained contour of the target object, and then, based on the initial position set, the selected basic physiotherapy path model of the user is adjusted to realize the adjustment of the physiotherapy path for the body shape of the target object.

[0060] The initial position set is the set of positions of the intersections of the contour of the target object and multiple physical therapy paths. That is, the initial position set represents the physical therapy target points on the outer surface curve of the body that fit the current target during physical therapy. Then, when adjusting the basic physical therapy model, it can be to translate the basic physical therapy model so that the point closest to the target object falls within the initial position set. It can also be to order all the values of the protrusion depth of the basic physical therapy model towards the target object that exceed the value of the basic physical therapy model to be the landing points of the initial position set. Or it can be to translate the basic physical therapy model so that the central position point between the point closest to the target object and the point farthest from the target object is within the initial position set. This method is applied when the traction block that holds the user (target object) also supports simple physical therapy operations on the user such as pounding, pinching, and squeezing.

[0061] In some examples, referring to Figure 6 , modulating the basic physical therapy path model according to the initial position set to obtain a physical therapy target path model, including: S4-1, finding multiple alternative physical therapy path models corresponding to the basic physical therapy path model from a preset database; S4-2, calculating the distance value between each alternative physical therapy path model and the initial position set, and taking the alternative physical therapy path model corresponding to the minimum distance value as the physical therapy target path model.

[0062] The preset database stores multiple physical therapy control instructions. Each physical therapy control instruction corresponds to a basic physical therapy path model, and each basic physical therapy path model is equipped with corresponding multiple alternative physical therapy path models. After confirming the basic physical therapy path model, select the closest one from the multiple alternative physical therapy path models as the physical therapy target path model, thereby realizing the optimization of the basic physical therapy path model.

[0063] In other examples, modulating the basic physical therapy path model according to the initial position set to obtain a physical therapy target path model, including: Modulating the basic physical therapy path model according to the initial position set until the difference degree between the data set of the basic physical therapy path model at the initial moment and the initial position set meets the preset difference degree requirement, and taking the modulated basic physical therapy path model as the physical therapy target path model.

[0064] In this example, directly modulate the basic physical therapy path model according to the initial position set until the difference degree between the basic physical therapy path model and the initial position set meets the requirement. There are various ways to modulate the basic physical therapy path model, and any one of them is applicable in this case. By directly modulating the basic physical therapy path model, after the purpose of "the difference degree between the data set of the basic physical therapy path model at the initial moment and the initial position set meets the preset difference degree requirement" is achieved, a physical therapy target path model is obtained.

[0065] Step 105, when driving the traction block to move according to the physical therapy target path model, obtain the feedback signal generated from the reflection detection signal of the target object.

[0066] Specifically, the driving device of the rehabilitation bed drives each support block in the upper torso physical therapy group and the lower torso physical therapy group to move along the basic physical therapy path model direction corresponding to each support block (the upper torso physical therapy group includes the head support block 301, the chest support block 302, and the upper torso main support block 303, and the lower torso physical therapy group includes the lower torso main support block 306, the leg support block 307), and drives the traction blocks (the upper torso limit traction block 304, the lower torso limit traction block 305, and the leg limit traction block 308) to move along the respective physical therapy target path models corresponding to the theoretical control instructions, so as to perform traction stretching on the target object. After the traction block 300 in the rehabilitation bed is started, a detection signal will also be emitted to the target object. After the detection signal contacts the target object, it is reflected by the surface of the target object to generate a feedback signal, and the feedback signal is received by the traction block 300 to obtain the reflection signal.

[0067] In some examples, after the physical therapy target path model is confirmed to be completed, the driving device 500 in the rehabilitation bed and the traction block 300 are directly triggered to start.

[0068] In other examples, after the physical therapy target path model is confirmed to be completed, the driving device 500 in the rehabilitation bed and the traction block 300 are not directly triggered to start. Instead, it is directly displayed on the display module of the rehabilitation bed (such as the display screen of the rehabilitation bed, the display screen of the remote control, the display interface of the remote client, etc.) to prompt the user that the preparatory work of the current rehabilitation bed has been completed. Subsequently, according to the physical therapy start instruction from the user (the physical therapy start instruction here can be the same as the physical therapy start instruction in the above text, or different from the content of the physical therapy start instruction in the above text), the driving device 500 in the rehabilitation bed will be started to drive the traction block 300 to move along the physical therapy target path indicated by the physical therapy target path model, and the traction block 300 will be started officially to obtain the feedback signal from the target object.

[0069] In some examples, in step 105, the specific methods for obtaining the feedback signal generated from the reflection detection signal of the target object are as follows: First, a signal transmitting device and a signal receiving device are provided on the traction block 300. The signal transmitting device generates and transmits signal a to the target object, and the signal receiving device receives the returned signal b. According to the time difference and energy loss between signal a and signal b, the rebound speed and rebound time of the muscles in the target area (the pressed part of the target object) of the target object by the traction block 300 are calculated, reflecting the muscle condition of the target object, so as to visually determine whether the pressing amplitude is in place when the traction block 300 clamps the target object, so as to facilitate subsequent realization of using the feedback signal to reflect the change in the knocking amplitude of the traction block 300 when knocking the target object according to the muscle tightness and elasticity of the target object (i.e., the knocking and patting force feedback). For example, a part of the traction block 300 clamps the target object, and another part of the traction block 300 knocks the target object to perform physical therapy processes such as knocking and patting.

[0070] Second, the traction block 300 can also be provided with a pressure sensing device for receiving signal c. When the traction block 300 works, it squeezes or stretches the body of the target object, and then the body of the target object rebounds to generate signal c (manifested as a pressure signal) to monitor the muscle elasticity in the area where the traction block 300 contacts the target object, so as to visually determine whether the pressing force is in place when the traction block 300 clamps the target object, and realize using the feedback signal to reflect the change in the pressing force of the traction block when the target object is limited by the traction block. For example, a part of the traction block clamps the target object, and another part of the traction block 300 presses the target object for pressing and traction.

[0071] Step 106, modulate and update the physical therapy target path model according to the feedback signal according to the preset physical therapy feedback rule.

[0072] Specifically, modulate and update the physical therapy target path model in the depth direction according to the preset movable range of the traction block 300. Refer to Figure 7 , the implementation of step 106 includes: S6-1, calculate the depth value according to the physical therapy target path model and the default position of the traction block 300; S6-2, when the depth value exceeds the movable range of the traction block 300, replace the corresponding site of the physical therapy target path model with the maximum distance site of the traction block 300 in the depth value direction to realize the update of the physical therapy target path model.

[0073] This depth value means the distance that still needs to be penetrated deeper into the target object, usually including the distance that the traction block 300 needs to move away from the target object and the distance that the entire traction block 300 penetrates into the target object. This depth value acts on the traction block 300 used to clamp the target object. Therefore, during execution, when the movable distance of the traction block 300 is less than the depth value, it is determined that the movement of the traction block 300 driven by the driving device 500 cannot meet the requirements, and the physical therapy target path model needs to be readjusted. The end position of the movable distance of the traction block 300 in the depth value direction is used to replace the site in the physical therapy target path to ensure that each traction block 300 moves within the movable range in the rehabilitation bed during operation, realizing the feasibility modulation of the target path model.

[0074] At the same time, for the updated model, manual intervention can also be carried out to re-judge whether the current physical therapy path is reasonable and make secondary correction and adjustment for the unreasonable path.

[0075] Next, when driving the traction block 300 to move according to the physical therapy target path model, a feedback signal generated based on the reflection detection signal of the target object is obtained. According to the feedback signal and the preset physical therapy feedback rules, the physical therapy target path model is modulated and updated to achieve further modulation of the target object. This modulation is a fine-tuning. It realizes the adjustment of the physical therapy path for the body shape of the target object, ensuring that the traction block 300 used for limiting fits the body curve of the target object during physical therapy.

[0076] The step division of the above various methods is only for clear description. During implementation, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the protection scope of this application. Adding insignificant modifications to the algorithm or process or introducing insignificant designs, but without changing the core design of the algorithm and process, are all within the protection scope of this application.

[0077] Second Embodiment: The second embodiment of the present invention provides a physical therapy path control device 200 for a rehabilitation bed, as Figure 8 shown, including: An instruction acquisition module 201, configured to receive a physical therapy start instruction and a physical therapy control instruction from a user; A contour acquisition module 203, configured to acquire the initial contour information of the target object according to the physical therapy start instruction; An initial position adjustment module 204, configured to adjust the initial position of the traction block 300 according to the initial contour information to meet the initial physical therapy rules, obtaining an initial position set; A physical therapy basis selection module 205, configured to determine the corresponding physical therapy basic path model according to the physical therapy control instruction; The physical therapy basic modulation module 206 is used to modulate the physical therapy basic path model according to the initial position set to obtain a physical therapy target path model; The physical therapy driving module 207 is used to drive the traction block 300 to move according to the physical therapy target path model and control the traction block 300 to start; The physical therapy feedback signal acquisition module 208 is used to receive the feedback signal corresponding to the external force applied by the traction block 300 to the target object; The depth modulation module 209 modulates and updates the physical therapy target path model according to the movable range of the traction block 300.

[0078] In some examples, the contour acquisition module 203 is composed of position sensors distributed at various positions on the rehabilitation bed and is used to obtain the initial contour information of the target object according to the physical therapy start instruction from the user. The physical therapy driving module 207 is connected to the driving device 500 of the rehabilitation bed and sends a control signal to make the driving device 500 drive the traction block 300 to move in the direction of the physical therapy target path model. The physical therapy target path model is first adjusted for the first time according to the movable range of the traction block 300, and this adjustment is a feasibility adjustment. Then, it is adjusted for the second time according to the feedback signal of the physical therapy feedback signal acquisition module 208, and this adjustment is a human body adaptability adjustment. The physical therapy feedback signal acquisition module 208 can be set on the main body of the rehabilitation bed and directly connected to the traction block 300 to obtain the feedback signal generated by the target object's reaction to the detection signal (such as applying an external force) when the traction block 300 emits a detection signal to the target object (such as the reaction force generated by the target object according to the external force received by the traction block); it can also be directly set on the traction block 300 to directly collect the feedback signal when the traction block 300 starts. Specifically, after the traction block 300 starts, the target object emits a detection signal, and the detection signal is reflected by the surface of the target object after contacting the target object to generate a feedback signal, and the feedback signal is received by the traction block 300.

[0079] Other implementation details and working methods of the physical therapy path control device of the rehabilitation bed disclosed in this application are the same as or similar to those described above for the embedded software testing method, and will not be elaborated here.

[0080] The third embodiment: The third embodiment of the present invention provides a rehabilitation bed, as Figure 9 shown, an upper torso physical therapy group, a lower torso physical therapy group, a traction block 300, a driving device 500, and a physical therapy path control device 200 of the rehabilitation bed to implement the above physical therapy path control method.

[0081] In one example, the instruction generation module includes a start button, a mode control button, and a shutdown button. The start button is used to turn on the power supply and generate a physiotherapy start instruction. The mode control button is used to generate a physiotherapy control instruction. The shutdown button is used to disconnect the power supply. Among them, the upper torso physiotherapy group includes a head support block 301, a chest support block 302, and an upper torso main support block 303. The lower torso physiotherapy group includes a lower torso main support block 306 and a leg support block 307. The traction block 300 includes an upper torso limit traction block 304, a lower torso limit traction block 305, and a leg limit traction block 308. Among them, the leg limit traction block 308 is connected to the leg support block 307 through a telescopic rod. Grooves are provided in the lower torso main support block 306 and the leg support block 307, and the grooves are adapted to the legs of the target object / conventional object. The leg limit traction block 308 is used to limit the position of the legs of the target object during physiotherapy through cooperation with the leg support block 307.

[0082] Position sensors are usually arranged in the upper torso limit traction block 304 and the lower torso limit traction block 305, which are used to sense the initial contour information of the target object, and then adjust their own movement trajectories to ensure that the original basic limit points are adjusted for various physiotherapy modes according to the body shape of the target object, so as to obtain effective limit points. Further, due to reasons such as errors, the effective limit points are expanded into an initial position set. Then, according to the initial position set, the physiotherapy basic path model is modulated to obtain the physiotherapy target path. Furthermore, the driving device 500 drives the traction block 300 to move according to the physiotherapy target path model, and the initial position set and the physiotherapy target path are updated in real time. The position of the traction block 300 used for limiting the target is adjusted according to the body shape of the target object. It is worth mentioning that the basic limit point can not only be a clamping action that fits the target object, but also a relaxation pinching action on the clamped part of the target object to ensure the physiotherapy effect (for example, clamp once, loosen once, clamp hard, and loosen again, such a pinching cycle).

[0083] In another example, the instruction generation module 400 includes any one of an input device, a data import device, a short-range communication receiving device, and a long-range communication receiving device provided on the rehabilitation bed body. The input device can be input through a keyboard and mouse, through a touch display screen, or can also be input through buttons. Among them, when the input device is set to buttons, the buttons include a start button, a mode control button, and a shutdown button. The start button is used to turn on the power supply and generate a physiotherapy start instruction. The mode control button is used to generate a physiotherapy control instruction. The shutdown button is used to disconnect the power supply. The data import device, such as a USB data interface, is used to establish a data communication connection with other devices to obtain instructions generated by the connected other devices. For example, the USB data interface is connected to a home medical robot for data connection. The home medical robot generates different instructions for the medical record data of the target object and then transmits them to the instruction generation module 400 through the USB data interface for the rehabilitation bed to execute. The short-range data communication receiving device, such as a Bluetooth transceiver antenna and an infrared transceiver antenna, is used to establish a short-range data communication connection with a short-range remote controller to obtain instructions generated by the remote controller. The long-distance communication data receiving device, such as a wireless communication connection port, is used to establish a long-distance data communication connection with a long-distance client to obtain instructions generated by the client after verifying the identity information.

[0084] In the physiotherapy path control device 200 of the rehabilitation bed, physiotherapy basic path models in multiple working modes are set. Each working mode corresponds to a physiotherapy basic path model. Each physiotherapy basic path model includes multiple discontinuous physiotherapy basic sub-models. For example, the physiotherapy basic path model A includes a physiotherapy basic sub-model A1 from 0 to 1 minute, a physiotherapy basic sub-model A2 (silent) from 1 to 1.5 minutes, and a physiotherapy basic sub-model A3 from 1.5 to 10 minutes. Among them, the silent state is also regarded as a physiotherapy basic sub-model.

[0085] Other implementation details and working methods of the rehabilitation bed disclosed in this application are the same as or similar to those of the rehabilitation bed control method described above, and will not be elaborated here.

[0086] The above are all preferred embodiments of this application. The protection scope of this application is not limited accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A physical therapy path regulation method for a rehabilitation bed, characterized in that, Applied to a rehabilitation bed with multiple traction blocks, the method includes: Obtain the initial contour information of the target object according to the physical therapy start instruction from the user; Adjust the initial positions of the traction blocks according to the initial contour information to meet the initial physical therapy rules, and obtain an initial position set; Determine the corresponding basic physical therapy path model according to the physical therapy control instruction from the user; Modulate the basic physical therapy path model according to the initial position set to obtain a target physical therapy path model; When driving the traction blocks to move according to the target physical therapy path model, obtain the feedback signal generated by the reflection detection signal of the target object, and modulate and update the target physical therapy path model according to the feedback signal according to the preset physical therapy feedback rules.

2. The physical therapy path control method of a rehabilitation bed according to claim 1, wherein The obtaining the initial contour information of the target object according to the physical therapy start instruction from the user includes: Start the position sensor of the rehabilitation bed according to the physical therapy start instruction from the user; Obtain the target site information according to the fixed position information of the position sensor and the target position signal fed back after the position sensor is started; Obtain the initial contour information of the target object according to all the target site information according to the preset drafting rules.

3. A physical therapy path control method for a rehabilitation bed according to claim 2, characterized in that, The adjusting the initial positions of the traction blocks according to the initial contour information to meet the initial physical therapy rules and obtaining an initial position set includes: Obtain the effective limit points within the initial contour information according to the initial contour information and multiple preset basic limit points; Take the positions whose distances from the effective limit points meet the initial physical therapy rules as the initial limit points, and take the set of the initial limit points as the initial position set.

4. A physical therapy path control method for a rehabilitation bed according to claim 3, characterized in that, The determining the corresponding basic physical therapy path model according to the physical therapy control instruction from the user includes: Search for the corresponding basic physical therapy path model from a preset database according to the physical therapy control instruction generated by the button touch on the rehabilitation bed; The modulating the basic physical therapy path model according to the initial position set to obtain a target physical therapy path model includes: Find multiple alternative physical therapy path models corresponding to the basic physical therapy path model from a preset database; Calculate the distance values between each of the alternative physical therapy path models and the initial position set, and take the alternative physical therapy path model corresponding to the minimum distance value as the target physical therapy path model.

5. A physical therapy path control method for a rehabilitation bed according to claim 4, characterized in that, The modulating the basic physical therapy path model according to the initial position set to obtain a target physical therapy path model includes: Modulate the basic physical therapy path model according to the initial position set until the difference degree between the data set at the initial moment of the basic physical therapy path model and the initial position set meets the preset difference degree requirement, and take the modulated basic physical therapy path model as the target physical therapy path model.

6. The physical therapy path control method of a rehabilitation bed according to claim 5, characterized in that, When driving the traction blocks to move according to the target physical therapy path model, obtaining the feedback signal generated by the reflection detection signal of the target object includes: Generate a time-driven signal sequence according to the physical therapy start instruction from the user in combination with the target physical therapy path model, where the time-driven signal sequence includes corresponding time information and driving signals; drive the traction blocks to move along the target physical therapy path model according to the driving signals; According to the physiotherapy start instruction from the user, the traction block applies an external force corresponding to the physiotherapy start instruction to the target object, and the traction block obtains a feedback signal generated from the reflected detection signal of the target object, and the feedback signal corresponds to the external force.

7. A physical therapy path control method for a rehabilitation bed according to claim 6, characterized in that, According to the feedback signal, modulate and update the physiotherapy target path model according to a preset physiotherapy feedback rule, including modulating and updating the physiotherapy target path model according to the movable range of the traction block. Specifically: Calculate a depth value according to the physiotherapy target path model and the default position of the traction block; Adjust the physiotherapy target path model according to the depth value to meet the movable range of the traction block, and update the physiotherapy target path model.

8. A physical therapy path control method for a rehabilitation bed according to claim 7, characterized in that, Adjust the physiotherapy target path model according to the depth value to meet the movable range of the traction block, and update the physiotherapy target path model, including when the depth value exceeds the movable range of the traction block, replacing the corresponding site of the physiotherapy target path model with the maximum distance site of the traction block in the depth value direction to achieve the update of the physiotherapy target path model.

9. A physical therapy path control device for a rehabilitation bed, characterized in that, Including: An instruction acquisition module, configured to receive a physiotherapy start instruction and a physiotherapy control instruction from the user; A contour acquisition module, configured to acquire initial contour information of the target object according to the physiotherapy start instruction; An initial position adjustment module, configured to adjust the initial position of the traction block according to the initial contour information to meet the physiotherapy initial rule, and obtain an initial position set; A physiotherapy basis selection module, configured to determine a corresponding physiotherapy basis path model according to the physiotherapy control instruction; A physiotherapy basis modulation module, configured to modulate the physiotherapy basis path model according to the initial position set to obtain a physiotherapy target path model; A physiotherapy driving module, configured to drive the traction block to move according to the physiotherapy target path model; A physiotherapy feedback signal acquisition module, configured to receive the feedback signal corresponding to the external force applied by the traction block to the target object; A depth modulation module, configured to modulate and update the physiotherapy target path model according to the movable range of the traction block.

10. A rehabilitation bed, characterized in that, Including an upper torso physiotherapy group, a lower torso physiotherapy group, a traction block, a driving device, and the physiotherapy path control device according to claim 9 to implement the physiotherapy path control method according to any one of claims 1-8; the instruction generation module includes a start button, a mode control button, and a shutdown button, the start button is used to turn on the power supply and generate a physiotherapy start instruction, the mode control button is used to generate a physiotherapy control instruction, and the shutdown button is used to disconnect the power supply.

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