Scraping therapy robot based on manual guidance and application method

Abstract

The invention relates to a scraping therapy robot based on manual guiding and an application method, the scraping therapy robot comprises a seat plate, a leaning side plate is arranged on the front side of the seat plate, and a positioning side plate is arranged on the rear side of the seat plate; a scraping therapy frame and a manipulator are arranged on the positioning side plate; a scraping plate and a driving unit are arranged in a frame body of the scraping frame; the positioning side plate is further provided with a control host, the control host is connected with a handheld scraping head through an electric wire, and the handheld scraping head is operated by medical staff to conduct manual guide scraping operation; a collection roller assembly and a pressure detection unit for collecting the scraping pressure in the handheld scraping process are integrally arranged on the handheld scraping head; guided scraping therapy is conducted manually, after guided scraping therapy is completed, follow-up operation is conducted through the robot, and therefore it can be guaranteed that the scraping therapy precision is guaranteed, and meanwhile it is guaranteed that the scraping therapy robot has extremely high adaptability to patients with different body types.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gua sha robot, more particularly, to a gua sha robot based on artificial guidance and an application method. BACKGROUND

[0002] Gua sha is a traditional Chinese medicine therapy. It is guided by the theory of meridians and acupoints in traditional Chinese medicine. By repeatedly scraping specific parts of the body with specially designed gua sha tools (such as horn plates, jade plates, etc.), red millet-like or dark red bleeding spots, etc. "out of the gua sha" phenomenon occurs on the local skin, thereby achieving the effect of promoting blood circulation, unblocking meridians, and regulating the function of viscera.

[0003] Currently, gua sha needs to be manually operated by medical personnel. Some new devices, such as gua sha robot solutions, propose to replace manual methods with machines. However, these devices have various defects in acupoint recognition, and the force and angle control of pressing are also unreasonable. Ultimately, the product can only stay in the theoretical stage and cannot be truly implemented. The most common method is to find acupoints through image recognition and control the pressing force according to the set program for gua sha. This method is theoretically feasible, but the main defect that prevents it from being implemented is that the equipment cost is too high, and the investment and output cannot achieve a reasonable balance. Chinese patent application No. CN202410787052.1 provides a control method for a gua sha robot and a gua sha robot based on the correspondence between the pressure distribution map and the back surface. The acupoint and acupoint position of the user's back are determined to determine the target trajectory information. Although this can reduce costs, it is actually not reasonable for acupoint recognition and force control. The scheme reduces the accuracy of acupoint recognition, and the pressing force parameter setting is not intuitive, lacking necessary reference basis. Based on the above situation, a gua sha robot based on artificial guidance and an application method are needed, which are not only low in cost but also intuitive and reasonable in acupoint recognition and acupoint pressing force setting. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a gua sha robot based on artificial guidance and an application method based on artificial guidance to solve the above-mentioned defects of the prior art.

[0005] The technical solution adopted by the present application to solve its technical problem is: The application discloses a manual guiding guasha robot, which comprises a seat plate for a human body, a backrest side plate arranged on the front side of the seat plate, and a position-adjustable positioning side plate arranged on the rear side of the seat plate; a guasha frame for flexibly pressing the human body on the backrest side plate and a mechanical hand for adjusting the position of the guasha frame are arranged on the positioning side plate; a guasha plate and a driving unit for moving the guasha plate for guasha operation are arranged in the frame body of the guasha frame; a control host for controlling the driving unit is further arranged on the positioning side plate, and a handheld guasha head connected with the control host through a wire is arranged on the control host; the handheld guasha head is operated by medical staff to manually guide the guasha operation; a collection roller assembly and a pressure detection unit for collecting guasha pressure during handheld guasha operation are integrally arranged on the handheld guasha head; the control host receives data of the collection roller assembly and the pressure detection unit, and controls the driving unit to generate simulation parameters and move the guasha plate for a guasha simulation operation after the data is manually confirmed; the control host controls the driving unit to move the guasha plate according to the simulation parameters for a complete guasha simulation operation after the simulation is manually confirmed to be correct.

[0006] The handheld guasha head comprises a handheld part and a guasha head, the guasha head comprises guasha pieces arranged in parallel and a mounting plate, the lower end of the mounting plate is slidably provided with the collection roller assembly and an elastic reset member for resetting the collection roller assembly; in an initial state, the lower end surface of the collection roller assembly is flush with the lower end surface of the guasha piece; and the pressure detection unit is used for detecting the pressing force received by the elastic reset member.

[0007] The lower end of the mounting plate is provided with a plurality of parallel guide rods, a guide sleeve is slidably arranged on each of the guide rods; the collection roller assembly comprises a plurality of rollers, the rollers are connected and arranged at the lower end of the guide sleeve through a roller frame; the elastic reset member is a spring and is provided with a plurality of springs, the guide rods are sleeved with the springs; and the pressure detection unit is provided with a plurality of pressure detection units, and the detection ends of the pressure detection units are connected with the springs one by one.

[0008] The handheld part is provided with a positioning module, the positioning module is used for collecting the movement track and the inclination state of the handheld part; the handheld part is connected with the control host through a wire; and the guasha frame is provided with a placing rack for placing the handheld guasha head.

[0009] The positioning module comprises a gyroscope.

[0010] The artificial guide-based gua sha robot, wherein the driving unit comprises a mounting bracket in an inverse concave shape mounted on the gua sha frame, a rotating arm provided at the inner top surface of the mounting bracket, a rotating motor driving the rotating arm to rotate, and a Z-axis unit driving the rotating motor to move along the Z-axis, a horizontal movement unit provided on the rotating arm, a pressure sensor provided at the movable end of the horizontal movement unit, a longitudinal deflection motor fixed at the detection end of the pressure sensor, and the gua sha plate fixed at the movable end of the longitudinal deflection motor.

[0011] The artificial guide-based gua sha robot, wherein the gua sha frame is provided with a sliding rail for the mounting bracket to slide and a linear motor driving the mounting bracket to slide along the sliding rail.

[0012] An application method of the artificial guide-based gua sha robot, wherein the artificial guide-based gua sha robot is applied, and the method comprises the following steps: After the human body is seated on the seat plate, the position of the positioning side plate is adjusted so that the human body is clamped and positioned at the hips by the cooperation of the abutting side plate and the positioning side plate; The position of the gua sha frame is adjusted by the mechanical hand so that the human body is clamped and positioned at the torso by the cooperation of the abutting side plate and the gua sha frame; The artificial guide gua sha operation is performed by the medical staff holding the handheld gua sha head, and the gua sha pressure is collected by the pressure detection unit; The data of the pressure detection unit are received by the control host, and after the data are confirmed by the artificial confirmation, the driving unit generates simulation parameters, drives the gua sha plate to move, and performs a gua sha simulation operation; After the simulation is confirmed by the artificial confirmation, the driving unit drives the gua sha plate to move according to the simulation parameters and performs a complete gua sha simulation operation.

[0013] The beneficial effects of the present application are that after the human body sits on the seat plate, the position of the positioning side plate is adjusted so that the human body is clamped and positioned by the cooperation of the backrest side plate and the positioning side plate; the position of the gua sha frame is adjusted by the mechanical hand, so that the human body is clamped and positioned by the cooperation of the backrest side plate and the gua sha frame; the medical staff holds the handheld gua sha head to operate and manually guides the gua sha operation, and the pressure detection unit collects the gua sha pressure; the control host receives the data collected by the pressure detection unit, and after the data is manually confirmed, the control driving unit generates simulation parameters and drives the gua sha plate to move and perform a gua sha simulation operation; after the simulation is confirmed to be correct by manual confirmation, the control driving unit drives the gua sha plate to move according to the simulation parameters and performs a complete gua sha simulation operation; by using the method of the present application, the gua sha data is very accurate, and the adjustment of the acupoint, angle and force can be accurately performed. After the gua sha is guided to be completed, subsequent operations are performed by the robot, so that the gua sha precision can be guaranteed, the adaptability to patients of different body types can be ensured, and the cost of the robot can be greatly reduced, so that the robot can be truly applied. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the present application will be further described below with reference to the drawings and embodiments. The drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor: Figure 1 is a structure schematic diagram of a gua sha robot based on manual guidance according to a preferred embodiment of the present application; Figure 2 is a structure schematic diagram of a driving unit of a gua sha robot based on manual guidance according to a preferred embodiment of the present application; Figure 3 is a side view of a handheld gua sha head of a gua sha robot based on manual guidance according to a preferred embodiment of the present application; Figure 4 is a structure schematic diagram of a mounting plate of a gua sha robot based on manual guidance according to a preferred embodiment of the present application; Figure 5 is a flow chart of an application method of a gua sha robot based on manual guidance according to a preferred embodiment of the present application. DETAILED DESCRIPTION

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0016] A preferred embodiment of the present invention is a manually guided gua sha robot, such as... Figure 1 As shown, see also Figures 2-4 The system includes a seat 1 for human occupancy, a backrest side panel 2 on the front side of the seat 1, and a positioning side panel 3 on the rear side of the seat 1 with adjustable fore-and-aft position (the positioning side panel 3 works in conjunction with the seat 1 to clamp and position the human occupant, preventing displacement; the position adjustment of the positioning side panel 3 can be achieved using existing structural forms such as lead screw assemblies, which will not be elaborated further); a scraping frame 4 for flexibly pressing the human occupant against the backrest side panel and a robotic arm 5 for adjusting the position of the scraping frame 4 (a robotic arm is used here to ensure that the scraping frame can cover a large area); a scraping board 6 and a drive mechanism for moving the scraping board 6 to perform scraping operations are installed inside the frame of the scraping frame 4. The moving unit 7; the positioning side plate 3 is also equipped with a control host 8 of the control drive unit. The control host 8 is connected to a handheld scraping head via a wire. The handheld scraping head is operated by medical staff to perform manual scraping operation. The handheld scraping head is integrated with a collection roller assembly 90 and a pressure detection unit 91 for collecting scraping pressure during handheld scraping. The control host 8 receives data from the collection roller assembly 90 and the pressure detection unit 91. After the data is manually confirmed, the control drive unit 7 generates simulation parameters and drives the scraping board 6 to move and perform a scraping simulation operation. After the simulation is manually confirmed to be correct, the control drive unit 7 drives the scraping board 6 to move according to the simulation parameters and performs a complete scraping simulation operation. After the human body sits on the seat board 1, the position of the positioning side plate 3 is adjusted so that the backrest side plate 2 and the positioning side plate 3 cooperate to clamp and position the human body's buttocks; the control robot arm 5 adjusts the position of the scraping frame 4 so that the backrest side plate 2 and the scraping frame 4 cooperate to clamp and position the human body's torso; the medical staff holds the hand-held scraping head to perform manual guided scraping operation. During the hand-held scraping, the data collection roller assembly 90 collects the direction, and the pressure detection unit 91 collects the scraping pressure; the control host 8 receives the data from the data collection roller assembly 90 and the pressure detection unit 91, and after the data is manually confirmed, the control drive unit 7 generates simulation parameters and drives the scraping board 6 to move and perform a scraping simulation operation. After the simulation is manually confirmed to be correct, the control drive unit 7 drives the scraping board 6 to move according to the simulation parameters and performs a complete scraping simulation operation. The method of the application can make the scraping data very accurate by guiding scraping manually, and can accurately adjust the acupoints, angles and forces. After the guided scraping is completed, subsequent operations are performed by the robot, thereby ensuring the scraping accuracy and the strong adaptability to patients with different body types, and the cost of the robot can be greatly reduced without involving complex algorithms, so that the robot can be truly applied.

[0017] Preferably, the handheld scraping head comprises a handheld part 92 and a scraping head, the scraping head comprises scraping pieces 930 arranged side by side and a mounting plate 931, the lower end of the mounting plate 931 is slidably provided with a collection roller assembly 90 and an elastic reset member 94 for resetting the collection roller assembly; in the initial state, the lower end surface of the collection roller assembly 90 is flush with the lower end surface of the scraping piece 93; the pressure detection unit 91 is used for detecting the pressure received by the elastic reset member 94; by using this special parallel arrangement structure, the scraping pieces 930 are in extrusion contact with the human skin, and the collection roller assembly 90 at the lower end of the mounting plate 931 is in extrusion contact with the adjacent skin, the rolling action of the collection roller assembly 90 itself brings almost zero resistance to the scraping pieces 930, and the medical staff can operate normally during scraping, the pressure is fed back to the pressure detection unit 91 for reading, and then a pressure reading close to the real scraping pressure can be obtained, thereby ensuring the simulation of the most critical pressure value during scraping, which is the most critical link to ensure the pressure accuracy.

[0018] Further, for some non-flat parts, the scraping piece may deviate during actual scraping, and targeted design is performed: the lower end of the mounting plate 931 is provided with a plurality of parallel guide rods 932, a plurality of guide sleeves 933 are slidably sleeved on the guide rods 932; the collection roller assembly 90 comprises a plurality of rollers 900, the rollers are connected and arranged at the lower end of the guide sleeve 933 through a roller frame 901; the elastic reset member 94 is a spring and is provided with a plurality of springs, the guide rods 932 are sleeved with the springs; the pressure detection unit 91 is provided with a plurality of pressure detection units, and the detection ends are connected with the springs one by one; when the scraping piece deviates, the holding reaction forces received by the plurality of rollers 900 are different, and then the readings fed back to the pressure detection unit 91 are also different, thereby realizing the pressure detection reading operation when the scraping piece deviates.

[0019] Preferably, the handheld part 92 is provided with a positioning module 934, the positioning module 934 is used for collecting the movement track and the inclination state of the handheld part; the handheld part 92 is connected to the control host 8 through a wire; the scraping frame is provided with a placing rack for placing the handheld scraping head; the positioning module 934 comprises a gyroscope; the positioning module is used for collecting the position and the inclination state of the handheld part 92, and the control is performed according to the state.

[0020] Preferably, the driving unit 7 comprises a mounting bracket 70 in the shape of an inverted recess mounted on the gua sha frame 4, a rotating arm 71 provided at the inner top surface of the mounting bracket 70, a rotating motor 72 driving the rotating arm 71 to rotate, and a Z-axis unit 73 driving the rotating motor 72 to move along the Z-axis, the rotating arm 71 being provided with a horizontal moving unit 74, the movable end of the horizontal moving unit 74 being provided with a pressure sensor 75, the detection end of the pressure sensor 75 being fixed with a longitudinal deflection motor 76, and the movable end of the longitudinal deflection motor 76 being fixed with the gua sha plate 6; the driving principle of the driving unit 7 is that the Z-axis unit 73 is used to control the overall longitudinal movement, which can accurately control the pressing force of the gua sha plate 6 in cooperation with the pressure sensor 75; the combination of the rotating arm 71 and the rotating motor 72 is used to control the movement track of the gua sha plate 6; and the longitudinal deflection motor 76 is used to adjust the inclination of the gua sha plate 6.

[0021] Preferably, the gua sha frame 4 is provided with a sliding rail 40 for the mounting bracket 70 to slide and a linear motor 41 driving the mounting bracket to slide along the sliding rail; the supplementary design of this part can further adjust and increase the gua sha coverage of the gua sha plate 6 without changing the position of the gua sha frame 4 by the mechanical hand 5.

[0022] An application method of a gua sha robot based on manual guidance, the gua sha robot being applied as above, as shown in the figure, the method comprises the steps of: Figure 5 S01: After a human body is seated on the seat plate, the position of the positioning side plate is adjusted so that the human body is clamped and positioned at the hips by cooperation of the leaning side plate and the positioning side plate; S02: The position of the gua sha frame is adjusted by the mechanical hand so that the human body is clamped and positioned at the torso by cooperation of the leaning side plate and the gua sha frame; S03: A medical staff holds the handheld gua sha head to perform manual guidance gua sha operation, and the pressure detection unit collects gua sha pressure; S04: The host controls the data collected by the pressure detection unit, and after the data is confirmed by manual confirmation, the driving unit generates simulation parameters and drives the gua sha plate to move and perform a gua sha simulation operation; S05: After the simulation is confirmed by manual confirmation, the driving unit drives the gua sha plate to move according to the simulation parameters and performs a complete gua sha simulation operation; By applying the method of the present application, manual guidance gua sha can make the gua sha data very accurate and accurately adjust the acupoints, angles and forces, and after the guidance gua sha is completed, subsequent operations are performed by the robot, thereby ensuring the gua sha precision and the strong adaptability to patients of different body types, and without involving complex algorithms, the cost of the robot can be greatly reduced, so that it can truly be put into use.

[0023] ​It is to be understood that all such modifications and variations that can occur to those skilled in the art in the light of the foregoing description are to be considered within the scope of the application as defined in the claims appended hereto.

Claims

1. A manually guided gua sha robot, characterized in that, The device includes a seat for human occupancy, with a backrest side panel on the front and a positioning side panel on the rear that is adjustable in position. The positioning side panel has a scraping frame for flexibly pressing the human body against the backrest side panel and a robotic arm for adjusting the position of the scraping frame. The scraping frame has a scraping board and a drive unit for moving the scraping board to perform scraping operations. The positioning side panel also has a control unit for controlling the drive unit, and the control unit is connected to a handheld scraping head via a wire. The scraping head is operated by medical personnel for manual guided scraping operations; the handheld scraping head is integrated with a data collection roller assembly and a pressure detection unit for collecting scraping pressure during handheld scraping; the control host receives data from the data collection roller assembly and the pressure detection unit, and after manual confirmation of the data, controls the drive unit to generate simulation parameters and move the scraping board to perform a scraping simulation operation. After manual confirmation that the simulation is correct, the control unit controls the drive unit to move the scraping board according to the simulation parameters to perform a complete scraping simulation operation.

2. The manually guided scraping robot according to claim 1, characterized in that, The handheld scraping head includes a handheld part and a scraping head. The scraping head includes a scraping blade and a mounting plate arranged in parallel. The lower end of the mounting plate is slidably provided with the collection roller assembly and an elastic reset member for resetting the collection roller assembly. In the initial state, the lower end surface of the collection roller assembly is flush with the lower end surface of the scraping blade. The pressure detection unit is used to detect the holding force received by the elastic reset member.

3. The manually guided scraping robot according to claim 2, characterized in that, The lower end of the mounting plate is provided with multiple guide rods arranged side by side, and guide sleeves are slidably sleeved on each of the multiple guide rods; the acquisition roller assembly includes multiple rollers, which are connected to the lower end of the guide sleeves via roller frames; the elastic reset element is a spring and multiple springs are provided, and the springs are sleeved on the guide rods; multiple pressure detection units are provided, and the detection ends are connected to the springs one by one.

4. The manually guided scraping robot according to claim 2, characterized in that, The handheld part is equipped with a positioning module, which is used to collect the movement trajectory and tilt state of the handheld part; the handheld part is connected to the control host via a wire; the scraping frame is equipped with a holder for placing the handheld scraping head.

5. The manually guided scraping robot according to claim 4, characterized in that, The positioning module includes a gyroscope.

6. The manually guided scraping robot according to claim 4, characterized in that, The drive unit includes an inverted concave mounting bracket mounted on the scraping frame. A rotating arm, a rotary motor that drives the rotating arm to rotate, and a Z-axis unit that drives the rotary motor to move along the Z-axis are provided on the inner top surface of the mounting bracket. A transverse unit is provided on the rotating arm. A pressure sensor is provided at the movable end of the transverse unit. A longitudinal deflection motor is fixed at the detection end of the pressure sensor. The scraping board is fixed at the movable end of the longitudinal deflection motor.

7. The manually guided scraping robot according to claim 6, characterized in that, The scraping frame is equipped with a slide rail for the mounting bracket to slide along and a linear motor that drives the mounting bracket to slide along the slide rail.

8. A method for applying a manually guided scraping robot, using the manually guided scraping robot as described in any one of claims 1-7, characterized in that, The method includes the following steps: After the human body sits on the seat board, adjust the position of the positioning side plate so that the backrest side plate and the positioning side plate work together to clamp and position the human body's buttocks. The robotic arm is controlled to adjust the position of the scraping frame so that the side plate and the scraping frame work together to clamp and position the human torso. The medical staff holds the hand-held scraping head and manually guides the scraping operation, while the pressure detection unit collects the scraping pressure. The control host receives data from the pressure detection unit, and after the data is manually confirmed, it controls the drive unit to generate simulation parameters and move the scraping board to perform a scraping simulation operation. After manual verification that the simulation is correct, the control drive unit moves the scraping board according to the simulation parameters and performs a complete scraping simulation operation.

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