A control method and system of an AI physiotherapy robot

Abstract

The application provides a control method and system of an AI physiotherapy robot, the method comprising: scanning a patient's lesion based on a preset medical image scanning technology, and labeling the scanning result to obtain a three-dimensional coordinate of the patient's lesion, determining a treatment position of the patient based on the three-dimensional coordinate of the lesion, and determining a treatment scheme for the patient based on the treatment position, controlling the moving speed of the mechanical arm based on the treatment parameter, so that the mechanical arm controls the treatment head to treat the treatment position of the patient according to the treatment scheme, and dynamically adjusting the moving speed of the mechanical arm based on the treatment parameter of the treatment head. The application dynamically adjusts the moving speed of the mechanical arm through the treatment parameter obtained from the scanning result of the patient's lesion, avoids the dependence on the doctor's handheld probe and the problems of operation fatigue and poor stability, can better control the uniform moving speed of the mechanical arm, and thus improves the treatment effect and the patient's experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical treatment, in particular to an AI physiotherapy robot control method and system. BACKGROUND

[0002] Ultrasound treatment has become an important means widely used in diagnosis and treatment of various diseases due to its unique advantages of non-invasiveness, painlessness and non-radiation.

[0003] Currently, doctors determine a detailed treatment plan by analyzing the patient's symptoms, inquiring about the patient's feelings and pain level, determining the patient's treatment site and treatment parameters (treatment frequency, treatment intensity level), etc. Finally, the doctor sets the parameters on the ultrasound treatment device through the probe of the handheld ultrasound treatment instrument, and then slowly moves back and forth or revolves at the patient's treatment site to implement treatment.

[0004] However, the existing ultrasound treatment relies on the doctor holding the probe, which has the problems of operation fatigue and poor stability, and the handheld probe cannot well control the uniform moving speed, resulting in general treatment effect and patient experience. SUMMARY

[0005] Therefore, the purpose of the present application is to provide an AI physiotherapy robot control method and system, which dynamically adjusts the moving speed of the mechanical arm based on the treatment parameters obtained from the scan results of the patient's lesion, avoids the dependence on the doctor holding the probe and the problems of operation fatigue and poor stability, and can better control the uniform moving speed of the mechanical arm, thereby improving the treatment effect and patient experience.

[0006] In a first aspect, an AI physiotherapy robot control method is provided, which is applied to an upper computer in an AI physiotherapy robot control system, the control system comprising an AI physiotherapy robot, the AI physiotherapy robot comprising a mechanical arm and a treatment head; the method comprising:

[0007] scanning a patient's lesion based on a preset medical image scanning technology, and labeling the scan results to obtain three-dimensional coordinates of the patient's lesion;

[0008] determining a treatment position of the patient based on the three-dimensional coordinates of the lesion, and determining a treatment plan for the patient based on the treatment position; wherein the treatment plan comprises treatment parameters;

[0009] controlling the moving speed of the mechanical arm based on the treatment parameters, so that the mechanical arm controls the treatment head to treat the patient's treatment position according to the treatment plan;

[0010] dynamically adjusting the moving speed of the mechanical arm based on the treatment parameters of the treatment head.

[0011] In a possible implementation, the control system comprises a VR interaction device and a camera device arranged on the mechanical arm, and the method further comprises:

[0012] scanning the patient while the mechanical arm moves slowly through the camera device to collect image data of the patient;

[0013] fusing and processing the image data to remove noise and errors of the image data and finally generate three-dimensional human model data of the patient;

[0014] displaying a corresponding three-dimensional human model based on the three-dimensional human model data through the VR interaction device, so that the patient marks the pain part of himself on the three-dimensional human model using a preset marking method after wearing the VR interaction device;

[0015] determining the marking information of the patient for the three-dimensional human model, and determining a treatment plan for the patient based on the marking information.

[0016] In a possible implementation, before the scanning result is marked and the patient is scanned, the method further comprises:

[0017] In response to guiding the patient to stand or lie in a designated scanning area and keep the body still, controlling the mechanical arm to move to an initial scanning position according to a preset program; wherein the initial scanning position is above or beside the patient's body;

[0018] determining and analyzing the position and posture information of the patient, and planning an optimal scanning path based on the position and posture information to control the mechanical arm to move slowly according to the optimal scanning path.

[0019] In a possible implementation, the camera device comprises an infrared camera and a depth camera; and the scanning the patient while the mechanical arm moves slowly through the camera device to collect image data of the patient comprises:

[0020] scanning the patient while the mechanical arm moves slowly through the infrared camera to collect infrared image data of the patient;

[0021] scanning the patient while the mechanical arm moves slowly through the depth camera to collect depth image data of the patient.

[0022] In a possible implementation, the method further comprises:

[0023] dynamically adjusting the treatment intensity of the treatment head based on the moving speed of the mechanical arm.

[0024] In a possible implementation, the control system comprises an impedance detection device at the end of the treatment head; the treatment head comprises a non-contact temperature sensor; the method further comprises:

[0025] detecting the actual acoustic impedance of the treatment position of the patient through the impedance detection device, and adjusting the treatment parameters when an impedance mutation is detected;

[0026] detecting the skin temperature of the treatment position of the patient through the non-contact temperature sensor, and adjusting the treatment parameters based on the skin temperature when the change of the skin temperature exceeds a preset temperature threshold.

[0027] In a possible implementation, the detecting of the impedance mutation comprises:

[0028] obtaining the experimental acoustic impedance of the target site based on a preset database;

[0029] determining that the impedance mutation occurs in response to the difference between the actual acoustic impedance and the experimental acoustic impedance exceeding a preset impedance mutation threshold.

[0030] In a possible implementation, the method further comprises:

[0031] detecting whether the treatment head is coated with a coupling agent based on the actual acoustic impedance;

[0032] if not, adjusting the treatment intensity.

[0033] In a possible implementation, the method further comprises:

[0034] obtaining the depth of the lesion of the patient based on the scanning result;

[0035] adjusting the treatment parameters based on the depth of the lesion.

[0036] In a second aspect, the embodiments of the present application further provide a control system of an AI physiotherapy robot, the control system comprising an AI physiotherapy robot, the AI physiotherapy robot comprising a mechanical arm and a treatment head;

[0037] The control system of the AI physiotherapy robot is configured to perform the control method of the AI physiotherapy robot provided in the first aspect.

[0038] The control method and system of the AI physiotherapy robot provided by the embodiments of the present application are based on a preset medical image scanning technology to scan a patient's lesion, label the scanning result, obtain the three-dimensional coordinates of the patient's lesion, determine the treatment position of the patient based on the three-dimensional coordinates of the lesion, determine the treatment scheme for the patient based on the treatment position, control the moving speed of the mechanical arm based on the treatment parameters, so that the mechanical arm controls the treatment head to treat the patient at the treatment position according to the treatment scheme, and dynamically adjusts the moving speed of the mechanical arm based on the treatment parameters of the treatment head. The present application dynamically adjusts the moving speed of the mechanical arm based on the treatment parameters obtained from the scanning result of the patient's lesion, avoids the dependence on the doctor's handheld probe and the problems of operation fatigue and poor stability, can better control the uniform moving speed of the mechanical arm, and thus improves the treatment effect and the patient's experience.

[0039] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0041] Figure 1 is a flow chart of the control method of the AI physiotherapy robot provided by the embodiments of the present application;

[0042] Figure 2 is a structural schematic diagram of the control system of the AI physiotherapy robot;

[0043] Figure 3 is a whole connection schematic diagram of the control system of the AI physiotherapy robot;

[0044] Figure 4 is a schematic diagram of the whole scanning result of the patient;

[0045] Figure 5 is a whole flow chart of impedance detection. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. It should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not used to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn according to the actual proportions. The flowcharts used in the present application show the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowcharts or one or more operations can be removed from the flowcharts under the guidance of the content of the present application.

[0047] In addition, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0048] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0049] Considering the unique advantages of non-invasive, painless and non-radiation of ultrasonic treatment, it has become an important means widely used in diagnosis and treatment of various diseases.

[0050] At present, doctors determine the detailed treatment plan by analyzing the patient's symptoms, asking the patient about the feeling and pain level, determining the part of the patient that needs treatment and the treatment parameters (treatment frequency, treatment intensity level), and finally the doctor sets the parameters on the ultrasonic treatment instrument device through the probe of the handheld ultrasonic treatment instrument, and slowly moves back and forth or revolves at the treatment part of the patient to implement the treatment.

[0051] However, the existing ultrasonic treatment relies on the doctor holding the probe, which has the problems of operation fatigue and poor stability, and the handheld cannot well control the uniform moving speed, resulting in general treatment effect and patient experience.

[0052] To solve the problem, the application provides an AI physiotherapy robot control method and system, which dynamically adjusts the moving speed of the mechanical arm through the treatment parameters obtained from the scanning results of the patient's lesion, avoids the dependence on the doctor's handheld probe and the problems of operation fatigue and poor stability, can better control the uniform moving speed of the mechanical arm, and thus improves the treatment effect and patient experience.

[0053] Figure 1 The application provides an AI physiotherapy robot control method according to an embodiment of the application.

[0054] The AI physiotherapy robot control method of the application is applied to an upper computer in an AI physiotherapy robot control system, and the control system includes an AI physiotherapy robot, which includes a mechanical arm and a treatment head. For example, as shown in Figure 2 , a structural schematic diagram of the AI physiotherapy robot control system of the application is shown, and as shown in Figure 3 , a whole connection schematic diagram of the AI physiotherapy robot control system of the application is shown.

[0055] As shown in Figure 1 , the AI physiotherapy robot control method of the embodiment of the application can specifically include:

[0056] S101, scanning the patient's lesion based on a preset medical image scanning technology, and labeling the scanning results to obtain the three-dimensional coordinates of the patient's lesion.

[0057] S102, determining the treatment position of the patient based on the three-dimensional coordinates of the lesion, and determining the treatment scheme for the patient based on the treatment position.

[0058] S103, controlling the moving speed of the mechanical arm based on the treatment parameters, so that the mechanical arm controls the treatment head to treat the treatment position of the patient according to the treatment scheme.

[0059] S104, dynamically adjusting the moving speed of the mechanical arm based on the treatment parameters of the treatment head.

[0060] In the AI physiotherapy robot control method, the moving speed of the mechanical arm is dynamically adjusted based on the treatment parameters obtained from the scanning results of the patient's lesion, which avoids the dependence on the doctor's handheld probe and the problems of operation fatigue and poor stability, can better control the uniform moving speed of the mechanical arm, and thus improves the treatment effect and patient experience.

[0061] The above exemplary steps of the embodiment of the application will be described in combination with specific examples:

[0062] S101, scanning the patient's lesion based on a preset medical image scanning technology, and labeling the scanning results to obtain the three-dimensional coordinates of the patient's lesion.

[0063] In the embodiments of the present application, the medical image scanning technology includes MRI / CT scanning, the three-dimensional coordinates are three-dimensional coordinate parameters of the patient's lesion, the MRI / CT scanning of the patient's lesion is performed to obtain the corresponding MRI / CT scanning result, and the three-dimensional coordinates of the patient's lesion are labeled from the scanning result for subsequent processing.

[0064] In step S102, the treatment position of the patient is determined based on the three-dimensional coordinates of the lesion, and the treatment scheme for the patient is determined based on the treatment position.

[0065] In the embodiments of the present application, the treatment position is the position of the patient requiring ultrasonic treatment, for example, the pain site of the patient, and the treatment scheme is the generated basic treatment scheme or general treatment scheme for the patient, which includes treatment parameters, and the treatment parameters at least include treatment frequency (time) and treatment intensity, wherein the treatment frequency also represents the treatment time, and the treatment intensity is the output intensity of the treatment head, that is, the sound intensity. The treatment position of the patient is determined based on the three-dimensional coordinates of the lesion obtained in step S101, and the treatment scheme for the patient is determined based on the treatment position for subsequent processing.

[0066] In step S103, the movement speed of the mechanical arm is controlled based on the treatment parameters, so that the mechanical arm controls the treatment head to treat the treatment position of the patient according to the treatment scheme.

[0067] In the embodiments of the present application, the movement speed of the mechanical arm is controlled based on the treatment parameters of the patient obtained in step S102, so that the mechanical arm controls the treatment head to treat the treatment position of the patient according to the treatment scheme.

[0068] In step S104, the movement speed of the mechanical arm is dynamically adjusted based on the treatment parameters of the treatment head.

[0069] As can be understood by those skilled in the art, the movement speed of the mechanical arm is not uniform, which will affect the treatment output. For the same output sound intensity, if the movement speed is too fast or too slow, the patient will feel poor. The non-uniform movement speed will significantly affect the ultrasonic treatment output. The effect of ultrasonic treatment is closely related to the distribution of ultrasonic energy in the tissue. When the movement speed is inconsistent, the deposition and action time of ultrasonic energy at different positions will be different. If the movement speed is too fast, the time of ultrasonic energy acting on the tissue in a unit time is shortened, and the energy received by the tissue is insufficient, which may not achieve the expected treatment effect. On the contrary, if the movement speed is too slow, ultrasonic energy is excessively accumulated in the local area, which may cause overheating of the tissue and cause discomfort or even damage to the tissue of the patient.

[0070] Continuing to say, at the same output sound intensity, moving too fast will cause the ultrasonic energy to not fully act on the treatment site. For example, in the treatment of ultrasonic promotion of blood circulation, insufficient energy delivery makes it difficult to effectively stimulate vasodilation and improve blood flow, so as to achieve the expected treatment effect of improving the function of the patient's wrist joint, and the patient may feel that the treatment effect is not obvious, and the "feeling is relatively poor" situation occurs; when moving too slowly, the local tissue will absorb too much ultrasonic energy, generating too much heat. This may cause the patient's skin surface temperature to be too high, causing a tingling, burning and other discomfort. Moreover, excessive energy accumulation can cause thermal damage to the tissue, not only affecting the treatment experience, but also potentially harming the patient's body, also leading to poor patient experience.

[0071] In the embodiment of the application, the treatment parameter of the patient obtained according to step S102 can be used to dynamically adjust the moving speed of the mechanical arm.

[0072] Optionally, the treatment intensity of the treatment head is dynamically adjusted based on the moving speed of the mechanical arm.

[0073] Therefore, the application accurately controls the moving speed of the mechanical arm through the output treatment parameter, and dynamically adjusts the moving speed in cooperation with different treatment intensities, so as to ensure that the moving speed is uniform and meets the treatment requirements, thereby solving the influence of non-uniform moving speed on treatment output and improving the treatment effect and the patient's treatment experience.

[0074] The control method of the AI physiotherapy robot provided in the embodiment of the application is based on a preset medical image scanning technology to scan the patient's lesion, and labels the scanning result to obtain the three-dimensional coordinates of the patient's lesion, determines the treatment position of the patient based on the three-dimensional coordinates of the lesion, determines the treatment scheme for the patient based on the treatment position, controls the moving speed of the mechanical arm based on the treatment parameter, so that the mechanical arm controls the treatment head to treat the treatment position of the patient according to the treatment scheme, and dynamically adjusts the moving speed of the mechanical arm based on the treatment parameter of the treatment head. The control method of the AI physiotherapy robot of the application dynamically adjusts the moving speed of the mechanical arm through the treatment parameter obtained from the scanning result of the patient's lesion, avoids the dependence on the doctor's handheld probe and the problems of operation fatigue and poor stability, and can better control the uniform moving speed of the mechanical arm, thereby improving the treatment effect and the patient's experience. Further, the control system further comprises a VR interactive device and a camera device arranged on the mechanical arm, wherein the VR interactive device can be a VR glasses, and the camera device is an infrared depth camera. The camera device includes an infrared camera and a depth camera, for example, as shown in Figure 2 and Figure 3 .

[0075] In some embodiments, the image data of the patient is collected by scanning the patient through the camera device while the mechanical arm moves slowly; the image data is fused and processed to remove noise and errors of the image data, and finally the three-dimensional human body model data of the patient is generated; the corresponding three-dimensional human body model is displayed based on the three-dimensional human body model data through the VR interactive device, so that the patient marks the pain position of himself on the three-dimensional human body model using the preset marking method after wearing the VR interactive device; the marking information of the patient for the three-dimensional human body model is determined, and the treatment scheme for the patient is determined based on the marking information. Wherein, the marking method at least includes gestures; the marking information represents the treatment position of the patient.

[0076] Continuing to say, the marking information of the patient can be recorded through the VR interactive device, and the three-dimensional human body model is adjusted in response to the display operation of the patient to facilitate the patient to accurately mark; wherein, the display operation is zooming, rotating. Specifically, the VR interactive device records the marking information of the patient in real time, and can provide zooming, rotating and other operations to facilitate the patient to accurately mark, and the patient confirms that the marking information is correct after completing the marking.

[0077] In addition, the marking information can also be associated with the three-dimensional human body model through the VR interactive device and saved to the preset database for subsequent diagnosis and treatment reference.

[0078] Optionally, when the image data of the patient is collected by scanning the patient through the camera device while the mechanical arm moves slowly, the infrared camera scans the patient while the mechanical arm moves slowly to collect the infrared image data of the patient; the depth camera scans the patient while the mechanical arm moves slowly to collect the depth image data of the patient.

[0079] Therefore, the treatment position of the patient can be obtained by MRI / CT scanning, and the treatment scheme of the patient can be obtained, or the camera on the mechanical arm can be used to scan the patient to generate a virtual body model, the patient marks the pain area on the virtual body model through the VR device, and the treatment position of the patient is obtained, and the treatment scheme of the patient is obtained. In short, the treatment scheme of the patient is obtained through the two scanning schemes.

[0080] It should be noted that before the scanning result is marked and the patient is scanned, that is, before the above two scans, in response to guiding the patient to stand or lie in the specified scanning area and keep the body still, the mechanical arm is controlled to move to the initial scanning position according to the preset program; the position and posture information of the patient is determined and analyzed, and the best scanning path is planned based on the position and posture information, so as to control the mechanical arm to move slowly according to the best scanning path. Wherein, the initial scanning position is located above or on one side of the patient's body, for example, Figure 4The scan result of the whole patient is shown.

[0081] It can be understood that the above-mentioned scanning, i.e., labeling information, is required before treatment, and the above-mentioned preparation of the scanning path is required before scanning or labeling.

[0082] Specifically, the operator turns on the mechanical arm, infrared camera, depth camera, VR device, etc., ensures that the device is normally powered on and completes self-checking; guides the patient to stand or lie in the designated scanning area, and keeps the body still; the mechanical arm moves to the initial scanning position according to the preset program, usually above or beside the patient's body; the approximate position and posture of the patient are analyzed, and the best scanning path is planned; the mechanical arm slowly moves according to the planned path, and the infrared camera and depth camera start working; the camera transmits the collected infrared image and depth image data in real time, and processes the data to remove noise and errors, and generates three-dimensional human body model data; the patient wears VR glasses according to the prompt, ensures that the glasses are worn comfortably and can normally display the three-dimensional human body model; the patient marks his own pain site on the three-dimensional human body model through the interactive interface of the VR device using gestures or other input methods.

[0083] Further, the control system includes an impedance detection device at the end of the treatment head; the treatment head includes a non-contact temperature sensor. For example, as shown in Figure 2 and Figure 3 .

[0084] In some embodiments, the actual acoustic impedance corresponding to the treatment position of the patient is obtained by detecting the impedance of the treatment position of the patient through the impedance detection device, and the treatment parameters are adjusted when the impedance mutation is detected; the skin temperature of the treatment position of the patient is detected through the non-contact temperature sensor, and the treatment parameters are adjusted based on the skin temperature when the change of the skin temperature exceeds the preset temperature threshold.

[0085] Optionally, the experimental acoustic impedance of the target site is obtained based on a preset database; in response to the difference between the actual acoustic impedance and the experimental acoustic impedance exceeding a preset impedance mutation threshold, it is determined that the impedance mutation occurs. Wherein, the target site at least includes muscle, bone.

[0086] As can be understood by those skilled in the art, the transmission acoustic intensity (Itrans) of ultrasonic waves in biological tissues is directly affected by the impedance difference (Z1 / Z2). The core equation for calculating the transmission rate of ultrasonic energy is used to quantify the effective energy transfer when ultrasonic waves pass through different medium interfaces, and its standard expression is:

[0087]

[0088] Wherein, a represents the attenuation coefficient of the tissue, wherein the high frequency ultrasound (3 MHz) attenuates about 1.5 dB / cm in the muscle, the frequency needs to be reduced to increase the penetration depth; d represents the propagation depth of the ultrasound, which is related to the frequency; Itrans represents the actual transmitted sound intensity in the tissue, which directly determines the treatment effect; I0 represents the initial output sound intensity of the probe (i.e. the treatment intensity, the intensity value is set), and the set reference value is dynamically adjusted according to the impedance matching; Z1 / Z2 represents the acoustic impedance of the media on both sides of the interface, Z1 represents the data obtained by the impedance sensor, i.e. the actual acoustic impedance, which is a variable, and Z2 is the experimental acoustic impedance read from the database, for example, muscle 1.7 MRayl, bone 7.8 MRayl, which is a constant.

[0089] Continuing to say, when the difference between Z1 and Z2, i.e. the difference between the actual acoustic impedance and the experimental acoustic impedance, exceeds the preset impedance mutation threshold, for example, 5 Mrayl, it is determined that an impedance mutation occurs at this time.

[0090] It can be supplemented that the impedance change and the skin temperature of the tissue are monitored in real time to judge the treatment effect and the patient's reaction. If an impedance mutation or an abnormally high skin temperature is detected, it means that the current combination of output sound intensity and moving speed may not be appropriate, and the treatment parameters or the moving speed of the mechanical arm are adjusted in time.

[0091] In some embodiments, whether the treatment head is coated with a coupling agent is detected based on the actual acoustic impedance; if not, the treatment intensity is adjusted.

[0092] Here, whether the coupling agent is coated on the treatment head is judged by impedance detection, and if not, the treatment intensity, i.e. the output intensity, can be increased.

[0093] Specifically, as shown in Figure 5 The overall flow of impedance detection is shown, and the specific process is as follows:

[0094] S1: Read the treatment position and treatment parameters, and the device automatically outputs the treatment parameters. The device first acquires the specific position of the treatment and the treatment parameters, generates a basic treatment plan, and the doctor can modify and correct the treatment parameters on the system input screen, and the corresponding treatment parameter settings are automatically generated.

[0095] S2: Initialize the output sound intensity (i.e. the treatment intensity) of the treatment head and the moving speed of the mechanical arm. The output sound intensity of the device and the moving speed of the mechanical arm are initially set.

[0096] S3: Mechanical arm moving speed detection feedback. The actual moving speed of the mechanical arm is detected, and the information is fed back to the system.

[0097] S4: Control the moving speed of the mechanical arm (PID control). If the moving speed of the mechanical arm does not meet the set value, the system will use the PID (proportion-integral-derivative) control algorithm to adjust its speed.

[0098] S5: Impedance detection module, whether the impedance is mutated.

[0099] S6: According to the detected impedance, adjust the output intensity value to maintain a constant actual transmission acoustic intensity in the tissue. If the impedance is detected to be mutated, the system will adjust the output intensity according to the detected impedance value to ensure that the actual transmission acoustic intensity in the tissue remains constant.

[0100] S7: Reset the treatment parameters and control the ultrasound output module to output ultrasound.

[0101] S8: Device alarm.

[0102] S9: Judge whether the treatment time has arrived.

[0103] In some embodiments, the depth of the patient's lesion is obtained based on the scanning result; the treatment parameters are adjusted based on the depth of the lesion.

[0104] It should be noted that the depth of the patient's lesion is obtained by MRI / CT scanning result, and the treatment parameters can be adjusted according to the depth of the patient's lesion.

[0105] Further, the control system further comprises an alarm device; when the alarm device detects impedance mutation (such as the treatment head does not contact the human body), the alarm is performed. According to the detected impedance, the output intensity value is adjusted to maintain a constant actual transmission acoustic intensity in the tissue.

[0106] Optionally, when the change of skin temperature exceeds the preset temperature threshold, an alarm is performed to prevent the patient from being scalded.

[0107] Further, the control system comprises an additional function board; the additional function board comprises an impedance detection module and a temperature detection module. For example, as shown in Figure 3 , the alarm device can include a buzzer, voice broadcast and indicator light band, and the additional function board can be an MCU.

[0108] In some embodiments, in response to the start of treatment of the patient, impedance detection is performed by the impedance detection module, and temperature detection is performed by the temperature detection module. In short, the additional function board is used for AI physiotherapy robot temperature detection and impedance detection calculation.

[0109] Further, the control system comprises a screen. In response to the modification operation of the doctor on the screen, the target treatment parameters are modified and corrected.

[0110] Specifically, the adjustment of the treatment parameters is realized by the touch operation of the operator.

[0111] It can be supplemented that, as shown in Figure 3 , the control system further includes: an external storage storing a treatment plan, a treatment record, a storage database frequency-attenuation relationship table, etc.; a mechanical arm controller which can be a six-axis mechanical arm control unit; a host computer, i.e., an AI rehabilitation physiotherapy robot control host computer, which is a PC host; an ultrasonic output module for outputting ultrasonic waves; a buzzer for displaying equipment abnormality alarm; a voice broadcast module for broadcasting operation steps of guiding the equipment; and an indicator light strip, i.e., an RGB light strip, for displaying the running state of the equipment through different light effects, which will not be described in detail.

[0112] In general, the present application embodies mechanical arm control and dynamic parameter adjustment, mainly including the following aspects:

[0113] A. Movement speed control: The movement speed of the mechanical arm is controlled by the output treatment parameters, and the movement speed can be dynamically adjusted according to different treatment intensities; at the same time, the output intensity can also be dynamically adjusted according to the movement speed. This solves the problem of existing ultrasound treatment relying on the doctor holding the probe, which leads to operator fatigue, poor stability, and inability to well control the uniform movement speed.

[0114] B. Impedance detection and power adjustment: The treatment head adds an impedance detection module, which can detect whether the coupling agent is applied, and dynamically adjusts the output parameters through impedance mutation detection, which makes up for the lack of impedance detection and dynamic adjustment of parameters in the existing ultrasound.

[0115] C. Temperature detection: The treatment head contains a non-contact temperature sensor, which can detect the skin temperature of the treatment site, which helps to monitor the treatment in real time.

[0116] D. Automatic output of basic treatment plan: The treatment position is determined according to the three-dimensional coordinate parameters of the lesion scanned by MRI / CT, and the lesion depth is used as the adjustment basis for the frequency parameter of the ultrasonic wave treatment, to automatically output the basic treatment plan, which solves the problem that the existing ultrasound treatment instrument cannot analyze the MRI / CT scan results to output the basic treatment plan.

[0117] E. Innovative pain area annotation system: The mechanical arm visual perception is deeply integrated with VR interaction, and the patient self-annotation method is used to replace the traditional method of relying on doctor interrogation + palpation. Specifically, the depth camera on the mechanical arm generates a virtual body model by taking a photo of the patient as a whole, and the patient marks the pain area on the virtual body model through the VR device.

[0118] The embodiment of the present application also provides an AI physiotherapy robot control system, which includes an AI physiotherapy robot, and the AI physiotherapy robot includes a mechanical arm and a treatment head. For example, as shown in Figure 2 and Figure 3 .

[0119] The control system of the AI physiotherapy robot is used for executing the control method of the AI physiotherapy robot.

[0120] The control system of the AI physiotherapy robot provided in the embodiments of the present application scans the patient's lesion based on a preset medical image scanning technology, labels the scanning result, obtains the three-dimensional coordinates of the patient's lesion, determines the treatment position of the patient based on the three-dimensional coordinates of the lesion, determines the treatment scheme for the patient based on the treatment position, controls the moving speed of the mechanical arm based on the treatment parameter, so that the mechanical arm controls the treatment head to treat the treatment position of the patient according to the treatment scheme, and dynamically adjusts the moving speed of the mechanical arm based on the treatment parameter of the treatment head. The control system of the AI physiotherapy robot of the present application dynamically adjusts the moving speed of the mechanical arm through the treatment parameter obtained from the scanning result of the patient's lesion, avoids the dependence on the doctor's handheld probe and the problems of operation fatigue and poor stability, can better control the uniform moving speed of the mechanical arm, and thus improves the treatment effect and the patient's experience.

[0121] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiments, which will not be described herein. In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some communication interface, device or module, which can be electrical, mechanical or other forms.

[0122] The modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the present embodiment.

[0123] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0124] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the deployment method steps described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various media that can store program codes.

[0125] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for an AI physiotherapy robot, characterized in that, The application discloses an upper computer applied to a control system of an AI physiotherapy robot, and the control system comprises the AI physiotherapy robot, the AI physiotherapy robot comprises a mechanical arm and a treatment head. A lesion of a patient is scanned based on a preset medical image scanning technology, and a three-dimensional coordinate of the lesion of the patient is obtained by labeling a scanning result. A treatment position of the patient is determined based on the three-dimensional coordinate of the lesion, and a treatment scheme for the patient is determined based on the treatment position, wherein the treatment scheme comprises a treatment parameter. The movement speed of the mechanical arm is controlled based on the treatment parameter, so that the mechanical arm controls the treatment head to treat the treatment position of the patient according to the treatment scheme. The movement speed of the mechanical arm is dynamically adjusted based on the treatment parameter of the treatment head. The control system comprises a VR interactive device and a camera device arranged on the mechanical arm, and the method further comprises: scanning the patient while the mechanical arm slowly moves to collect image data of the patient through the camera device; fusing and processing the image data to remove noise and errors of the image data, and finally generating three-dimensional human body model data of the patient; displaying a corresponding three-dimensional human body model based on the three-dimensional human body model data through the VR interactive device, so that the patient marks a painful part of the patient on the three-dimensional human body model by using a preset labeling method after wearing the VR interactive device; determining labeling information of the patient for the three-dimensional human body model, and determining a treatment scheme for the patient based on the labeling information.

2. The method of claim 1, wherein, Before the labeling of the scanning result and the scanning of the patient, the method further comprises: In response to guiding the patient to stand or lie in a designated scanning area and keep the body still, the mechanical arm is controlled to move to an initial scanning position according to a preset program; wherein the initial scanning position is located above or on one side of the patient's body; Position and posture information of the patient is determined and analyzed, and an optimal scanning path is planned based on the position and posture information to control the mechanical arm to slowly move according to the optimal scanning path.

3. The method of claim 2, wherein, The camera device comprises an infrared camera and a depth camera; The scanning of the patient while the mechanical arm slowly moves to collect image data of the patient through the camera device comprises: The patient is scanned while the mechanical arm slowly moves to collect infrared image data of the patient through the infrared camera; The patient is scanned while the mechanical arm slowly moves to collect depth image data of the patient through the depth camera.

4. The method of claim 3, wherein, The method further comprises: The treatment intensity of the treatment head is dynamically adjusted based on the movement speed of the mechanical arm.

5. The method of claim 4, wherein, The control system comprises an impedance detection device at the end of the treatment head; The treatment head comprises a non-contact temperature sensor; the method further comprises: The actual acoustic impedance corresponding to the treatment position of the patient is obtained by detecting the impedance of the treatment position of the patient through the impedance detection device, and the treatment parameter is adjusted when the impedance mutation is detected; detecting a skin temperature of a treatment position of the patient by the non-contact temperature sensor, and adjusting the treatment parameter based on the skin temperature when a change of the skin temperature exceeds a preset temperature threshold.

6. The method of claim 5, wherein, The detecting the impedance mutation comprises: acquiring an experimental acoustic impedance of the target position in a preset database; determining that the impedance mutation occurs in response to a difference between the actual acoustic impedance and the experimental acoustic impedance exceeding a preset impedance mutation threshold.

7. The method of claim 6, wherein, The method further comprises: detecting whether the treatment head is coated with a coupling agent based on the actual acoustic impedance; adjusting the treatment intensity if not.

8. The method of claim 7, wherein, The method further comprises: obtaining a depth of a lesion of the patient based on the scanning result; adjusting the treatment parameter based on the depth of the lesion.

9. A control system of an AI physiotherapy robot, characterized in that, The control system comprises an AI physiotherapy robot, the AI physiotherapy robot comprising a mechanical arm and a treatment head; a control system of the AI physiotherapy robot, configured to perform the control method of the AI physiotherapy robot according to any one of claims 1-8.

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