Ultrashort wave physiotherapy instrument and control method and device thereof

Abstract

The invention discloses an ultrashort wave physiotherapy instrument, a control method and device thereof and a computer readable storage medium, and the control method of the ultrashort wave physiotherapy instrument comprises the steps: scanning a part to be subjected to physiotherapy, and obtaining the three-dimensional temperature field data and the three-dimensional outer contour data of the part to be subjected to physiotherapy; according to the three-dimensional temperature field data and the three-dimensional outer contour data, a physiotherapy target area of the part to be subjected to physiotherapy is determined, physiotherapy strategy planning is carried out according to the physiotherapy target area, and a physiotherapy strategy is obtained; the control electrode performs ultrashort wave physiotherapy on the to-be-physiotherapy part according to the physiotherapy strategy, and monitors the temperature data of the to-be-physiotherapy part at the same time; and judging whether the temperature data is in a safe temperature area range, if not, stopping physiotherapy, and if yes, continuously performing ultrashort wave physiotherapy on the to-be-physiotherapy part according to the physiotherapy strategy until the end. According to the invention, the effectiveness of the ultrashort wave physiotherapy process can be ensured, and the safety of the ultrashort wave physiotherapy process is also ensured.

Description

Technical Field

[0001] This invention relates to the field of ultra-shortwave therapy technology, and in particular to an ultra-shortwave therapy device and its control method and apparatus. Background Technology

[0002] Shortwave diathermy, a classic deep thermal physical therapy technique, is widely used clinically to treat musculoskeletal disorders (such as arthritis, sprains, and myofascial pain syndrome), chronic inflammation, and to accelerate tissue healing. Its therapeutic principle utilizes high-frequency electromagnetic waves to penetrate human tissue, generating thermal and non-thermal effects deep within the body, thereby promoting blood circulation, reducing inflammation, and relieving pain. However, traditional equipment lacks precision, has rudimentary parameters and dosage control, and its safety relies heavily on subjective human judgment, with a lack of data support throughout the treatment process.

[0003] Traditional manually operated shortwave diathermy devices mainly consist of a main unit and movable treatment heads (electrode plates) connected by cables. During treatment, it relies entirely on the therapist's experience and touch: the therapist manually places the treatment heads near or in contact with the patient's skin, adjusting the relative position between the two heads and the distance from the skin through visual inspection and experience, and setting fixed treatment power and time parameters. The treatment process lacks precise spatial navigation, relying entirely on the therapist's visual observation and touch. The entire treatment process lacks reliable data support, making it impossible to ensure that energy is accurately focused on deep lesions, and may even cause unnecessary stimulation to non-target tissues.

[0004] Therefore, ensuring the accuracy and reliability of ultra-shortwave therapy is one of the technical problems that the industry urgently needs to solve. Summary of the Invention

[0005] The purpose of this invention is to provide an ultra-shortwave physiotherapy device and its control method and apparatus, based on reliable data, to achieve safer and more effective ultra-shortwave physiotherapy.

[0006] To solve the above-mentioned technical problems, the present invention provides a control method for an ultra-shortwave therapy device, comprising:

[0007] The area to be treated is scanned to obtain three-dimensional temperature field data and three-dimensional outer contour data of the area to be treated;

[0008] Based on the three-dimensional temperature field data and the three-dimensional outer contour data, the physiotherapy target area of ​​the area to be treated is determined, and a physiotherapy strategy is planned based on the physiotherapy target area to obtain a physiotherapy strategy;

[0009] The control electrode performs ultra-shortwave therapy on the treatment area according to the physiotherapy strategy, and simultaneously monitors the temperature data of the treatment area.

[0010] Determine whether the temperature data is within the safe temperature range. If not, stop the physiotherapy. If so, continue to perform ultra-shortwave physiotherapy on the area to be treated according to the physiotherapy strategy until the end.

[0011] In one optional embodiment of this application, the physiotherapy target area of ​​the site to be treated is determined based on the three-dimensional temperature field data, and a physiotherapy strategy is planned based on the physiotherapy target area to obtain a physiotherapy strategy, including:

[0012] Acquire medical data of the area to be treated; wherein the medical data includes at least one of medical imaging data, physician diagnosis data, and medical record data;

[0013] Based on the medical data, the three-dimensional outer contour data, and the three-dimensional temperature field data, a three-dimensional model of the area to be treated is constructed, and the physiotherapy target area and the prohibited physiotherapy area of ​​the area to be treated are determined in the three-dimensional model, and the physiotherapy target area is divided into the core physiotherapy target area and the secondary physiotherapy target area.

[0014] Based on the distribution information of the physiotherapy target area and the prohibited physiotherapy area in the three-dimensional model, a physiotherapy strategy is planned to obtain a physiotherapy strategy that includes at least electrode movement trajectory, physiotherapy power, electrode spacing and electrode movement speed.

[0015] In one optional embodiment of this application, the process of planning a physiotherapy strategy based on the physiotherapy target area includes:

[0016] The upper and lower limits of the physiotherapy power are determined based on the tissue depth of the core physiotherapy target area.

[0017] Based on the distribution information of the physiotherapy target area in the three-dimensional model, an initial electrode movement trajectory is generated, along with the initial electrode spacing, initial physiotherapy power, and initial electrode movement speed corresponding to each physiotherapy point on the initial electrode movement trajectory.

[0018] The optimization objectives are: the first average energy density of the core physiotherapy target area is within the first energy density range and the corresponding first energy distribution uniformity is the highest; the second average energy density of the secondary physiotherapy target area is within the second energy density range and the corresponding second energy distribution uniformity is the highest. The constraints are: the physiotherapy power is between the upper and lower power limits and the ultra-shortwave does not act on the prohibited physiotherapy area. The initial electrode movement trajectory, the initial electrode spacing, the initial physiotherapy power, and the initial electrode movement speed are optimized iteratively to obtain the physiotherapy strategy that satisfies the optimization objectives.

[0019] In an optional embodiment of this application, the initial electrode movement trajectory, the initial electrode spacing, the initial physiotherapy power, and the initial electrode movement speed are optimized iteratively to obtain the physiotherapy strategy that satisfies the optimization objective, including:

[0020] The three-dimensional model is meshed to obtain individual mesh units; wherein each mesh unit is a three-dimensional unit; the volume of each mesh unit is 0.25 to 1 times the volume of the average effective working area of ​​the electrode;

[0021] The electromagnetic field generated by the electrodes at different physiotherapy points along the initial electrode movement trajectory, under the initial electrode spacing and initial physiotherapy power, is simulated to obtain an electromagnetic field simulation model;

[0022] Based on the electromagnetic field simulation model, the initial electrode moving speed, and the cumulative energy formula... The calculation determines the cumulative energy corresponding to each grid cell within the therapeutic target area; wherein, For the first The cumulative energy of each grid cell, , , They represent the first The electrical conductivity, tissue density, and tissue quality of each grid cell; Indicates the first Each grid cell from arrive The effective amplitude of the electric field intensity at time t is determined by... arrive The therapeutic power, electrode spacing, electrode movement speed, and the relationship between the electrode and the first electrode at any given time. The distance between the center points of each grid cell is determined;

[0023] The cumulative energy corresponding to each grid unit in the core physiotherapy target area and the cumulative energy corresponding to each grid unit in the secondary physiotherapy target area are respectively averaged to obtain the first average energy density and the second average energy density.

[0024] The standard deviation of the cumulative energy corresponding to each grid unit in the core physiotherapy target area is calculated, and the ratio of the calculation result to the first average energy density is calculated to obtain the first energy distribution uniformity.

[0025] The standard deviation of the cumulative energy corresponding to each grid unit in the secondary physiotherapy target area is calculated, and the ratio of the calculation result to the second average energy density is calculated to obtain the second energy distribution uniformity.

[0026] With the therapeutic power constrained between the upper and lower power limits, the initial electrode movement trajectory, electrode spacing, therapeutic power, and electrode movement speed are optimized iteratively based on the first average energy density, the second average energy density, the first energy distribution uniformity, and the first energy distribution uniformity to obtain a therapeutic strategy that satisfies the optimization objective.

[0027] In an optional embodiment of this application, determining the initial electrode movement trajectory includes:

[0028] The initial electrode movement trajectory is generated based on the inverse proportionality between the relative distance between the physiotherapy point and the center point of the core physiotherapy target area and the line density of the movement trajectory.

[0029] Determining the initial electrode moving speed includes:

[0030] The initial electrode movement speed is determined by the inverse relationship between the relative distance between the physiotherapy point and the center point of the core physiotherapy target area and the movement speed.

[0031] In one optional embodiment of this application, a physiotherapy strategy is planned based on the distribution information of the physiotherapy target area and the prohibited physiotherapy area in the three-dimensional model to obtain the physiotherapy strategy, which includes at least electrode movement trajectory, physiotherapy power, electrode spacing, and electrode movement speed, including:

[0032] The three-dimensional model containing the distribution information of the core physiotherapy target area, the secondary physiotherapy target area, and the prohibited physiotherapy area, along with the temperature field data, are input into a pre-trained neural network model to obtain the physiotherapy strategy, which includes at least electrode movement trajectory, physiotherapy power, electrode spacing, and electrode movement speed.

[0033] In an optional embodiment of this application, after obtaining the physiotherapy strategy, and before controlling the ultra-shortwave electrode to perform ultra-shortwave physiotherapy on the treatment area according to the physiotherapy strategy, the method further includes:

[0034] The display interface shows the physiotherapy parameters corresponding to different physiotherapy points in the physiotherapy strategy based on the three-dimensional model.

[0035] When a physician correction instruction is received, the physiotherapy parameters in the physiotherapy strategy are corrected according to the correction parameters in the physician correction instruction to obtain the corrected physiotherapy strategy.

[0036] Once the physician confirms approval, the system executes the operation of controlling the shortwave electrodes to perform shortwave therapy on the area to be treated according to the aforementioned physiotherapy strategy.

[0037] A control device for a shortwave diathermy device includes:

[0038] The data scanning module is used to scan the area to be treated and obtain the three-dimensional temperature field data and three-dimensional outer contour data of the area to be treated.

[0039] The strategy planning module is used to determine the physiotherapy target area of ​​the part to be treated based on the three-dimensional temperature field data and the three-dimensional outer contour data, and to plan the physiotherapy strategy based on the physiotherapy target area to obtain the physiotherapy strategy.

[0040] The physiotherapy monitoring module is used to control the electrodes to perform ultra-shortwave physiotherapy on the treatment area according to the physiotherapy strategy, and simultaneously monitor the temperature data of the treatment area.

[0041] The monitoring and judgment module is used to determine whether the temperature data is within the safe temperature range. If not, the physiotherapy is stopped; if so, the physiotherapy is continued on the part to be treated according to the physiotherapy strategy until the end.

[0042] A shortwave diathermy device includes a control unit; a robotic arm connected to the control unit; a therapy head disposed at the control end of the robotic arm; and electrodes, an infrared thermal imager, and a camera integrated on the therapy head.

[0043] The infrared thermal imager is used to scan the area to be treated to obtain three-dimensional temperature field data.

[0044] The camera is used to scan the three-dimensional outer contour data of the area to be treated;

[0045] The control host is used to control the robotic arm to drive the therapy head and execute the steps of the control method of the ultra-shortwave therapy device as described above, based on the three-dimensional temperature field data and the three-dimensional outer contour data.

[0046] In one optional embodiment of this application, an AR display device connected to the control host is further included for displaying a three-dimensional model of the area to be treated.

[0047] This invention provides an ultra-shortwave therapy device and its control method and apparatus. The control method of the ultra-shortwave therapy device includes scanning the treatment area to obtain three-dimensional temperature field data and three-dimensional outer contour data of the treatment area; determining the treatment target area of ​​the treatment area based on the three-dimensional temperature field data and three-dimensional outer contour data, and planning a treatment strategy based on the treatment target area to obtain a treatment strategy; controlling electrodes to perform ultra-shortwave therapy on the treatment area according to the treatment strategy, while simultaneously monitoring the temperature data of the treatment area; determining whether the temperature data is within the safe temperature range; if not, stopping the treatment; if so, continuing to perform ultra-shortwave therapy on the treatment area according to the treatment strategy until the end.

[0048] This application, in the process of using shortwave diathermy to treat a patient's treatment area, first scans the three-dimensional temperature field data of the treatment area. Utilizing the significant temperature difference between inflamed and normal tissues in the human body, it effectively locates the treatment target zone within the treatment area. Based on this target zone, a rational treatment strategy is planned, thus achieving more rational and effective shortwave diathermy. Furthermore, during the actual treatment process, the temperature data of the treatment area is monitored, effectively ensuring the safety and reliability of the treatment process. Therefore, this application not only guarantees the effectiveness of shortwave diathermy but also ensures its safety. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A flowchart illustrating the control method of the ultra-shortwave physiotherapy device provided in the embodiments of this application;

[0051] Figure 2 A schematic diagram of a three-dimensional model of the area to be treated, provided in an embodiment of this application;

[0052] Figure 3 This is a structural block diagram of the control device for the ultra-shortwave physiotherapy device provided in the embodiments of this application. Detailed Implementation

[0053] The core of this invention is to provide a control method, device, equipment, and computer-readable storage medium for an ultra-shortwave therapy device, which enables more reliable and reasonable ultra-shortwave therapy based on the temperature field distribution of the inflamed area, ensuring the effectiveness and reliability of the therapy process.

[0054] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] like Figure 1 As shown, Figure 1 This is a flowchart illustrating the control method of the ultra-shortwave physiotherapy device provided in the embodiments of this application.

[0056] In one specific embodiment of this application, the control method of the ultra-shortwave therapy device may include:

[0057] S1: Scan the area to be treated to obtain three-dimensional temperature field data and three-dimensional outer contour data of the area to be treated.

[0058] The areas to be treated in this step can be areas that the doctor has pre-determined as requiring physiotherapy scans, such as the knee joints, shoulders and neck, back, etc. In short, it should be the general area that needs to be treated with shortwave diathermy.

[0059] Furthermore, the control method of the ultra-shortwave physiotherapy device in this application utilizes a physiotherapy head that can be driven by a robotic arm or other automated control to move relative to the desired human tissue. Based on this, the physiotherapy head in this application can integrate an infrared thermal imager. Thus, during the actual scanning of the area to be treated, the infrared data of the area can be obtained by controlling the physiotherapy head to perform infrared scanning relative to the area. Based on this infrared data, the three-dimensional temperature field data of the area to be treated can be determined.

[0060] The treatment head integrates an infrared thermal imager and a camera. This camera can scan the outer surface contour of the treatment area while the infrared thermal imager is scanning infrared data. Based on the three-dimensional outer contour data of the treatment area obtained by the camera and the relative positional relationship between the camera and the infrared thermal imager, a connection can be established between the three-dimensional temperature field data and the three-dimensional outer contour data, so as to facilitate the positioning of the temperature data measured by the infrared thermal imager within the treatment area.

[0061] S2: Based on the three-dimensional temperature field data and the three-dimensional outer contour data, determine the physiotherapy target area of ​​the area to be treated, and plan the physiotherapy strategy based on the physiotherapy target area to obtain the physiotherapy strategy.

[0062] It's understandable that inflamed tissue areas within the human body tend to have a slightly higher temperature than other areas due to inflammation and swelling. Therefore, after determining the three-dimensional temperature field data within the human tissue, it's possible to roughly locate the therapeutic target area, i.e., the location of the inflamed tissue. Furthermore, in some cases, severe inflammation can lead to poor blood circulation in the affected area, causing the temperature of that tissue to be lower than that of other healthy areas. Therefore, in practical applications, based on the actual inflammation and the distribution of the three-dimensional temperature field data, tissue areas with significantly higher or lower temperatures than normal can be designated as therapeutic target areas.

[0063] Once the target area for physiotherapy where the inflammation is located is identified, the physiotherapy method for the electrodes on the physiotherapy head can be rationally planned accordingly, resulting in a safer and more effective physiotherapy strategy. This eliminates the need for the operator to rely entirely on personal feelings and experience, which helps improve both the effectiveness and safety of the physiotherapy.

[0064] S3: Control electrodes perform ultra-shortwave therapy on the treatment area according to the physiotherapy strategy, and simultaneously monitor the temperature data of the treatment area.

[0065] As described above, in this embodiment, the physiotherapy head with electrodes integrates an infrared thermal imager. Therefore, in practical applications, in addition to controlling the electrodes to perform physiotherapy on the treatment area according to the physiotherapy strategy, the infrared thermal imager can be further used to monitor the infrared data of the treatment area, thereby realizing the monitoring of the temperature data of the treatment area.

[0066] S4: Determine if the temperature data is within the safe temperature range. If not, stop the physiotherapy. If so, continue to treat the physiotherapy area according to the physiotherapy strategy until the end.

[0067] During the treatment of the treatment area using shortwave diathermy, as the electrodes output electrical stimulation signals, the blood flow to the treatment area is promoted, causing the temperature of the area to rise. However, if the temperature rises too high or too quickly, it is clear that the electrical stimulation power output by the electrodes is too large and exceeds the safe range. Therefore, in this embodiment, the temperature data of the treatment area is monitored, and it is determined whether the temperature data is within the safe temperature range to monitor and determine whether the current treatment process is safe and reliable.

[0068] In this embodiment, the safe temperature range can be determined by a physician or based on a large amount of shortwave diathermy data. Furthermore, as mentioned above, the inflamed area of ​​the tissue to be treated can present with both feverish inflammation and hypothermic inflammation due to poor blood circulation; therefore, the safe temperature range should be divided into different temperature ranges for different types of inflammation.

[0069] In summary, this application, during the treatment of a patient's treatment area using shortwave diathermy, first scans the three-dimensional temperature field data of the treatment area. Utilizing the significant temperature difference between inflamed and normal tissues in the human body, it effectively locates the treatment target area within the treatment area. Based on this target area, a reasonable treatment strategy is planned, thus achieving more rational and effective shortwave diathermy. Furthermore, during the actual treatment process, the temperature data of the treatment area is monitored, effectively ensuring the safety and reliability of the treatment process. Therefore, this application not only guarantees the effectiveness of shortwave diathermy but also ensures its safety.

[0070] The technical solutions in this application will be described in detail below with reference to specific embodiments.

[0071] like Figure 2 As shown, in an optional embodiment of this application, the process of determining the physiotherapy target area based on three-dimensional temperature field data and planning the physiotherapy strategy based on the physiotherapy target area may include:

[0072] S21: Obtain medical data of the area to be treated; wherein the medical data includes at least one of the following: medical imaging data, physician diagnosis data, and medical record data;

[0073] S22: Based on medical data, three-dimensional outer contour data, and three-dimensional temperature field data, construct a three-dimensional model of the area to be treated, and determine the physiotherapy target area and prohibited physiotherapy area of ​​the area to be treated in the three-dimensional model, and divide the physiotherapy target area into core physiotherapy target area and secondary physiotherapy target area.

[0074] S23: Based on the distribution information of the physiotherapy target area and prohibited physiotherapy area in the three-dimensional model, physiotherapy strategy planning is carried out to obtain a physiotherapy strategy that includes at least electrode movement trajectory, physiotherapy power, electrode spacing and electrode movement speed.

[0075] Understandably, the areas of a patient's body to be treated are often critical areas of the illness. During hospital visits, most patients undergo medical imaging scans such as MRI, CT, or X-rays. Based on these medical imaging data, a three-dimensional tissue model of the area to be treated can obviously be created.

[0076] Furthermore, if medical images of the area to be treated are unavailable, a three-dimensional tissue model of the area can be created based on physician diagnostic data or medical record data. The physician diagnostic data here refers to the prescription data issued by the physician specifically for ultrasound therapy of the area to be treated, which clearly indicates which part of the body the area to be treated is located on. This information can also be obtained from medical record data. Based on this, a general three-dimensional tissue model for that area can be selected according to its specific location on the body.

[0077] Based on this, in order to achieve mutual matching between the three-dimensional tissue model and the three-dimensional temperature field data, the three-dimensional tissue model and the three-dimensional contour model can be matched and fused to obtain a three-dimensional model of the area to be treated. Then, according to the correlation between the three-dimensional outer contour model and the three-dimensional temperature field data, a three-dimensional model with known internal three-dimensional temperature field data can be obtained.

[0078] As mentioned above, the severity of inflammation in the treatment area can be directly reflected in the temperature data. Therefore, in this embodiment, the three-dimensional temperature field data in the three-dimensional model is used as the basis for identifying and locating the treatment target area within the three-dimensional model. The identification and location of the treatment target area referred to in this embodiment should include the identification of the volume, shape, depth, and other information of the treatment target area in the three-dimensional model.

[0079] Furthermore, the severity of inflammation varies within the physiotherapy target area. Based on this, in this embodiment, the physiotherapy target area can be divided into a core physiotherapy target area and a secondary physiotherapy target area based on the temperature gradient of the three-dimensional temperature field data. The core physiotherapy target area is the region with relatively severe inflammation, while the secondary physiotherapy target area is the region with relatively mild inflammation symptoms. In practical applications, the division between the core physiotherapy target area and the secondary physiotherapy target area can be based on the temperature gradient determined by the three-dimensional temperature field data. In addition, if the volume of the entire physiotherapy target area is relatively large, or the temperature gradient is large, the secondary physiotherapy target area can be divided into multiple sub-areas along the temperature gradient direction. This embodiment does not impose specific restrictions on this.

[0080] Additionally, it should be noted that if there are unhealed wounds, bones, or other abnormalities in the area to be treated, these areas must be avoided during the actual treatment process. These areas correspond to prohibited treatment zones in the 3D model. These prohibited treatment zones can be determined directly through the tissue composition and medical data in the 3D model, or the 3D model can be directly shown to the physician for them to define.

[0081] After delineating the core therapy target area, secondary therapy target area, and prohibited therapy area, a therapy strategy can be planned based on the distribution information (i.e., shape, volume, and location) of these three areas. This therapy strategy may include, but is not limited to, electrode movement trajectory, therapy power, electrode spacing, and electrode movement speed.

[0082] In another optional embodiment of this application, the planning process for the physiotherapy strategy may further include:

[0083] S231: Determine the upper and lower limits of the physiotherapy power based on the tissue depth of the core physiotherapy target area;

[0084] S232: Based on the distribution information of the physiotherapy target area in the three-dimensional model, generate the initial electrode movement trajectory and the initial electrode spacing, initial physiotherapy power and initial electrode movement speed corresponding to each physiotherapy point on the initial electrode movement trajectory.

[0085] S233: The optimization objective is to optimize the first energy distribution uniformity of the core physiotherapy target area, which is within the first energy density range and has the highest first energy distribution uniformity, and the second energy distribution uniformity of the secondary physiotherapy target area, which is within the second energy density range and has the highest second energy distribution uniformity. The constraints are that the physiotherapy power is between the upper and lower power limits and that the ultra-shortwave does not act on the prohibited physiotherapy area. The initial electrode movement trajectory, initial electrode spacing, initial physiotherapy power and initial electrode movement speed are optimized iteratively to obtain a physiotherapy strategy that meets the optimization objective.

[0086] It is understood that, in this embodiment, the tissue depth of the core therapeutic target area refers to the depth of the center point of the core therapeutic target area within the area to be treated, that is, the depth from the human body surface. According to the attenuation law of electromagnetic waves in biological tissues, the intensity of electromagnetic waves decreases exponentially with penetration depth as they propagate in a medium. It is commonly measured by "penetration depth," which is the depth at which the energy attenuates to 37% (1 / e) of the surface value. In muscle tissue, the penetration depth of low-power (e.g., 40W) ultrashort waves is approximately 3-4 cm. To treat deep tissues exceeding 4 cm in depth (such as the hip joint and deep muscles), a sufficiently high initial surface power (e.g., 60W-80W) is necessary to compensate for the significant energy loss during penetration, ensuring sufficient energy reaches the deep layers and generates an effective thermal effect.

[0087] Based on this, in this embodiment, the range of physiotherapy power can be reasonably set according to the tissue depth in the core physiotherapy target area to be treated, thereby ensuring the safety of physiotherapy while ensuring the therapeutic effect of ultra-shortwave therapy.

[0088] Furthermore, in the process of generating the initial electrode movement trajectory and the initial electrode spacing, initial physiotherapy power, and initial electrode movement speed corresponding to each physiotherapy point on the initial electrode movement trajectory, the principle of setting higher energy received by the core physiotherapy area should be followed. In an optional implementation of this embodiment, the initial electrode movement trajectory can be determined by generating the initial electrode movement trajectory according to the inverse proportionality between the relative distance between the physiotherapy point and the center point of the core physiotherapy target area and the movement trajectory line density; while the initial electrode movement speed can be determined by determining the initial electrode movement speed according to the inverse proportionality between the relative distance between the physiotherapy point and the center point of the core physiotherapy target area and the movement speed.

[0089] In practical applications, the initial electrode movement trajectory can be a spiral, a serpentine, or other trajectory, which is not specifically limited in this application.

[0090] After setting the initial values ​​of various parameters of the physiotherapy strategy, the parameters can be optimized and iterated. The optimization goal is to ensure that the average density of the first physiotherapy energy in the core physiotherapy target area is within the first energy density range and the corresponding first energy distribution uniformity is the highest, and that the average density of the second physiotherapy energy in the secondary physiotherapy target area is within the second energy density range and the corresponding second energy distribution uniformity is the highest.

[0091] Understandably, the first physiotherapy energy density range is the energy range that ensures the therapeutic effect on the core physiotherapy target area while avoiding tissue damage. Similarly, the second physiotherapy energy density range is the energy range that ensures the therapeutic effect on the secondary physiotherapy target area while avoiding tissue damage. Both of these energy ranges can be physiotherapy formula parameters determined by the physician.

[0092] Further, optionally, the process of optimizing the various parameters in this physiotherapy strategy may also include:

[0093] S2331: Mesh the three-dimensional model to determine each mesh unit; where each mesh unit is a three-dimensional unit; the volume of each mesh unit is 0.25 to 1 times the volume of the average effective working area of ​​the electrode;

[0094] S2332: Simulate the electromagnetic field generated by the electrodes at different physiotherapy points along the initial electrode movement trajectory, under the initial electrode spacing and initial physiotherapy power, and obtain an electromagnetic field simulation model;

[0095] S2333: Based on the electromagnetic field simulation model, initial electrode moving speed, and cumulative energy formula. The calculation determines the cumulative energy corresponding to each grid cell within the therapeutic target area; among which, For the first The cumulative energy of each grid cell, , , They represent the first The electrical conductivity, tissue density, and tissue quality of each grid cell; Indicates the first Each grid cell from arrive The effective amplitude of the electric field intensity at time t is determined by... arrive The therapeutic power, electrode spacing, electrode movement speed, and electrode-to-electrode ratio at different times The distance between the center points of each grid cell is determined;

[0096] S2334: The cumulative energy corresponding to each grid unit in the core physiotherapy target area and the cumulative energy corresponding to each grid unit in the secondary physiotherapy target area are averaged to obtain the first average energy density and the second average energy density.

[0097] S2335: Calculate the standard deviation of the cumulative energy corresponding to each grid unit in the core physiotherapy target area, and calculate the ratio of the calculation result to the first energy average density to obtain the first energy distribution uniformity.

[0098] S2336: Calculate the standard deviation of the cumulative energy corresponding to each grid unit in the secondary physiotherapy target area, and calculate the ratio of the calculation result to the second energy average density to obtain the second energy distribution uniformity.

[0099] S2337: With the constraints that the physiotherapy power is between the upper and lower power limits and that the ultra-shortwave does not act on the prohibited physiotherapy area, the initial electrode movement trajectory, electrode spacing, and physiotherapy power electrode movement speed are optimized and iterated based on the first average energy density, the second average energy density, the first energy distribution uniformity, and the first energy distribution uniformity to obtain a physiotherapy strategy that meets the optimization objective.

[0100] In this embodiment, to ensure the therapeutic effect while protecting human tissue, the average density is separately defined for the core and secondary therapeutic target areas. This average energy density refers to the average amount of therapeutic energy received by each grid unit within the same therapeutic target area during a complete therapeutic session. Energy distribution uniformity indicates the uniformity of energy received by grid units at different locations within a single therapeutic target area. Higher energy distribution uniformity indicates that all locations within the therapeutic target area are effectively treated, preventing any target areas from being missed. Therefore, this embodiment effectively ensures that each therapeutic target point can be safely and effectively stimulated by setting an energy density range for each therapeutic target area and combining this with energy distribution uniformity.

[0101] To minimize computational load, the size of each mesh unit can be appropriately set when meshing the 3D model. In this embodiment, each mesh unit can be a regular tetrahedron (each face is an equilateral triangle), a regular hexahedron (i.e., a cube), a regular octahedron (each face is an equilateral triangle), a regular dodecahedron (each face is a regular pentagon), etc. No specific limitations are imposed in this application. Furthermore, the actual effective area (where the electric field strength reaches a certain magnitude) of the ultra-shortwave input from a pair of electrodes into human tissue can be roughly determined based on the electric field simulation. Even though this effective area may fluctuate depending on the tissue and the power of the therapy, a theoretical average effective area of ​​the electrodes can still be roughly determined. When dividing the treatment area into mesh units, each mesh unit can be divided according to a volume that is one-quarter, one-third, or half of the average effective area of ​​the electrodes. In short, the goal is to ensure that the mesh unit is smaller than the average effective area of ​​the electrodes while maintaining a similar order of magnitude in both volume.

[0102] Based on this, the cumulative value of therapeutic energy received by each grid unit in a complete therapy session can be obtained using the cumulative energy formula. Calculated, where, , , They represent the first The conductivity, tissue density, and tissue quality of an individual grid cell can be determined based on its main tissue components. For example, if the grid cell is primarily composed of blood vessels, then the conductivity, tissue density, and tissue quality should be used to determine these properties; conversely, if it is primarily composed of muscle, then the conductivity, tissue density, and tissue quality should be used to determine these properties. Furthermore... It refers to from arrive The effective amplitude of the electric field intensity at any given time is clearly determined by the therapeutic power, the electrode spacing, the electrode moving speed, and the spacing between the grid cells and the electrodes. In practical applications, it can be determined through electromagnetic field simulation models. Furthermore, when... hour That is, the initial time, two adjacent time sampling points arrive The time interval between them can be 1 second or other longer intervals, which are not specifically limited in this application; while when hour, , The total duration of treatment required to complete one full session of ultra-shortwave therapy.

[0103] Furthermore, during the optimization process, the first objective function for optimizing the core physiotherapy target area can be set as follows: A first target threshold is set, and when the result of the first target function is greater than a second target threshold, the optimization target of the core physiotherapy target area is achieved; where, These are two weighting coefficients, These are the first average energy density and the first uniformity of energy distribution, respectively.

[0104] Similarly, for secondary core physiotherapy target areas, the second objective function for optimization can also be set as follows: A second target threshold is set. When the result of the second target function is greater than the set second target threshold, the optimization target of the secondary physiotherapy target area is achieved; where, These are two weighting coefficients, These are the second average energy density and the second energy distribution uniformity, respectively.

[0105] Based on any of the above embodiments, the optimization method described above is not necessarily adopted in the actual planning of physiotherapy strategies. In another optional embodiment of this application, the process of implementing physiotherapy strategy planning may further include:

[0106] A three-dimensional model containing the distribution information of the core physiotherapy target area, secondary physiotherapy target area and prohibited physiotherapy area, along with temperature field data, is input into a pre-trained neural network model to obtain a physiotherapy strategy that includes at least electrode movement trajectory, physiotherapy power, electrode spacing and electrode movement speed.

[0107] It should be noted that, in the learning and training phase of the neural network model in this embodiment, the required data samples can be determined according to the various parameters of the above-mentioned optimized physiotherapy strategy and obtained by physicians. The neural network model learns and trains on the data samples to determine the correlation between the core physiotherapy target area, secondary physiotherapy target area and prohibited physiotherapy area in the three-dimensional model and physiotherapy parameters such as electrode movement trajectory, physiotherapy power, electrode spacing and electrode movement speed, so as to output the corresponding physiotherapy strategy more quickly during ultra-shortwave physiotherapy.

[0108] Based on the above discussion, regardless of whether the physiotherapy strategy planning in this application is achieved through optimization iteration or a neural network model, to further ensure the safety and rationality of the physiotherapy strategy, after obtaining the physiotherapy measurement rate, it may further include:

[0109] The display interface shows the physiotherapy parameters corresponding to different physiotherapy points in the physiotherapy strategy based on a three-dimensional model.

[0110] When a physician correction instruction is received, the physiotherapy parameters in the physiotherapy strategy are corrected according to the correction parameters in the physician correction instruction to obtain the corrected physiotherapy strategy.

[0111] Once the physician confirms approval, the system will execute the operation of controlling the shortwave electrodes to perform shortwave therapy on the treatment area according to the physiotherapy strategy.

[0112] In practical applications, a three-dimensional model of the area to be treated can be displayed on AR display devices or other display devices with dynamic display functions. The model can dynamically simulate and demonstrate the changes in the electromagnetic field within the area as the treatment progresses, as well as the various parameters of the electromagnetic field. By observing the simulation animation of the entire treatment process, the physician can determine whether the entire treatment process is safe and reasonable. If there are any unreasonable aspects, the treatment parameters in the treatment strategy can be modified. Finally, the physician's modified treatment strategy will be used as the final treatment strategy to achieve the treatment process.

[0113] The control device of the ultra-shortwave physiotherapy device provided in the embodiments of the present invention will be described below. The control device of the ultra-shortwave physiotherapy device described below can be referred to in correspondence with the control method of the ultra-shortwave physiotherapy device described above.

[0114] Figure 3 The structural block diagram of the control device of the ultra-shortwave physiotherapy device provided in the embodiment of the present invention is shown below. Figure 3 The control device of the ultra-shortwave therapy device may include:

[0115] The data scanning module 100 is used to scan the area to be treated and obtain the three-dimensional temperature field data and three-dimensional outer contour data of the area to be treated.

[0116] The strategy planning module 200 is used to determine the physiotherapy target area of ​​the part to be treated based on the three-dimensional temperature field data and the three-dimensional outer contour data, and to plan the physiotherapy strategy based on the physiotherapy target area to obtain the physiotherapy strategy.

[0117] The physiotherapy monitoring module 300 is used to control the electrodes to perform ultra-shortwave physiotherapy on the treatment area according to the physiotherapy strategy, and simultaneously monitor the temperature data of the treatment area.

[0118] The monitoring and judgment module 400 is used to determine whether the temperature data is within the safe temperature range. If not, the physiotherapy is stopped; if so, the physiotherapy is continued on the part to be treated according to the physiotherapy strategy until the end.

[0119] In an optional embodiment of this application, the strategy planning module 200 is specifically used to acquire medical data of the area to be treated; wherein, the medical data includes at least one of medical imaging data, physician diagnosis data, and medical record data; based on the medical data, the three-dimensional outer contour data, and the three-dimensional temperature field data, a three-dimensional model of the area to be treated is constructed, and the physiotherapy target area and the prohibited physiotherapy area of ​​the area to be treated are determined in the three-dimensional model, and the physiotherapy target area is divided into a core physiotherapy target area and a secondary physiotherapy target area; based on the distribution information of the physiotherapy target area and the prohibited physiotherapy area in the three-dimensional model, a physiotherapy strategy is planned to obtain the physiotherapy strategy, which includes at least electrode movement trajectory, physiotherapy power, electrode spacing, and electrode movement speed.

[0120] In an optional embodiment of this application, the strategy planning module 200 is specifically used to determine the upper and lower limits of the physiotherapy power based on the tissue depth of the core physiotherapy target area; generate an initial electrode movement trajectory and the initial electrode spacing, initial physiotherapy power, and initial electrode movement speed corresponding to each physiotherapy point on the initial electrode movement trajectory based on the distribution information of the physiotherapy target area in the three-dimensional model; optimize the initial electrode movement trajectory, the initial electrode spacing, the initial physiotherapy power, and the initial electrode movement speed based on the following optimization objectives: the first average physiotherapy energy density of the core physiotherapy target area is within a first energy density range and the corresponding first energy distribution uniformity is the highest; the second average physiotherapy energy density of the secondary physiotherapy target area is within a second energy density range and the corresponding second energy distribution uniformity is the highest; and optimize the physiotherapy strategy that satisfies the optimization objectives based on the following constraints: the physiotherapy power is between the upper and lower limits of the power and the ultra-shortwave does not act on the prohibited physiotherapy area.

[0121] In an optional embodiment of this application, the strategy planning module 200 is specifically used to perform meshing processing on the three-dimensional model to determine and obtain each mesh unit; wherein, each mesh unit is a three-dimensional unit; the volume of each mesh unit is 0.25 to 1 times the volume of the average effective action area of ​​the electrode; the electromagnetic field generated by the electrode at different physiotherapy points on the initial electrode movement trajectory, under the initial electrode spacing and initial physiotherapy power, is simulated to obtain an electromagnetic field simulation model; based on the electromagnetic field simulation model, the initial electrode movement speed, and the cumulative energy formula... The calculation determines the cumulative energy corresponding to each grid cell within the therapeutic target area; wherein, For the first The cumulative energy of each grid cell, , , They represent the first The electrical conductivity, tissue density, and tissue quality of each grid cell; Indicates the first Each grid cell from arrive The effective amplitude of the electric field intensity at time t is determined by... arrive The therapeutic power, electrode spacing, electrode movement speed, and the relationship between the electrode and the first electrode at any given time. The distance between the center points of each grid cell is determined; the cumulative energy corresponding to each grid cell in the core physiotherapy target area and the cumulative energy corresponding to each grid cell in the secondary physiotherapy target area are averaged to obtain a first average energy density and a second average energy density; the standard deviation of the cumulative energy corresponding to each grid cell in the core physiotherapy target area is calculated, and the result is compared with the first average energy density to obtain a first energy distribution uniformity; the standard deviation of the cumulative energy corresponding to each grid cell in the secondary physiotherapy target area is calculated, and the result is compared with the second average energy density to obtain a second energy distribution uniformity; with the physiotherapy power between the upper and lower power limits as constraints, the initial electrode movement trajectory, the electrode spacing, the physiotherapy power, and the electrode movement speed are optimized iteratively based on the first average energy density, the second average energy density, the first energy distribution uniformity, and the first energy distribution uniformity to obtain a physiotherapy strategy that satisfies the optimization objective.

[0122] In an optional embodiment of this application, the strategy planning module 200 is specifically used to generate the initial electrode movement trajectory according to the inverse proportionality between the relative distance between the physiotherapy point and the center point of the core physiotherapy target area and the movement trajectory line density; and to determine the initial electrode movement speed according to the inverse proportionality between the relative distance between the physiotherapy point and the center point of the core physiotherapy target area and the movement speed.

[0123] In an optional embodiment of this application, the strategy planning module 200 is specifically used to input the three-dimensional model containing the distribution information of the core physiotherapy target area, the secondary physiotherapy target area and the prohibited physiotherapy area and the temperature field data into a pre-learned and trained neural network model to obtain the physiotherapy strategy that includes at least electrode movement trajectory, physiotherapy power, electrode spacing and electrode movement speed.

[0124] In an optional embodiment of this application, a strategy correction module is further included, which is used to display the physiotherapy parameters corresponding to different physiotherapy points in the physiotherapy strategy on the display interface based on the three-dimensional model; when a physician correction instruction is received, the physiotherapy parameters in the physiotherapy strategy are corrected according to the correction parameters in the physician correction instruction to obtain the corrected physiotherapy strategy; when a physician confirmation instruction is received, the operation of controlling the ultra-shortwave electrodes to perform ultra-shortwave physiotherapy on the treatment area according to the physiotherapy strategy is executed.

[0125] The control device of the ultra-shortwave physiotherapy device in this embodiment is used to implement the aforementioned control method of the ultra-shortwave physiotherapy device. Therefore, the specific implementation of the control device of the ultra-shortwave physiotherapy device can be found in the embodiment section of the control method of the ultra-shortwave physiotherapy device mentioned above. The specific implementation can be referred to the description of the corresponding embodiments, and will not be repeated here.

[0126] This application also provides an ultra-shortwave physiotherapy device, which may include a control host; a robotic arm connected to the control host; a physiotherapy head disposed at the control end of the robotic arm; and electrodes, an infrared thermal imager, and a camera integrated on the physiotherapy head.

[0127] Among them, the infrared thermal imager is used to scan the area to be treated to obtain three-dimensional temperature field data;

[0128] The camera is used to scan the three-dimensional outer contour data of the area to be treated;

[0129] The control host is used to control the robotic arm to drive the therapy head and execute the steps of the control method of the ultra-shortwave therapy device as described in any of the above, based on the three-dimensional temperature field data and the three-dimensional outer contour data.

[0130] The steps by which the control host executes the control method for the implemented ultra-shortwave therapy device may include:

[0131] The treatment area is scanned to obtain three-dimensional temperature field data and three-dimensional outer contour data. Based on the three-dimensional temperature field data and three-dimensional outer contour data, the treatment target area of ​​the treatment area is determined, and a treatment strategy is planned based on the treatment target area to obtain the treatment strategy. The control electrodes perform ultra-shortwave therapy on the treatment area according to the treatment strategy, while monitoring the temperature data of the treatment area. It is determined whether the temperature data is within the safe temperature range. If not, the treatment is stopped. If so, the ultra-shortwave therapy on the treatment area continues according to the treatment strategy until the end.

[0132] Optionally, the control host in this embodiment is also connected to an AR display device for displaying a three-dimensional model of the area to be treated.

[0133] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that the elements inherent in a process, method, article, or apparatus that includes a list of elements are included. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Additionally, portions of the technical solutions provided in the embodiments of this application that are consistent with the implementation principles of corresponding technical solutions in the prior art have not been described in detail to avoid excessive elaboration.

[0134] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A control method for a shortwave diathermy device, characterized in that, include: The area to be treated is scanned to obtain three-dimensional temperature field data and three-dimensional outer contour data of the area to be treated; Based on the three-dimensional temperature field data and the three-dimensional outer contour data, the physiotherapy target area of ​​the area to be treated is determined, and a physiotherapy strategy is planned based on the physiotherapy target area to obtain a physiotherapy strategy; The control electrode performs ultra-shortwave therapy on the treatment area according to the physiotherapy strategy, and simultaneously monitors the temperature data of the treatment area; Determine whether the temperature data is within the safe temperature range. If not, stop the physiotherapy. If so, continue to perform ultra-shortwave physiotherapy on the area to be treated according to the physiotherapy strategy until the end.

2. The control method for the ultra-shortwave therapy device as described in claim 1, characterized in that, Based on the three-dimensional temperature field data, the physiotherapy target area of ​​the area to be treated is determined, and a physiotherapy strategy is planned based on the physiotherapy target area to obtain the physiotherapy strategy, including: Acquire medical data of the area to be treated; wherein the medical data includes at least one of medical imaging data, physician diagnosis data, and medical record data; Based on the medical data, the three-dimensional outer contour data, and the three-dimensional temperature field data, a three-dimensional model of the area to be treated is constructed, and the physiotherapy target area and the prohibited physiotherapy area of ​​the area to be treated are determined in the three-dimensional model, and the physiotherapy target area is divided into the core physiotherapy target area and the secondary physiotherapy target area. Based on the distribution information of the physiotherapy target area and the prohibited physiotherapy area in the three-dimensional model, a physiotherapy strategy is planned to obtain a physiotherapy strategy that includes at least electrode movement trajectory, physiotherapy power, electrode spacing and electrode movement speed.

3. The control method for the ultra-shortwave therapy device as described in claim 2, characterized in that, The process of planning a physical therapy strategy based on the aforementioned physical therapy target area includes: The upper and lower limits of the physiotherapy power are determined based on the tissue depth of the core physiotherapy target area. Based on the distribution information of the physiotherapy target area in the three-dimensional model, an initial electrode movement trajectory is generated, along with the initial electrode spacing, initial physiotherapy power, and initial electrode movement speed corresponding to each physiotherapy point on the initial electrode movement trajectory. The optimization objectives are: the first average energy density of the core physiotherapy target area is within the first energy density range and the corresponding first energy distribution uniformity is the highest; the second average energy density of the secondary physiotherapy target area is within the second energy density range and the corresponding second energy distribution uniformity is the highest. The constraints are: the physiotherapy power is between the upper and lower power limits and the ultra-shortwave does not act on the prohibited physiotherapy area. The initial electrode movement trajectory, the initial electrode spacing, the initial physiotherapy power, and the initial electrode movement speed are optimized iteratively to obtain the physiotherapy strategy that satisfies the optimization objectives.

4. The control method for the ultra-shortwave therapy device as described in claim 3, characterized in that, The initial electrode movement trajectory, the initial electrode spacing, the initial physiotherapy power, and the initial electrode movement speed are optimized iteratively to obtain the physiotherapy strategy that satisfies the optimization objective, including: The three-dimensional model is meshed to obtain individual mesh units; wherein each mesh unit is a three-dimensional unit; the volume of each mesh unit is 0.25 to 1 times the volume of the average effective working area of ​​the electrode; The electromagnetic field generated by the electrodes at different physiotherapy points along the initial electrode movement trajectory, under the initial electrode spacing and initial physiotherapy power, is simulated to obtain an electromagnetic field simulation model; Based on the electromagnetic field simulation model, the initial electrode moving speed, and the cumulative energy formula... The calculation determines the cumulative energy corresponding to each grid cell within the therapeutic target area; wherein, For the first The cumulative energy of each grid cell, , , They represent the first The electrical conductivity, tissue density, and tissue quality of each grid cell; Indicates the first Each grid cell from arrive The effective amplitude of the electric field intensity at time t is determined by... arrive The therapeutic power, electrode spacing, electrode movement speed, and the relationship between the electrode and the first electrode at any given time. The distance between the center points of each grid cell is determined; The cumulative energy corresponding to each grid unit in the core physiotherapy target area and the cumulative energy corresponding to each grid unit in the secondary physiotherapy target area are respectively averaged to obtain the first average energy density and the second average energy density. The standard deviation of the cumulative energy corresponding to each grid unit in the core physiotherapy target area is calculated, and the ratio of the calculation result to the first average energy density is calculated to obtain the first energy distribution uniformity. The standard deviation of the cumulative energy corresponding to each grid unit in the secondary physiotherapy target area is calculated, and the ratio of the calculation result to the second average energy density is calculated to obtain the second energy distribution uniformity. With the therapeutic power constrained between the upper and lower power limits, the initial electrode movement trajectory, electrode spacing, therapeutic power, and electrode movement speed are optimized iteratively based on the first average energy density, the second average energy density, the first energy distribution uniformity, and the first energy distribution uniformity to obtain a therapeutic strategy that satisfies the optimization objective.

5. The control method for the ultra-shortwave therapy device as described in claim 3, characterized in that, Determining the initial electrode movement trajectory includes: The initial electrode movement trajectory is generated based on the inverse proportionality between the relative distance between the physiotherapy point and the center point of the core physiotherapy target area and the line density of the movement trajectory. Determining the initial electrode moving speed includes: The initial electrode movement speed is determined by the inverse relationship between the relative distance between the physiotherapy point and the center point of the core physiotherapy target area and the movement speed.

6. The control method for the ultra-shortwave therapy device as described in claim 2, characterized in that, Based on the distribution information of the therapeutic target area and the prohibited therapeutic area in the three-dimensional model, a therapeutic strategy is planned to obtain a therapeutic strategy that includes at least electrode movement trajectory, therapeutic power, electrode spacing, and electrode movement speed, including: The three-dimensional model containing the distribution information of the core physiotherapy target area, the secondary physiotherapy target area, and the prohibited physiotherapy area, along with the temperature field data, are input into a pre-trained neural network model to obtain the physiotherapy strategy, which includes at least electrode movement trajectory, physiotherapy power, electrode spacing, and electrode movement speed.

7. The control method for the ultra-shortwave therapy device as described in any one of claims 2 to 6, characterized in that, After obtaining the physiotherapy strategy, before controlling the ultra-shortwave electrode to perform ultra-shortwave physiotherapy on the treatment area according to the physiotherapy strategy, the procedure further includes: The display interface shows the physiotherapy parameters corresponding to different physiotherapy points in the physiotherapy strategy based on the three-dimensional model. When a physician correction instruction is received, the physiotherapy parameters in the physiotherapy strategy are corrected according to the correction parameters in the physician correction instruction to obtain the corrected physiotherapy strategy. Once the physician confirms approval, the system executes the operation of controlling the shortwave electrodes to perform shortwave therapy on the area to be treated according to the aforementioned physiotherapy strategy.

8. A control device for a shortwave diathermy instrument, characterized in that, include: The data scanning module is used to scan the area to be treated and obtain the three-dimensional temperature field data and three-dimensional outer contour data of the area to be treated. The strategy planning module is used to determine the physiotherapy target area of ​​the part to be treated based on the three-dimensional temperature field data and the three-dimensional outer contour data, and to plan the physiotherapy strategy based on the physiotherapy target area to obtain the physiotherapy strategy. The physiotherapy monitoring module is used to control the electrodes to perform ultra-shortwave physiotherapy on the treatment area according to the physiotherapy strategy, and simultaneously monitor the temperature data of the treatment area. The monitoring and judgment module is used to determine whether the temperature data is within the safe temperature range. If not, the physiotherapy is stopped; if so, the physiotherapy is continued on the part to be treated according to the physiotherapy strategy until the end.

9. A shortwave diathermy device, characterized in that, Includes a control host; a robotic arm connected to the control host; a physiotherapy head disposed at the control end of the robotic arm; and electrodes, an infrared thermal imager, and a camera integrated on the physiotherapy head; The infrared thermal imager is used to scan the area to be treated to obtain three-dimensional temperature field data. The camera is used to scan the three-dimensional outer contour data of the area to be treated; The control host is used to control the robotic arm to drive the therapy head according to the three-dimensional temperature field data and the three-dimensional outer contour data, and to execute the steps of the control method of the ultra-shortwave therapy device as described in any one of claims 1 to 7.

10. The ultra-shortwave therapy device as described in claim 9, characterized in that, It also includes an AR display device connected to the control host, used to display a three-dimensional model of the area to be treated.

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