A method and device for regulating a physiotherapy path of a rehabilitation bed and a rehabilitation bed

Abstract

The present invention belongs to the field of auxiliary medical devices. Addressing the problem that a fixed physical therapy path used in a rehabilitation bed is difficult to adapt to various user needs, a physical therapy path control method, device, and rehabilitation bed are proposed. The method comprises: obtaining initial contour information of a target object according to a physical therapy start instruction; adjusting the initial position of a traction block according to the initial contour information to obtain an initial position set; determining a corresponding physical therapy basic path model according to a physical therapy control instruction from the user; modulating the physical therapy basic path model according to the initial position set to obtain a physical therapy target path model; and, when driving the traction block to move according to the physical therapy target path model, modulating and updating the physical therapy target path model according to a feedback signal and preset physical therapy feedback rules. The initial position set is set based on the obtained contour of the target object to adjust the physical therapy basic path model selected by the user, thereby fine-tuning the physical therapy path according to the target object's body shape.

Description

Technical Field

[0001] The present application relates to the field of control of auxiliary medical devices, and in particular to a method and device for regulating a physiotherapy path of a rehabilitation bed, and a rehabilitation bed. Background Art

[0002] A rehabilitation bed is a device that assists in rehabilitation therapy through traction and stretching. Existing rehabilitation beds often operate along a preset track path. To accommodate subjects with different physical characteristics, patent application CN202310823583.7 discloses an electric lift-type therapeutic massage bed. While the bed's height and angle are adjustable, the portion of the bed surface that comes into contact with the body remains fixed. For subjects with varying morphological characteristics (e.g., hunchbacks or scoliosis), the operator must choose from a set of pre-defined paths. These fixed paths don't fully accommodate the subject's body type. For example, overweight subjects may require the traction block to be positioned further outward, while thin subjects may require it to be positioned further inward. Subjects with scoliosis require the traction block's horizontal and depth positions to be adjusted based on their morphology. Furthermore, customized traction block motion paths are required for these different body types, eliminating the need for frequent adjustments during therapy to ensure effective treatment. To address this issue, a traction block control method, device, and rehabilitation bed are proposed that can adaptively adjust according to the subject's physical condition. Summary of the Invention

[0003] In order to solve the problem in the prior art that a fixed physiotherapy path is difficult to adapt to the body shapes of various target subjects in a rehabilitation bed, a physiotherapy path control method and device for a rehabilitation bed and a rehabilitation bed are proposed.

[0004] The present application provides a method and device for regulating the physiotherapy path of a rehabilitation bed, and a rehabilitation bed, which adopt the following technical solutions:

[0005] A method for controlling a physiotherapy path of a rehabilitation bed, applied to a rehabilitation bed having multiple traction blocks, the method comprising:

[0006] acquiring initial contour information of the target object according to a physical therapy start instruction from the user;

[0007] Adjusting the initial position of the traction block according to the initial contour information to meet the initial rule of physical therapy, and obtaining an initial position set;

[0008] Determine a corresponding physical therapy basic path model according to the physical therapy control instruction from the user;

[0009] Modulating the basic therapy pathway model according to the initial position set to obtain a target therapy pathway model;

[0010] When the traction block is driven to move according to the therapy target path model, a feedback signal generated by the reflection detection signal from the target object is obtained, and the therapy target path model is modulated and updated according to the feedback signal and the preset therapy feedback rule.

[0011] By employing this technical solution, an initial position set is set based on the acquired target object's outline. This initial position set is then used to adjust the user-selected basic therapy path model, enabling tailored therapy path adjustments to the target object's body shape. This ensures that the traction block's movement is aligned with the target object's body curves during the rehabilitation bed's operation. This solution further adjusts and updates the target therapy path based on feedback signals from the therapy process, ensuring that the traction position and force / depth of the target object are appropriate during operation.

[0012] Optionally, obtaining initial contour information of the target object according to a physical therapy start instruction from the user includes:

[0013] activating a position sensor of the rehabilitation bed according to the physical therapy activation instruction from the user;

[0014] Obtaining target location information based on the fixed position information of the position sensor and the target position signal fed back after the position sensor is activated;

[0015] According to all the target site information and the preset rules, the initial contour information of the target object is obtained.

[0016] By employing this technical solution, the rehabilitation bed activates its position sensor in response to a therapy start command. Upon activation, the sensor transmits a detection signal toward the target object and receives a target position signal reflected from the target object's surface. Based on the target position signal and the sensor's own fixed position information, the target location information is calculated. This target location information is then organized and, according to the established rules, the initial contour information of the target object is mapped.

[0017] In this case, the target object is detected by a position sensor to obtain initial contour information, which is conducive to the subsequent adjustment of the basic physiotherapy path model corresponding to each traction block according to the initial contour of the target object, optimizing the physiotherapy path, and realizing adaptive physiotherapy path adjustment of the rehabilitation bed according to the physical condition of the target object, thereby improving the adaptability of the rehabilitation bed during physiotherapy.

[0018] Optionally, adjusting the initial position of the traction block according to the initial contour information to meet the initial rules of physical therapy to obtain an initial position set includes:

[0019] Obtaining effective limit points within the initial contour information according to the initial contour information and a plurality of preset basic limit points;

[0020] The position whose distance from the effective limit point satisfies the initial rule of physical therapy is used as the initial limit point, and the initial limit points are grouped as the initial position set.

[0021] By adopting the above technical solution, according to the preset basic limit point and combined with the point mapping rules, the corresponding effective limit point in the initial contour information is found. The effective limit point is theoretically the optimal position of the traction block of the rehabilitation bed during operation. However, considering that the ability to adjust the position of the traction block of the rehabilitation bed is limited in actual application, it may be difficult to reach the position of the effective limit point. For this reason, the case also sets up a physical therapy initial rule. While ensuring the physical therapy effect, the initial limit point that meets the conditions is selected as the lower-level replacement of the aforementioned effective limit point, and the initial position set is set 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 match the actual body contour of the target object as much as possible. It ensures that the physical therapy process of the rehabilitation bed can truly adjust the motion trajectory according to the physical condition of the target object, which is beneficial to the care of people with abnormal bodies.

[0022] Optionally, determining a corresponding basic physical therapy path model according to a physical therapy control instruction from a user includes: searching a preset database for a corresponding basic physical therapy path model according to the physical therapy control instruction generated by triggering a button on the rehabilitation bed;

[0023] The physiotherapy basic path model is modulated according to the initial position set to obtain a physiotherapy target path model, including: finding multiple physiotherapy backup path models corresponding to the physiotherapy basic path model from a preset database; calculating the distance value between each of the physiotherapy backup path models and the initial position set, and using the physiotherapy backup path model corresponding to the minimum distance value as the physiotherapy target path model.

[0024] By adopting the above technical solution, a preset database stores multiple therapy control instructions, each corresponding to a basic therapy pathway model. Each basic therapy pathway model is also equipped with multiple corresponding backup therapy pathway models. A button is provided on the rehabilitation bed. When triggered, it generates a therapy control instruction. Based on this instruction, the corresponding basic therapy pathway model is searched in the database, thereby selecting a basic working mode. After confirming the basic therapy pathway model, the closest one among the multiple backup therapy pathway models is selected as the target therapy pathway model, thereby optimizing the basic therapy pathway model.

[0025] Optionally, modulating the basic therapy pathway model according to the initial position set to obtain a target therapy pathway model includes:

[0026] The physiotherapy basic path model is modulated according to the initial position set until the difference between the data set of the physiotherapy basic path model at the initial moment and the initial position set meets the preset difference requirement, and the modulated physiotherapy basic path model is used as the physiotherapy target path model.

[0027] By adopting the above technical solution, the basic therapy path model is directly modulated according to the initial position set until the difference between the basic therapy path model and the initial position set meets the requirement. By directly modulating the basic therapy path model, the target therapy path model is obtained.

[0028] Optionally, when the traction block is driven to move according to the therapy target path model, obtaining a feedback signal generated from a reflection detection signal of the target object includes:

[0029] generating a time drive signal sequence according to the therapy start instruction from the user and in combination with the therapy target path model, the time drive signal sequence including mutually corresponding time information and drive signals; and driving the traction block to move along the therapy target path model according to the drive signal;

[0030] 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 reflection detection signal of the target object, and the feedback signal corresponds to the external force.

[0031] Through the above technical solution, after the rehabilitation bed is started according to the physical therapy start-up instruction, the traction blocks are driven to move according to the corresponding physical therapy target path model. Moreover, while moving, these traction blocks will also adjust the pressure they apply to the target object according to the feedback signal. On the one hand, it avoids excessive pressure that causes discomfort to the target object. On the other hand, it can also realize traction and stretching rehabilitation exercises for the target object within the specified range.

[0032] Optionally, the therapy target path model is modulated and updated according to the feedback signal and a preset therapy feedback rule, including modulating and updating the therapy target path model according to the movable range of the traction block, specifically:

[0033] Calculating a depth value according to the therapy target path model and the default position of the traction block;

[0034] The physical therapy target path model is adjusted according to the depth value to meet the movable range of the traction block, and the physical therapy target path model is updated.

[0035] By adopting the above technical solution, the physiotherapy target path model is modulated according to the actual movable range of each traction block in the rehabilitation bed, so as to ensure that the rehabilitation bed can drive the traction blocks according to the physiotherapy target path model.

[0036] Optionally, the physiotherapy target path model is adjusted according to the depth value to meet the movable range of the traction block, and the physiotherapy target path model is updated, including, when the depth value exceeds the movable range of the traction block, replacing the position corresponding to the physiotherapy target path model with the maximum distance position of the traction block in the direction of the depth value to achieve the update of the physiotherapy target path model.

[0037] The present invention also provides a physiotherapy path control device for a rehabilitation bed, comprising:

[0038] An instruction acquisition module is used to receive physical therapy start instructions and physical therapy control instructions from the user;

[0039] A contour acquisition module, configured to acquire initial contour information of the target object according to the physical therapy start instruction;

[0040] An initial position adjustment module, configured to adjust the initial position of the traction block according to the initial contour information to satisfy the initial rule of physical therapy and obtain an initial position set;

[0041] A physiotherapy basic selection module, configured to determine a corresponding physiotherapy basic path model according to the physiotherapy control instruction;

[0042] A physical therapy basic modulation module, configured to modulate the physical therapy basic path model according to the initial position set to obtain a physical therapy target path model;

[0043] A physical therapy driving module, configured to drive the traction block to move according to the physical therapy target path model;

[0044] A physiotherapy feedback signal acquisition module is used to receive the feedback signal corresponding to the external force applied by the traction block to the target object;

[0045] The depth modulation module modulates and updates the therapy target path model according to the movable range of the traction block.

[0046] The present invention also provides a rehabilitation bed, including an upper torso physiotherapy group, a lower torso physiotherapy group, a traction block, a drive device, and a physiotherapy path control device of the rehabilitation bed to implement the above-mentioned physiotherapy path control method; the instruction generation module includes a start button, a mode control button, and an off 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 off button is used to disconnect the power supply.

[0047] By adopting the above technical solution, a position sensor is usually set in the traction block to sense the initial contour information of the target object and then adjust its own motion trajectory. According to the body shape of the target object, the original basic limit points in various physical therapy modes are adjusted to obtain effective limit points, and further based on errors and other reasons, the effective limit points are expanded to the initial position set, and then the physical therapy basic path model is modulated according to the initial position set to obtain the physical therapy target path, and then the driving device drives the traction block to move according to the physical therapy target path model, and updates the initial position set and the physical therapy target path in real time. The position of the traction block used to limit the target object 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 an action of relaxing and pinching the clamping part of the target object to ensure the physical therapy effect (for example, clamp, loosen, clamp hard, and relax again, this pinching cycle).

[0048] In summary, this application includes at least one of the following beneficial technical effects:

[0049] 1. Set the initial position set based on the acquired target object's outline, and then adjust the user-selected basic therapy path model based on the initial position set to achieve therapy path adjustment based on the target object's body shape. Ensure that during therapy, the traction block used for positioning can fit the target object's body curve to ensure the positioning effect. Other traction blocks will also fine-tune their corresponding therapy paths according to the target object's body curve during therapy.

[0050] 2. This case also sets up initial rules for physical therapy. While ensuring the physical therapy effect, qualified initial limit points are selected as lower-level substitutes for the aforementioned effective limit points, and the initial position set is set based on these initial limit points.

[0051] 3. When the button is triggered, a therapy control command is generated. Based on the therapy control command, the corresponding therapy basic path model is searched in the database to select the basic working mode. After confirming the therapy basic path model, the closest one is selected from multiple therapy backup path models as the therapy target path model, thereby optimizing the therapy basic path model.

[0052] 4. According to whether the difference between the basic therapy path model and the initial position set meets the requirements, determine whether the process of modulating the basic therapy path model of the initial position set is completed, and use the modulated basic therapy path model as the target therapy path model to determine whether the modulation process is completed and avoid over-modulation.

[0053] 5. By adjusting the depth of the movement path of the traction block used for limiting, the ideal limiting effect of adopting different clamping depths according to the body shape of the target object can be achieved. According to the feedback signal collected when the traction block is working and the preset physical therapy feedback rules, the depth value is calculated to achieve further real-time adjustment of the movement path of the traction block. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a schematic diagram of the distribution of traction blocks of a rehabilitation bed in the first embodiment of the present invention;

[0055] Figure 2 This is a flow chart of a method for controlling a physiotherapy path of a rehabilitation bed in a first embodiment of the present invention;

[0056] Figure 3 yes Figure 2 A flow chart of step 101;

[0057] Figure 4 yes Figure 2 Another flow chart of step 101;

[0058] Figure 5 yes Figure 2 Flowchart of step 102;

[0059] Figure 6 yes Figure 2 Flowchart of step 104;

[0060] Figure 7 yes Figure 2 Flowchart of step 106;

[0061] Figure 8 This is a schematic diagram of a module of a physiotherapy path control device for a rehabilitation bed in a second embodiment of the present invention;

[0062] Figure 9 4 is a schematic diagram of a module of a rehabilitation bed in the third embodiment of the present invention. DETAILED DESCRIPTION

[0063] The present application will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0064] 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 concepts. Some of the figures in the drawings of the present disclosure, which are part of this specification, represent structures and devices in block diagram form to avoid making the disclosed principles complicated and obscure. For the sake of clarity, not all features of an actual implementation are necessarily described. References in this disclosure to "an implementation" or "an implementation" mean that the specific features, structures or characteristics described in conjunction with that implementation are included in at least one implementation, and multiple references to "an implementation" or "an implementation" should not be understood to necessarily all refer to the same implementation.

[0065] Unless expressly limited, the terms "a", "an" and "the" are not intended to refer to a singular entity, but rather to include a general class of which a specific example may be used for illustration. Thus, the use of the term "a" or "an" may 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 of the alternatives and any combination of the alternatives, including all, unless the alternatives are expressly 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 expressly limited to that.

[0066] First embodiment:

[0067] The first embodiment of the present invention provides a method for controlling the physiotherapy path of a rehabilitation bed, which is applied to a rehabilitation bed having multiple traction blocks. Figure 1 As shown, the rehabilitation bed includes an upper trunk therapy group, a lower trunk therapy group, traction blocks, a drive device (not shown), and a therapy path control device (not shown). The upper trunk therapy group includes a head support block 301, a chest support block 302, and an upper trunk main support block 303; the lower trunk therapy group includes a lower trunk main support block 306 and a leg support block 307; and the traction blocks include an upper trunk limiting traction block 304, a lower trunk limiting traction block 305, and a leg limiting traction block 308.

[0068] The head support block 301, chest support block 302, upper torso support block 303, lower torso support block 306, and leg support block 307 are all used to support the current target (i.e., user) sitting or lying on the rehabilitation bed. Under the control of the drive device, they move along the basic physical therapy paths corresponding to the physical therapy control instructions of each support block, thereby guiding the target subject's body movement. The upper torso limiting traction block 304 and lower torso limiting traction block 305 are used to limit the position of the current target (i.e., user) on the rehabilitation bed. Under the control of the drive device, they move along the basic physical therapy paths corresponding to the physical therapy control instructions of each limiting traction block, thereby limiting the target subject's range of movement on the rehabilitation bed and preventing the user from falling off the bed during physical therapy.

[0069] The therapy path control method for a rehabilitation bed provided in this solution primarily operates on the positioning traction blocks, namely, at least one of the upper torso positioning traction block 304, the lower torso positioning traction block 305, and the leg positioning traction block 308. A traction block can be a single unit or comprise multiple individually controllable structural units. Furthermore, the therapy path control method applied to the traction blocks in this solution can also be applied to the individual support blocks of the upper torso and / or lower torso therapy groups, each of which comprises multiple individually controllable support units.

[0070] A method for controlling a physical therapy path of 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 satisfy an initial physical therapy rule, thereby 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 physical therapy target path model; and obtaining a feedback signal generated from a reflection detection signal of the target object when driving the traction block to move according to the physical therapy target path model, and modulating and updating the physical therapy target path model according to a preset physical therapy feedback rule based on the feedback signal.

[0071] An initial position set is set based on the acquired target object's outline. This initial position set is then used to adjust the user-selected treatment path model, tailoring the treatment path to the target object's body shape. This ensures that the positioning blocks conform to the target object's body curves during treatment. This solution further adjusts and updates the target treatment path based on feedback signals during treatment, ensuring that the depth information representing the positioning force is appropriate.

[0072] The following is a detailed description of the implementation details of the physiotherapy path control method of a rehabilitation bed in this embodiment. The following content is only for the convenience of understanding the implementation details, and is not necessary for the implementation of this solution. The specific process of this embodiment is as follows Figure 2 As shown, the following steps are included:

[0073] Step 101: Acquire initial contour information of a target object according to a physical therapy start instruction from a user.

[0074] Specifically, there are three ways to obtain the physiotherapy start instruction: a. A button is set on the rehabilitation bed, which can be a press button, a touch button, a touchpad, etc., and a selected device is installed on the rehabilitation bed; b. The remote control device connected to the rehabilitation bed triggers the generation, and the connection between the remote control device and the rehabilitation bed can be a Bluetooth connection or a connection in other frequency bands; c. The client communicates with the rehabilitation bed, and the user can control the client to scan the secret key on the rehabilitation bed or manually enter the secret key to achieve the communication connection between the client and the rehabilitation bed.

[0075] In some examples, reference Figure 3 , according to the therapy start instruction from the user, the initial contour information of the target object is obtained, including:

[0076] S1-1, starting the position sensor of the rehabilitation bed according to the physical therapy start instruction from the user;

[0077] S1-2, obtaining target location information based on the fixed position information of the position sensor and the target position signal fed back after the position sensor is activated;

[0078] S1-3, based on all the target site information and according to the preset rules, the initial contour information of the target object is obtained.

[0079] In this example, in S1-1, the user's physical therapy start instruction can be obtained through the rehabilitation bed's own detection (for example, setting a button on the rehabilitation bed and detecting the button status), can be generated by obtaining other connected devices (for example, a remote control corresponding to the rehabilitation bed), and can also be obtained through a client connected by remote communication (for example, a client connected to the rehabilitation bed by remote communication to achieve remote network control of the rehabilitation bed).

[0080] The position sensor is used to detect the initial profile of the current user of the rehabilitation bed (which can be the user who initiated the therapy session or another individual). The position sensor can be installed anywhere on the bed, including within the traction blocks (including at least one of the upper torso traction block 304, lower torso traction block 305, and leg traction block 308), on the surface of the traction blocks, or even directly on the upper and lower torso traction blocks of the bed.

[0081] Position sensors can use pressure sensors to obtain target position signals based on pressure, and then calculate target location information based on their own fixed position information. This target location information is then fitted through methods such as 3D modeling to obtain the initial contour information of the target object. Position sensors can also use a similar scanning feedback method to calculate target location information based on the target position signal obtained through feedback and the position sensor's own fixed position information. Position sensors can even be replaced with other sensors capable of detecting the contour of the target object, such as cameras.

[0082] This target site information is organized and, according to the proposed rules (equivalent to modeling and fitting), the initial contour information of the target object is planned. The proposed rules here are pre-defined rules, typically set to connect multiple points using a smooth curve. In this case, the rehabilitation bed's position sensor detects the target object and obtains initial contour information. This facilitates the subsequent adjustment of the basic physical therapy path model based on the target object's initial contour, optimizing the physical therapy path, and enabling the rehabilitation bed to adaptively adjust the physical therapy position / physiotherapy path based on the target object's physical condition, thereby improving the accuracy of physical therapy delivered by the rehabilitation bed.

[0083] In some examples, the initial profile information of the target object is obtained, and the initial profile information can be imported through the client by authorized personnel. The import method can be direct document scanning and import (including scanning the QR code corresponding to the case), manual input of the archive, or importing from multiple alternative initial profile information. This case supports automatic archiving and calling functions of initial profile information. The acquisition of initial profile information supports multiple methods, such as direct on-site collection, manual recording of relevant parameter information, import by authorized users, selection of multiple archiving periods, and manual modification based on archiving.

[0084] In some examples, reference Figure 4 , get the initial contour information of the target object, or it can be:

[0085] A camera is set on the rehabilitation bed, which periodically reads the initial image in the target direction. The image with the pixel ratio that meets the human body characteristics reaching the default value (usually 80%) is screened out from the initial image as the valid image. Then, image recognition is performed on the images of the preset length frames before and after the valid image to obtain the basic contour features corresponding to each valid image. These basic contour features are fused to obtain the initial contour features.

[0086] In this example, the target direction is typically the direction in which a rehabilitation bed is typically used, such as directly above the bed or on the side where the bed is typically used. The camera periodically reads the initial image in the target direction to directly capture the outline of the target person who will be using the bed. Human features can be determined based on skin color or a baseline image of clothing that matches the bed (the target person must first wear the clothing corresponding to the bed when using the bed).

[0087] Image recognition technology is used to screen the initial image corresponding to the camera on the rehabilitation bed to reduce the amount of calculation and improve efficiency. Then, the basic contour features corresponding to each valid image are identified based on the successive image frames of each valid image. Then, three-dimensional modeling is performed again based on these basic contour features to obtain the initial contour features of the target object in three-dimensional form.

[0088] Step 102: adjusting the initial position of the traction block according to the initial contour information to meet the initial rule of physical therapy, and obtaining an initial position set.

[0089] Specifically, the initial position set is set according to the acquired contour of the target object to ensure that the rehabilitation bed can fit the body curve (initial contour information) of the target object before formal operation. Figure 5 , adjusting the initial position of the traction block according to the initial contour information to meet the initial rules of physical therapy, and obtaining an initial position set, including:

[0090] S2-1, obtaining effective limit points within the initial contour information based on the initial contour information and a plurality of preset basic limit points;

[0091] 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.

[0092] 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 points are the points in the basic motion curves corresponding to the preset traction blocks when the rehabilitation bed is in operation. The points where the outer surface curve of the body overlaps with the basic motion curves of the traction blocks are called effective limit points, that is, the points that can effectively limit the spatial position of the target object according to the physiotherapy path of the traditional traction blocks. Then, based on the preset basic limit points and the initial contour information, combined with the pre-set site mapping rules, other effective limit points corresponding to the initial contour information are found. 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 to know the mapping relationship between each site between the target object and the standard object, and apply the mapping relationship between the basic contour information and the basic limit points to the initial contour information to find the effective limit points corresponding to the initial contour information.

[0093] Then, with the valid limit points as the center, radial diffusion is performed along the lines connecting the valid limit points to generate an initial position set. The initial treatment rule represents the range of radial diffusion. To ensure the accuracy of the treatment, the initial treatment rule is usually set to a distance of 0. In other words, the set consisting of all valid limit points is used as the initial position set.

[0094] Taking into account the errors that exist in actual application, the initial rule of physical therapy is set to a distance of a. At this time, all points whose distance difference from 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 the initial position set is set 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 much as possible. It ensures that the physical therapy process performed on the rehabilitation bed can truly adjust the motion trajectory according to the physical condition of the target object, which is beneficial 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.

[0095] Step 103: Determine the corresponding basic physical therapy path model according to the physical therapy control instruction from the user.

[0096] Specifically, the implementation of step 103 includes: searching for a corresponding basic physical therapy path model from a preset database according to the user physical therapy control instructions generated and / or received by the rehabilitation bed itself.

[0097] In this solution, therapy control commands can be obtained directly through input devices on the rehabilitation bed (such as buttons, touch screens, switches, or keyboards connected to a serial port), through a remote control (such as an infrared remote control) that communicates with the rehabilitation bed over short distances, or through a client connected to the rehabilitation bed for long-distance communication. In this case, when a button is triggered, a user therapy control command is generated. Based on this therapy control command, the corresponding therapy basic path model is searched in the database to select the basic working mode.

[0098] In some examples, a preset database stores multiple therapy control instructions, each corresponding to a basic therapy pathway model, and each basic therapy pathway model is associated with multiple corresponding backup therapy pathway models. Step 103 includes: searching the preset database for the corresponding basic therapy pathway model based on the therapy control instruction generated by a button trigger on the rehabilitation bed; finding multiple backup therapy pathway models corresponding to the basic therapy pathway model in the preset database; calculating the distance between each backup therapy pathway model and the initial position set, and selecting the backup therapy pathway model corresponding to the minimum distance as the target therapy pathway model.

[0099] A preset database stores multiple therapy control instructions, each corresponding to a basic therapy pathway model. Each basic therapy pathway model is also equipped with multiple corresponding backup therapy pathway models. A button on the rehabilitation bed, when triggered, generates a therapy control instruction. Based on this instruction, the corresponding basic therapy pathway model is searched in the database, enabling selection of a basic working mode. After confirming the basic therapy pathway model, the closest one among the multiple backup therapy pathway models is selected as the target therapy pathway model, thereby optimizing the basic therapy pathway model.

[0100] Step 104: modulate the basic therapy pathway model according to the initial position set to obtain a target therapy pathway model.

[0101] Specifically, an initial position set is set according to the acquired contour of the target object, and then based on the initial position set, the user-selected basic therapy path model is adjusted to achieve therapy path adjustment based on the target object's body shape.

[0102] The initial position set is the position set of the intersection of the outline of the target object and multiple therapy paths, that is, the initial position set represents the therapy target point that fits the curve of the outer surface of the body of the current target during the therapy process. Then, when adjusting the therapy basic model, the therapy basic model can be translated so that the point closest to the target object falls on the initial position set. Alternatively, all the values ​​of the therapy basic model whose extension depth to the target object exceeds the therapy basic model are commanded as the landing points of the initial position set. Alternatively, the therapy basic model can be translated so that the center points of the points closest to the target object and the points farthest from the target object are in the initial position set. This method is applied when the traction block that clamps the user (target object) also supports simple therapy operations on the user by means of hammering, pinching, squeezing, etc.

[0103] In some examples, reference Figure 6 , modulating the basic therapy path model according to the initial position set to obtain a therapy target path model, including:

[0104] S4-1, finding multiple physical therapy backup pathway models corresponding to the physical therapy basic pathway model from a preset database;

[0105] S4-2, calculating the distance value between each of the physical therapy backup path models and the initial position set, and taking the physical therapy backup path model corresponding to the minimum distance value as the physical therapy target path model.

[0106] A preset database stores multiple therapy control instructions, each corresponding to a basic therapy pathway model. Each basic therapy pathway model is also associated with multiple backup therapy pathway models. After confirming a basic therapy pathway model, the closest backup therapy pathway model is selected from the multiple backup therapy pathway models as the target therapy pathway model, thereby optimizing the basic therapy pathway model.

[0107] In other examples, modulating the basic therapy pathway model according to the initial position set to obtain a therapy target pathway model includes:

[0108] The physiotherapy basic path model is modulated according to the initial position set until the difference between the data set of the physiotherapy basic path model at the initial moment and the initial position set meets the preset difference requirement, and the modulated physiotherapy basic path model is used as the physiotherapy target path model.

[0109] In this example, the basic therapy pathway model is directly modulated based on the initial position set until the difference between the basic therapy pathway model and the initial position set meets the required degree of difference. There are many ways to modulate the basic therapy pathway model, and this example is applicable to any of them. By directly modulating the basic therapy pathway model, the target therapy pathway model is obtained after the difference between the initial dataset of the basic therapy pathway model and the initial position set meets the preset difference requirement.

[0110] Step 105 : When the traction block is driven to move according to the therapy target path model, a feedback signal generated from the reflection detection signal of the target object is obtained.

[0111] Specifically, the rehabilitation bed's drive mechanism drives the individual support blocks in the upper and lower torso therapy groups (the upper torso therapy group includes the head support block 301, chest support block 302, and upper torso main support block 303; the lower torso therapy group includes the lower torso main support block 306 and leg support block 307) to move along the basic therapy path models corresponding to the therapy control instructions. It also drives the traction blocks (upper torso limit traction block 304, lower torso limit traction block 305, and leg limit traction block 308) to move along the therapy target path models corresponding to the theoretical control instructions, thereby traction-stretching the target object. Upon activation, the traction block 300 in the rehabilitation bed also transmits a detection signal toward the target object. Upon contact with the target object, this detection signal is reflected by the target object's surface, generating a feedback signal. This feedback signal is received by the traction block 300 to obtain the reflected signal.

[0112] In some examples, after the physical therapy target path model is confirmed, the activation of the driving device 500 and the traction block 300 in the rehabilitation bed are directly triggered.

[0113] In other examples, after the therapy target path model is confirmed, the activation of the drive device 500 and the traction block 300 in the rehabilitation bed is not directly triggered. Instead, a display module of the rehabilitation bed (e.g., the rehabilitation bed display screen, the remote control display screen, the display interface of the remote client, etc.) is directly displayed to prompt the user that the preparation of the rehabilitation bed is complete. Subsequently, according to a therapy start instruction from the user (the therapy start instruction here may be the same as or different from the therapy start instruction described above), the drive device 500 in the rehabilitation bed is activated to drive the traction block 300 to move along the therapy target path indicated by the therapy target path model, and the traction block 300 is officially activated to obtain a feedback signal from the target subject.

[0114] In some examples, in step 105, a feedback signal generated from a detection signal reflected from a target object is obtained by:

[0115] First, the traction block 300 is equipped with a signal transmitter and a signal receiver. The transmitter generates and transmits a signal a to the target object, while the receiver receives a return signal b. Based on the time difference and energy loss between the a and b signals, the rebound speed and rebound time of the muscles in the target area (the portion of the target object being pressed) affected by the traction block 300 are calculated, reflecting the target object's muscle condition. This allows for a concrete assessment of whether the traction block 300 has achieved adequate pressure when clamping the target object. This allows for subsequent feedback based on the target object's muscle tightness and elasticity (i.e., tapping and slapping force feedback) to reflect the amplitude changes in the traction block 300's tapping of the target object when the traction block 300 is restraining the target object. For example, one portion of the traction block 300 can hold the target object while another portion taps the target object, enabling a therapeutic process such as tapping or slapping.

[0116] Secondly, the traction block 300 can also be equipped with a pressure sensing device to receive a c signal. When the traction block 300 is in operation, it compresses or stretches the target subject's body. The target subject's body then rebounds, generating a c signal (represented as a pressure signal). This signal is used to monitor the muscle elasticity in the contact area of ​​the target subject as the traction block 300 clamps the target subject. This allows for a concrete determination of whether the traction block 300 is applying sufficient pressure to the target subject. This feedback signal can then be used to reflect changes in the pressure applied by the traction block to the target subject as the target subject is restrained by the traction block. For example, one portion of the traction block can clamp the target subject while another portion of the traction block 300 compresses the target subject, achieving compression and traction.

[0117] Step 106: modulate and update the therapy target path model according to the feedback signal and the preset therapy feedback rule.

[0118] Specifically, according to the preset movable range of the traction block 300, the physiotherapy target path model is modulated and updated in the depth direction. Figure 7 , the implementation of step 106 includes:

[0119] S6-1, calculating a depth value according to the therapy target path model and the default position of the traction block 300;

[0120] S6-2, when the depth value exceeds the movable range of the traction block 300, the maximum distance point of the traction block 300 in the direction of the depth value replaces the point corresponding to the therapy target path model to update the therapy target path model.

[0121] This depth value represents the distance that needs to be moved toward the target object, typically including the distance the traction block 300 needs to move away from the target object and the distance the traction block 300 as a whole needs to move toward the target object. This depth value acts on the traction block 300 used to clamp the target object. Therefore, during execution, if 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 endpoint position of the movable distance of the traction block 300 in the direction of the depth value is replaced with the position in the physical therapy target path. This ensures that each traction block 300 on the rehabilitation bed moves within the movable range during operation, achieving feasibility modulation of the target path model.

[0122] At the same time, manual intervention can also be performed on the updated model to re-evaluate whether the current therapy path is reasonable and make secondary corrections and adjustments to unreasonable paths.

[0123] Next, while driving the traction block 300 according to the treatment target path model, a feedback signal generated based on the target object's reflected detection signal is obtained. Based on this feedback signal and according to preset treatment feedback rules, the treatment target path model is modulated and updated to further modulate the target object, this time for fine-tuning. This adjusts the treatment path based on the target object's body shape, ensuring that the traction block 300, used for positioning, conforms to the target object's body curves during treatment.

[0124] The step division of the above-mentioned various methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this application. Adding insignificant modifications or introducing insignificant designs to the algorithm or process without changing the core design of the algorithm and process are all within the scope of protection of this application.

[0125] Second embodiment:

[0126] The second embodiment of the present invention provides a rehabilitation bed physiotherapy path control device 200, such as Figure 8 Shown, including:

[0127] The instruction acquisition module 201 is used to receive the physical therapy start instruction and the physical therapy control instruction from the user;

[0128] A contour collection module 203 is used to collect initial contour information of the target object according to the physical therapy start instruction;

[0129] An initial position adjustment module 204 is configured to adjust the initial position of the traction block 300 according to the initial contour information to satisfy the initial rule of physical therapy and obtain an initial position set;

[0130] A physical therapy basis selection module 205 is used to determine a corresponding physical therapy basis path model according to the physical therapy control instruction;

[0131] A physical therapy basic modulation module 206 is configured to modulate the physical therapy basic path model according to the initial position set to obtain a physical therapy target path model;

[0132] The physiotherapy driving module 207 is used to drive the traction block 300 to move according to the physiotherapy target path model and control the traction block 300 to start;

[0133] The physiotherapy 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;

[0134] The depth modulation module 209 modulates and updates the therapy target path model according to the movable range of the traction block 300 .

[0135] In some examples, the contour acquisition module 203 is composed of position sensors distributed throughout the rehabilitation bed, and is used to acquire initial contour information of the target object based on therapy initiation instructions from the user. The therapy drive module 207 is connected to the rehabilitation bed's drive device 500 and issues control signals, causing the drive device 500 to drive the traction block 300 to move along the therapy target path model. This therapy target path model undergoes a first adjustment based on the movable range of the traction block 300 (this adjustment is considered feasibility), followed by a second adjustment based on feedback signals from the therapy feedback signal acquisition module 208 (this adjustment is considered human adaptability). The therapy feedback signal acquisition module 208 can be set on the rehabilitation bed body and directly connected to the traction block 300. When the traction block 300 transmits a detection signal to the target object (such as applying an external force), it is used to obtain the detection signal and the feedback signal generated by the target object (such as the reaction force generated by the target object based on the external force on 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 is activated. Specifically, after the traction block 300 is activated, the target object transmits a detection signal, and after the detection signal contacts the target object, it is reflected by the surface of the target object to generate a feedback signal, which is received by the traction block 300.

[0136] Other implementation details and working methods of the physiotherapy path control device of the rehabilitation bed disclosed in this application are the same or similar to the embedded software testing method described above and will not be repeated here.

[0137] Third embodiment:

[0138] A third embodiment of the present invention provides a rehabilitation bed, such as Figure 9As shown, the upper trunk physiotherapy group, the lower trunk physiotherapy group, the traction block 300, the driving device 500, and the physiotherapy path control device 200 of the rehabilitation bed are used to implement the above-mentioned physiotherapy path control method.

[0139] In one example, the instruction generation module includes a start button, a mode control button, and an off button. The start button is used to turn on the power supply and generate a therapy start instruction, the mode control button is used to generate a therapy control instruction, and the off button is used to disconnect the power supply. The upper torso therapy group includes a head support block 301, a chest support block 302, and an upper torso main support block 303. The lower torso therapy group includes a lower torso main support block 306 and a leg support block 307. The traction block 300 includes an upper torso limiting traction block 304, a lower torso limiting traction block 305, and a leg limiting traction block 308. The leg limiting traction block 308 is connected to the leg support block 307 via a retractable rod. The lower torso main support block 306 and the leg support block 307 are provided with grooves that are adapted to the legs of the target subject / regular subject. The leg limiting traction block 308 cooperates with the leg support block 307 to limit the position of the target subject's legs during therapy.

[0140] Position sensors are typically installed in the upper and lower trunk limiting traction blocks 304 and 305 to sense the initial contour information of the target object and adjust their own motion trajectory to ensure that the original basic limiting points in various physical therapy modes are adjusted according to the target object's body shape, thereby obtaining effective limiting points. Further, based on factors such as errors, the effective limiting points are expanded to form an initial position set. The physical therapy basic path model is then modulated based on this initial position set to obtain a physical therapy target path. The driving device 500 then drives the traction block 300 according to the physical therapy target path model, and updates the initial position set and physical therapy target path in real time. This achieves the adjustment of the position of the traction block 300 used for limiting the target according to the target object's body shape. It is worth noting that the basic limiting points can not only be clamping actions that fit the target object, but can also be relaxing and pressing the clamped area of ​​the target object to ensure the physical therapy effect (for example, a pinching cycle of pinching, loosening, clamping firmly, and loosening again).

[0141] 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, mounted on the rehabilitation bed. The input device can be input via a keyboard or mouse, a touchscreen display, or a keypad. When the input device is configured as a keypad, the keypad includes a start button, a mode control button, and an off button. The start button is used to turn on the power supply and generate a therapy start instruction, the mode control button is used to generate a therapy control instruction, and the off button is used to disconnect the power supply. The data import device, such as a USB data port, is used to establish a data communication connection with other devices to obtain instructions generated by the connected devices. For example, the USB data port is used to establish a data connection with a home medical robot, which generates different instructions from the target patient's medical history data and then transmits them to the instruction generation module 400 via the USB data port for execution by the rehabilitation bed. The short-range data communication receiving device, such as a Bluetooth transceiver antenna or an infrared transceiver antenna, is used to establish a short-range data communication connection with a short-range remote control to obtain instructions generated by the remote control. The long-distance communication data receiving device, such as a wireless communication connection port, is used to establish a remote data communication connection with a client at a long distance to obtain instructions generated by the client after verifying its identity information.

[0142] The rehabilitation bed's therapy pathway control device 200 is configured with multiple basic therapy pathway models for various operating modes. Each operating mode corresponds to a specific basic therapy pathway model. Each basic therapy pathway model includes multiple discontinuous basic therapy sub-models. For example, basic therapy pathway model A includes basic therapy sub-model A1 (0-1 minute), basic therapy sub-model A2 (silent) (1-1.5 minute), and basic therapy sub-model A3 (1.5-10 minute). The silent state is also considered a basic therapy sub-model.

[0143] Other implementation details and working methods of the rehabilitation bed disclosed in this application are the same as or similar to the control method of the rehabilitation bed described above and will not be repeated here.

[0144] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for regulating the physiotherapy path of a rehabilitation bed, characterized in that: Applied to a rehabilitation bed having a plurality of traction blocks, the method comprises: acquiring initial contour information of the target object according to a physical therapy start instruction from the user; Adjusting the initial position of the traction block according to the initial contour information to meet the initial rule of physical therapy, and obtaining an initial position set; Determine a corresponding physical therapy basic path model according to the physical therapy control instruction from the user; Modulating the basic therapy pathway model according to the initial position set to obtain a target therapy pathway model; When driving the traction block to move according to the therapy target path model, obtaining a feedback signal generated by the target object reflection detection signal, and modulating and updating the therapy target path model according to the feedback signal and a preset therapy feedback rule; The initial position of the traction block is adjusted according to the initial contour information to meet the initial rule of physical therapy, and the initial position set is obtained, including: According to the initial contour information and a plurality of preset basic limit points, an effective limit point within the initial contour information is obtained; the basic limit point is a point in the basic motion curve corresponding to each traction block when the rehabilitation bed is in operation, and the effective limit point is a point where the curve of the outer surface of the body overlaps with the basic motion curve of each traction block; The position whose distance from the effective limit point satisfies the initial rule of physical therapy is used as the initial limit point, and the set of the initial limit points is used as the initial position set.

2. The method for controlling the physiotherapy path of a rehabilitation bed according to claim 1, characterized in that: The step of obtaining initial contour information of the target object according to the physical therapy start instruction from the user includes: activating a position sensor of the rehabilitation bed according to the physical therapy activation instruction from the user; Obtaining target location information based on the fixed position information of the position sensor and the target position signal fed back after the position sensor is activated; According to all the target site information and the preset rules, the initial contour information of the target object is obtained.

3. The method for controlling the physiotherapy path of a rehabilitation bed according to claim 1, characterized in that: Determining a corresponding basic physical therapy path model according to the physical therapy control instruction from the user includes: According to the physiotherapy control instructions generated by the button triggering on the rehabilitation bed, the corresponding physiotherapy basic path model is searched from the preset database; Modulating the basic therapy pathway model according to the initial position set to obtain a target therapy pathway model includes: Finding a plurality of physical therapy backup path models corresponding to the physical therapy basic path model from a preset database; The distance value between each of the physical therapy backup path models and the initial position set is calculated, and the physical therapy backup path model corresponding to the minimum distance value is used as the physical therapy target path model.

4. The method for controlling the physiotherapy path of a rehabilitation bed according to claim 3, characterized in that: The method of modulating the basic therapy pathway model according to the initial position set to obtain the target therapy pathway model may also be: The physiotherapy basic path model is modulated according to the initial position set until the difference between the data set of the physiotherapy basic path model at the initial moment and the initial position set meets the preset difference requirement, and the modulated physiotherapy basic path model is used as the physiotherapy target path model.

5. The method for controlling the physiotherapy path of a rehabilitation bed according to claim 4, characterized in that: When the traction block is driven to move according to the physical therapy target path model, obtaining a feedback signal generated from a reflection detection signal of the target object includes: generating a time drive signal sequence according to the therapy start instruction from the user and in combination with the therapy target path model, the time drive signal sequence including mutually corresponding time information and drive signals; and driving the traction block to move along the therapy target path model according to the drive signal; 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 reflection detection signal of the target object, and the feedback signal corresponds to the external force.

6. The method for controlling the physiotherapy path of a rehabilitation bed according to claim 5, characterized in that: According to the feedback signal and the preset physical therapy feedback rule, the physical therapy target path model is modulated and updated, including modulating and updating the physical therapy target path model according to the movable range of the traction block, specifically: Calculating a depth value according to the physical therapy target path model and the default position of the traction block; adjusting the physical therapy target path model according to the depth value to satisfy the movable range of the traction block, and updating the physical therapy target path model; The depth value is the distance that the pulling block penetrates into the target object.

7. The method for controlling the physiotherapy path of a rehabilitation bed according to claim 6, characterized in that: The physical therapy target path model is adjusted according to the depth value to meet the movable range of the traction block, and the physical therapy target path model is updated, including, when the depth value exceeds the movable range of the traction block, replacing the maximum distance position of the traction block in the direction of the depth value with the position corresponding to the physical therapy target path model, so as to achieve the update of the physical therapy target path model.

8. A physiotherapy path control device for a rehabilitation bed, characterized in that: include: An instruction acquisition module is used to receive physical therapy start instructions and physical therapy control instructions from the user; A contour acquisition module, configured to acquire initial contour information of the 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 satisfy the initial rule of physical therapy and obtain an initial position set; A physiotherapy basic selection module, configured to determine a corresponding physiotherapy basic path model according to the physiotherapy control instruction; A physical therapy basic modulation module, configured to modulate the physical therapy basic 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 physiotherapy feedback signal acquisition module is used 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 therapy target path model according to the movable range of the traction block; Among them, the initial position of the traction block is adjusted according to the initial contour information to meet the initial rules of physical therapy, and an initial position set is obtained, including: according to the initial contour information and multiple preset basic limit points, an effective limit point within the initial contour information is obtained; the basic limit point is a point in the basic motion curve corresponding to each preset traction block when the rehabilitation bed is running, and the effective limit point is a point where the curve of the outer surface of the body overlaps with the basic motion curve of each traction block; the position whose distance from the effective limit point meets the initial rules of physical therapy is used as the initial limit point, and the set of initial limit points is used as the initial position set.

9. A rehabilitation bed, characterized in that: It includes an upper torso physiotherapy group, a lower torso physiotherapy group, a traction block, a drive device, and the physiotherapy path control device according to claim 8, so as to implement the physiotherapy path control method according to any one of claims 1 to 7; the instruction generation module includes a start button, a mode control button and an off 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 off button is used to disconnect the power supply.

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