Intelligent extracorporeal shock wave treatment robot and use method thereof

Abstract

The invention provides an intelligent extracorporeal shock wave treatment robot and a using method thereof. The intelligent extracorporeal shock wave treatment robot comprises a robot body. A plurality of driving wheels and corresponding driving motors are arranged at the lower end of the machine body, an operation panel is arranged at the upper end of the machine body, a visual base is arranged upwards, the upper end of the base is connected with a visual identification head capable of rotating freely, and an intelligent and infrared optical camera is obliquely arranged below the head. The free end of the first multi-axis mechanical arm is connected with a treatment head, one end of the treatment head is provided with an ultrasonic imaging probe and a shock wave generator, and a pressure sensor is arranged between the ultrasonic imaging probe and the shock wave generator. A second multi-shaft mechanical arm is installed on the upper portion of one side of the machine body, the free end is connected with an operation head, the operation head is connected with a mechanical clamping jaw, the clamping jaw comprises an installation cylinder, one end of the cylinder is open, a telescopic motor is installed in the cylinder, a motor telescopic shaft is connected with a rotating connector, the rotating connector is rotationally connected with two V-shaped clamping strips, an elastic rubber supporting block is arranged between the two V-shaped clamping strips, and the open end of the cylinder is rotationally connected with a supporting rolling shaft at the V-shaped clamping strips. According to the invention, treatment precision, standardization and man-machine collaborative optimization can be realized, the clinical curative effect is improved, and the burden of medical personnel is reduced.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology and relates to an intelligent extracorporeal shock wave therapy robot and its usage method. Background Technology

[0002] Extracorporeal Shock Wave Therapy (ESWT) is a non-invasive physical therapy technique. First applied to the extracorporeal fragmentation of urinary tract stones in the 1980s, it has gradually expanded into the clinical treatment of orthopedics, sports medicine, and chronic soft tissue diseases. Its mechanism of action primarily relies on the mechanical stress, cavitation, and biostimulation effects generated by high- or low-energy sound wave pulses in the target tissue, thereby promoting local microcirculation, activating cell regeneration, relieving pain, and accelerating tissue repair. Currently, ESWT is widely used in the treatment of various diseases such as plantar fasciitis, calcific tendinitis of the rotator cuff, lateral epicondylitis (tennis elbow), and early-stage femoral head necrosis, demonstrating good clinical efficacy.

[0003] However, in current clinical practice, ESWT still relies heavily on manual operation by physicians. Specifically, physicians must hold the shockwave therapy head, repeatedly move it across the patient's body surface, and apply appropriate pressure to locate the lesion area and administer treatment. This operating mode has significant limitations: on the one hand, a single treatment session typically lasts 15 to 30 minutes, and prolonged holding of the device can easily lead to operator fatigue, resulting in uneven force application, treatment head deviation, or unstable trajectory; on the other hand, in current mainstream equipment, the image guidance system (such as ultrasound or X-ray) and the shockwave emitting device are independent of each other. Physicians often need to first determine the location of the lesion using imaging equipment, and then manually align the treatment area using surface markings or experience memory, lacking a real-time, dynamic spatial correspondence.

[0004] The aforementioned "experience-dependent" operating method makes it difficult to ensure that the shock wave focus always accurately covers the target lesion, significantly reducing treatment precision and repeatability, and directly affecting the consistency and reliability of clinical efficacy. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent extracorporeal shock wave therapy robot and its usage method, so as to achieve precision, standardization and human-machine collaboration optimization in the treatment process, thereby improving clinical efficacy and reducing the burden on medical staff.

[0006] To solve the above-mentioned technical problems, the present invention provides an intelligent extracorporeal shock wave therapy robot, including a body, a plurality of drive wheels installed at the lower end of the body, a plurality of drive motors for driving the corresponding drive wheels to rotate one by one at the lower end of the body, an operation panel provided at the upper end of the body, a vision base provided at the upper end of the body, a vision recognition head that can rotate arbitrarily connected to the upper end of the vision base, and an intelligent camera and an infrared optical camera installed obliquely downward on the vision recognition head; The upper end of the machine body is equipped with a first multi-axis robotic arm. The free end of the first multi-axis robotic arm is connected to a treatment head. An ultrasound imaging probe and a shock wave generator are installed at the end of the treatment head away from the first multi-axis robotic arm. A pressure sensor is provided between the ultrasound imaging probe and the shock wave generator on the treatment head. A second multi-axis robotic arm is mounted on the upper part of one side of the machine body. An operating head is connected to the free end of the second multi-axis robotic arm. The operating head is connected to a mechanical gripper. The mechanical gripper includes a mounting cylinder. The end of the mounting cylinder away from the second multi-axis robotic arm is open. A telescopic motor is installed inside the mounting cylinder along its length. The telescopic axis of the telescopic motor extends outward and is connected to a rotating connector. The rotating connector is rotatably connected to two opposing V-shaped clamping bars. An elastic rubber support block is provided between the two V-shaped clamping bars. A support roller is rotatably connected to the open end of the mounting cylinder at each V-shaped clamping bar.

[0007] The invention is further configured such that a horizontal rotating base is rotatably connected to the upper end of the visual base, a horizontal rotating motor for driving the horizontal rotating base to rotate is installed at the upper end of the visual base, a horizontally arranged vertical rotating motor is installed at the upper end of the horizontal rotating base, and a U-shaped rotating seat connected to the vertical rotating motor is provided on the side of the visual recognition head away from the smart camera, and the U-shaped rotating seat is connected to the power output shaft of the vertical rotating motor.

[0008] The present invention is further configured such that a laser grid generator, which cooperates with the smart camera, is installed on the upper part of the vision base facing the first multi-axis robotic arm.

[0009] The present invention is further configured such that a support base is provided below the machine body, each drive wheel and each drive motor are installed at the lower end of the support base, a rotation motor is installed in the upper part of the support base, a rotation connecting seat is provided at the lower end of the machine body, and the power output axis of the rotation motor is connected to the rotation connecting seat in the upward direction.

[0010] The present invention is further configured such that both the first multi-axis robotic arm and the second multi-axis robotic arm include a mounting base disposed on the machine body. Each mounting base has a rotating seat rotatably connected to its free end, rotating along its axial direction. Each mounting base contains a rotary motor for driving the corresponding rotating seat to rotate. Each rotating seat is rotatably connected to a first articulated arm, and each first articulated arm rotates in a plane parallel to the corresponding rotating seat and perpendicular to the machine body. Each rotating seat has a first articulated motor for driving the corresponding first articulated arm to rotate. Each first articulated arm has a second articulated arm rotatably connected to its free end, and each second articulated arm rotates in a plane parallel to the corresponding first articulated arm and parallel to the corresponding rotating seat. Each first articulated arm has a second articulated motor for driving the corresponding second articulated arm to rotate. Each of the free ends of a second articulated arm is rotatably connected to a third articulated arm. Each third articulated arm rotates in a plane parallel to the corresponding second articulated arm and perpendicular to the corresponding first articulated arm. Each free end of a second articulated arm is equipped with a third articulated motor for driving the rotation of the third articulated arm. Each free end of a third articulated arm is rotatably connected to a fourth articulated arm. Each fourth articulated arm rotates in a plane perpendicular to the corresponding third articulated arm. Each third articulated arm is equipped with a fourth articulated motor for driving the rotation of the corresponding fourth articulated arm. The treatment head and the operating head are both rotatably connected to the free ends of the corresponding fourth articulated arms. Both the treatment head and the operating head rotate in a plane perpendicular to the corresponding fourth articulated arm. Each fourth articulated arm is equipped with a fifth articulated motor for driving the rotation of the treatment head or the operating head.

[0011] The present invention is further configured such that the operating head is U-shaped with the opening facing outward, one end of the operating head is rotatably connected to a driven shaft, the other end of the operating head is equipped with an external rotor motor, a transmission belt is connected between the driven shaft and the external rotor motor inside the operating head, and limit slide rails are provided at both the left and right openings of the operating head. The mounting cylinder is slidably connected to one of the limit slide rails, and the outer side of the middle part of the mounting cylinder is connected to the transmission belt. A liquid storage cylinder is slidably connected to a slide rail on the other side of the operating head. A one-way injection valve communicating with the bottom of the liquid storage cylinder is provided. The one-way injection valve is made of a rubber ring. The inner wall of the rubber ring is tightly sealed and a tube can be inserted. A breather valve communicating with the inside of the liquid storage cylinder is provided at the end of the liquid storage cylinder near the second multi-axis robotic arm. The breather valve opens under air pressure. The outer side of the middle part of the liquid storage cylinder is connected to the transmission belt. An applicator head is provided at the end of the liquid storage cylinder away from the second multi-axis robotic arm. A spherical groove is provided at the end of the applicator head away from the liquid storage cylinder. An applicator ball head is movably connected in the spherical groove. A micro injection pump is installed on one side of the liquid storage cylinder. The inlet end of the micro injection pump is connected to the bottom of the liquid storage cylinder. A liquid guiding channel is provided in the applicator head, connecting the outlet end of the micro injection pump to the spherical groove.

[0012] The present invention is further configured such that the outer periphery of the rotor of the external rotor motor and the outer periphery of the driven shaft are provided with a plurality of circumferentially distributed racks, and the inner side of the transmission belt is provided with tooth grooves that mesh with the racks.

[0013] The invention is further configured such that each V-shaped clamping strip has a flexible rubber clamping strip connected to its free end.

[0014] This invention also discloses a method for using an intelligent extracorporeal shockwave therapy robot, comprising the following steps: S1. Import gender, age, height, weight, and pain treatment site into the system. If the patient has CT / MRI images before the operation, also import them into the system to match a similar 3D human anatomical model within the system. S2. The patient stands to one side of the machine. The infrared optical camera takes a picture of the patient from head to toe to understand the patient's height and body size. Combining the 3D anatomical models of different genders, age groups, and weights stored in the system, an individualized 3D model of the patient is created in the system according to the patient's body size. Then, the patient is fixed in a comfortable position on the treatment bed, fully exposing the pain treatment area. The intelligent extracorporeal shock wave therapy robot automatically moves to the side of the treatment bed and uses the infrared optical camera to scan the fully exposed pain treatment area of ​​the patient. A 3D model of the pain treatment area is created in the computer system. The ultrasound imaging probe is used to perform a bone and muscle layer examination of the pain treatment area to understand the pathological changes in the pain treatment area. Then, the doctor uses the system's wireless pen to draw the specific pain treatment area on the patient's body and marks the particularly painful areas. At the same time, the system synchronizes the pain treatment area drawn on the patient's body with the wireless pen to the individualized 3D model of the patient in the computer and marks it. Coupling agent is applied to the patient's painful area. S3. The ultrasonic imaging probe at the end of the first multi-axis robotic arm scans and images the pain point treatment area. The system automatically fuses and matches the ultrasonic image of the pain treatment area with the pain treatment area on the individualized 3D model of the patient in the computer and the preoperative image to establish a 3D model of the patient's pain treatment area and prepare for shockwave therapy. S4 integrates deep learning, multimodal image navigation, robot motion planning and real-time visual servo control to perform intelligent treatment planning, enabling it to automatically segment lesions, intelligently avoid obstacles, adaptive energy regulation and digital twin simulation capabilities. S5. The first multi-axis robotic arm drives the treatment head to align with the first treatment point in the area of ​​pain treatment. The treatment head at the end of the first multi-axis robotic arm contacts the skin with constant gentle pressure and performs treatment according to the treatment path automatically generated by the system. It focuses on the treatment of the target point and performs shock wave treatment under the real-time guidance of the ultrasound image formed by the ultrasound imaging probe. The first multi-axis robotic arm drives the treatment head to perform ultrasound examination and treatment at the same time. S6. After the treatment is completed, the first multi-axis robotic arm drives the ultrasound imaging probe on the treatment head to scan the area of ​​pain treatment again. After the scan is completed, the device is removed and reset, and a treatment report is automatically generated, including ultrasound imaging before treatment, actual treatment path during treatment, energy distribution map, and ultrasound imaging record after treatment. S7. The second multi-axis robotic arm drives the mechanical gripper to pick up a tissue, and the second multi-axis robotic arm drives the mechanical gripper to move to the pain treatment position, and wipes the coupling agent clean with the tissue.

[0015] More preferably, step S4 specifically includes the following: 4.1. Intelligent Planning for Control and Decision-Making: Automatic lesion segmentation: Based on a deep learning model and motion path planning, according to the motion path planning algorithm, the 3D model of the patient's pain treatment area is automatically delineated on ultrasound or fused CT / MRI images, and the distribution and motion path of treatment points are automatically planned to ensure full coverage and no collisions. Obstacle avoidance planning: Automatically plans the motion path of the multi-axis robotic arm to avoid critical structures such as bones, nerves, and blood vessels; Treatment point planning: Automatically generate a uniformly distributed grid of treatment points within the lesion area, or optimize the distribution non-uniformly based on the lesion density; Real-time visual servo control: Based on real-time feedback from ultrasound images, the pose of the multi-axis robotic arm is finely adjusted through an image registration algorithm to dynamically compensate for target displacement caused by breathing or patient movement. Adaptive energy control: Based on the changes in tissue echo in real-time ultrasound images and the feedback from the pressure sensor, the AI ​​model dynamically adjusts the energy intensity and frequency of each impact to achieve personalized dose control. 4.2 Real-time vision servo control: Ultrasound image stream processing: Receives and processes ultrasound images in real time, and tracks the displacement of lesions caused by respiration or micro-movements through image registration algorithms; Closed-loop feedback control: The real-time displacement data of the lesion is fed back to the robot controller to dynamically adjust the pose of the multi-axis robotic arm; 4.3. Adaptive Energy Control: Parameter Database: Built-in knowledge base based on a large amount of clinical data, recommending initial energy flux density, number of pulses, and frequency for different diseases and different stages of disease. Based on physiological feedback: Monitor changes in ultrasound echo intensity in the treatment area and fine-tune the energy. Based on patient feedback: Patients report real-time pain, and the system automatically reduces the energy of the extracorporeal shock wave or pauses the treatment according to the preset pain threshold.

[0016] 4.4. Digital Twins and Simulation: Create 1:1 digital models of robots, patients, and equipment in a virtual environment; Before physical therapy begins, a full-process simulation is conducted to verify the safety and effectiveness of the treatment path and to anticipate potential collisions.

[0017] Compared with the prior art, the present invention has the following beneficial effects: Firstly, the "image-robot" closed-loop feedback system deeply integrates real-time ultrasound navigation with robot motion control, achieving truly real-time dynamic precision treatment.

[0018] Secondly, the present invention has two independent multi-axis robotic arms. The first multi-axis robotic arm is responsible for precisely executing the shock wave therapy task. It is guided in real time by an ultrasound imaging probe to ensure that the treatment head is accurately applied to the lesion area, thereby achieving precision treatment. The second multi-axis robotic arm undertakes auxiliary operations, such as wiping the coupling agent, which reduces the workload of medical staff and improves the standardization of the treatment process and the efficiency of human-machine collaboration.

[0019] Thirdly, the second multi-axis robotic arm is equipped with two freely retractable mechanical grippers and a coupling agent application module. This design greatly enhances the robot's operational flexibility and functional versatility. The freely retractable mechanical grippers allow them to adjust their gripping range according to the needs of different treatment sites. Whether it's a small tissue or a larger treatment aid, they can easily pick up and place it, ensuring cleanliness and convenience during the treatment process. The integrated coupling agent application module further simplifies pre-treatment preparation. Through the precise control of the robotic arm, the coupling agent can be applied evenly and quickly to the treatment site, avoiding the unevenness or omissions that may occur with manual application. This provides excellent medium conditions for subsequent ultrasound imaging and shockwave therapy, thereby improving the overall quality and efficiency of the treatment.

[0020] Fourth, AI-driven adaptive energy control: This will shift ESWT from standardized treatment with "preset parameters" to personalized precision medicine with "real-time adjustment," potentially improving efficacy and reducing side effects.

[0021] Fifth, a multimodal sensing fusion safety strategy: By combining optical positioning, force perception, and vision, a safety boundary far exceeding human perception is constructed to ensure the absolute safety of the robot in complex human environments.

[0022] Sixth, integrated treatment head design: Integrating the shock wave source and ultrasound imaging probe into one unit solves the problem of separation between image guidance and treatment execution in traditional methods, improving the system's compactness and precision. The end effector of the robotic arm (integrating the shock wave source and ultrasound imaging probe) Seventh, system integration innovation: "Integrated diagnosis and treatment" closed-loop platform: integrating perception (ultrasound scanning), planning (AI segmentation and path planning), execution (end-efficiency execution of robotic arms), and evaluation (postoperative ultrasound imaging reports and data archiving) on ​​a seamless platform to form a closed loop of "perception-planning-execution-evaluation", creating a brand-new clinical work model.

[0023] Eighth, the deepening of medical-grade robot applications: Unlike surgical robots that are only used for positioning or holding instruments, this system requires robots to complete more complex "execution" tasks (constant force fitting, dynamic tracking) and closely integrate with high-energy physical fields (shock waves), pushing the technological boundaries of medical robots in the field of rehabilitation and physiotherapy. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 Used to demonstrate the connection between the machine body and the support base; Figure 3 Used to demonstrate the connection between the visual recognition head and the visual base; Figure 4Used to demonstrate the connection between the first multi-axis robotic arm and the treatment head; Figure 5 Used to demonstrate the connection between the mechanical gripper and the liquid storage tank and the operating head; Figure 6 This is a partial sectional view used to show the internal structure of the operating head; Figure 7 It is a partial cross-sectional view used to show the internal structure of a mechanical gripper; Figure 8 Used to demonstrate the connection between the applicator ball and the applicator head.

[0025] The components include: 1. Body; 2. Support base; 3. Rotation motor; 4. Rotation connecting base; 5. Drive wheel; 6. Drive motor; 7. Vision base; 8. Vision recognition head; 9. Horizontal rotation base; 10. Horizontal rotation motor; 11. Vertical rotation motor; 12. U-shaped rotating base; 13. Smart camera; 14. Infrared optical camera; 15. Laser grid generator; 16. Mounting base; 17. Rotating base; 18. Rotation motor; 19. First joint arm; 20. First joint motor; 21. Second joint arm; 22. Second joint motor; 23. Third joint arm; 24. Third joint motor; 25. Fourth joint arm; 26. ... 27. Four-joint motor; 28. Fifth-joint motor; 29. ​​Treatment head; 30. Ultrasonic imaging probe; 31. Shock wave generator; 32. Pressure sensor; 33. Operating head; 34. Driven shaft; 35. External rotor motor; 36. Transmission belt; 37. Limiting slide rail; 38. Operating panel; 39. Mounting cylinder; 40. Telescopic motor; 41. Rotary connector; 42. V-shaped clamp; 43. Rubber clamp; 44. Elastic rubber support block; 45. Support roller; 46. Liquid reservoir; 47. One-way injection valve; 48. Breathing valve; 49. Application head; 50. Spherical groove; 51. Application ball head; 52. Miniature injection pump; 53. Liquid guide channel. Detailed Implementation

[0026] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the intelligent extracorporeal shockwave therapy robot and its usage method proposed in this invention. The advantages and features of the invention will become clearer from the following description. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0027] Example, refer to Figure 1-8An intelligent extracorporeal shockwave therapy robot includes a body 1, with a circular support base 2 located below the body 1. A rotation motor 3 is installed in the upper part of the support base 2. A rotation connection seat 4 is located at the lower end of the body 1. The power output shaft of the rotation motor 3 is connected upward to the rotation connection seat 4. Through the connection between the body 1 and the support base 2, the rotation motor 3 can drive the body 1 to rotate arbitrarily to better locate the treatment position. Four drive wheels 5 are installed at the lower end of the support base 2, and four drive motors 6 are installed at the lower end of the body 1 to drive the corresponding drive wheels 5. The four independently driven drive wheels 5 can drive the body 1 to move and turn arbitrarily. An operation panel 37 is located at the upper end of the body 1.

[0028] A visual base 7 is mounted upwards on the upper end of the main body 1. A visual recognition head 8, which can rotate arbitrarily, is connected to the upper end of the visual base 7. A horizontal rotating base 9 is rotatably connected to the upper end of the visual base 7. A horizontal rotating motor 10 is installed on the upper end of the visual base 7 to drive the rotation of the horizontal rotating base 9. A horizontally positioned vertical rotating motor 11 is installed on the upper end of the horizontal rotating base 9. A U-shaped rotating seat 12, connected to the vertical rotating motor 11, is set on the side of the visual recognition head 8 away from the intelligent camera 13. The U-shaped rotating seat 12 is connected to the power output shaft of the vertical rotating motor 11. Through the cooperation of the mutually perpendicular horizontal rotating motor 10 and vertical rotating motor 11, the visual recognition head 8 can be driven to adjust its angle arbitrarily like a human head. Two intelligent cameras 13 and one infrared optical camera 14 are installed diagonally downwards on the visual recognition head 8. The two intelligent cameras 13 work together to recognize the patient's shape and the marked pain location like human eyes. The infrared optical camera 14 is used to perform a full scan of the patient. A laser grid generator 15, which works in conjunction with a smart camera 13, is installed on the upper part of the vision base 7 on the side facing the first multi-axis robotic arm. The laser grid generator 15 is used to project a grid onto the human body surface, and the smart camera 13 uses the grid to determine the location of the treatment head 28.

[0029] A first multi-axis robotic arm is mounted on the upper end of the body 1, and a second multi-axis robotic arm is mounted on the upper part of one side of the body 1. Both the first and second multi-axis robotic arms include a mounting base 16 disposed on the body 1. Each mounting base 16 has a rotating seat 17 rotatably connected to its free end, rotating along its axial direction. Each mounting base 16 houses a rotary motor 18 for driving the corresponding rotating seat 17. Each rotating seat 17 is rotatably connected to a first articulated arm 19, which rotates in a plane parallel to the corresponding rotating seat 17 and perpendicular to the body 1. Each rotating seat 17 is equipped with a first joint motor 20 for driving the corresponding first articulated arm 19. Each first articulated arm 19 has a second articulated arm 21 rotatably connected to its free end, rotating in a plane parallel to the corresponding first articulated arm 19 and parallel to the corresponding rotating seat 17. The multi-axis robotic arm features in-plane rotation. Each first joint arm 19 has a second joint motor 22 mounted at its free end to drive the corresponding second joint arm 21. Each second joint arm 21 has a third joint arm 23 rotatably connected to its free end. Each third joint arm 23 rotates in a plane parallel to the corresponding second joint arm 21 and perpendicular to the corresponding first joint arm 19. Each second joint arm 21 has a third joint motor 24 mounted at its free end to drive the third joint arm 23. Each third joint arm 23 has a fourth joint motor 26 mounted within its free end to drive the corresponding fourth joint arm 25. Both the treatment head 28 and the operating head 32 rotate in a plane perpendicular to the corresponding fourth joint arm 25. Through the six movable joints on the multi-axis robotic arm, treatment can be performed at any position for the patient within a small workspace.

[0030] A treatment head 28 is connected to the free end of the fourth joint arm 25 of the first multi-axis robotic arm. The treatment head 28 rotates in a plane perpendicular to the fourth joint arm 25. A fifth joint motor 27 for driving the rotation of the treatment head 28 is installed in each of the fourth joint arms 25. An ultrasound imaging probe 29 and a shock wave generator 30 are installed at the end of the treatment head 28 away from the first multi-axis robotic arm. The ultrasound imaging probe 29 is a high-frequency linear array ultrasound imaging probe used to achieve real-time image guidance. A pressure sensor 31 is set between the ultrasound imaging probe 29 and the shock wave generator 30 of the treatment head 28. The pressure sensor 31 is used to monitor the coupling agent pressure between the treatment head 28 and the skin to ensure effective energy transfer.

[0031] The free end of the fourth joint arm 25 of the second multi-axis robotic arm is connected to an operating head 32. The operating head 32 rotates in a plane perpendicular to the fourth joint arm 25. A fifth joint motor 27 for driving the rotation of the operating head 32 is installed inside the fourth joint arm 25. The operating head 32 is U-shaped with its opening facing outward. A driven shaft 33 is rotatably connected to one end of the operating head 32. An external rotor motor 34 is installed at the other end of the operating head 32. A transmission belt 35 is connected between the driven shaft 33 and the external rotor motor 34 inside the operating head 32. Several circumferentially distributed racks are provided on the outer circumference of the rotor of the external rotor motor 34 and the outer circumference of the driven shaft 33. The inner side of the transmission belt 35 is provided with tooth grooves that mesh with the racks. Limit rails 36 are provided at both the left and right openings of the operating head 32.

[0032] A mechanical gripper is slidably connected to a limiting slide rail 36 on one side of the operating head 32. The mechanical gripper includes a mounting cylinder 38, which is slidably connected to one of the limiting slide rails 36, and the outer side of the middle part of the mounting cylinder 38 is connected to the transmission belt 35. The end of the mounting cylinder 38 away from the second multi-axis robotic arm is open. A telescopic motor 39 is installed inside the mounting cylinder 38 along its length. The telescopic axis of the telescopic motor 39 extends outward and is connected to a rotating connector 40. The rotating connector 40 is rotatably connected to two opposing V-shaped clamping bars 41. The free end of each V-shaped clamping bar 41 is connected to a flexible rubber clamping bar 42. An elastic rubber support block 43 is provided between the two V-shaped clamping bars 41 on the rotating connector 40. A support roller 44 is rotatably connected to the open end of the mounting cylinder 38 at each V-shaped clamping bar 41. When the telescopic motor 39 shortens and pulls the rotating connector 40 to drive the two V-shaped clamping strips 41 inward, the V-shaped clamping strips 41, under the squeezing action of the supporting roller 44, compress the elastic rubber support block 43, causing the rubber clamping strips 42 to move closer together, so as to clamp the tissue or the patient's clothes, making it convenient to use the mechanical gripper to take the tissue to wipe the coupling agent off the patient, or to use the mechanical gripper to tidy up the patient's clothes; conversely, when the telescopic motor 39 extends, the two V-shaped clamping strips 41 move away from each other and open up under the action of the elastic rubber support block 43.

[0033] A liquid storage cylinder 45 is slidably connected to the slide rail on the other side of the operating head 32. A one-way injection valve 46 is provided at the bottom of the liquid storage cylinder 45 and communicates with its interior. The one-way injection valve 46 is made of a rubber ring. The inner wall of the rubber ring is tightly sealed and the insertion tube can be inserted to facilitate the addition of coupling agent into the liquid storage cylinder 45. A breather valve 47 is provided at the end of the liquid storage cylinder 45 near the second multi-axis robotic arm and communicates with its interior. The breather valve 47 is opened under the action of air pressure to maintain the balance of internal and external air pressure. The outer side of the middle part of the reservoir 45 is connected to the transmission belt 35. A smear head 48 is provided at the end of the reservoir 45 furthest from the second multi-axis robotic arm. A spherical groove 49 is opened at the end of the smear head 48 furthest from the reservoir 45. A smear ball head 50 is movably connected within the spherical groove 49. A miniature syringe pump 51 is installed on one side of the reservoir 45. The inlet end of the miniature syringe pump 51 is connected to the bottom of the reservoir 45. A liquid guiding channel 52 is provided inside the smear head 48, connecting the outlet end of the miniature syringe pump 51 to the spherical groove 49. When the miniature syringe pump 51 operates, it draws coupling agent from the reservoir 45 and injects it into the spherical groove. Under the action of the second multi-axis robotic arm, the smear ball head 50 rolls on the patient's skin surface, thus applying the coupling agent to the patient's skin surface. After application, the smear ball head 50 should be wiped clean with a tissue or towel.

[0034] When it is necessary to apply coupling agent to the patient, the external rotor motor 34 rotates, driving the transmission belt 35 to move, pushing the reservoir 45 forward, causing the mechanical gripper to retract backward, so that the coupling agent can be applied to the patient through the application ball head 50. When it is necessary to wipe the coupling agent off the patient or tidy the patient's clothes, the external rotor motor 34 rotates, driving the transmission belt 35 to move in the opposite direction, causing the reservoir 45 to retract backward, causing the mechanical gripper to push forward, so that the mechanical gripper can be used to hold tissues or clothes.

[0035] Example 2: A method of using an intelligent extracorporeal shockwave therapy robot, comprising the following steps: Preparation and marking before treatment S1. Import gender, age, height, weight, pain treatment area (neck, both shoulder joints, both elbow joints, both wrist joints, waist, both thighs, both knee joints, both calves, both ankle joints, both feet, soles, etc.), and preoperative CT / MRI (if available) into the system to match a similar 3D human anatomical model within the system.

[0036] S2. The patient stands to one side of the machine 1. Infrared optical camera 14 takes a head-to-toe photo of the patient to determine their height and body size. Combined with the 3D anatomical model of the human body pre-stored in the intelligent extracorporeal shockwave therapy robot's computer system (different genders (male, female), age groups (minors, youth, middle-aged, elderly), and weights (obese, normal, underweight) are stored in the computer beforehand), an individualized 3D model of the patient is created within the system based on the patient's body shape. The patient is then positioned comfortably on the treatment bed (vacuum negative pressure bag / memory foam) to fully expose the painful treatment area. The intelligent extracorporeal shockwave therapy robot automatically moves to... At the treatment bedside, an infrared optical camera 14 scans the fully exposed pain treatment area of ​​the patient, creating a 3D model of the pain treatment area in the computer system. An ultrasound imaging probe 29 then performs a musculoskeletal examination of the pain treatment area to understand any pathological changes. The doctor uses the system's wireless pen to draw the specific pain treatment area on the patient's body, marking particularly painful areas (or affixing optical markers near the pain point treatment area). Simultaneously, the system synchronizes the pain treatment area drawn on the patient's body with the wireless pen to the patient's individualized 3D model in the computer and marks it.

[0037] The rotation of the external rotor motor 34 drives the transmission belt 35 to move, pushing the reservoir 45 forward and causing the mechanical gripper to retract. The second multi-axis robotic arm drives the application ball head 50 to roll at the pain marking site. The micro-injection pump 51 works to draw the coupling agent in the reservoir 45 and inject it into the ball head groove, and then applies the coupling agent to the patient's skin surface by rolling the application ball head 50.

[0038] S3. The ultrasound imaging probe 29 at the end of the first multi-axis robotic arm scans and images the pain point treatment area. The system automatically fuses and matches the ultrasound image of the pain treatment area with the pain treatment area on the individualized 3D model of the patient in the computer and the preoperative image to establish a 3D model of the patient's pain treatment area, thus preparing for shockwave therapy.

[0039] Intelligent treatment planning S4, within the closed loop of "perception-planning-execution-evaluation," involves the intelligent extracorporeal shock wave therapy robot perceiving the pain treatment area and planning the treatment strategy for that area. It integrates deep learning, multimodal image navigation, robot motion planning, and real-time visual servo control to perform intelligent treatment planning, enabling it to automatically segment lesions, intelligently avoid obstacles, adaptively adjust energy, and perform digital twin simulation.

[0040] 4.1. Intelligent Planning Module for Control and Decision-Making: The main control computer of the intelligent extracorporeal shockwave therapy robot system runs the Robot Operating System (ROS), which is responsible for motion planning, sensor data processing, and communication.

[0041] Automatic lesion segmentation: Based on a deep learning model and motion path planning, the system automatically delineates a 3D model of the patient's pain treatment area (such as calcifications or tendon lesions) on ultrasound or fused CT / MRI images according to the motion path planning algorithm. It automatically plans the distribution and motion path of treatment points to ensure full coverage and no collisions.

[0042] Obstacle avoidance planning: Automatically plans the movement path of the robotic arm to avoid critical structures such as bones, nerves, and blood vessels.

[0043] Treatment point planning: Within the lesion area, a uniformly distributed grid of treatment points is automatically generated, or a non-uniformly optimized distribution is performed based on the lesion density.

[0044] Real-time visual servo control: Based on real-time feedback from ultrasound images, the robot arm's pose is finely adjusted using an image registration algorithm, and dynamic compensation is provided for target displacement caused by breathing or patient movement.

[0045] Adaptive Energy Control Algorithm (AI Core): Based on real-time ultrasound images of tissue echo changes (such as grayscale values ​​and texture features of the treatment area) and force sensor feedback, the AI ​​model dynamically adjusts the energy intensity and frequency of each impact to achieve personalized dosage control.

[0046] 4.2 Real-time Vision Servo Control Module: Ultrasound image stream processing: Receives and processes ultrasound images in real time, and tracks the displacement of lesions caused by respiration or micro-movements through image registration algorithms.

[0047] Closed-loop feedback control: Real-time displacement data of the lesion is fed back to the robot controller to dynamically adjust the posture of the robotic arm, ensuring that the focus of the shock wave is always "locked" on the moving target. The image is captured by the ultrasound imaging probe 29, and then analyzed in real time by an algorithm, which acts as the brain, allowing the robotic arm to "adjust as it sees" like a human.

[0048] 4.3. Adaptive Energy Control Module: Parameter Database: Built-in knowledge base based on a large amount of clinical data, recommending initial energy flow density, number of impacts and frequency for different diseases (such as frozen shoulder, tennis elbow, plantar fasciitis) and different stages of disease.

[0049] Real-time tuning: Based on physiological feedback: monitor changes in ultrasound echo intensity (tissue density changes) in the treatment area and fine-tune the energy.

[0050] Based on patient feedback: Patients report real-time pain through handheld devices, and the system can automatically reduce the energy of the intelligent extracorporeal shock wave or pause the treatment according to the preset pain threshold.

[0051] 4.4. Digital Twin and Simulation Module: Create 1:1 digital models of robots, patients, and equipment in a virtual environment.

[0052] Before physical therapy begins, a full-process simulation is conducted to verify the safety and effectiveness of the treatment path and to anticipate potential collisions.

[0053] In summary, the AI-powered intelligent extracorporeal shockwave therapy robot system automatically segments the lesion area in the pain treatment zone and automatically plans the distribution and movement path of the treatment points.

[0054] Doctors can confirm or modify the treatment paths, treatment techniques, energy parameters, and number of impacts automatically generated by the system on the 3D model.

[0055] The software initiates a digital twin simulation to ensure the safety and feasibility of the solution.

[0056] S5, the intelligent extracorporeal shockwave therapy robot performs the treatment process for the pain treatment area in the closed loop of "perception-planning-execution-evaluation".

[0057] The doctor clicks "Start," and the first multi-axis robotic arm moves the treatment head to the first treatment point in the area of ​​pain. The treatment head at the end of the first multi-axis robotic arm contacts the skin with constant, gentle pressure, and performs treatment according to the treatment path automatically generated by the system. It focuses on treating target points (such as calcifications and fascial lesions). During the treatment, the laser grid generator projects a positioning grid on the patient's skin surface. The intelligent camera determines the position of the treatment head through the grid. Shockwave therapy is performed under the real-time guidance of the ultrasound image formed by the ultrasound imaging probe. The multi-axis robotic arm moves the treatment head to perform ultrasound examination and treatment simultaneously.

[0058] 5.1. Timing of working principle: • Within one shock wave cycle (200 microseconds), the system has enough time to “insert” an ultrasound detection action.

[0059] • Imagine a working cycle: Shock wave emission → Waiting for a very short time (e.g., a few microseconds to allow the shock wave to penetrate superficial tissue) → Initiating ultrasound pulse emission and reception (takes 39 microseconds) → Ultrasound completes data acquisition → The system determines the energy or focal position of the next shock wave based on the ultrasound feedback data (optional) → Next shock wave emission.

[0060] • There is a 161-microsecond "idle" time between the completion of the ultrasound examination and the emission of the next shock wave, which is more than enough for modern electronic systems.

[0061] 5.2. Technological Reality: This "ultrasound-guided shockwave therapy" is already a mature medical technology. High-end shockwave therapy devices integrate real-time ultrasound imaging probes.

[0062] The function of ultrasound is: • Positioning: Real-time display of the treatment site (such as calcification points, fascial adhesions) and the focus of the shock wave before and during treatment.

[0063] • Monitoring: Observe the immediate reaction of tissues under the action of shock waves (such as slight tissue displacement, bubble activity, etc.).

[0064] • The system's electronic control system can precisely coordinate the timing of ultrasonic wave and shock wave emission to avoid signal interference.

[0065] Real-time tracking and compensation: The visual servo system compensates for minute patient movements to ensure focus tracking.

[0066] Adaptive energy release: Based on the tissue condition obtained from ultrasound scanning of the patient's pain treatment area, the AI ​​system slowly increases or decreases the intensity of shockwave therapy according to the planned treatment plan, and fine-tunes the parameters based on real-time feedback to achieve "saturation-based cessation" and avoid overtreatment.

[0067] Patients can interact and provide feedback to the intelligent extracorporeal shockwave therapy robot system at any time through the pain feedback device.

[0068] Treatment completion and evaluation: S6. After the treatment is completed, the first multi-axis robotic arm drives the ultrasound imaging probe on the treatment head to scan the area of ​​pain treatment again. After the scan is completed, the device is removed and reset, and a treatment report is automatically generated, including ultrasound imaging before treatment, actual treatment path during treatment, energy distribution map, and ultrasound imaging record after treatment.

[0069] S7. The external rotor motor rotates, driving the transmission belt to move in the opposite direction, retracting the liquid storage cylinder and pushing the mechanical gripper forward. The second multi-axis robotic arm drives the mechanical gripper to pick up a tissue. The second multi-axis robotic arm drives the mechanical gripper to move to the pain treatment position and wipes the coupling agent clean with the tissue.

[0070] The doctor performs a simple postoperative examination and records the treatment effect (such as VAS score and joint range of motion) into the cloud data platform system to form a complete closed-loop treatment effect data, which is then anonymized and stored in the patient's medical record.

[0071] System integration innovation: "Integrated diagnosis and treatment" closed-loop platform: It integrates perception (ultrasound scanning imaging), planning (AI segmentation and path planning), execution (the end effector of the robotic arm to perform treatment), and evaluation (postoperative ultrasound imaging reports and data archiving) on ​​a seamless platform, forming a closed loop of "perception-planning-execution-evaluation", creating a brand-new clinical working model.

[0072] Cloud data platform S8, Medical Data Lake: All clinical data is stored anonymously, including patient medical records, treatment plans, treatment parameters, intraoperative images, and efficacy evaluations.

[0073] AI models continuously learn: Utilizing massive amounts of data, they continuously optimize the performance of lesion segmentation, path planning, and parameter recommendation models.

[0074] Remote diagnosis and maintenance: Experts can remotely view the treatment process and provide guidance; engineers can perform remote diagnosis and software upgrades.

[0075] The robot has voice prompts.

[0076] For example, the robot says: "Please take off your shoes, lie down on the treatment bed, expose the painful area, relax and wait for treatment." The robot said, "Is the shockwave force acceptable? Should we increase or decrease the force?" Answer: Very good / Okay, we will perform intelligent debugging for you.

[0077] It should also be noted that all terms such as "set up" and similar descriptive words in this application (especially the specification) indicate that two structures have or exist a connection relationship. However, the specific means by which the two are connected are not limited in detail, and are usually conventional connection methods. That is, the means should be understood as prior art and do not need to be elaborated. For example, "m is set up with n" only indicates that structure m has structure n, and whether the two are connected by welding, riveting, adhesive, or integral molding is within the scope of protection of this application. Similarly, "x is rotatably set up with y" only indicates that y and x can rotate relative to each other, and whether the two are connected by a bearing, or whether y directly passes through x and is rotatably connected to x, or other feasible methods, are all within the scope of protection of this application.

[0078] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. An intelligent extracorporeal shockwave therapy robot, comprising a body (1), wherein a plurality of drive wheels (5) are mounted on the lower end of the body (1), and a plurality of drive motors (6) are mounted on the lower end of the body (1) for driving the corresponding drive wheels (5) to rotate one by one, and an operation panel (37) is provided on the upper end of the body (1), characterized in that, The upper end of the body (1) is provided with a visual base (7), and the upper end of the visual base (7) is connected to a visual recognition head (8) that can rotate arbitrarily. The visual recognition head (8) is equipped with a smart camera (13) and an infrared optical camera (14) at an angle downward. The upper end of the body (1) is equipped with a first multi-axis robotic arm, and the free end of the first multi-axis robotic arm is connected to a treatment head (28). An ultrasound imaging probe (29) and a shock wave generator (30) are installed at the end of the treatment head (28) away from the first multi-axis robotic arm. A pressure sensor (31) is provided between the ultrasound imaging probe (29) and the shock wave generator (30) on the treatment head (28). A second multi-axis robotic arm is installed on the upper part of one side of the body (1). An operating head (32) is connected to the free end of the second multi-axis robotic arm. A mechanical gripper is connected to the operating head (32). The mechanical gripper includes a mounting cylinder (38). The mounting cylinder (38) is open at one end away from the second multi-axis robotic arm. A telescopic motor (39) is installed inside the mounting cylinder (38) along its length direction. The telescopic axis of the telescopic motor (39) is outward and connected to a rotating connector (40). The rotating connector (40) is rotatably connected to two opposing V-shaped clamping strips (41). An elastic rubber support block (43) is provided between the two V-shaped clamping strips (41) on the rotating connector (40). A support roller (44) is rotatably connected to the open end of the mounting cylinder (38) at each V-shaped clamping strip (41).

2. The intelligent extracorporeal shockwave therapy robot according to claim 1, characterized in that, The upper end of the visual base (7) is rotatably connected to a horizontal rotating base (9). A horizontal rotating motor (10) for driving the horizontal rotating base (9) to rotate is installed on the upper end of the visual base (7). A horizontally arranged vertical rotating motor (11) is installed on the upper end of the horizontal rotating base (9). A U-shaped rotating seat (12) connected to the vertical rotating motor (11) is provided on the side of the visual recognition head (8) away from the smart camera (13). The U-shaped rotating seat (12) is connected to the power output shaft of the vertical rotating motor (11).

3. The intelligent extracorporeal shockwave therapy robot according to claim 1, characterized in that, A laser grid generator (15) that works in conjunction with the smart camera (13) is installed on the upper part of the vision base (7) facing the first multi-axis robotic arm.

4. The intelligent extracorporeal shockwave therapy robot according to claim 1, characterized in that, A support base (2) is provided below the body (1). Each drive wheel (5) and each drive motor (6) are installed at the lower end of the support base (2). A rotating motor (3) is installed in the upper part of the support base (2). A rotating connecting seat (4) is provided downward at the lower end of the body (1). The power output axis of the rotating motor (3) is connected upward to the rotating connecting seat (4).

5. The intelligent extracorporeal shockwave therapy robot according to claim 1, characterized in that, Both the first and second multi-axis robotic arms include mounting bases (16) disposed on the body (1). Each mounting base (16) has a rotating seat (17) rotatably connected to its free end, which rotates along its axial direction. Each mounting base (16) has a rotating motor (18) installed inside to drive the corresponding rotating seat (17) to rotate. Each rotating seat (17) has a first joint arm (19) rotatably connected to it. Each first joint arm (19) rotates in a plane parallel to the corresponding rotating seat (17) and perpendicular to the body (1). Each rotating base (17) is equipped with a first joint motor (20) for driving the rotation of the corresponding first joint arm (19). The free end of each first joint arm (19) is rotatably connected to a second joint arm (21). Each second joint arm (21) rotates in a plane parallel to the corresponding first joint arm (19) and parallel to the corresponding rotating base (17). The free end of each first joint arm (19) is equipped with a second joint motor (22) for driving the rotation of the corresponding second joint arm (21). Each second joint arm (21) Each of the free ends is rotatably connected to a third joint arm (23). Each third joint arm (23) rotates in a plane parallel to the corresponding second joint arm (21) and perpendicular to the corresponding first joint arm (19). Each free end of each second joint arm (21) is equipped with a third joint motor (24) for driving the rotation of the third joint arm (23). Each free end of each third joint arm (23) is rotatably connected to a fourth joint arm (25). Each fourth joint arm (25) rotates in a plane perpendicular to the corresponding third joint arm (23). Each third joint arm (23) is equipped with a fourth joint motor (26) for driving the corresponding fourth joint arm (25) to rotate. The treatment head (28) and the operation head (32) are rotatably connected to the free end of the corresponding fourth joint arm (25). The treatment head (28) and the operation head (32) rotate in a plane perpendicular to the corresponding fourth joint arm (25). Each fourth joint arm (25) is equipped with a fifth joint motor (27) for driving the treatment head (28) or the operation head (32) to rotate.

6. The intelligent extracorporeal shockwave therapy robot according to claim 1, characterized in that, The operating head (32) is U-shaped with its opening facing outward. One end of the operating head (32) is rotatably connected to a driven shaft (33), and the other end of the operating head (32) is equipped with an external rotor motor (34). A transmission belt (35) is connected between the driven shaft (33) and the external rotor motor (34) inside the operating head (32). Limiting slide rails (36) are provided at both the left and right openings of the operating head (32). The mounting cylinder (38) is slidably connected to one of the limiting slide rails (36), and the outer side of the middle part of the mounting cylinder (38) is connected to the transmission belt (35). A liquid storage cylinder (45) is slidably connected to a slide rail on the other side of the operating head (32). A one-way injection valve (46) communicating with the bottom of the liquid storage cylinder (45) is provided. The one-way injection valve (46) is made of a rubber ring, the inner wall of which is tightly sealed and allows for insertion of a tube. A breather valve (47) communicating with the inside of the liquid storage cylinder (45) is provided at one end near the second multi-axis robotic arm. The breather valve (47) opens under air pressure. The outer side of the middle part of the liquid storage cylinder (45) is connected to the transmission belt (35). 45) An applicator (48) is provided at one end away from the second multi-axis robotic arm. A spherical groove (49) is provided at one end of the applicator (48) away from the liquid storage cylinder (45). An applicator ball head (50) is movably connected in the spherical groove (49). A micro-injection pump (51) is installed on one side of the liquid storage cylinder (45). The inlet end of the micro-injection pump (51) is connected to the bottom of the liquid storage cylinder (45). A liquid guiding channel (52) is provided in the applicator (48) to connect the outlet end of the micro-injection pump (51) and the spherical groove (49).

7. The intelligent extracorporeal shockwave therapy robot according to claim 6, characterized in that, The outer circumference of the rotor of the external rotor motor (34) and the outer circumference of the driven shaft (33) are provided with a plurality of circumferentially distributed racks, and the inner side of the transmission belt (35) is provided with tooth grooves that mesh with the racks.

8. The intelligent extracorporeal shockwave therapy robot according to claim 1, characterized in that, Each V-shaped clamp (41) has a flexible rubber clamp (42) attached to its free end.

9. A method of using an intelligent extracorporeal shockwave therapy robot according to claims 1 to 8, characterized in that, Includes the following steps: S1. Import gender, age, height, weight, and pain treatment site into the system. If the patient has CT / MRI images before the operation, also import them into the system to match a similar 3D human anatomical model within the system. S2. The patient stands on one side of the machine (1). The infrared optical camera (14) takes a picture of the patient from head to toe to understand the patient's height and body size. Combined with the 3D anatomical models of different genders, age groups and weights stored in the system, an individualized 3D model of the patient is established in the system according to the patient's body size. Then, the patient is fixed in a comfortable position on the treatment bed to fully expose the pain treatment area. The intelligent extracorporeal shock wave therapy robot automatically moves to the side of the treatment bed and uses the infrared optical camera (14) to scan the fully exposed pain treatment area of ​​the patient. A 3D model of the pain treatment area is established in the computer system. The ultrasound imaging probe (29) is used to perform a bone and muscle layer examination on the pain treatment area to understand the pathological changes of the pain treatment area. Then, the doctor uses the wireless pen of the system to draw the specific pain treatment area on the patient's body and marks the particularly painful areas. At the same time, the system synchronizes the pain treatment area drawn on the patient's body with the wireless pen to the individualized 3D model of the patient in the computer and marks it. Coupling agent is applied to the patient's painful area. S3. The ultrasonic imaging probe (29) at the end of the first multi-axis robotic arm scans and images the pain point treatment area. The system automatically fuses and matches the ultrasonic image of the pain treatment area with the pain treatment area and preoperative image on the individualized 3D model of the patient in the computer to establish a 3D model of the patient's pain treatment area and prepare for shock wave therapy. S4 integrates deep learning, multimodal image navigation, robot motion planning and real-time visual servo control to perform intelligent treatment planning, enabling it to automatically segment lesions, intelligently avoid obstacles, adaptive energy regulation and digital twin simulation capabilities. S5. The first multi-axis robotic arm drives the treatment head (28) to align with the first treatment point in the pain treatment area. The treatment head (28) at the end of the first multi-axis robotic arm contacts the skin with constant gentle pressure, performs treatment according to the treatment path automatically generated by the system, and focuses on the target point. Shockwave therapy is performed under the real-time guidance of the ultrasound image formed by the ultrasound imaging probe (29). The first multi-axis robotic arm drives the treatment head (28) to perform ultrasound examination and treatment at the same time. S6. After the treatment is completed, the first multi-axis robotic arm drives the ultrasound imaging probe (29) on the treatment head (28) to scan the pain treatment area again. After the scan is completed, the device is removed and reset, and a treatment report is automatically generated, including ultrasound imaging before treatment, actual treatment path during treatment, energy distribution map, and ultrasound imaging record after treatment. S7. The second multi-axis robotic arm drives the mechanical gripper to pick up a tissue, and the second multi-axis robotic arm drives the mechanical gripper to move to the pain treatment position, and wipes the coupling agent clean with the tissue.

10. The method of using an intelligent extracorporeal shockwave therapy robot according to claim 9, characterized in that, Step S4 specifically includes the following: 4.

1. Intelligent Planning for Control and Decision-Making: Automatic lesion segmentation: Based on a deep learning model, motion path planning is performed. According to the motion path planning algorithm, a 3D model of the patient's pain treatment area is automatically delineated on ultrasound or fused CT / MRI images. The distribution of treatment points and motion paths are automatically planned to ensure full coverage and no collisions. Obstacle avoidance planning: Automatically plans the motion path of the multi-axis robotic arm to avoid critical structures such as bones, nerves, and blood vessels; Treatment point planning: Automatically generate a uniformly distributed grid of treatment points within the lesion area, or optimize the distribution non-uniformly based on the lesion density; Real-time visual servo control: Based on real-time feedback from ultrasound images, the pose of the multi-axis robotic arm is finely adjusted through an image registration algorithm to dynamically compensate for target displacement caused by breathing or patient movement. Adaptive energy control: Based on the changes in tissue echo in real-time ultrasound images and the feedback from the pressure sensor (31), the AI ​​model dynamically adjusts the energy intensity and frequency of each impact to achieve personalized dose control. 4.

2. Real-time vision servo control: Ultrasound image stream processing: Receives and processes ultrasound images in real time, and tracks the displacement of lesions caused by respiration or micro-movements through image registration algorithms; Closed-loop feedback control: The real-time displacement data of the lesion is fed back to the robot controller to dynamically adjust the pose of the multi-axis robotic arm; 4.

3. Adaptive Energy Control: Parameter Database: Built-in knowledge base based on a large amount of clinical data, recommending initial energy flux density, number of pulses and frequency for different diseases and different stages of disease; Based on physiological feedback: Monitor changes in ultrasound echo intensity in the treatment area and fine-tune the energy. Based on patient feedback: Patients report real-time pain, and the system automatically reduces the energy of the extracorporeal shock wave or pauses the treatment according to the preset pain threshold; 4.

4. Digital Twins and Simulation: Create 1:1 digital models of robots, patients, and equipment in a virtual environment; Before physical therapy begins, a full-process simulation is conducted to verify the safety and effectiveness of the treatment path and to anticipate potential collisions.

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