Multipurpose physiotherapy robot matched with electrode slice or physiotherapy head

Abstract

The invention discloses a multipurpose physiotherapy robot matched with an electrode plate or a physiotherapy head and a control method of the multipurpose physiotherapy robot, and belongs to the technical field of physiotherapy robots. Comprising a cabinet and a first physiotherapy head arranged on the cabinet, the side face of the cabinet is further provided with an interface connected with a handheld physiotherapy assembly, and the handheld physiotherapy assembly comprises a second physiotherapy head and an electrode plate assembly. The first physical therapy head is multifunctional physical therapy equipment with the functions of electrical stimulation, pressing, heating and the like in the prior art. By arranging the first physiotherapy head and the handheld physiotherapy assembly at the same time, physiotherapy can be conducted on the human body in multiple modes at the same time, the electrode plate assembly is arranged on the skin of the human body, the first physiotherapy head and the electrode plate assembly form an electric path, and therefore electric stimulation physiotherapy is conducted; impedance data, temperature data and pressure data are collected in the physical therapy process and matched with different physical therapy modes and gears, so that the physical therapy effect is improved, when abnormity occurs, the abnormity can be found in time, physical therapy is stopped, and physical therapy safety is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of physiotherapy robots, and more specifically, it is a multi-purpose physiotherapy robot that cooperates with electrode patches or physiotherapy heads. Background Art

[0002] After long hours of work, people often experience muscle soreness, which can be relieved by a radiofrequency physiotherapy device. The radiofrequency physiotherapy device is equipped with a positive electrode patch. When using the radiofrequency physiotherapy device, first attach an electrode patch to the human body, and then attach the positive electrode patch on the radiofrequency physiotherapy device to the treatment site, thereby forming an electric current passing through the human body between the positive electrode patch and the electrode patch, generating heat inside the body, promoting the metabolism of human skin tissue and blood circulation, and achieving the function of relieving muscle soreness.

[0003] Existing physiotherapy robots usually only have a single physiotherapy function or work with a single physiotherapy head at the same time, making it difficult to better meet medical needs. Summary of the Invention

[0004] 1. Technical Problems to be Solved by the Invention

[0005] The purpose of the present invention is to solve the problems that existing physiotherapy robots usually only have a single physiotherapy function or work with a single physiotherapy head at the same time, with a single function and poor effect.

[0006] 2. Technical Solutions

[0007] To achieve the above object, the technical solution provided by the present invention is as follows:

[0008] A multi-purpose physiotherapy robot that cooperates with electrode patches or physiotherapy heads of the present invention includes a cabinet and a first physiotherapy head disposed on the cabinet. A handheld physiotherapy component is also provided on the side of the cabinet through an interface. The handheld physiotherapy component includes a second physiotherapy head and an electrode patch assembly, and further includes a control module disposed in the cabinet, a physiotherapy component identification module connected to the interface, a temperature detection module for detecting the working temperature of the physiotherapy head, and a current detection module for collecting current.

[0009] Preferably, the second physiotherapy head is connected to the cabinet through a first connecting wire, and the electrode patch assembly is connected to the cabinet through a second connecting wire.

[0010] Preferably, a control method for a multi-purpose physiotherapy robot that cooperates with electrode patches or physiotherapy heads includes the following steps:

[0011] S100. Power on and bring the first physiotherapy head and the handheld physiotherapy component into contact with the human body;

[0012] S200. Start the first physiotherapy head and the handheld physiotherapy component;

[0013] S300. The temperature detection module detects whether the working temperature of the first physical therapy head is within the normal range. If it is within the normal range, step S400 is executed; otherwise, step S800 is executed.

[0014] S400. The physical therapy component identification module identifies whether it is an electrode patch component.

[0015] S500. The current detection module detects and records whether the impedance information in the physical therapy area is within the set range. If it is within the set range, step S600 is executed; otherwise, step S800 is executed.

[0016] S600. Analyze the data and match the corresponding physical therapy mode and gear.

[0017] S700. Record the physical therapy time and determine whether the physical therapy is completed.

[0018] S800. End the physical therapy.

[0019] Preferably, the physical therapy component identification module in step S400 specifically determines the type of the handheld physical therapy component connected through the interface by an identification logic circuit.

[0020] Preferably, a physical therapy head waveform detection circuit, an impedance detection circuit, a waveform detection circuit, a temperature control circuit, and a polarization compensation circuit are provided in the first physical therapy head; the handheld physical therapy component is provided with a general circuit for the second physical therapy head and the electrode patch component, and the general circuit includes a physical therapy head waveform detection circuit, an identification logic circuit, an impedance detection configuration circuit, and a safety threshold difference circuit.

[0021] Preferably, the analysis of data and matching of the corresponding physical therapy mode and gear in S600 are specifically

[0022] Analyze the impedance Z, temperature T, and pressure P, and perform physical therapy mode matching according to the skin state. The matching logic is as follows in the table:

[0023]

[0024] Preferably, the optimal frequency of the massage frequency is

[0025] Fopt = 500Hz × (1kΩ Z)^0.3 × exp(0.05 × (T - 30)) × (1 - 0.0015 × Age)

[0026] Where Z is the impedance value, T is the temperature value, and Age is the patient's age. At the same time, set the constraint condition: 10Hz ≤ Fopt ≤ 100kHz. When the calculated optimal frequency exceeds this range, enable the safety mode (i.e., a fixed frequency of 1kHz).

[0027] 3. Beneficial effects

[0028] Adopting the technical solution provided by the present invention, compared with the prior art, it has the following beneficial effects:

[0029] A multi-purpose physiotherapy robot and its control method for cooperating with electrode pads or physiotherapy heads of the present invention include a cabinet and a first physiotherapy head arranged on the cabinet. An interface for connecting a handheld physiotherapy component is also provided on the side of the cabinet. The handheld physiotherapy component includes a second physiotherapy head and an electrode pad assembly. The first physiotherapy head is a multi-functional physiotherapy device with functions such as electrical stimulation, pressing, and heating in the prior art. By simultaneously setting the first physiotherapy head and the handheld physiotherapy component, various physiotherapy methods can be performed on the human body at the same time. The electrode pad assembly is arranged on the human skin, and an electrical path is formed between the first physiotherapy head and the electrode pad assembly, so as to perform electrical stimulation physiotherapy. During the physiotherapy process, impedance data, temperature data, and pressure data are collected and different physiotherapy modes and gears are matched, so as to improve the physiotherapy effect. And when an abnormality occurs, it can be detected in time and the physiotherapy can be stopped, thus ensuring the safety of physiotherapy. Description of the Drawings

[0030] Figure 1 It is a schematic diagram of the overall structure of a multi-purpose physiotherapy robot for cooperating with electrode pads or physiotherapy heads of the present invention;

[0031] Figure 2 It is a schematic diagram of the structure of the first physiotherapy head of the present invention;

[0032] Figure 3 It is a schematic diagram of the structure of the second physiotherapy head of the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of the electrode pad assembly of the present invention;

[0034] Figure 5 It is a schematic diagram of the waveform detection circuit of the first physiotherapy head in the embodiment;

[0035] Figure 6 It is a schematic diagram of the impedance detection circuit of the first physiotherapy head in the embodiment;

[0036] Figure 7 It is a schematic diagram of the waveform detection circuit of the first physiotherapy head in the embodiment;

[0037] Figure 8 It is a schematic diagram of the temperature control circuit of the first physiotherapy head in the embodiment;

[0038] Figure 9 It is a schematic diagram of the polarization compensation circuit of the first physiotherapy head in the embodiment;

[0039] Figure 10 It is a schematic diagram of the impedance detection configuration circuit of the handheld physiotherapy component in the embodiment;

[0040] Figure 11Schematic diagram of the safety threshold difference circuit of the handheld physiotherapy component in the embodiment.

[0041] Description of the reference numerals in the schematic diagram:

[0042] 100, cabinet; 110, through hole; 200, first physiotherapy head; 210, fixture; 220, physiotherapy component; 230, housing; 240, connection hole; 250, robotic arm; 260, connecting member; 300, second physiotherapy head; 310, hanger; 320, electrode sheet assembly; 330, second physiotherapy head; 340, first connecting wire; 350, second connecting wire; 360, electrode sheet assembly; 400, remote control. Specific implementation manners

[0043] In order to enable those skilled in the art of the present technology to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of this application.

[0044] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances for the embodiments of this application described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0045] In this application, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe this application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation or be constructed and operated in a specific orientation.

[0046] Moreover, in addition to being used to indicate orientation or positional relationship, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0047] In addition, the terms "install", "set", "provided with", "connect", "connected", "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, components or parts. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] It should be noted that, without conflict, the embodiments and features in the embodiments of this application can be combined with each other. The following will refer to the drawings and combine the embodiments to detail this application.

[0049] Embodiment 1

[0050] Refer to Figures 1-4 , a multi-purpose physiotherapy robot and its control method for cooperating with an electrode patch or a physiotherapy head, including a cabinet 100 and a first physiotherapy head 200 provided on the cabinet 100. An interface is also provided on the side of the cabinet 100 to connect a handheld physiotherapy component. The handheld physiotherapy component includes a second physiotherapy head 330 and an electrode patch assembly 360. The first physiotherapy head 200 is a multi-functional physiotherapy device with functions such as electrical stimulation, pressing, and heating in the prior art. By simultaneously setting the first physiotherapy head 200 and the handheld physiotherapy component, multiple ways of physiotherapy can be performed on the human body at the same time. The electrode patch assembly 360 is arranged on the human skin, and an electrical path is formed between the first physiotherapy head 200 and the electrode patch assembly 360, so as to perform electrical stimulation physiotherapy. During the physiotherapy process, impedance data, temperature data, and pressure data are collected and different physiotherapy modes and gears are matched, so as to improve the physiotherapy effect, and when an abnormality occurs, it can be detected in time and the physiotherapy can be stopped, so as to ensure the safety of physiotherapy.

[0051] The second physiotherapy head 330 is connected to the cabinet 100 through a first connecting wire 340, and the electrode patch assembly 360 is connected to the cabinet 100 through a second connecting wire 350. The first connecting wire 340 and the second connecting wire 350 are both provided with quick-connect plugs for quick-disassembly connection with the cabinet 100, so as to be better replaced and installed.

[0052] The physical therapy head 200 includes a housing 230 and a fixture 210 that are fixedly connected. The fixture 210 is used to clamp the physical therapy component 220 of the physical therapy head 200. One side of the housing 230 is provided with a connection hole 240 to connect the robotic arm 250 of the cabinet 100.

[0053] On the side of the cabinet 100, there is a hanger 310 for placing the physical therapy head 330 and the electrode patch assembly 360. The cabinet 100 is provided with a placement bin for placing the remote control 400. The remote control 400 is used to remotely control the cabinet 100, the physical therapy head 200, the physical therapy head 330, and the electrode patch assembly 360. On the side of the cabinet 100, there are also several through holes 100, which are heat dissipation and sound output holes.

[0054] It also includes a control module arranged in the cabinet 100, a physical therapy component identification module connected to the interface, a temperature detection module for detecting the working temperature of the physical therapy head, and a current detection module for collecting current.

[0055] A control method for a multi-purpose physical therapy robot in cooperation with electrode patches or physical therapy heads in this embodiment includes the following steps:

[0056] S100. Power on and bring the physical therapy head 200 and the handheld physical therapy component into contact with the human body;

[0057] S200. Start the physical therapy head 200 and the handheld physical therapy component;

[0058] S300. The temperature detection module detects whether the working temperature of the physical therapy head 200 is within the normal range. When it is within the normal range, step S400 is executed; otherwise, step S800 is executed;

[0059] S400. The physical therapy component identification module identifies whether it is the electrode patch assembly 360;

[0060] S500. The current detection module detects and records whether the impedance information in the physical therapy area is within the set range. When it is within the set range, step S600 is executed; otherwise, step S800 is executed;

[0061] S600. Analyze the data and match the corresponding physical therapy mode and gear;

[0062] S700. Record the physical therapy time and determine whether the physical therapy is completed;

[0063] S800. End the physical therapy.

[0064] The physical therapy component identification module in step S400 specifically determines the type of the handheld physical therapy component connected to the interface through an identification logic circuit.

[0065] The physiotherapy head 200 is provided with a physiotherapy head waveform detection circuit, an impedance detection circuit, a waveform detection circuit, a temperature control circuit and a polarization compensation circuit;

[0066] Therapy head waveform detection circuit: adopts dual-loop differential sampling architecture (as shown in the attached Figure 5 (As shown in the figure) The source end collects the current waveform (I_wave) through a 0.1Ω non-inductive resistor (R_sense), and the load end multiplexes the reference electrode (RE) of the three-electrode differential excitation to collect the voltage waveform (U_load) of the human body end. The excitation signal is generated by DDS (10μs-100kHz full frequency band), the source end current is amplified by the INA128 instrument amplifier (G=1000), and the load end voltage is differentially amplified by the second channel of INA128 (G=100), and the dual-channel signals are synchronously input into AD7606 (16-bit, 200kSPS ADC). The on-chip FFT coprocessor calculates THD (accuracy ±0.3%), fundamental frequency (ΔF<0.5%) and phase difference (Δφ) in real time, and the metal surface integrated NTC thermistor (25℃ / 10kΩ) compensates for temperature drift (ΔR<0.1% / ℃), and synchronously monitors the waveform symmetry (positive and negative half-cycle area difference <5%). The hardware comparator determines in real time whether the amplitude exceeds the limit (>50V cut-off), the 200kHz anti-aliasing filter suppresses high-frequency interference, and the full-link response time is <10μs.

[0067] Impedance detection circuit: adopts three-electrode differential excitation method (as shown in the attached Figure 6 As shown in the figure, a 10μA@1kHz sine wave excitation signal is generated by a signal source. The excitation signal is applied to the human skin through three electrodes, and the weak voltage signal generated is amplified by the INA128 instrumentation amplifier, whose gain is set to 100. The amplified signal is input to the AD7799 (24-bit ADC) for high-precision data acquisition. A PTC thermistor is embedded in the metal surface for temperature measurement, with a response time of <200ms, and a varistor (0.1Ω / g) is used to synchronously measure the contact pressure.

[0068] Waveform detection circuit: adopts dual-loop differential sampling architecture (as shown in the attached Figure 7As shown in the figure, the source end collects the current waveform (I_wave) through a 0.1Ω non-inductive resistor (R_sense), and the load end multiplexes the reference electrode (RE) of the three-electrode differential excitation to collect the human body terminal voltage waveform (U_load). The excitation signal is generated by DDS (10μs - 100kHz full frequency band). The source end current is amplified by the INA128 instrumentation amplifier (G = 1000), and the load end voltage is differentially amplified by the second channel of INA128 (G = 100). The dual-channel signals are synchronously input into the AD7606 (16-bit, 200kSPS ADC). The on-chip FFT coprocessor calculates the THD (accuracy ±0.3%), fundamental frequency (ΔF < 0.5%), and phase difference (Δφ) in real time. The metal surface integrated NTC thermistor (25℃ / 10kΩ) compensates for the temperature drift (ΔR < 0.1% / ℃), and synchronously monitors the waveform symmetry (the area difference between the positive and negative half-cycles < 5%). The hardware comparator discriminates the amplitude overrun in real time (>50V cut-off), and the 200kHz anti-aliasing filter suppresses high-frequency interference. The full-link response time < 10μs.

[0069] Temperature control circuit: Use the NiCr heating wire (12V / 3W) as the heating element. (As shown in the appendix Figure 8 As shown) Monitor the temperature through the hardware comparator. When the temperature reaches 43℃, cut off the heating power supply. The AD7689 (12-bit temperature dedicated channel) is used to collect temperature data to achieve precise temperature control. It can quickly heat up (30℃ → 38℃: 180ms), and apply the temperature correction formula with the sweat gland activation term.

[0070] Polarization compensation circuit: (As shown in the appendix Figure 9 As shown) Inject a 10μs reverse pulse (-50μA) every 100ms by the pulse generator, and the AD7799 monitors the reverse waveform symmetry. When the polarization voltage > 100mV, automatically extend the compensation to 300ms through the control circuit to prevent the electrolytic reaction.

[0071] The described handheld physiotherapy component is provided with a general circuit for the physiotherapy head two 330 and the electrode sheet component 360. The general circuit includes a physiotherapy head waveform detection circuit, an identification logic circuit, an impedance detection configuration circuit, and a safety threshold difference circuit.

[0072] Identification logic circuit: Perform type identification through the 3-pin interface inside the aviation plug wire. PIN1 is connected to the PTC thermistor (physiotherapy head) or open circuit (electrode sheet), PIN2 is grounded, and PIN3 is connected to a 100kΩ pull-up resistor (physiotherapy head) or shorted to GND (electrode sheet). The main control judges the probe type by detecting the level state of PIN3 through the GPIO pin and performing ADC sampling on PIN1.

[0073] Impedance detection configuration circuit: (As shown in the appendix Figure 10Electrode patch: Excited by a constant voltage source (100 mVrms@100 kHz), the excitation signal is generated by the constant voltage source circuit and high-impedance protection is performed by an amplifier with PGA = 1. Physiotherapy head: Excited by a constant current source (10 μA@1 kHz), the excitation signal is generated by the constant current source circuit and temperature compensation is performed by an amplifier with PGA = 64.

[0074] Safety threshold difference circuit: (as shown in the appendix Figure 11 Electrode patch: When the detected impedance Z>250 kΩ, the protection mechanism is triggered through the comparator circuit, and the upper current limit is reduced to 30 μA to prevent burns. Physiotherapy head: Pressure correction is enabled (Z_cal = Z×[1 - 0.002(P - 500 g)]), pressure data is collected through the pressure sensor and corrected through the calculation circuit. At the same time, a 5 cm 2 contact area coefficient configuration is supported.

[0075] The specific process of analyzing data in the S600 and matching the corresponding physiotherapy mode and gear is as follows

[0076] Analyze the impedance Z, temperature T, and pressure P, and match the physiotherapy mode according to the skin condition. The matching logic is as follows:

[0077]

[0078] Among them, the impedance (Z) dimension is

[0079] Stratum corneum status marker:

[0080] Dry stratum corneum (Z>10 kΩ@1 kHz): The thickness of the stratum corneum increases (>20 μm), and the dehydration of intercellular lipids leads to an increase in resistivity (Literature: Skin impedance is negatively correlated with water content, Corcuff et al., 1983).

[0081] Wet dermis (Z<5 kΩ@100 kHz): The electrolyte penetration of the dermis increases, and the low-frequency impedance changes from being dominated by capacitance to being dominated by resistance (Circuit model: The skin is equivalent to an RC network, and the capacitive reactance of the capacitor decreases at high frequencies).

[0082] The temperature (T) dimension is

[0083] Physiological activity marker:

[0084] T<35℃ (dry state): The metabolic rate of epidermal cells decreases (Arrhenius equation: Q10≈2, the metabolic rate is halved for every 10℃ decrease in temperature).

[0085] T>40℃ (wet state): The blood flow in the dermis increases (The skin temperature>38℃ triggers the thermoregulatory response and the sweat glands are activated).

[0086] Steady state T = 38 ± 0.5 °C: Optimal enzyme activity at the epidermis-dermis interface (e.g., hyaluronidase, optimal temperature 37 - 39 °C).

[0087] The pressure (P) dimension is

[0088] Contact safety markings:

[0089] P > 300 g (dry layer): Mechanical stress of the stratum corneum ↑, enhanced penetration required (contact area ↓ → current density ↑, power needs to be limited).

[0090] ΔP > 200 g / s (risk state): Contact instability → Local current density fluctuation > safety threshold (IEC 60601 - 1: Human tolerable current < 10 mA (power frequency), here the 1 kHz current threshold ↑ but dynamic monitoring is required).

[0091] The optimal frequency of the said massage frequency is

[0092] Fopt = 500 Hz × (1 kΩ Z)^0.3 × exp(0.05 × (T - 30)) × (1 - 0.0015 × Age)

[0093] Wherein, Z is the impedance value, T is the temperature value, Age is the patient's age. At the same time, set the constraint condition: 10 Hz ≤ Fopt ≤ 100 kHz. When the calculated optimal frequency exceeds this range, enable the safety mode (i.e., 1 kHz fixed frequency).

[0094] Among them, the specific descriptions of modes 1, 3, and 4 are as follows:

[0095] 1. Mode 1 (1 kHz capacitive wave)

[0096] Mechanism of action: Capacitive wave (capacitive coupling) enhances the permeability of the lipid bilayer of the stratum corneum (dielectric breakdown theory: 1 kHz electric field causes lipid molecules to flip in orientation, forming temporary pores).

[0097] Parameter optimization: 6 waves / group (to avoid excessive thermal effects, with a cooling interval of ≥ 2 seconds between each group), 80% heating power (matching the heat generation of the stratum corneum resistance, ΔT ≤ 2 °C / min safety threshold).

[0098] 2. Mode 3 (1000 Hz triangular wave)

[0099] Low - stimulation principle: The slope of the rising / falling edge of the triangular wave < 1 V / ms (lower than the nerve action potential triggering threshold, avoiding electrical stimulation).

[0100] Gradual change in voltage (3 - 5 V): To adapt to the dynamic change of the dermal layer impedance (Ohm's law: V = IR, when R ↓, V adapts and ↓ to keep the current ≤ 100 μA (ISO 13485: Epidermal current density < 0.1 mA / cm2 )。

[0101] 3. Mode 4 (250 Hz variable frequency sweep)

[0102] Steady-state optimization: 250 Hz is close to the skin dielectric relaxation frequency (β relaxation, 100 Hz - 1 kHz, corresponding to cell membrane polarization), and the sweep frequency (-4 to 6 V) covers the responses of tissues at different depths (electrical impedance spectroscopy analysis: ΔZ < 5% / min indicates stable impedance, suitable for dynamic optimization).

[0103] The above-described embodiments merely represent certain implementation manners of the present invention, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. A multi-purpose physiotherapy robot that cooperates with electrode patches or physiotherapy heads, characterized in that: It includes a cabinet (100) and a first physiotherapy head (200) disposed on the cabinet (100). An interface is also provided on the side of the cabinet (100) to connect a handheld physiotherapy component. The handheld physiotherapy component includes a second physiotherapy head (330) and an electrode patch assembly (360). It also includes a control module disposed in the cabinet (100), a physiotherapy component identification module connected to the interface, a temperature detection module for detecting the working temperature of the physiotherapy head, and a current detection module for collecting current.

2. The multi-purpose physiotherapy robot adapted to an electrode sheet or a physiotherapy head according to claim 1, wherein: The second physiotherapy head (330) is connected to the cabinet (100) through a first connecting wire (340), and the electrode patch assembly (360) is connected to the cabinet (100) through a second connecting wire (350).

3. The control method of a multi-purpose physiotherapy robot adapted to an electrode sheet or a physiotherapy head according to claim 2, characterized in that, It includes the following steps: S100. Power on and bring the first physiotherapy head (200) and the handheld physiotherapy component into contact with the human body; S200. Start the first physiotherapy head (200) and the handheld physiotherapy component; S300. The temperature detection module detects whether the working temperature of the first physiotherapy head (200) is within the normal range. When it is within the normal range, step S400 is executed; otherwise, step S800 is executed; S400. The physiotherapy component identification module identifies whether it is the electrode patch assembly (360); S500. The current detection module detects and records whether the impedance information in the physiotherapy area is within the set range. When it is within the set range, step S600 is executed; otherwise, step S800 is executed; S600. Analyze the data and match the corresponding physiotherapy mode and gear; S700. Record the physiotherapy time and determine whether the physiotherapy is completed; S800. End the physiotherapy.

4. The control method of a multi-purpose physiotherapy robot for cooperating with electrode pads or physiotherapy heads according to claim 3, characterized in that: The physiotherapy component identification module in step S400 specifically determines the type of the handheld physiotherapy component connected to the interface through an identification logic circuit.

5. The control method of a multi-purpose physiotherapy robot adapted to an electrode sheet or a physiotherapy head according to claim 3, characterized in that: The first physiotherapy head (200) is provided with a physiotherapy head waveform detection circuit, an impedance detection circuit, a waveform detection circuit, a temperature control circuit, and a polarization compensation circuit; the handheld physiotherapy component is provided with a general circuit for the second physiotherapy head (330) and the electrode patch assembly (360). The general circuit includes a physiotherapy head waveform detection circuit, an identification logic circuit, an impedance detection configuration circuit, and a safety threshold difference circuit.

6. The control method of a multi-purpose physiotherapy robot adapted to an electrode sheet or a physiotherapy head according to claim 3, characterized in that: In S600, analyzing the data and matching the corresponding physiotherapy mode and gear specifically means Analyze the impedance Z, temperature T, and pressure P, and perform physiotherapy mode matching according to the skin state. The matching logic is as follows in the table:

7. According to the control method of a multi-purpose physiotherapy robot cooperating with an electrode patch or a physiotherapy head according to claim 6, characterized in that: The optimal frequency of the massage frequency is Fopt = 500Hz × (1kΩ / Z)^0.3 × exp(0.05 × (T - 30)) × (1 - 0.0015 × Age) where Z is the impedance value, T is the temperature value, Age is the patient's age. At the same time, set the constraint condition: 10Hz ≤ Fopt ≤ 100kHz. When the calculated optimal frequency exceeds this range, enable the safety mode (i.e., a fixed frequency of 1kHz).

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