Millimeter wave therapeutic apparatus and auxiliary positioning system based on mechanical arm

Abstract

The invention relates to the technical field of millimeter wave therapeutic apparatuses, and discloses a millimeter wave therapeutic apparatus and an auxiliary positioning system based on a mechanical arm, the therapeutic apparatus comprises a connecting seat, the center of the connecting seat is hinged and assembled with a physiotherapy cylinder through a hinge ball head, the physiotherapy cylinder is internally assembled with a physiotherapy head, the physiotherapy head is integrally provided with a radiation head, and the radiation head is provided with an auxiliary positioning device. Electromagnets are evenly fixed to the outer edge of the side, close to the physiotherapy cylinder, of the connecting base, iron sheets matched with the electromagnets are evenly fixed to the side, close to the connecting base, of the physiotherapy cylinder, and the number of the electromagnets is the same as that of the iron sheets. The therapeutic apparatus can be actively adjusted when the positioning angle of the therapeutic apparatus has an error or cannot be accurately positioned due to a mechanical structure, so that the deflection angle of the therapeutic apparatus can be adjusted; the defect that a traditional millimeter wave therapeutic instrument has an error in a positioning angle or cannot be accurately positioned due to an overlarge gap of a mechanical structure can be overcome.

Description

Technical Field

[0001] This invention relates to the field of millimeter wave therapy technology, and particularly to a millimeter wave therapy device and a robotic arm-based assisted positioning system. Background Technology

[0002] The existing technology of millimeter wave therapy devices consists of three parts: main unit, connecting cable, and millimeter wave source. Due to the connecting cable, it is not convenient to use during treatment, especially when treating some special parts of the human body, which adds a lot of trouble.

[0003] In the adjustable wearable millimeter-wave therapy device with application number CN202410949240.X, a positioning plate, positioning groove, and guide slider are provided to control the distance between the therapy device and the patient's skin. The distance between the therapy device and the lesion can be adjusted according to the patient's condition. In a millimeter-wave therapy device with application number CN201910543588.8, the radiator is set at the end of a foldable robotic arm. In use, the radiator probe is fixed to the foldable robotic arm with screws, which can quickly and conveniently adjust the position of the probe and improve the ease of installation of the probe.

[0004] In actual use, existing millimeter wave therapy devices use movable robotic arms to adjust the position of the millimeter wave source. Moreover, the radiation head of the existing millimeter wave therapy device is fixed on the output end of the robotic arm. The position of the millimeter wave therapy device is adjusted by the movement of multiple brackets driven by the robotic arm during operation. However, when the joint gap of the robotic arm is large, it will result in low control precision of the robotic arm, causing the millimeter wave therapy device to be unable to accurately target the treatment area.

[0005] Therefore, this invention proposes a millimeter-wave therapy device and a robotic arm-based assisted positioning system to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a millimeter-wave therapy device and a robotic arm-based assisted positioning system to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a millimeter wave therapy device, including a therapy unit; The therapeutic device includes a connecting base, and a physiotherapy cylinder is hinged to the center of the connecting base via a hinged ball joint. A physiotherapy head is fitted inside the physiotherapy cylinder, and a radiation head is integrally formed on the physiotherapy head. A protective corrugated tube is fixedly fitted on the outer edge between the physiotherapy cylinder and the connecting seat. A support spring sleeved on the outside of the hinge ball head is fixedly connected between the physiotherapy cylinder and the connecting seat. Electromagnets are evenly fixed on the outer edge of the connecting seat near the physiotherapy cylinder. Iron plates matching the electromagnets are evenly fixed on the side of the physiotherapy cylinder near the connecting seat, and the number of electromagnets and iron plates are the same.

[0008] Preferably, the electromagnets are arranged in four groups and distributed at the three, six, nine and twelve o'clock positions on the surface of the connecting seat, and each group of electromagnets is embedded in the connecting seat, with each group of iron plates corresponding to one electromagnet.

[0009] Preferably, the physiotherapy tube has a storage channel inside, the physiotherapy head is slidably assembled in the storage channel, and an electric telescopic rod is fixed in the middle of the side of the storage channel away from the opening, and the output end of the electric telescopic rod is fixed to the bottom of the physiotherapy head.

[0010] Preferably, a protective ring is fixed to the bottom of the physiotherapy head, and the protective ring is sleeved on the outside of the electric telescopic rod. An annular air bag is provided on the outside of the protective ring, and the annular air bag is stored and fixedly assembled in the storage channel. The annular air bag is fixed to the bottom of the physiotherapy head, and an annular groove matching the protective ring is opened at the bottom of the storage channel.

[0011] Preferably, a storage slot is provided on the side of the storage channel near the opening, which is located inside the physiotherapy tube. The storage slot is a stepped slot, and four groups of storage slots are evenly arranged along the circumference of the storage channel. Each group of storage slots contains a fan-shaped air bag, and the four groups of fan-shaped air bags expand to seal the storage channel.

[0012] Preferably, the annular air bag is connected to each group of fan-shaped air bags through an air supply pipe, and a first solenoid valve is fixedly installed on each group of air supply pipes.

[0013] Preferably, the top of the physiotherapy head is uniformly fixed with air jets, each group of air jets is connected to an annular air bag through an air guide tube, and a second solenoid valve is fixedly installed on each group of air guide tubes.

[0014] Preferably, the extension stroke of the electric telescopic rod is greater than the depth to which the physiotherapy head extends into the storage channel.

[0015] This invention provides an auxiliary positioning system based on a robotic arm, which uses a millimeter-wave therapy device to achieve auxiliary positioning. The system includes a therapy device body, a push rod fixedly mounted on the therapy device body, a robotic arm mounted on the output end of the push rod, and a therapy device fixedly mounted on the output end of the robotic arm. The therapeutic device has a built-in millimeter-wave reflection signal sensor, an optical sensor, and a controller. The controller has a built-in adaptive control algorithm and a command drive module. The output of the command drive module is connected to the push rod and the robotic arm.

[0016] Preferably, the robotic arm includes a fixed base fixed to the output end of the push rod, a rotating base rotatably mounted on the top of the fixed base, a first rotating arm hinged to the rotating base, a second rotating arm hinged to the other end of the first rotating arm, a third rotating arm rotatably mounted to the other end of the second rotating arm, and a fourth rotating arm hinged to the other end of the third rotating arm. The therapeutic device is fixedly mounted on the end of the fourth rotating arm, and encoders are mounted at the movable mounting points of the fixed base, the rotating base, the first rotating arm, the second rotating arm, the third rotating arm, and the fourth rotating arm, and the encoders are connected to the controller.

[0017] The technical effects and advantages of this invention are as follows: 1. This invention can actively adjust the therapeutic device when the positioning angle of the therapeutic device is incorrect or cannot be accurately positioned due to the mechanical structure. This adjusts the deflection angle of the therapeutic device, increases the deflection angle of the therapeutic device, and uses different magnetic repulsion forces at different positions to adjust the angle. This allows for stepless adjustment and higher precision, overcoming the defects of traditional millimeter wave therapeutic devices that cause positioning angle errors or inaccurate positioning due to excessive gaps in the mechanical structure.

[0018] 2. When the therapeutic device of the present invention is in a sealed state, the gas inside the annular air bag is introduced into each group of fan-shaped air bags through the air supply pipe, thereby inflating each group of fan-shaped air bags. The fan-shaped air bags extend out from the storage slot, thereby sealing the opening of the storage channel. Moreover, the first solenoid valve is closed, which can lock the fan-shaped air bags, prevent gas leakage, and complete the coverage and protection of the radiation head, improving dustproof and protective performance. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the robotic arm structure of the present invention; Figure 3 This is a schematic diagram of the therapeutic device structure of the present invention; Figure 4 This is a schematic diagram of the first cross-sectional structure of the therapeutic device of the present invention; Figure 5 This is a schematic diagram of the second cross-sectional structure of the therapeutic device of the present invention.

[0020] In the diagram: 10. Main body of the therapeutic instrument; 20. Push rod; 30. Mechanical arm; 31. Fixed base; 32. Rotating base; 33. First rotating arm; 34. Second rotating arm; 35. Third rotating arm; 36. Fourth rotating arm; 40. Therapeutic device; 41. Connecting base; 42. Hinge ball head; 43. Physiotherapy cylinder; 44. Protective corrugated pipe; 45. Storage channel; 46. Electric telescopic rod; 47. Physiotherapy head; 48. Radiation head; 49. Protective ring; 410. Annular groove; 411. Annular air bag; 412. Storage slot; 413. Fan-shaped air bag; 414. Jet nozzle; 415. Support spring; 416. Electromagnet; 417. Iron sheet. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] First embodiment: like Figures 1 to 5 As shown, this embodiment discloses a millimeter wave therapy device, including a therapy unit 40. The therapy unit 40 includes a connecting base 41. A therapy cylinder 43 is hinged to the center of the connecting base 41 via a hinged ball head 42. A therapy head 47 is installed inside the therapy cylinder 43. A radiation head 48 is integrally formed on the therapy head 47. The therapy cylinder 43 can be angled relative to the hinged ball head 42 around the connecting base 41, and its built-in therapy head 47 and radiation head 48 can be directed towards the treatment area to complete the treatment.

[0023] Please see Figures 3-5 A protective corrugated tube 44 is fixedly fitted on the outer edge between the physiotherapy cylinder 43 and the connecting seat 41. A support spring 415 sleeved on the outside of the hinge ball head 42 is fixedly connected between the physiotherapy cylinder 43 and the connecting seat 41. An electromagnet 416 is evenly fixed on the outer edge of the connecting seat 41 near the physiotherapy cylinder 43. An iron plate 417 matching the electromagnet 416 is evenly fixed on the side of the physiotherapy cylinder 43 near the connecting seat 41, and the number of electromagnets 416 and iron plates 417 are the same.

[0024] The protective bellows 44 can seal and protect the assembly between the therapy cylinder 43 and the connecting seat 41. The support spring 415 can support the therapy cylinder 43. When current is introduced into the electromagnet 416, the electromagnet 416 can generate a magnetic repulsion force on the iron plate 417. By controlling the current input into the electromagnet 416 at different positions, that is, by adjusting the magnetic repulsion force of each set of electromagnets 416 on the iron plate 417, the deflection angle of the therapy cylinder 43 relative to the connecting seat 41 can be adjusted, which greatly increases the adjustable angle of the therapy cylinder 43. When the positioning angle of the treatment device 40 is incorrect due to the mechanical structure, or when it cannot be accurately positioned, the treatment device 40 can be actively adjusted to adjust the deflection angle of the treatment device 40, thereby increasing the deflection angle of the treatment device 40. At the same time, the angle adjustment is carried out by applying different magnetic repulsion forces at different positions, which can achieve stepless adjustment and higher adjustment accuracy. It can overcome the defects of traditional millimeter wave therapy devices that cause positioning angle errors or inaccurate positioning due to excessive mechanical structure gaps.

[0025] It should be noted that the electromagnets 416 are set in four groups and distributed at the three, six, nine and twelve o'clock positions on the surface of the connecting seat 41, respectively. Each group of electromagnets 416 is embedded in the connecting seat 41, and each group of iron plates 417 corresponds one-to-one with the electromagnets 416. By adjusting the magnetic repulsion force of each group of electromagnets 416 on the iron plates 417, the deflection angle of the physiotherapy cylinder 43 relative to the connecting seat 41 is adjusted, which greatly increases the adjustable angle of the physiotherapy cylinder 43. Moreover, the magnetic repulsion force provides support for the physiotherapy cylinder 43, thereby preventing the physiotherapy cylinder 43 from shifting around the hinge ball head 42 due to its own weight. This also prevents the therapeutic device 40 from shifting after the angle is adjusted, thus improving the accuracy of the angle adjustment.

[0026] Please see Figure 4 and Figure 5 The physiotherapy tube 43 has a storage channel 45 inside, and the physiotherapy head 47 is slidably mounted in the storage channel 45. An electric telescopic rod 46 is fixed in the middle of the side of the storage channel 45 away from the opening. The output end of the electric telescopic rod 46 is fixed to the bottom of the physiotherapy head 47. The extension stroke of the electric telescopic rod 46 is greater than the depth of the physiotherapy head 47 into the storage channel 45. In actual use, the electric telescopic rod 46 extends outward, which can drive the physiotherapy head 47 to extend outward from the storage channel 45, thereby allowing the radiation head 48 to extend outward from the physiotherapy tube 43, which facilitates physiotherapy.

[0027] It should be noted that you should refer to [link / reference]. Figure 5A protective ring 49 is fixed to the bottom of the treatment head 47, and the protective ring 49 is sleeved on the outside of the electric telescopic rod 46. An annular air bag 411 is provided on the outside of the protective ring 49, and the annular air bag 411 is stored and fixedly assembled in the storage channel 45. The annular air bag 411 is fixed to the bottom of the treatment head 47. The bottom of the storage channel 45 has an annular groove 410 that matches the protective ring 49. The protective ring 49 covers the outside of the electric telescopic rod 46, providing protection for the electric telescopic rod 46. Moreover, the protective ring 49 can provide support for the annular air bag 411 to achieve the purpose of shaping and limit the position of the annular air bag 411. Therefore, when the electric telescopic rod 46 moves, it can drive the treatment head 47 to simultaneously squeeze or stretch the annular air bag 411.

[0028] Please see Figures 3-5 A storage slot 412 is provided inside the physiotherapy tube 43 on one side of the storage channel 45 near the opening. The storage slot 412 is a stepped slot, and four sets of storage slots 412 are evenly arranged along the circumference of the storage channel 45. Each set of storage slots 412 houses a fan-shaped air bag 413. When the four sets of fan-shaped air bags 413 expand, they seal the storage channel 45. The storage slots 412 provide storage space for the fan-shaped air bags 413. When each set of fan-shaped air bags 413 is inflated, the fan-shaped air bags 413 extend from the storage slots 412 and then seal the opening of the storage channel 45. The area of ​​each set of fan-shaped air bags 413 after expansion is 1 / 4 of the cross-sectional area of ​​the storage channel 45. Therefore, when all four sets of fan-shaped air bags 413 are deployed, they can seal the storage channel 45 and provide dust protection and impact protection for the radiation head 48.

[0029] It is worth noting that the annular air bag 411 is connected to each group of fan-shaped air bags 413 through an air supply pipe, and a first solenoid valve is fixedly installed on each group of air supply pipes. Air jets 414 are evenly fixed on the top of the physiotherapy head 47. Each group of air jets 414 is connected to the annular air bag 411 through an air guide pipe, and a second solenoid valve is fixedly installed on each group of air guide pipes.

[0030] When the therapeutic device 40 is in the reset state, the fan-shaped air bag 413 retracts inside the storage groove 412. When the therapeutic device 40 needs to be sealed, the electric telescopic rod 46 retracts, driving the physiotherapy head 47 to retract into the storage channel 45. Thus, the physiotherapy head 47 compresses the annular air bag 411. At this time, the first solenoid valve opens, and the air supply pipe is opened, allowing the gas inside the annular air bag 411 to be introduced into each group of fan-shaped air bags 413 through the air supply pipe. This causes each group of fan-shaped air bags 413 to inflate and expand. The fan-shaped air bags 413 extend from the storage groove 412 and then seal the opening of the storage channel 45. Moreover, the first solenoid valve closes, which can lock the fan-shaped air bags 413, prevent gas leakage, and complete the coverage and protection of the radiation head 48, improving dustproof and protective performance.

[0031] When the therapeutic device 40 is in use, the electric telescopic rod 46 extends outward, causing the therapeutic head 47 to extend outward into the storage channel 45. During the process of the therapeutic head 47 extending outward into the storage channel 45, the first solenoid valve opens, simultaneously pulling the annular air bag 411 to stretch. At this time, the gas inside the fan-shaped air bag 413 flows back into the annular air bag 411 through the air delivery pipe. Then, the fan-shaped air bag 413 retracts into the storage slot 412. During the subsequent process of the therapeutic head 47 extending outward into the storage channel 45, the second solenoid valve opens, and gas enters from the jet head 414, and then enters the annular air bag 411 through the air delivery pipe. In step 11, the annular air bag 411 is inflated, and the protective ring 49 is pulled out from the annular groove 410. Thus, the protective ring 49 constantly limits the annular air bag 411, keeping the annular air bag 411 in a cylindrical shape at all times. In addition, since the air outlet of the jet head 414 is small, a negative pressure can be formed at the air outlet when the gas enters. Thus, when the radiator head 48 extends out of the receiving channel 45, the negative pressure drives the gas flow, disturbing the airflow at the opening of the receiving channel 45, which facilitates the cleaning of floating dust on the surface of the radiator head 48 and improves the cleanliness of the radiator head 48.

[0032] After the radiation head 48 completes its treatment, the electric telescopic rod 46 retracts, causing the therapy head 47 to retract into the storage channel 45. The therapy head 47 then compresses the annular air bag 411. At this time, the second solenoid valve opens, allowing the gas inside the annular air bag 411 to be ejected through the air duct from the jet nozzle 414, cleaning and protecting the radiation head 48 and the therapy head 47. This facilitates cleaning the radiation head 48 after use and makes it easier to seal the therapy head 47. During the retraction of the therapy head 47 into the storage channel 45, when the therapy head 47 retracts to its reset state, the second solenoid valve closes, while the first solenoid valve opens, causing the treatment device 40 to be in a sealed state, improving its protective properties.

[0033] Second embodiment: This embodiment discloses a robotic arm-based assisted positioning system, including a therapeutic instrument body 10. A push rod 20 is fixedly mounted on the therapeutic instrument body 10, and a robotic arm 30 is mounted on the output end of the push rod 20. A therapeutic device 40 is fixedly mounted on the output end of the robotic arm 30. The push rod 20 drives the robotic arm 30 to move. When the robotic arm 30 is working, it can adjust the angle and position of the therapeutic device 40 in real time, which facilitates the therapeutic device 40 to perform treatment. After the robotic arm 30 has adjusted the position and angle of the therapeutic device 40, and when there is an angle deviation of the therapeutic device 40, the deflection angle of the therapeutic cylinder 43 relative to the connecting seat 41 is adjusted by adjusting the magnetic repulsion force of each set of electromagnets 416 on the iron plate 417. This greatly increases the adjustable angle of the therapeutic cylinder 43. Moreover, the magnetic repulsion force provides support for the therapeutic cylinder 43, thereby preventing the therapeutic cylinder 43 from shifting around the hinge ball head 42 due to its own weight. This also prevents the therapeutic device 40 from shifting after the angle is adjusted, thus achieving precise angle adjustment of the therapeutic device 40.

[0034] The therapeutic device 40 has a built-in millimeter-wave reflection signal sensor, optical sensor and controller. The controller has a built-in adaptive control algorithm and command drive module. The output of the command drive module is connected to the push rod 20 and the robotic arm 30. The millimeter-wave therapeutic device 40 can feed back the monitoring information to the robotic arm in real time. The robotic arm then dynamically adjusts its movement according to this information, thereby achieving precise treatment positioning and operation.

[0035] Please see Figure 1 and Figure 2 The robotic arm 30 includes a fixed base 31 fixed to the output end of the push rod 20. A rotating base 32 is rotatably mounted on the top of the fixed base 31. A first rotating arm 33 is hinged to the rotating base 32. A second rotating arm 34 is hinged to the other end of the first rotating arm 33. A third rotating arm 35 is rotatably mounted to the other end of the second rotating arm 34. A fourth rotating arm 36 is hinged to the other end of the third rotating arm 35. The therapeutic device 40 is fixedly mounted on the end of the fourth rotating arm 36. The movable mounting points of the fixed base 31, rotating base 32, first rotating arm 33, second rotating arm 34, third rotating arm 35, and fourth rotating arm 36 are all equipped with… Equipped with an encoder connected to the controller, and with joint actuators mounted on the fixed base 31, rotating base 32, first rotating arm 33, second rotating arm 34, third rotating arm 35, and fourth rotating arm 36, the robotic arm 30 can be easily controlled by joints. The encoder measures the position of each joint of the robotic arm 30 in real time, converts the mechanical motion into digital signals, and feeds them back to the controller to ensure that the robotic arm 30 can accurately reach the preset position and precisely adjust the position and posture of the therapeutic device 40. In addition, with the help of the micro-adjustment of the angle of the therapeutic device 40 itself, it can ensure that the radiation head 48 on the therapeutic device 40 is accurately aligned with the target area.

[0036] In actual use, the treatment device 40 can monitor the emitted millimeter-wave signal and its reflected signal in real time. Different tissues have different reflection characteristics of millimeter waves. By analyzing parameters such as the intensity and phase of the reflected signal, it can be determined whether the treatment device 40 is aligned with the correct treatment site. If the reflected signal does not meet expectations (e.g., the reflection intensity is too low or the reflection pattern is abnormal), the controller of the robotic arm 30 will adjust the position of the treatment device 40 based on this feedback information. Simultaneously, an optical sensor is used to capture images of the treatment site. Through image recognition technology, the robotic arm 30 can determine whether the treatment device 40 is aligned with the correct site. If the image shows that the treatment device 40 is deviating from the target position, the controller will control the robotic arm. The robotic arm 30 will adjust based on the image analysis results. Moreover, the controller uses an adaptive control algorithm, which can dynamically adjust the movement of the therapeutic device 40 based on the real-time monitoring information. For example, when the reflected signal shows that the therapeutic device 40 deviates from the target, the algorithm will calculate the direction and distance that need to be adjusted and instruct the robotic arm 30 to make fine adjustments. The controller of the robotic arm 30 adjusts the angle and position of its joints in real time based on the feedback information of the therapeutic device 40. For example, if the reflected signal shows that the therapeutic device 40 deviates from the target, the robotic arm 30 will adjust the position of its joint actuators until the reflected signal reaches the expected characteristics. This process forms a feedback closed loop to ensure that the therapeutic device 40 is always aligned with the correct treatment area.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A millimeter wave therapy device, characterized in that: Including therapeutic devices (40); The therapeutic device (40) includes a connecting seat (41), and a physiotherapy cylinder (43) is hinged to the center of the connecting seat (41) via a hinged ball head (42). A physiotherapy head (47) is installed inside the physiotherapy cylinder (43), and a radiation head (48) is integrally formed on the physiotherapy head (47). A protective corrugated tube (44) is fixedly fitted on the outer edge between the physiotherapy cylinder (43) and the connecting seat (41). A support spring (415) sleeved on the outside of the hinge ball head (42) is fixedly connected between the physiotherapy cylinder (43) and the connecting seat (41). An electromagnet (416) is evenly fixed on the outer edge of the connecting seat (41) near the physiotherapy cylinder (43). An iron piece (417) matching the electromagnet (416) is evenly fixed on the side of the physiotherapy cylinder (43) near the connecting seat (41). The number of electromagnets (416) and iron pieces (417) is the same.

2. The millimeter-wave therapy device according to claim 1, characterized in that: The electromagnets (416) are set in four groups and distributed at the three, six, nine and twelve o'clock positions on the surface of the connecting seat (41). Each group of electromagnets (416) is embedded in the connecting seat (41), and each group of iron plates (417) corresponds to one electromagnet (416).

3. The millimeter-wave therapy device according to claim 1, characterized in that: The physiotherapy tube (43) has a storage channel (45) inside, and the physiotherapy head (47) is slidably assembled in the storage channel (45). An electric telescopic rod (46) is fixed in the middle of the side of the storage channel (45) away from the opening, and the output end of the electric telescopic rod (46) is fixed to the bottom of the physiotherapy head (47).

4. The millimeter-wave therapy device according to claim 3, characterized in that: The bottom of the physiotherapy head (47) is fixed with a protective ring (49), and the protective ring (49) is sleeved on the outside of the electric telescopic rod (46). An annular air bag (411) is provided on the outside of the protective ring (49), and the annular air bag (411) is stored and fixedly assembled in the storage channel (45). The annular air bag (411) is fixed to the bottom of the physiotherapy head (47). An annular groove (410) matching the protective ring (49) is opened at the bottom of the storage channel (45).

5. The millimeter-wave therapy device according to claim 4, characterized in that: The storage channel (45) has a storage groove (412) located inside the physiotherapy tube (43) on one side near the opening. The storage groove (412) is a stepped groove, and the storage groove (412) is evenly arranged in four groups along the circumference of the storage channel (45). Each group of the storage groove (412) contains a fan-shaped air bag (413). After the four groups of fan-shaped air bags (413) expand, they seal the storage channel (45).

6. The millimeter-wave therapy device according to claim 5, characterized in that: The annular air bag (411) is connected to each group of fan-shaped air bags (413) through an air supply pipe, and a first solenoid valve is fixedly installed on each group of air supply pipes.

7. The millimeter-wave therapy device according to claim 6, characterized in that: The top of the physiotherapy head (47) is uniformly fixed with jet heads (414), and each group of jet heads (414) is connected to an annular air bag (411) through an air guide tube. A second solenoid valve is fixedly installed on each group of air guide tubes.

8. The millimeter-wave therapy device according to claim 3, characterized in that: The extension stroke of the electric telescopic rod (46) is greater than the depth to which the physiotherapy head (47) extends into the storage channel (45).

9. A robotic arm-based assisted positioning system, utilizing a millimeter-wave therapy device as described in any one of claims 1-8 for assisted positioning, characterized in that: The device includes a treatment instrument body (10), on which a push rod (20) is fixedly mounted, and a robotic arm (30) is mounted on the output end of the push rod (20). The treatment device (40) is fixedly mounted on the output end of the robotic arm (30). The therapeutic device (40) has a built-in millimeter-wave reflection signal sensor, optical sensor and controller, and the controller has a built-in adaptive control algorithm and instruction drive module. The output of the instruction drive module is connected to the push rod (20) and the robotic arm (30).

10. The millimeter-wave therapy device according to claim 9, characterized in that: The robotic arm (30) includes a fixed base (31) fixed to the output end of the push rod (20). A rotating base (32) is rotatably mounted on the top of the fixed base (31). A first rotating arm (33) is hinged to the rotating base (32). A second rotating arm (34) is hinged to the other end of the first rotating arm (33). A third rotating arm (35) is rotatably mounted to the other end of the second rotating arm (34). A fourth rotating arm (36) is hinged to the other end of the third rotating arm (35). The therapeutic device (40) is fixedly mounted on the end of the fourth rotating arm (36). Encoders are mounted at the movable mounting points of the fixed base (31), rotating base (32), first rotating arm (33), second rotating arm (34), third rotating arm (35), and fourth rotating arm (36). The encoders are connected to the controller.

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