Intelligent rehabilitation system combining infrared thermal imaging and laser treatment

Abstract

The invention relates to the technical field of intelligent rehabilitation systems, and discloses an infrared thermal imaging and laser treatment combined intelligent rehabilitation system which comprises a mechanical arm driving module, an infrared thermal imaging module, a laser treatment module and a control and man-machine interaction module. And the wireless communication module is used for transmitting data detected by the infrared thermal imaging module to the control and man-machine interaction module, and the mechanical arm driving module, the infrared thermal imaging module, the laser treatment module and the control and man-machine interaction module work cooperatively. Medical staff or patients can flexibly adjust parameters (such as power and irradiation time) of laser treatment according to infrared thermal imaging results, personalized treatment is achieved, the treatment effect is enhanced, the occurrence risk of adverse reactions is reduced, the precision, efficiency and intelligent level of rehabilitation treatment are effectively improved, and the rehabilitation treatment cost is reduced. And a better and more personalized rehabilitation treatment scheme is provided for the patient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent rehabilitation system, and particularly relates to an intelligent rehabilitation system combining infrared thermal imaging and laser treatment. BACKGROUND

[0002] In the field of sports rehabilitation, the diagnosis of traditional sports injuries (such as arthritis and soft tissue injuries) mainly relies on professional physicians and professional equipment (such as ultrasound, CT, DR, etc.), which is expensive and dependent on the experience of doctors. In addition, the power of laser rehabilitation treatment depends on the experience of doctors, which is easy to lead to insufficient energy (inefficiency) or excessive energy (burning) in the operation process, lacks real-time tissue temperature monitoring, and cannot dynamically optimize the laser parameters.

[0003] Some devices integrate temperature sensors (such as thermocouples), but only single-point temperature can be detected, and global monitoring is not possible. In addition, the thermal imager is only used for diagnosis, and does not form a closed-loop control with laser treatment, and the data does not form a linkage.

[0004] The present application relates to the technical field of sports rehabilitation medical laser treatment, and particularly relates to an intelligent rehabilitation system combining infrared thermal imaging and laser treatment, which is used for detecting lesion position and diagnosing diseases, and precisely adjusting laser parameters in the treatment process to improve treatment effect and avoid tissue thermal damage. SUMMARY

[0005] The present application relates to the technical field of sports rehabilitation medical laser treatment, and particularly relates to an intelligent rehabilitation system combining infrared thermal imaging and laser treatment, which is used for detecting lesion position and diagnosing diseases, and precisely adjusting laser parameters in the treatment process to improve treatment effect and avoid tissue thermal damage.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: An intelligent rehabilitation system combining infrared thermal imaging and laser treatment, comprising: a mechanical arm driving module, an infrared thermal imaging module, a laser treatment module, a control and human-computer interaction module; a wireless communication module, used for transmitting data detected by the infrared thermal imaging module to the control and human-computer interaction module, and enabling the control and human-computer interaction module to send control instructions to the laser treatment module and the mechanical arm driving module; The infrared thermal imaging module and the laser treatment module are both located on the mechanical arm driving module.

[0007] Preferably, the infrared thermal imaging module comprises a thermal imager module, and the temperature field distribution of the treatment area and the surrounding tissue detected by the thermal imager module can be sent to the control and human-computer interaction module through the wireless communication module.

[0008] Preferably, the control and human-computer interaction module comprises a PAD host module, which is used for receiving the temperature field distribution of the treatment area and the surrounding tissue sent by the thermal imager module, and through which control instructions can be sent to the laser treatment module and the mechanical arm driving module.

[0009] Preferably, the mechanical arm driving module is a 6-degree-of-freedom mechanical arm module, which can realize complex spatial trajectory and posture adjustment.

[0010] Preferably, the laser treatment module comprises a laser module, a fiber module and a treatment head module, one end of the fiber module is connected with the laser module, the other end of the fiber module is connected with the treatment head module, and the fiber module and the treatment head module are both installed on the mechanical arm module, and the laser module can be started through the PAD host module.

[0011] Preferably, the PAD host module further comprises a temperature partition identification module, which divides the area scanned by the thermal imager module into a core treatment area, an excessive treatment area and a safety monitoring area.

[0012] Preferably, the PAD host module further comprises a laser parameter setting module.

[0013] Preferably, the PAD host module further comprises a multi-modal data fusion module.

[0014] Compared with the prior art, the present application has the following beneficial effects: The present application, through the cooperative work of the mechanical arm driving module, the infrared thermal imaging module, the laser treatment module and the control and human-computer interaction module, the infrared thermal imaging module can accurately capture the thermal distribution information of the patient's body, providing a scientific basis for subsequent treatment, allowing the system to clearly identify the lesion area or the part to be treated, greatly improving the targeting of treatment, and the application of the wireless communication module plays a key role, not only realizing efficient data transmission between the infrared thermal imaging module and the control and human-computer interaction module, ensuring that the thermal imaging information can be fed back to the control end in time, but also enabling the control and human-computer interaction module to conveniently send control instructions to the laser treatment module and the mechanical arm driving module, ensuring the synchronicity and coordination of the operation of each module, improving the response speed and control accuracy of the system, and in combination with the control and human-computer interaction module, medical staff or patients can flexibly adjust the parameters of laser treatment (such as power, irradiation time, etc.) according to the infrared thermal imaging results, realize personalized treatment, enhance the treatment effect, reduce the risk of adverse reactions, effectively improve the accuracy, efficiency and intelligent level of rehabilitation treatment, and provide patients with a more optimal and personalized rehabilitation treatment plan. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1A system structure block diagram of an intelligent rehabilitation system combining infrared thermal imaging and laser treatment is provided in the present application. Figure 2 A module composition schematic diagram of an intelligent rehabilitation system combining infrared thermal imaging and laser treatment is provided in the present application.

[0016] In the figure: 1, mechanical arm driving module; 2, infrared thermal imaging module; 3, laser treatment module; 4, control and man-machine interaction module; 5, thermal imager module; 6, PAD host module; 8, laser module; 9, optical fiber module; 10, treatment head module; 11, wireless communication module; 12, temperature partition identification module; 13, laser parameter setting module; 14, multi-modal data fusion module. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0018] Reference Figure 1 and Figure 2 An intelligent rehabilitation system combining infrared thermal imaging and laser treatment, comprising: A mechanical arm driving module 1, an infrared thermal imaging module 2, a laser treatment module 3, a control and man-machine interaction module 4; A wireless communication module 11 for transmitting the data detected by the infrared thermal imaging module 2 to the control and man-machine interaction module 4, and allowing the control and man-machine interaction module 4 to send control instructions to the laser treatment module 3 and the mechanical arm driving module 1; The infrared thermal imaging module 2 and the laser treatment module 3 are both located on the mechanical arm driving module 1.

[0019] In use, the device works cooperatively through the mechanical arm driving module 1, the infrared thermal imaging module 2, the laser treatment module 3, and the control and human-computer interaction module 4. The infrared thermal imaging module 2 can accurately capture the thermal distribution information of the patient's body, providing a scientific basis for subsequent treatment, allowing the system to clearly identify the lesion area or the part to be treated, greatly improving the targeting of treatment. The application of the wireless communication module 11 plays a key role. It not only realizes efficient data transmission between the infrared thermal imaging module 2 and the control and human-computer interaction module 4, ensuring that the thermal imaging information can be fed back to the control end in a timely manner, but also enables the control and human-computer interaction module 4 to conveniently send control instructions to the laser treatment module 3 and the mechanical arm driving module 1, ensuring the synchronicity and coordination of the operation of each module, improving the response speed and control accuracy of the system. In combination with the control and human-computer interaction module 4, medical staff or patients can flexibly adjust the parameters of laser treatment (such as power, irradiation time, etc.) according to the infrared thermal imaging results, realize personalized treatment, enhance the treatment effect, reduce the risk of adverse reactions, and effectively improve the accuracy, efficiency, and intelligent level of rehabilitation treatment, providing patients with a more high-quality and personalized rehabilitation treatment plan.

[0020] The PAD host module 6 is also connected with a computing unit (NVIDIA Jetson AGX Orin edge device) to run the YOLOv8 model, and the specific process is as follows: 1. First, the thermal imager module 5 collects the infrared thermal image (temperature distribution visualization image) of the treatment area, and standardizes the thermal image (uniform size, temperature range calibration); 2. Label the inflammation / damage area in the data set (high-temperature abnormal area based on medical expert judgment); 3. The thermal imager module 5 transmits the collected infrared thermal image to the PAD host module 6; 4. The YOLOv8 model quickly detects each frame of image: first, the image is divided into SxS grid, each grid predicts the bounding box, confidence and class probability, and then the optimal detection result is screened through non-maximum suppression (NMS), and then combined with the temperature data, the temperature mean, peak value and other parameters of the inflammation area are calculated; 5. Superimpose the detection box of the inflammation area on the thermal imaging image, and display the temperature distribution thermal image and the temperature statistical data of the inflammation area in real time. The temperature threshold alarm can be set to trigger a prompt when the temperature of the inflammation area is abnormal; Since the inflammation area appears as a high-temperature abnormal area (usually 2-3℃ higher than the surrounding tissue) in thermal imaging, the YOLOv8 model automatically extracts the shape, position, and temperature gradient features of the high-temperature area by learning the labeled data, which can improve the detection accuracy in combination with medical prior knowledge (such as the anatomical features of joints and muscles prone to inflammation).

[0021] Further, the infrared thermal imaging module 2 comprises a thermal imager module 5, which can send the temperature field distribution of the treatment area and the surrounding tissue detected by the thermal imager module 5 to the control and human-computer interaction module 4 through the wireless communication module 11.

[0022] Further, the control and human-computer interaction module 4 comprises a PAD host module 6, which is used to receive the temperature field distribution of the treatment area and the surrounding tissue sent by the thermal imager module 5, and through which control instructions can be sent to the laser treatment module 3 and the mechanical arm driving module 1.

[0023] Further, the mechanical arm driving module 1 is a 6-DOF mechanical arm module, which can realize complex spatial trajectory and attitude adjustment.

[0024] Further, the laser treatment module 3 comprises a laser module 8, a fiber module 9 and a treatment head module 10, one end of the fiber module 9 is connected with the laser module 8, the other end of the fiber module 9 is connected with the treatment head module 10, and the fiber module 9 and the treatment head module 10 are both installed on the mechanical arm module, and the laser module 8 can be started through the PAD host module 6.

[0025] Further, the PAD host module 6 further comprises a temperature partition identification module 12, which divides the area scanned by the thermal imager module 5 into a core treatment area, an excessive treatment area and a safety monitoring area, greatly improving the accuracy and safety of treatment. The core treatment area can ensure that the laser treatment energy is concentrated on the parts that need to be focused on rehabilitation, improving the treatment efficiency; the excessive treatment area can play a buffering role to avoid unnecessary stimulation to the tissue caused by sudden changes in energy; the safety monitoring area can monitor the temperature changes of the surrounding tissue in real time, and once there is an abnormal temperature rise or other potential risks, it can timely issue a warning, effectively reducing the risk of damage to normal tissues during treatment, and providing more detailed safety protection for the entire treatment process.

[0026] Further, the PAD host module 6 further comprises a laser parameter setting module 13, which can be controlled by the PAD host module 6 to set the intensity of the laser module 8. The laser parameter setting module 13 contained in the PAD host module 6, due to the differences in the patient's condition, constitution and the tissue characteristics of the treatment area, the demand for laser treatment parameters is also different, through this module, medical staff can accurately set the power, wavelength, irradiation time and other parameters of the laser according to the specific situation of the patient, such as the degree of lesion in the core treatment area, the sensitivity of the tissue to the laser, etc., so that the laser treatment is more targeted.

[0027] Further, the PAD host module 6 also includes a multi-modal data fusion module 14, which can combine thermal imaging data with patient medical records (such as MRI) to predict the optimal treatment parameters through an LSTM neural network, as follows: 1. First, pre-process the collected thermal imaging data, which is time-series data (such as body surface temperature distribution images collected every hour for 48 consecutive hours), and perform denoising to eliminate environmental temperature interference, retain temperature fluctuation characteristics of the lesion area (such as inflammation, tumor), and sort by timestamp to ensure data time series continuity; 2. The MRI data is a static 3D image (reflecting tissue structure characteristics), which needs to be corrected to remove motion artifacts and deviations caused by magnetic field inhomogeneity; the region of interest (ROI) is segmented, and the lesion area (such as tumor, inflammation focus) is automatically segmented by the U-Net model (U-Net can effectively extract the context information of the lesion area through its symmetric structure and skip connection, while retaining the details, thereby achieving high-precision segmentation) to focus on key structures; 3. Extract the features of thermal imaging, which has both spatial distribution (temperature field) and time-series dynamics (temperature change trend), and use "convolution + time-series coding" to extract features; Spatial features: use 2D-CNN (such as 3 layers of convolution + pooling) to extract temperature distribution features (such as high-temperature area shape, area, gradient) of single-frame thermal imaging; Time-series features: arrange the spatial features of consecutive frames in chronological order to form a time-series feature sequence (dimension: TxF thermal, where T is the number of time steps and F thermal is the dimension of single-frame features); Extract features from MRI, which mainly uses spatial structure information, and uses 3D-CNN (such as V-Net variants) to extract deep spatial features, capturing lesion area volume, texture (such as gray level co-occurrence matrix), edge contour, etc. through multiple 3D convolution layers; finally output a fixed-dimension feature vector (F mri) reflecting the static properties of the tissue structure; Fusion of multi-modal features, construction of cross-modal association: copy the static feature vector F mri of MRI T times, and align it with the time-series feature sequence (TxF thermal) of thermal imaging in the time dimension; element-wise weighted fusion of the two features after alignment (weights are dynamically learned through attention mechanism), generating a fused feature sequence (T×(F thermal+F mri)); Through the design of the LSTM layer, the fused feature sequence can be input into the bidirectional LSTM network, and the long time sequence dependence (such as the correlation between the temperature change trend for three consecutive days and the lesion development) can be captured through the forgetting gate, the input gate and the output gate; the last time step output of the LSTM is mapped to the treatment parameter space (such as the drug dose, the radio frequency treatment power and the like) through the full connection layer, and the linear activation function is adopted to output the continuous prediction value; in this way, the model can focus on the key information and reduce the noise interference, and finally the mapping relationship of “thermal imaging time sequence mode + MRI structural features -> optimal treatment parameters” can be obtained.

[0028] The above merely describes a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and the inventive concept of the present application, can make equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An intelligent rehabilitation system combining infrared thermal imaging and laser therapy, characterized in that: include: Robotic arm drive module (1), infrared thermal imaging module (2), laser therapy module (3), control and human-computer interaction module (4); The wireless communication module (11) is used to transmit the data detected by the infrared thermal imaging module (2) to the control and human-machine interaction module (4), and the control and human-machine interaction module (4) can send control commands to the laser therapy module (3) and the robotic arm drive module (1); The infrared thermal imaging module (2) and the laser therapy module (3) are both located on the robotic arm drive module (1).

2. The intelligent rehabilitation system combining infrared thermal imaging and laser therapy according to claim 1, characterized in that: The infrared thermal imaging module (2) includes a thermal imager module (5), which can transmit the temperature field distribution of the treatment area and surrounding tissues detected by the thermal imager module (5) to the control and human-computer interaction module (4) via the wireless communication module (11).

3. The intelligent rehabilitation system combining infrared thermal imaging and laser therapy according to claim 2, characterized in that: The control and human-machine interaction module (4) includes a PAD host module (6), which is used to receive the temperature field distribution of the treatment area and surrounding tissues sent by the thermal imaging module (5), and can send control commands to the laser treatment module (3) and the robotic arm drive module (1) through the PAD host module (6).

4. The intelligent rehabilitation system combining infrared thermal imaging and laser therapy according to claim 3, characterized in that: The robotic arm drive module (1) is a 6-DOF robotic arm module, which can realize complex spatial trajectory and posture adjustment.

5. The intelligent rehabilitation system combining infrared thermal imaging and laser therapy according to claim 4, characterized in that: The laser treatment module (3) includes a laser module (8), an optical fiber module (9) and a treatment head module (10). One end of the optical fiber module (9) is connected to the laser module (8), and the other end of the optical fiber module (9) is connected to the treatment head module (10). Both the optical fiber module (9) and the treatment head module (10) are mounted on the robotic arm module. The laser module (8) can be started through the PAD host module (6).

6. The intelligent rehabilitation system combining infrared thermal imaging and laser therapy according to claim 5, characterized in that: The PAD host module (6) also includes a temperature zone recognition module (12), which divides the area scanned by the thermal imaging module (5) into a core treatment area, an overtreatment area, and a safety monitoring area.

7. The intelligent rehabilitation system combining infrared thermal imaging and laser therapy according to claim 6, characterized in that: The PAD host module (6) also includes a laser parameter setting module (13).

8. The intelligent rehabilitation system combining infrared thermal imaging and laser therapy according to claim 7, characterized in that: The PAD host module (6) also includes a multimodal data fusion module (14).

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