Physiotherapy robot massage path generation method

Abstract

The invention discloses a physiotherapy robot massage path generation method, and belongs to the technical field of physiotherapy robot intelligent control. According to the technical scheme, the acupoints are recognized through the images, the acupoints, the paths and the massage manipulations are selected in a configurable mode, the massage manipulations are integrated to the whole massage path, compared with traditional planning of a pure path, the massage path combined with the massage manipulations can better improve the massage effect, and a user can select the massage path conveniently.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent control of physiotherapy robots, and in particular relates to a method for generating a massage path for a physiotherapy robot. Background Art

[0002] Some existing physiotherapy devices rely solely on the therapist's experience and skills, making them difficult to meet the specific needs of individual patients. They also have a low degree of automation and require manual operation, resulting in low efficiency and difficulty translating theoretical massage control into practical applications. This is particularly true when massaging acupoints, as massage paths and techniques cannot be intelligently generated.

[0003] After searching, the Chinese invention patent: Massage trajectory planning method of physiotherapy robot (publication number CN118977250A; publication date 2024.11.19), the method of this application includes obtaining the image taken by the visual device, and determining the human body contour based on the image; determining the massage positions of the acupuncture points and meridians in the human body contour according to the preset deep learning model; determining the activity range corresponding to each joint in the robotic arm according to the preset physiotherapy course and the massage position; controlling the robotic arm to start movement, and controlling the massage device to start high-precision massage. Automated massage is formed by the physiotherapy robot, and precise control of position, force and speed of massage therapy can be achieved based on the robot's force-position hybrid control technology and compliant control technology. The massage device can always fit the human body contour with constant force. However, the shortcoming of this application is that the massage technique is not integrated into the overall massage trajectory. Summary of the Invention

[0004] 1. Technical problem to be solved by the invention

[0005] The purpose of the present invention is to solve the problem that the massage path planning of the existing physiotherapy robot does not combine massage techniques to improve the massage effect.

[0006] 2. Technical solution

[0007] In order to achieve the above object, the technical solution provided by the present invention is:

[0008] A method for generating a massage path of a physiotherapy robot according to the present invention comprises the following steps:

[0009] S100, image recognition;

[0010] S200, determining acupoint information;

[0011] S300, massage path generation;

[0012] S400: Generate massage techniques, wherein the massage techniques are different massage techniques configurable for different acupoints, and are integrated into the overall massage path;

[0013] S500: Control the physiotherapy robot to perform massage operations.

[0014] Preferably, the image recognition in step S100 is specifically to take a picture of the target area through a visual sensor, and send the captured image data to the image processing module to identify the massageable area in the target area, and send the image data of the identified massageable area to the AI ​​recognition module.

[0015] Preferably, the step S200 specifically involves identifying the acupoints in the massageable area through the AI ​​recognition module and allowing the user to select the acupoints to be massaged, and sending the finally confirmed acupoint information to the massage path generation module.

[0016] Preferably, the step S300 is specifically that the massage path generation module generates a basic massage path passing through all acupoints according to the confirmed acupoint information.

[0017] Preferably, the step S400 is specifically to match the finally confirmed acupoints with appropriate acupoint massage techniques through the massage technique generation module and send the massage techniques to the massage path generation module to generate the final massage path.

[0018] Preferably, the step S500 is specifically that the massage path generation module sends the final massage path to the control module of the physiotherapy robot so as to control the robot to perform the massage operation according to the final massage path.

[0019] Preferably, the massage techniques include regional massage techniques, Archimedes spiral massage techniques and 8-shaped continuous massage techniques. The regional massage techniques match the back and abdomen areas, with an area of ​​not less than 8×8 square centimeters; the Archimedes spiral massage techniques match the buttocks and leg areas, with an area greater than 5×5 square centimeters; the 8-shaped continuous massage techniques match the back area, with an area greater than 10×10 square centimeters.

[0020] Preferably, the regional massage technique is specifically:

[0021] Select the locations of four acupuncture points, the area formed by the four acupuncture points is the physical treatment area, calculate the cross product of each line segment and the adjacent line segments, when the four cross products have the same positive and negative signs, it is a convex quadrilateral; when the four cross products have different positive and negative signs, it is a concave quadrilateral, and the point is a concave point;

[0022] When the region is a convex quadrilateral:

[0023] Identify the four boundaries, divide them into segments with a fixed step distance of 8mm, and fill the area with a serpentine path; and ensure that the path direction is vertical from head to toe or from toe to head;

[0024] When the region is a concave quadrilateral:

[0025] Divide the concave quadrilateral into two triangles according to the concave angle and the diagonal angle, and fill the two triangles with a serpentine path.

[0026] Preferably, the Archimedean spiral massage technique is specifically:

[0027] Generate the reverse Archimedean spiral trajectory according to the acupuncture point location. Set the Archimedean spiral trajectory for each point to 5 circles. After a single spiral is completed, it will move from the innermost point to the outermost point and start again. Massage a single point 5 times.

[0028] After finishing the massage at a single point, move to the next massage point and repeat the massage 5 times;

[0029] After completing a single route, massage from the end to the front.

[0030] Preferably, the 8-shaped continuous massage technique is specifically

[0031] Use the acupuncture point to be massaged as the center point;

[0032] Select 6 acupuncture points close to the center point as pathway points;

[0033] A single figure-8 trajectory is determined based on the 7 selected points and then fitted using a B-spline curve;

[0034] Deflect these 7 points by 45 degrees and array them twice. After the first figure-8 point is completed, the position of the center point needs to be adjusted so that the fitted curve passes through the center point.

[0035] Adjust the position of the last point so that the figure 8 can form a closed loop;

[0036] The algorithm for fitting the B-spline curve is:

[0037] The definition of the P-order B-spline curve is:

[0038]

[0039] where {P i} is the control node, {F i,k (u)} is the k-order B-spline basis function. The third-order function used this time, the basis function of the cubic B-spline curve equation is:

[0040]

[0041] in Represents factorial.

[0042] Preferably, the image processing module is used to process the image data collected by the visual sensor, and identify and screen the massageable area therein and then send it to the AI ​​recognition module, wherein the massageable area is an area containing massageable acupuncture points;

[0043] The AI ​​recognition module is used to identify and mark all acupoints in the massageable area, send the identified acupoint information to the user for selection, and send the acupoint information finally confirmed by the user to the massage path generation module;

[0044] The massage path generation module is used to generate a basic massage path for all acupoints based on the acupoint information;

[0045] The massage technique generation module is used to match the final confirmed acupoints with appropriate acupoint massage techniques and send the massage techniques to the massage path generation module to generate the final massage path;

[0046] The control module is used to control the physiotherapy robot to perform massage operations according to the final massage path.

[0047] 3. Beneficial effects

[0048] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0049] The present invention provides a method for generating a massage path for a physiotherapy robot. The method recognizes acupoints through images and can configure the selection of acupoints, paths, and massage techniques, integrating massage techniques into the overall massage path. Compared with the traditional planning of only simple routes, the massage path combined with massage techniques can better enhance the massage effect and is more convenient for users to choose. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a flow chart of a method for generating a massage path for a physiotherapy robot according to the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] In this application, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0054] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0055] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0056] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0057] Example 1

[0058] Refer to the attached Figure 1 ,A physiotherapy robot massage path generation method of this embodiment includes the following steps S100, image recognition;

[0059] S200, determining acupoint information;

[0060] S300, massage path generation;

[0061] S400: Generate massage techniques, wherein the massage techniques are different massage techniques configurable for different acupoints, and are integrated into the overall massage path;

[0062] S500: Control the physiotherapy robot to perform massage operations.

[0063] The massage path generation method of the physiotherapy robot in this embodiment uses image recognition of acupoints and can configure the selection of acupoints, paths, and massage techniques, integrating massage techniques into the overall massage path. Compared with the traditional planning of only simple routes, the massage path combined with massage techniques can better improve the massage effect and is more convenient for users to choose.

[0064] The image recognition in step S100 is specifically to take a picture of the target area through a visual sensor, and send the captured image data to the image processing module to identify the massageable area in the target area, and send the image data of the identified massageable area to the AI ​​recognition module.

[0065] The step S200 specifically involves identifying the acupoints in the massageable area through the AI ​​recognition module and allowing the user to select the acupoints to be massaged, and sending the finally confirmed acupoint information to the massage path generation module.

[0066] The step S300 is specifically that the massage path generation module generates a basic massage path passing through all acupoints according to the confirmed acupoint information.

[0067] The step S400 specifically involves matching the final confirmed acupoints with appropriate acupoint massage techniques through the massage technique generation module and sending the massage techniques to the massage path generation module to generate a final massage path.

[0068] The step S500 specifically involves the massage path generation module sending the final massage path to the control module of the therapy robot so as to control the robot to perform the massage operation according to the final massage path.

[0069] The massage techniques include regional massage techniques, Archimedes spiral massage techniques and 8-shaped continuous massage techniques. The regional massage techniques are suitable for the back and abdominal areas, with an area of ​​no less than 8×8 square centimeters; the Archimedes spiral massage techniques are suitable for the buttocks and leg areas, and the area must be greater than 5×5 square centimeters; the 8-shaped continuous massage techniques are suitable for the back area, and the area must be greater than 10×10 square centimeters.

[0070] The regional massage technique is specifically as follows:

[0071] Select the locations of four acupuncture points, the area formed by the four acupuncture points is the physical treatment area, calculate the cross product of each line segment and the adjacent line segments, when the four cross products have the same positive and negative signs, it is a convex quadrilateral; when the four cross products have different positive and negative signs, it is a concave quadrilateral, and the point is a concave point;

[0072] When the region is a convex quadrilateral:

[0073] Identify the four boundaries, divide them into segments with a fixed step distance of 8mm, and fill the area with a serpentine path; and ensure that the path direction is vertical from head to toe or from toe to head;

[0074] When the region is a concave quadrilateral:

[0075] Divide the concave quadrilateral into two triangles according to the concave angle and the diagonal angle, and fill the two triangles with a serpentine path.

[0076] The Archimedean spiral massage technique is specifically as follows:

[0077] Generate the reverse Archimedean spiral trajectory according to the acupoint location. Set the Archimedean spiral trajectory for each point to 5 circles. After a single spiral is completed, it will move from the innermost point to the outermost point and start again. Massage a single point 5 times.

[0078] After finishing the massage at a single point, move to the next massage point and repeat the massage 5 times;

[0079] After completing a single route, massage from the end to the front.

[0080] The 8-shaped continuous massage technique is specifically as follows:

[0081] Use the acupuncture point to be massaged as the center point;

[0082] Select 6 acupuncture points close to the center point as pathway points;

[0083] A single figure-8 trajectory is determined based on the 7 selected points and then fitted using a B-spline curve;

[0084] Deflect these 7 points by 45 degrees and array them twice. After the first figure-8 point is completed, the position of the center point needs to be adjusted so that the fitted curve passes through the center point.

[0085] Adjust the position of the last point so that the figure 8 can form a closed loop;

[0086] The algorithm for fitting the B-spline curve is:

[0087] The definition of the P-order B-spline curve is:

[0088]

[0089] where {P i} is the control node, {F i,k (u)} is the k-order B-spline basis function. The third-order function used this time, the basis function of the cubic B-spline curve equation is:

[0090]

[0091] in Represents factorial.

[0092] The image processing module is used to process the image data collected by the visual sensor, and identify and filter the massageable area therein and send it to the AI ​​recognition module, wherein the massageable area is an area containing massageable acupuncture points;

[0093] The AI ​​recognition module is used to identify and mark all acupoints in the massageable area, send the identified acupoint information to the user for selection, and send the acupoint information finally confirmed by the user to the massage path generation module;

[0094] The massage path generation module is used to generate a basic massage path for all acupoints based on the acupoint information;

[0095] The massage technique generation module is used to match the final confirmed acupoints with appropriate acupoint massage techniques and send the massage techniques to the massage path generation module to generate the final massage path;

[0096] The control module is used to control the physiotherapy robot to perform massage operations according to the final massage path.

[0097] The above-mentioned embodiments only express a certain implementation method of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent of the present invention shall be based on the attached claims.

Claims

1. A method for generating a massage path for a physiotherapy robot, characterized in that: Includes the following steps S100, image recognition; S200, determining acupoint information; S300, massage path generation; S400: Generate massage techniques, wherein the massage techniques are different massage techniques configurable for different acupoints, and are integrated into the overall massage path; S500: Control the physiotherapy robot to perform massage operations.

2. The method for generating a massage path for a physiotherapy robot according to claim 1, wherein: The image recognition in step S100 is specifically to take a picture of the target area through a visual sensor, and send the captured image data to the image processing module to identify the massageable area in the target area, and send the image data of the identified massageable area to the AI ​​recognition module.

3. The method for generating a massage path for a physiotherapy robot according to claim 2, wherein: The step S200 specifically involves identifying the acupoints in the massageable area through the AI ​​recognition module and allowing the user to select the acupoints to be massaged, and sending the finally confirmed acupoint information to the massage path generation module.

4. The method for generating a massage path for a physiotherapy robot according to claim 3, wherein: The step S300 is specifically that the massage path generation module generates a basic massage path passing through all acupoints according to the confirmed acupoint information.

5. The method for generating a massage path for a physiotherapy robot according to claim 4, wherein: The step S400 specifically involves matching the final confirmed acupoints with appropriate acupoint massage techniques through the massage technique generation module and sending the massage techniques to the massage path generation module to generate a final massage path.

6. The method for generating a massage path for a physiotherapy robot according to claim 5, wherein: The step S500 specifically involves the massage path generation module sending the final massage path to the control module of the therapy robot so as to control the robot to perform the massage operation according to the final massage path.

7. The method for generating a massage path for a physiotherapy robot according to claim 5, wherein: The massage techniques include regional massage techniques, Archimedes spiral massage techniques and 8-shaped continuous massage techniques. The regional massage techniques are suitable for the back and abdominal areas, with an area of ​​no less than 8×8 square centimeters; the Archimedes spiral massage techniques are suitable for the buttocks and leg areas, and the area must be greater than 5×5 square centimeters; the 8-shaped continuous massage techniques are suitable for the back area, and the area must be greater than 10×10 square centimeters.

8. The method for generating a massage path for a physiotherapy robot according to claim 7, wherein: The regional massage technique is specifically as follows: Select the locations of four acupuncture points, the area formed by the four acupuncture points is the physical treatment area, calculate the cross product of each line segment and the adjacent line segments, when the four cross products have the same positive and negative signs, it is a convex quadrilateral; when the four cross products have different positive and negative signs, it is a concave quadrilateral, and the point is a concave point; When the region is a convex quadrilateral: Identify the four boundaries, divide them into segments with a fixed step distance of 8mm, and fill the area with a serpentine path; and ensure that the path direction is vertical from head to toe or from toe to head; When the region is a concave quadrilateral: Divide the concave quadrilateral into two triangles according to the concave angle and the diagonal angle, and fill the two triangles with a serpentine path.

9. The method for generating a massage path for a physiotherapy robot according to claim 7, wherein: The Archimedean spiral massage technique is specifically as follows: Generate the reverse Archimedean spiral trajectory according to the acupoint location. Set the Archimedean spiral trajectory for each point to 5 circles. After a single spiral is completed, it will move from the innermost point to the outermost point and start again. Massage a single point 5 times. After finishing the massage at a single point, move to the next massage point and repeat the massage 5 times; After completing a single route, massage from the end to the front.

10. The method for generating a massage path for a physiotherapy robot according to claim 7, wherein: The 8-shaped continuous massage technique specifically uses the acupuncture point to be massaged as the center point; Select 6 acupuncture points close to the center point as pathway points; A single figure-8 trajectory is determined based on the 7 selected points and then fitted using a B-spline curve; Deflect these 7 points by 45 degrees and array them twice. After the first figure-8 point is completed, the position of the center point needs to be adjusted so that the fitted curve passes through the center point. Adjust the position of the last point so that the figure 8 can form a closed loop; The algorithm for fitting the B-spline curve is: The definition of the P-order B-spline curve is: where {P i } is the control node, {F i,k (u)} is the k-order B-spline basis function. The third-order function used this time, the basis function of the cubic B-spline curve equation is: in Represents factorial.

11. The method for generating a massage path for a physiotherapy robot according to claim 2, wherein: The image processing module is used to process the image data collected by the visual sensor, and identify and filter the massageable area therein and send it to the AI ​​recognition module, wherein the massageable area is an area containing massageable acupuncture points; The AI ​​recognition module is used to identify and mark all acupoints in the massageable area, send the identified acupoint information to the user for selection, and send the acupoint information finally confirmed by the user to the massage path generation module; The massage path generation module is used to generate a basic massage path for all acupoints based on the acupoint information; The massage technique generation module is used to match the final confirmed acupoints with appropriate acupoint massage techniques and send the massage techniques to the massage path generation module to generate the final massage path; The control module is used to control the physiotherapy robot to perform massage operations according to the final massage path.

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