Multifunctional rehabilitation physiotherapy instrument control method and device based on combined waveform

Abstract

The invention discloses a multifunctional rehabilitation physiotherapy instrument control method and device based on a combined waveform, and relates to the technical field of rehabilitation physiotherapy control, and the method comprises the steps: extracting morning stiffness response features and multi-frequency impedance features from an initial evaluation data set, carrying out the correlation integration, and generating a morning stiffness impedance combined atlas; performing control stage path judgment and output region distribution on the morning stiffness impedance combined map, generating a stage distribution result, performing combined waveform arrangement, and generating a combined waveform initial prescription map; performing channel expansion and time sequence loading on the combined waveform initial prescription map, reading state change information of each output channel, performing association arrangement according to the output channels and an execution time sequence, and generating a real-time control response set; and performing parameter correction and stage rearrangement on the real-time control response set, synchronously updating a channel control relationship in the combined waveform initial prescription map, and generating a closed-loop updated prescription map. The method supports continuous connection of control stage path judgment, output area distribution and combined waveform arrangement.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation therapy control technology, and in particular to a control method and device for a multifunctional rehabilitation therapy instrument based on combined waveforms. Background Technology

[0002] With the development of transcutaneous electrical stimulation control, combined waveform modulation, and multi-channel rehabilitation machines, physiotherapy devices have gradually evolved from single fixed waveform outputs to composite waveform outputs oriented towards different tissue states, and have introduced impedance detection, process feedback acquisition, and parameter adjustment mechanisms. Studies in rheumatology have shown that rheumatic arthritis and other rheumatic joint diseases are often accompanied by morning stiffness, pain, joint swelling, and limited mobility. Related output control technologies have ongoing research value in joint site condition recognition and parameter self-adaptation.

[0003] Existing technologies are mostly based on preset parameters or single feedback quantities for control. They lack a unified characterization of the evolution of morning stiffness in rheumatic joints, differences in local sensitivity, and changes in conduction state. This makes it difficult to provide a consistent control basis for path determination, output area allocation, and combined waveform arrangement in the control stage, and easily leads to deviations between output regulation and the actual state of the target joint. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a control method for a multifunctional rehabilitation therapy instrument based on combined waveforms, which solves the problem that existing rehabilitation therapy instruments are unable to achieve zoned dynamic combined waveform control based on the actual state of the target joint.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides a control method for a multifunctional rehabilitation therapy device based on combined waveforms, comprising: receiving basic input data of the target joint and performing state integration and effectiveness calibration in conjunction with low-energy test results to generate an initial evaluation dataset; extracting morning stiffness response features and multi-frequency impedance features from the initial evaluation dataset and performing correlation integration to generate a morning stiffness impedance joint spectrum; determining the control stage path and allocating the output region on the morning stiffness impedance joint spectrum to generate stage allocation results, and performing combined waveform arrangement to generate an initial prescription map of combined waveforms; performing channel expansion and timing loading on the initial prescription map of combined waveforms, reading the state change information of each output channel and associating and organizing it according to the output channel and execution timing to generate a real-time control response set; performing parameter correction and stage rearrangement on the real-time control response set, and synchronously updating the channel control relationship in the initial prescription map of combined waveforms to generate a closed-loop update prescription map; determining the control end state of the output region according to the closed-loop update prescription map, and recording the control end state, the real-time control response set, and the closed-loop update prescription map according to the output region and control timing to generate a control response file.

[0008] As a preferred embodiment of the control method for the multifunctional rehabilitation therapy instrument based on combined waveforms described in this invention, the generation of the initial assessment dataset specifically includes:

[0009] The basic input data of the target joint is classified, organized, and merged according to the target joint to generate the basic state results of the target joint.

[0010] The system outputs a trial stimulation signal of preset intensity to the target joint area and collects changes in electrode contact status, local tolerance response, and initial response during the trial stimulation process to generate low-energy test results.

[0011] The target joint baseline state results and low-energy test results are matched with the same target joint identifier to verify the effectiveness of electrode contact, stimulation tolerance, and initial response effectiveness, generate target joint control calibration results, and write the target joint control calibration results into the target joint baseline state results to generate the initial evaluation dataset.

[0012] As a preferred embodiment of the control method for the multifunctional rehabilitation therapy instrument based on combined waveforms described in this invention, the step of extracting morning stiffness response features and multi-frequency impedance features from the initial assessment dataset specifically includes:

[0013] The initial evaluation dataset is organized by corresponding target joint regions, divided into temporal sequences before and after trial stimuli, and labeled with corresponding detection frequency bands to generate basic data for feature extraction.

[0014] Based on the feature extraction data, the changes in local tolerance response, initial response and joint movement restriction information before and after the trial stimulus are compared and the correlation of changes is determined to generate candidate results of morning stiffness resistance.

[0015] Based on the candidate results of the morning stiffness impedance, the impedance change trajectory and response change trajectory of the target joint region are synchronously compared and coupled along each detection frequency band to generate the morning stiffness impedance analysis results.

[0016] The morning stiffness response characteristics were formed by extracting the initiation hysteresis, relaxation recovery and low-load movement response changes of the target joint region after trial stimulation from the morning stiffness impedance analysis results.

[0017] The impedance amplitude change, impedance phase change, and impedance stability change of the target joint region under each detection frequency band are extracted from the impedance analysis results of morning stiffness to form multi-frequency impedance characteristics.

[0018] As a preferred embodiment of the control method for the multifunctional rehabilitation therapy instrument based on combined waveforms described in this invention, the generation of the morning stiffness impedance joint spectrum specifically includes,

[0019] The morning stiffness response characteristics and multi-frequency impedance characteristics are uniformly mapped and registered according to the target joint region, the response time after trial stimulation, and the detection frequency band position to generate feature registration data.

[0020] Based on the feature registration data, the relationship between the changes in morning stiffness response characteristics and multi-frequency impedance characteristics is coupled and discriminated, and regional stratification is performed to generate feature stratification results.

[0021] Based on the feature layering results, the target joint region is used as the region node, the response period after the trial stimulus is used as the time period node, the detection frequency band is used as the frequency band node, and the mapping relationship between the morning stiffness response features and the multi-frequency impedance features is used as the association edge to generate the morning stiffness impedance joint spectrum.

[0022] As a preferred embodiment of the control method for the multifunctional rehabilitation therapy instrument based on combined waveforms described in this invention, the generation stage allocation result specifically includes:

[0023] Extract the morning stiffness response characteristics, multi-frequency impedance characteristics, response consistency, impedance stability and temporal sequence relationship of each target joint region in the morning stiffness impedance joint spectrum, and generate the stage judgment preparation results;

[0024] Based on the stage judgment preparation results, the control stage paths of each target joint region are divided and the output region is allocated to generate the path allocation results. The control stage paths include low-intensity induction paths, steady-state enhancement paths and transition paths.

[0025] The control phase path and output region allocation in the path allocation result are integrated to generate the phase allocation result.

[0026] As a preferred embodiment of the control method for the multifunctional rehabilitation therapy instrument based on combined waveforms according to the present invention, wherein: the generation of the initial prescription diagram of the combined waveform specifically includes,

[0027] The control stage paths and output area allocations in the stage allocation results are expanded accordingly. The stage entry order, area action order, and area coordination constraints are configured according to the sequential connection relationship of each control stage path and the spatial distribution relationship of each output area allocation, and waveform arrangement preparation results are generated.

[0028] Based on the waveform arrangement preparation results, the corresponding combined waveform category, output intensity level, duration of action and stage switching method are matched for each output region under each control stage path. The waveform matching results are generated by combining the transition and mitigation relationship between adjacent control stage paths and the cooperative avoidance relationship between adjacent output regions.

[0029] The combined waveform category, output intensity level, duration of action, stage switching mode, transition mitigation relationship and cooperative anti-surge relationship in the waveform matching results are integrated in time and sorted by channel to generate an initial prescription diagram of the combined waveform.

[0030] As a preferred embodiment of the control method for the multifunctional rehabilitation therapy instrument based on combined waveforms described in this invention, the generation of the real-time control response set specifically includes:

[0031] The control stage path, output area allocation, combined waveform category, output intensity level, duration of action and stage switching mode in the initial prescription diagram of the combined waveform are expanded and time-series loaded to generate control execution configuration results;

[0032] Based on the control execution configuration results, the corresponding status change information is read according to the execution order of each output channel and then correlated and organized according to the output channel and execution sequence to generate control feedback correlation results;

[0033] Based on the control feedback correlation results, the control stage path, output area allocation and corresponding waveform output relationship are integrated to generate a real-time control response set.

[0034] As a preferred embodiment of the control method for the multifunctional rehabilitation therapy instrument based on combined waveforms described in this invention, the step of generating a closed-loop updated prescription map specifically includes:

[0035] The feedback information and changes corresponding to each output region under each control stage path in the real-time control response set are correlated and analyzed to generate closed-loop discrimination results.

[0036] Based on the closed-loop discrimination results, the output intensity level, duration of action, stage switching position and action sequence of the waveforms corresponding to each output region are corrected, and the stage entry sequence, stage dwell sequence and stage transition relationship in the control stage path are rearranged to generate stage correction results.

[0037] Based on the phase correction results, update the channel start / stop relationship, channel priority relationship, and channel avoidance relationship between each output region, and write the corrected output intensity level, duration of action, phase switching method, region action order, phase entry order, transition mitigation relationship, and channel control relationship into the corresponding output region and corresponding time position to generate a closed-loop update prescription map.

[0038] As a preferred embodiment of the control method for the multifunctional rehabilitation therapy instrument based on combined waveforms described in this invention, the generation of the control response file specifically includes:

[0039] Based on the closed-loop update prescription diagram, the output status and channel control relationship of each output area are judged to end, and the control end judgment result is generated.

[0040] Based on the control termination determination result, record the output completion status, channel exit status and control completion status of each output area, and generate control result aggregation results;

[0041] Based on the control result aggregation results, the feedback trajectory in the real-time control response set and the prescription trajectory in the closed-loop update prescription diagram are encapsulated according to the output region and control timing to generate a control response file.

[0042] Secondly, this invention provides a multifunctional rehabilitation therapy instrument control device based on combined waveforms, comprising: an initial assessment and record-keeping module for receiving basic input data of the target joint and integrating and calibrating the status and effectiveness based on low-energy test results to generate an initial assessment dataset; a feature fusion module for extracting morning stiffness response features and multi-frequency impedance features from the initial assessment dataset and performing correlation integration to generate a combined morning stiffness impedance spectrum; a path arrangement module for determining the control stage path and allocating the output region to the combined morning stiffness impedance spectrum, generating stage allocation results, and arranging the combined waveforms to generate an initial prescription map of the combined waveforms; and an execution module. The response module is used to expand channels and load timing information on the initial prescription diagram of the combined waveform, read the status change information of each output channel, and associate and organize them according to the output channel and execution timing to generate a real-time control response set. The closed-loop correction module is used to correct parameters and rearrange stages on the real-time control response set, and synchronously update the channel control relationships in the initial prescription diagram of the combined waveform to generate a closed-loop updated prescription diagram. The file collection module is used to determine the control end state of the output area according to the closed-loop updated prescription diagram, and record the control end state, real-time control response set, and closed-loop updated prescription diagram according to the output area and control timing to generate a control response file.

[0043] The beneficial effects of this invention are as follows: by unifying, registering, and mapping the morning stiffness response characteristics and multi-frequency impedance characteristics according to the target joint region, the response time period after the trial stimulus, and the detection frequency band position, the invention can transform the start-up hysteresis changes, relaxation recovery changes, low-load action response changes, impedance amplitude changes, impedance phase changes, and impedance stability changes of the target joint after the trial stimulus into a structured control basis with regional nodes, time period nodes, and frequency band nodes. This supports the continuous connection of path determination, output region allocation, and combined waveform arrangement in the control stage, and enhances the stability and traceability of subsequent parameter correction, channel coordination, and closed-loop update. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. 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.

[0045] Figure 1 This is a flowchart of the control method for a multifunctional rehabilitation therapy instrument based on combined waveforms.

[0046] Figure 2 This is a schematic diagram of the control device for a multifunctional rehabilitation therapy instrument based on combined waveforms.

[0047] Figure 3The flowchart for generating the combined impedance spectrum of morning stiffness.

[0048] Figure 4 A flowchart for generating the initial prescription diagram of the combined waveform. Detailed Implementation

[0049] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0051] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0052] Reference Figures 1-4 As one embodiment of the present invention, this embodiment provides a control method for a multifunctional rehabilitation therapy instrument based on combined waveforms, comprising the following steps:

[0053] S1. Receive the basic input data of the target joint, and combine it with the low-energy test results to perform state integration and effectiveness calibration, and generate an initial evaluation dataset.

[0054] S1.1 The basic input data for the target joint includes target joint location information, target joint side information, pain level information, morning stiffness duration information, joint movement restriction information, local swelling information, local heat sensation information, previous stimulus tolerance information, and skin condition information of the target joint area.

[0055] Specifically, information such as target joint location, target joint side, pain level, morning stiffness duration, joint movement restriction, local swelling, local heat sensation, past stimulation tolerance, and skin condition of the target joint area are manually entered by the user or pre-entered. The data are then organized and associated according to the same target joint to obtain the basic input data for the target joint.

[0056] S1.2 Classify and organize the basic input data of the target joints and merge the corresponding target joints to generate the basic state results of the target joints.

[0057] Specifically, the target joint location information and target joint side information in the basic input data of the target joint are organized to form the target joint positioning content. Based on the target joint positioning content, the pain level information, morning stiffness persistence information, and joint movement limitation information are categorized to form the target joint function content. Based on the target joint positioning content, the local swelling information, local thermal sensation information, past stimulation tolerance information, and target joint area skin condition information are categorized to form the target joint control adaptation content. According to the same target joint location and side for the same user, the target joint positioning content, target joint function content, and target joint control adaptation content are merged to generate the target joint basic status result.

[0058] S1.3 Output a trial stimulation signal of preset intensity to the target joint area, and collect changes in electrode contact status, local tolerance response and initial response during the trial stimulation process to generate low-energy test results.

[0059] Specifically, electrodes are attached to the target joint area, and a trial stimulus signal is output to the target joint area at a preset intensity. During the output of the trial stimulus signal, the contact stability after electrode attachment is recorded to form the electrode contact state. At the same time, the local tolerance response is formed by the instantaneous sensory changes and input tolerance around the target joint area. The initial response change is formed by combining the state change information of the target joint area under the action of the trial stimulus signal. The electrode contact state, local tolerance response and initial response change are collected to generate a low-energy test result.

[0060] It should also be noted that the preset intensity can be limited to the range of output intensity of the trial stimulus signal that produces a perceptible stimulus to the target joint area without causing obvious stinging or strong contraction, and the corresponding output current amplitude is, for example, 0.5 mA to 3 mA; the input tolerance level refers to the stimulation sensation exhibited by the target joint area under the action of the trial stimulus signal being within the allowable range for continuing to execute subsequent control configurations.

[0061] S1.4 Match the target joint baseline state results with the low-energy test results according to the same target joint identifier, verify the effectiveness of electrode contact, stimulation tolerance and initial response effectiveness, generate target joint control calibration results, and write the target joint control calibration results into the target joint baseline state results to generate the initial evaluation dataset.

[0062] Specifically, information on the target joint location, side orientation, joint mobility limitation, prior stimulus tolerance, and skin condition in the target joint region is extracted from the target joint baseline state results. Electrode contact status, local tolerance response, and initial response changes are extracted from the low-energy test results. The target joint baseline state results and low-energy test results are matched using the same target joint identifier. Electrode contact effectiveness is verified based on continuous adhesion, contact stability, and stimulus output continuity in the electrode contact status. The input tolerance and state change degree during stimulation are verified by combining prior stimulus tolerance information, target joint region skin condition information, and local tolerance response, forming stimulus tolerance. The state change information after trial stimulation is verified by combining joint mobility limitation information and initial response changes, forming initial response effectiveness. Electrode contact effectiveness, stimulus tolerance, and initial response effectiveness are incorporated into the target joint control calibration results, and the target joint control calibration results are written into the target joint baseline state results to generate an initial evaluation dataset.

[0063] S2. Extract morning stun response features and multi-frequency impedance features from the initial evaluation dataset, and perform correlation and integration to generate a joint morning stun impedance spectrum.

[0064] S2.1. Organize the target joint region correspondence, divide the temporal sequence before and after the trial stimulus, and mark the corresponding detection frequency bands in the initial evaluation dataset to generate basic data for feature extraction.

[0065] Specifically, the target joint localization content, target joint function content, target joint control adaptation content, and information corresponding to the low-energy test results are extracted from the initial evaluation dataset. The target joint region is divided and organized around the target joint localization content to form the corresponding content of the target joint region. Based on the start and end times of the trial stimulus signal output in the low-energy test results, the corresponding content of the target joint region is divided into temporal segments before and after the trial stimulus to form temporal segments before and after the trial stimulus. Combined with the detection frequency range corresponding to the trial stimulus signal in the low-energy test results, the temporal segments before and after the trial stimulus are marked with corresponding detection frequency bands to generate basic data for feature extraction.

[0066] It should also be noted that the detection frequency range refers to the range of values ​​corresponding to each detection frequency used in the low-energy test of the trial stimulus signal. It is used to distinguish the impedance response characteristics of the target joint region under different frequency bands. For example, it can be set to 1 kHz to 1 MHz, and can be further divided into different detection frequency bands of 1 kHz to 10 kHz, 10 kHz to 100 kHz, and 100 kHz to 1 MHz, to characterize the impedance response characteristics of the target joint region under different frequency bands.

[0067] S2.2 Based on the feature extraction data, compare and determine the differences and correlations between the changes in local tolerance response, initial response and joint movement restriction information before and after the trial stimulus, and generate candidate results for morning stiffness resistance.

[0068] Specifically, based on the target joint region corresponding content, the temporal content before and after the trial stimulus, and the corresponding markers of the detection frequency band in the feature extraction basic data, the changes in local tolerance response, initial response changes, and joint mobility limitation information are extracted in the corresponding time period before the trial stimulus to form the pre-trial stimulus response content. In the corresponding time period after the trial stimulus, the changes in local tolerance response, initial response changes, and joint mobility limitation information are extracted to form the post-trial stimulus response content. The pre-trial stimulus response content and post-trial stimulus response content are extracted separately according to the target joint region and the detection frequency band. The amount, direction, and order of change of local tolerance response, initial response changes, and joint mobility limitation information in the time periods before and after the trial stimulus are compared to generate candidate results for morning stiffness impedance.

[0069] S2.3. Based on the candidate results of the morning stiffness impedance, the impedance change trajectory and response change trajectory of the target joint region are synchronously compared and coupled along each detection frequency band to generate the morning stiffness impedance analysis results.

[0070] Specifically, based on the target joint region, detection frequency band, and correlation of changes in the candidate impedance results for morning stiffness, the impedance change trajectory corresponding to the target joint region is extracted according to each detection frequency band to form the impedance content of the detection frequency band. The response change trajectory formed by the changes in local tolerance response, initial response change, and joint movement restriction information corresponding to the same target joint region and the same detection frequency band is extracted to form the response content of the detection frequency band. The impedance content of the detection frequency band and the response content of the detection frequency band are synchronously matched according to time position and change sequence to obtain the frequency band correspondence analysis content. Based on the frequency band correspondence analysis content, the change relationship of the target joint region under each detection frequency band is extracted to generate the impedance analysis results for morning stiffness.

[0071] S2.4 Extract the changes in initiation lag, relaxation recovery, and low-load movement response of the target joint region after trial stimulation from the morning stiffness impedance analysis results to form the morning stiffness response characteristics.

[0072] Specifically, from the morning stiffness impedance analysis results, the time delay of the target joint region from rest to movement after the trial stimulus is first extracted to form the initiation lag change. Then, the change of the target joint region from tension to relaxation after the trial stimulus is extracted to form the relaxation recovery change. Finally, the feedback change of the target joint region during the corresponding slight movement triggering process after the trial stimulus is extracted to form the low-load movement response change. The initiation lag change, relaxation recovery change, and low-load movement response change are grouped according to the same target joint region to form the morning stiffness response characteristics.

[0073] S2.5 Extract the impedance amplitude change, impedance phase change and impedance stability change of the target joint region under each detection frequency band from the morning stiffness impedance analysis results to form multi-frequency impedance characteristics.

[0074] Specifically, from the morning stiffness impedance analysis results, firstly, the impedance value fluctuations corresponding to the target joint region are extracted according to each detection frequency band to form impedance amplitude changes. Then, the impedance phase shifts corresponding to the target joint region are extracted according to each detection frequency band to form impedance phase changes. Finally, the continuity and maintenance of impedance fluctuations corresponding to the target joint region are extracted according to each detection frequency band to form impedance stability changes. The impedance amplitude changes, impedance phase changes, and impedance stability changes are aggregated according to the same target joint region and the same detection frequency band to form multi-frequency impedance characteristics.

[0075] S2.6. The morning stiffness response characteristics and multi-frequency impedance characteristics are uniformly mapped and registered according to the target joint region, the response time after the trial stimulus, and the detection frequency band position to generate feature registration data.

[0076] Specifically, the morning stiffness response features and multi-frequency impedance features are divided and categorized according to the target joint region to form content corresponding to the target joint region. Based on the response time period after the trial stimulus, the morning stiffness response features and multi-frequency impedance features in the content corresponding to the target joint region are aligned to form content corresponding to the response time period. Combined with the detection frequency band position, the multi-frequency impedance features in the content corresponding to the response time period are frequency band located. The morning stiffness response features and the multi-frequency impedance features after the frequency band location are uniformly corresponded and registered according to the same target joint region, the same response time period after the trial stimulus, and the same detection frequency band position to generate feature registration data.

[0077] S2.7. Based on the feature registration data, perform coupling discrimination and regional stratification on the changing relationship between the morning stun response characteristics and multi-frequency impedance characteristics to generate feature stratification results.

[0078] Specifically, based on feature registration data, the synchronous, deviation, and sequential changes of morning stiffness response features and multi-frequency impedance features under the same trial stimulus response time period and the same detection frequency band position are extracted according to the target joint region to form feature coupling content. Based on the feature coupling content, the initiation hysteresis changes, relaxation recovery changes, low-load movement response changes, impedance amplitude changes, impedance phase changes, and impedance stability changes of each target joint region are extracted and classified according to the change amplitude, change speed, and change duration to form regional layered content. The feature coupling content and regional layered content are merged according to the target joint region to generate feature layering results.

[0079] S2.8. Based on the feature layering results, the target joint region is used as the region node, the response time after the trial stimulus is used as the time period node, the detection frequency band is used as the frequency band node, and the mapping relationship between the morning stiffness response features and the multi-frequency impedance features is used as the association edge to generate the morning stiffness impedance joint spectrum.

[0080] Specifically, the target joint region, response time period after trial stimulus, detection frequency band, morning stiffness response features, and multi-frequency impedance features are extracted from the feature layering results. Region nodes are established according to the target joint region, time period nodes are established according to the response time period after trial stimulus, and frequency band nodes are established according to the detection frequency band. The morning stiffness response features are written into the region nodes and time period nodes, and the multi-frequency impedance features are written into the region nodes and frequency band nodes. Based on the distribution position of the morning stiffness response features within the response time period after trial stimulus and the change position of the multi-frequency impedance features within the detection frequency band, a mapping relationship between the morning stiffness response features and the multi-frequency impedance features is established as an association edge. The region nodes, time period nodes, frequency band nodes, and association edges are connected and encapsulated to generate a joint morning stiffness impedance map.

[0081] It should be noted that by correlating and integrating the morning stiffness response characteristics after exploratory stimulation with multi-frequency impedance characteristics and constructing a joint morning stiffness impedance map, the time-varying and regionally variable characteristics of morning stiffness, pain, and joint function limitation in rheumatology research can be combined with the unified mapping of the functional lag state of the target joint and the local conduction state into a state basis that can be used for control. This is different from the control methods in the existing technology that are based on only single impedance monitoring, single symptom assessment, or general closed-loop parameter tuning, and makes the path determination, output area allocation, and combined waveform arrangement in the control stage more targeted and continuous.

[0082] S3. Determine the control stage path and allocate the output region for the combined impedance spectrum of the morning stiffness, generate the stage allocation result, and perform combined waveform arrangement to generate the initial prescription diagram of the combined waveform.

[0083] S3.1 Extract the morning stiffness response characteristics, multi-frequency impedance characteristics, response consistency, impedance stability and temporal sequence relationship of each target joint region in the morning stiffness impedance joint spectrum, and generate the stage judgment preparation results.

[0084] Specifically, from the combined morning stiffness impedance spectrum, the morning stiffness response characteristics and multi-frequency impedance characteristics associated with regional nodes are read according to the target joint region. The distribution of the morning stiffness response characteristics during the response period after the trial stimulus is read along the time period nodes connected to the regional nodes, and the changes of the multi-frequency impedance characteristics within the detection frequency band are read along the frequency band nodes connected to the regional nodes. Based on the direction and amplitude of the change of the morning stiffness response characteristics in the same target joint region during the response period after each trial stimulus, response consistency is formed. Based on the fluctuation amplitude and duration of the multi-frequency impedance characteristics in the same target joint region in each detection frequency band, impedance stability is formed. Based on the order of the time period nodes and the order of the frequency band nodes connected to the regional nodes, a temporal sequence relationship is formed. The morning stiffness response characteristics, multi-frequency impedance characteristics, response consistency, impedance stability, and temporal sequence relationship are assigned to each target joint region to generate the stage judgment preparation results.

[0085] S3.2. Based on the stage determination preparation results, divide the control stage paths of each target joint region and allocate the output region to generate path allocation results. The control stage paths include low-intensity induction paths, steady-state enhancement paths and transition paths.

[0086] Specifically, the distribution of morning stiffness response characteristics, multi-frequency impedance characteristics, and hierarchical relationships corresponding to each target joint region are extracted from the stage judgment preparation results to form the target joint region judgment content. Based on the morning stiffness release degree corresponding to the morning stiffness response characteristic distribution, the conduction stability degree corresponding to the multi-frequency impedance characteristic distribution, and the stage sequence relationship corresponding to the hierarchical relationship in the target joint region judgment content, path discrimination is performed on each target joint region. Among them, target joint regions with morning stiffness release index values ​​in the low release range and conduction stability index values ​​in the weak stability range are classified as low-intensity induction paths. Target joint regions with increased morning stiffness release degree and stabilizing conduction stability are classified as steady-state improvement paths. Target joint regions with morning stiffness release degree and conduction stability degree in a transitional state are classified as transitional paths, forming the control stage path judgment content. Based on the control stage path judgment content, output regions are allocated to each target joint region according to the order of action and distribution position, forming output region allocation content. The control stage path judgment content and output region allocation content are merged according to the target joint regions to generate path allocation results.

[0087] It should also be noted that the preset release interval is determined based on the statistical distribution of changes in initiation hysteresis, relaxation recovery, and low-load action response before and after the trial stimulus in the low-energy test results;

[0088] The preset stability range is determined based on the statistical distribution of impedance amplitude change, impedance phase change, and impedance stability change in the low-energy test results.

[0089] S3.3 Integrate the control phase path and output area allocation in the path allocation result to generate the phase allocation result.

[0090] Specifically, the control phase path, output area number, and order of action of each target joint area are extracted from the path allocation results. After being sorted by the order of the control phase path and the output area number, they are written into the same stage record to generate the stage allocation results.

[0091] S3.4 Expand the control stage paths and output area allocations in the stage allocation results accordingly, configure the stage entry order, area action order and area coordination constraints according to the sequential connection relationship of each control stage path and the spatial distribution relationship of each output area allocation, and generate waveform arrangement preparation results.

[0092] Specifically, the control stage path and output area number corresponding to each target joint area are extracted from the stage allocation results, and the stage sequence is determined according to the order of low-intensity induction path, transition path and steady-state boost path; the regional action sequence is determined according to the spatial location of the target joint area; for spatially adjacent output areas with overlapping transmission paths, different time slice output constraints are set; for spatially separated output areas that can act simultaneously, parallel output constraints are set, and waveform arrangement preparation results are generated.

[0093] S3.5. Based on the waveform arrangement preparation results, match the corresponding combined waveform category, output intensity level, duration of action and stage switching mode for each output area under each control stage path, and adjust them in combination with the transition and mitigation relationship between adjacent control stage paths and the cooperative avoidance relationship between adjacent output areas to generate waveform matching results.

[0094] Specifically, the stage sequence content corresponding to each control stage path, the area sequence content corresponding to each output area, and the area coordination content are extracted from the waveform arrangement preparation results to form path area matching content. Based on the functional requirements of different control stage paths in the path area matching content, the corresponding combined waveform category, output intensity level, duration of action, and stage switching mode are configured for each output area to form basic waveform configuration content. Combining the transition and mitigation relationship between adjacent control stage paths, the connection positions of the preceding and following stages in the basic waveform configuration content are adjusted sequentially. Combining the sequential interval restrictions, synchronous output restrictions, and intensity superposition restrictions between adjacent output areas, the sequential action and output coordination relationships of adjacent output areas in the basic waveform configuration content are coordinated and organized to form adjusted waveform configuration content. The adjusted waveform configuration content is then aggregated according to each control stage path and each output area to generate waveform matching results.

[0095] It should also be noted that the combined waveform category refers to the waveform output type selected for different control stage paths and different output regions, the output intensity level refers to the stimulation intensity level of the corresponding waveform, the duration of action refers to the duration of the corresponding waveform in the output region, and the stage switching mode refers to the output transition form between the preceding and following control stage paths.

[0096] S3.6. Perform timing integration and channel sorting on the combined waveform category, output intensity level, duration of action, stage switching mode, transition mitigation relationship and cooperative avoidance relationship in the waveform matching results to generate the initial prescription diagram of the combined waveform.

[0097] Specifically, the waveform configuration content is formed by extracting the combined waveform category, output intensity level, duration of action, stage switching method, transition mitigation relationship, and cooperative avoidance relationship corresponding to each control stage path and each output region from the waveform matching results. Based on the sequence of each control stage path and the action sequence of each output region, the combined waveform category, output intensity level, duration of action, and stage switching method in the waveform configuration content are arranged in a time sequence to form a time sequence configuration content. The transition mitigation relationship and cooperative avoidance relationship are combined, and the output sequence and channel correspondence of each output region in the time sequence configuration content are sorted and organized to form a channel sorting content. The time sequence configuration content and channel sorting content are combined according to each control stage path and each output region to generate an initial prescription map of the combined waveform.

[0098] S4. Expand the channels and load the timing of the initial prescription diagram of the combined waveform, read the status change information of each output channel and associate and organize them according to the output channel and execution timing to generate a real-time control response set.

[0099] S4.1 Perform channel expansion and timing loading on the control stage path, output area allocation, combined waveform category, output intensity level, duration of action, and stage switching mode in the initial prescription diagram of the combined waveform to generate control execution configuration results.

[0100] Specifically, the output area allocation, combined waveform category, output intensity level, duration of action, and stage switching method corresponding to each control stage path are extracted from the initial prescription diagram of the combined waveform to form prescription extraction content. Based on the correspondence between each control stage path and each output area, the corresponding channels of each output area in the prescription extraction content are allocated one by one to form channel expansion content. According to the order of each control stage path and the action order of each output area, the combined waveform category, output intensity level, duration of action, and stage switching method in the channel expansion content are loaded into the corresponding timing positions and converted into waveform control parameters, timing control parameters, and channel switching parameters corresponding to each output channel to form timing loading content. The channel expansion content and timing loading content are aggregated according to each control stage path and each output area to generate control execution configuration results.

[0101] S4.2. Based on the control execution configuration results, read the corresponding status change information according to the execution order of each output channel, and associate and organize it according to the output channel and execution sequence to generate control feedback association results.

[0102] Specifically, the system extracts the entry sequence of each control stage path, the action sequence of each output area, and the combined waveform category, output intensity level, duration of action, and stage switching method corresponding to each output area from the control execution configuration results to form waveform execution content. Based on the waveform execution content, according to the entry sequence of each stage and the action sequence of each area, it generates waveform control parameters, timing control parameters, and channel switching parameters for each output channel and sends them to the waveform control unit, intensity adjustment unit, and channel switching unit of the physiotherapy device to form control execution content. Around the control execution content, it reads information on electrode contact changes, output current changes, output voltage changes, channel state changes, and area coordination changes during the parameter execution process of each output channel to form feedback acquisition content. Finally, it associates and organizes the control execution content and feedback acquisition content according to each control stage path and each output area allocation to generate control feedback association results.

[0103] S4.3 Based on the control feedback correlation results, integrate them according to the control stage path, output area allocation and corresponding waveform output relationship to generate a real-time control response set.

[0104] Specifically, the feedback acquisition content corresponding to each control stage path, the regional output content corresponding to each output region allocation, and the waveform interaction relationship corresponding to each output region are extracted from the control feedback correlation results to form feedback corresponding content. Based on the correspondence between each control stage path and each output region allocation, the electrode contact change information, output current change information, output voltage change information, channel state change information, and regional coordinated change information in the feedback corresponding content are classified by path and organized by region to form feedback integration content. According to the control stage path, output region allocation, and corresponding waveform output relationship, the electrode contact change information, output current change information, output voltage change information, channel state change information, and regional coordinated change information in the feedback integration content are sequentially labeled to form response correlation content. The feedback integration content and response correlation content are aggregated according to the control stage path, output region allocation, and corresponding waveform output relationship to generate a real-time control response set.

[0105] S5. Perform parameter correction and stage rearrangement on the real-time control response set, and synchronously update the channel control relationship in the initial prescription diagram of the combined waveform to generate a closed-loop updated prescription diagram.

[0106] S5.1. Correlate and analyze the feedback information and changes corresponding to each output region under each control stage path in the real-time control response set to generate closed-loop discrimination results.

[0107] Specifically, information on electrode contact changes, output current changes, output voltage changes, channel status changes, and regional coordinated changes corresponding to each output region under each control stage path is extracted from the real-time control response set to form path region feedback content. Based on the correspondence between each control stage path and each output region, the feedback information and changes in the path region feedback content are sorted by path and compared by region to form feedback corresponding content. Based on the order of action of the waveforms corresponding to each output region in each control stage path, the changes in the feedback corresponding content are segmented by time period, compared by time sequence, extracted by change deviation, and extracted by duration to form discriminant analysis content. The discriminant analysis content is then aggregated according to each control stage path and each output region to generate closed-loop discriminant results.

[0108] S5.2 Based on the closed-loop discrimination results, the output intensity level, duration of action, stage switching position and action sequence of the waveforms corresponding to each output region are corrected, and the stage entry sequence, stage dwell sequence and stage transition relationship in the control stage path are rearranged to generate stage correction results.

[0109] Specifically, the sequence of changes, deviations, and durations of changes in each output region are extracted from the closed-loop discrimination results. These are then compared with the corresponding waveforms in the initial prescription diagram of the combined waveform in terms of output intensity level, duration of action, stage switching position, and region action sequence to obtain deviation information in output intensity level, duration of action, stage switching position, and region action sequence. This forms the parameter correction content. Based on the parameter correction content, the output intensity level, duration of action, stage switching position, and region action sequence of the waveforms corresponding to each output region are adjusted item by item to form region correction content. Combined with the region correction content, the stage entry sequence, stage dwell sequence, and stage transition relationship in the control stage path are rearranged to form path rearrangement content. Finally, the region correction content and path rearrangement content are combined according to the correspondence between the control stage path and the output region to generate the stage correction result.

[0110] S5.3. Based on the phase correction results, update the channel start-stop relationship, channel priority relationship and channel avoidance relationship between each output area, and write the corrected output intensity level, duration of action, phase switching method, regional action sequence, phase entry sequence, transition mitigation relationship and channel control relationship into the corresponding output area and corresponding time position to generate a closed-loop update prescription map.

[0111] Specifically, the output intensity level, duration of action, phase switching method, regional action sequence, phase entry sequence, and transition mitigation relationship corresponding to each output region are extracted from the phase correction results. The output order of each output region at different time positions is rearranged according to the regional action sequence and phase entry sequence, and the channel start-stop relationship between each output region is adjusted based on the rearranged output order. The priority output order between each output region is determined according to the order of phase entry sequence and regional action sequence, and the channel priority relationship is updated. The staggered interval and synchronization limit between adjacent output regions are adjusted according to the transition mitigation relationship and the output overlap of adjacent output regions at adjacent time positions, and the channel avoidance relationship is updated. The updated channel start-stop relationship, channel priority relationship, and channel avoidance relationship are then incorporated into the channel control relationship, and the corrected output intensity level, duration of action, phase switching method, regional action sequence, phase entry sequence, transition mitigation relationship, and channel control relationship are written into the corresponding output region and corresponding time position, respectively, to generate a closed-loop update prescription map.

[0112] S6. Determine the control termination state of the output region based on the closed-loop update prescription diagram, and record the control termination state, real-time control response set, and closed-loop update prescription diagram according to the output region and control timing to generate a control response file.

[0113] S6.1. Based on the closed-loop update prescription diagram, determine the end of the output status and channel control relationship of each output area and generate the control end determination result.

[0114] Specifically, the output intensity level, duration of action, stage switching method, and channel control relationship corresponding to each output region are extracted from the closed-loop update prescription diagram to form region end judgment content. Based on the region end judgment content, the end conditions of the output intensity level, duration of action, stage switching method, and channel control relationship of each output region are compared to extract the end state of each output region to form region end state content. The region end state content is then sorted and collected in sequence with the order of each output region in the control stage path to generate control end judgment result.

[0115] S6.2 Record the output completion status, channel exit status and control completion status of each output area according to the control end determination result, and generate control result aggregation result.

[0116] Specifically, the output end status and channel control relationship end status corresponding to each output region are extracted from the control end determination result. The output completion status corresponding to each output region is recorded according to the output end status, and the channel exit status corresponding to each output region is recorded according to the channel control relationship end status. The control completion status corresponding to each output region is recorded in combination with the execution status of each output region in the control phase path and the output end status. The output completion status, channel exit status and control completion status corresponding to each output region are written into the same collection record according to the control phase path and the region action order to generate the control result collection result.

[0117] S6.3. Based on the control result aggregation results, encapsulate the feedback trajectory in the real-time control response set and the prescription trajectory in the closed-loop update prescription diagram according to the output area and control timing to generate a control response file.

[0118] Specifically, the output completion status, channel exit status, and control completion status corresponding to each output region are extracted from the control result aggregation results, and the recording range and recording order of each output region in the control response file are determined; electrode contact change information, output current change information, output voltage change information, channel status change information, and regional coordinated change information are extracted from the real-time control response set according to the output region and control timing to form a feedback trajectory; output intensity level, duration of action, stage switching mode, regional action sequence, stage entry sequence, transition mitigation relationship, and channel control relationship are extracted from the closed-loop update prescription diagram according to the same output region and the same control timing to form a prescription trajectory; the feedback trajectory and prescription trajectory are written segment by segment according to the control timing within the same output region, and the output completion status, channel exit status, and control completion status are written to the corresponding recording positions to generate a control response file.

[0119] This embodiment also provides a multifunctional rehabilitation therapy instrument control device based on combined waveforms, including: an initial assessment and filing module, used to receive basic input data of the target joint and perform state integration and effectiveness calibration in conjunction with low-energy test results to generate an initial assessment dataset; a feature fusion module, used to extract morning stiffness response features and multi-frequency impedance features from the initial assessment dataset and perform correlation integration to generate a combined morning stiffness impedance spectrum; a path arrangement module, used to determine the control stage path and allocate the output region of the combined morning stiffness impedance spectrum, generate stage allocation results, and perform combined waveform arrangement to generate an initial prescription map of combined waveforms; and an execution response module. The module is used to expand channels and load timing information in the initial prescription diagram of the combined waveform, read the state change information of each output channel and associate and organize them according to the output channel and execution timing to generate a real-time control response set; the closed-loop correction module is used to correct parameters and rearrange stages in the real-time control response set, and synchronously update the channel control relationships in the initial prescription diagram of the combined waveform to generate a closed-loop updated prescription diagram; the file collection module is used to determine the control end state of the output area according to the closed-loop updated prescription diagram, and record the control end state, real-time control response set and closed-loop updated prescription diagram according to the output area and control timing to generate a control response file.

[0120] In summary, this invention achieves a unified correspondence, position registration, and graphic organization of morning stiffness response characteristics and multi-frequency impedance characteristics according to the target joint region, response time period after trial stimulation, and detection frequency band position. This enables the transformation of the target joint's start-up hysteresis changes, relaxation recovery changes, low-load action response changes, impedance amplitude changes, impedance phase changes, and impedance stability changes after trial stimulation into a structured control basis with regional nodes, time period nodes, and frequency band nodes. This supports the continuous connection of path determination, output region allocation, and combined waveform arrangement in the control stage, and enhances the stability and traceability of subsequent parameter correction, channel coordination, and closed-loop updates.

[0121] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A control method for a multifunctional rehabilitation therapy instrument based on combined waveforms, characterized in that: include, Receive basic input data of the target joint, and combine it with low-energy test results to perform state integration and effectiveness calibration, and generate an initial evaluation dataset; Morning stun response features and multi-frequency impedance features were extracted from the initial evaluation dataset and correlated and integrated to generate a joint morning stun impedance map; The control stage path determination and output region allocation are performed on the combined impedance spectrum of the morning stiffness, the stage allocation result is generated, and the combined waveform is arranged to generate the initial prescription map of the combined waveform. The initial prescription diagram of the combined waveform is expanded and time-series loaded. The state change information of each output channel is read and associated with the output channel and execution timing to generate a real-time control response set. The parameters of the real-time control response set are corrected and the stages are rearranged, and the channel control relationships in the initial prescription diagram of the combined waveform are updated synchronously to generate a closed-loop updated prescription diagram. The control termination state of the output region is determined based on the closed-loop update prescription diagram, and the control termination state, real-time control response set, and closed-loop update prescription diagram are recorded according to the output region and control timing to generate a control response file.

2. The control method for a multifunctional rehabilitation therapy instrument based on combined waveforms as described in claim 1, characterized in that: The generation of the initial evaluation dataset specifically includes, The basic input data of the target joint is classified, organized, and merged according to the target joint to generate the basic state results of the target joint. The system outputs a trial stimulation signal of preset intensity to the target joint area and collects changes in electrode contact status, local tolerance response, and initial response during the trial stimulation process to generate low-energy test results. The target joint baseline state results and low-energy test results are matched with the same target joint identifier to verify the effectiveness of electrode contact, stimulation tolerance, and initial response effectiveness, generate target joint control calibration results, and write the target joint baseline state results to generate the initial evaluation dataset.

3. The control method for a multifunctional rehabilitation therapy instrument based on combined waveforms as described in claim 1, characterized in that: The extraction of morning stiffness response features and multi-frequency impedance features from the initial evaluation dataset specifically includes, The initial evaluation dataset is organized by corresponding target joint regions, divided into temporal sequences before and after trial stimuli, and labeled with corresponding detection frequency bands to generate basic data for feature extraction. Based on the feature extraction data, the changes in local tolerance response, initial response and joint movement restriction information before and after the trial stimulus are compared and the correlation of changes is determined to generate candidate results of morning stiffness resistance. Based on the candidate results of the morning stiffness impedance, the impedance change trajectory and response change trajectory of the target joint region are synchronously compared and coupled along each detection frequency band to generate the morning stiffness impedance analysis results. The morning stiffness response characteristics were formed by extracting the initiation hysteresis, relaxation recovery and low-load movement response changes of the target joint region after trial stimulation from the morning stiffness impedance analysis results. The impedance amplitude change, impedance phase change, and impedance stability change of the target joint region under each detection frequency band are extracted from the impedance analysis results of morning stiffness to form multi-frequency impedance characteristics.

4. The control method for a multifunctional rehabilitation therapy instrument based on combined waveforms as described in claim 3, characterized in that: The generation of the morning stiffness impedance joint map specifically includes... The morning stiffness response characteristics and multi-frequency impedance characteristics are uniformly mapped and registered according to the target joint region, the response time after trial stimulation, and the detection frequency band position to generate feature registration data. Based on the feature registration data, the relationship between the changes in morning stiffness response characteristics and multi-frequency impedance characteristics is coupled and discriminated, and regional stratification is performed to generate feature stratification results. Based on the feature layering results, the target joint region is used as the region node, the response period after the trial stimulus is used as the time period node, the detection frequency band is used as the frequency band node, and the mapping relationship between the morning stiffness response features and the multi-frequency impedance features is used as the association edge to generate the morning stiffness impedance joint spectrum.

5. The control method for a multifunctional rehabilitation therapy instrument based on combined waveforms as described in claim 1, characterized in that: The allocation results of the generation phase specifically include, Extract the morning stiffness response characteristics, multi-frequency impedance characteristics, response consistency, impedance stability and temporal sequence relationship of each target joint region in the morning stiffness impedance joint spectrum, and generate the stage judgment preparation results; Based on the stage judgment preparation results, the control stage paths of each target joint region are divided and the output region is allocated to generate the path allocation results. The control stage paths include low-intensity induction paths, steady-state enhancement paths and transition paths. The control phase path and output region allocation in the path allocation result are integrated to generate the phase allocation result.

6. The control method for a multifunctional rehabilitation therapy instrument based on combined waveforms as described in claim 5, characterized in that: The generation of the initial prescription diagram for the combined waveform specifically includes, The control stage paths and output area allocations in the stage allocation results are expanded accordingly. The stage entry order, area action order, and area coordination constraints are configured according to the sequential connection relationship of each control stage path and the spatial distribution relationship of each output area allocation, and waveform arrangement preparation results are generated. Based on the waveform arrangement preparation results, the corresponding combined waveform category, output intensity level, duration of action and stage switching method are matched for each output region under each control stage path. The waveform matching results are generated by combining the transition and mitigation relationship between adjacent control stage paths and the cooperative avoidance relationship between adjacent output regions. The combined waveform category, output intensity level, duration of action, stage switching mode, transition mitigation relationship and cooperative anti-surge relationship in the waveform matching results are integrated in time and sorted by channel to generate an initial prescription diagram of the combined waveform.

7. The control method for a multifunctional rehabilitation therapy instrument based on combined waveforms as described in claim 6, characterized in that: The generation of the real-time control response set specifically includes, The control stage path, output area allocation, combined waveform category, output intensity level, duration of action and stage switching mode in the initial prescription diagram of the combined waveform are expanded and time-series loaded to generate control execution configuration results; Based on the control execution configuration results, the corresponding status change information is read according to the execution order of each output channel and then correlated and organized according to the output channel and execution sequence to generate control feedback correlation results; Based on the control feedback correlation results, the control stage path, output area allocation and corresponding waveform output relationship are integrated to generate a real-time control response set.

8. The control method for a multifunctional rehabilitation therapy instrument based on combined waveforms as described in claim 7, characterized in that: The generation of the closed-loop updated prescription map specifically includes... The feedback information and changes corresponding to each output region under each control stage path in the real-time control response set are correlated and analyzed to generate closed-loop discrimination results. Based on the closed-loop discrimination results, the output intensity level, duration of action, stage switching position and action sequence of the waveforms corresponding to each output region are corrected, and the stage entry sequence, stage dwell sequence and stage transition relationship in the control stage path are rearranged to generate stage correction results. Based on the phase correction results, update the channel start / stop relationship, channel priority relationship, and channel avoidance relationship between each output region, and write the corrected output intensity level, duration of action, phase switching method, region action order, phase entry order, transition mitigation relationship, and channel control relationship into the corresponding output region and corresponding time position to generate a closed-loop update prescription map.

9. The control method for a multifunctional rehabilitation therapy instrument based on combined waveforms as described in claim 8, characterized in that: The generation of the control response file specifically includes... Based on the closed-loop update prescription diagram, the output status and channel control relationship of each output area are judged to end, and the control end judgment result is generated. Based on the control termination determination result, record the output completion status, channel exit status and control completion status of each output area, and generate control result aggregation results; Based on the control result aggregation results, the feedback trajectory in the real-time control response set and the prescription trajectory in the closed-loop update prescription diagram are encapsulated according to the output region and control timing to generate a control response file.

10. A control device for a multifunctional rehabilitation therapy instrument based on combined waveforms, based on the control method for a multifunctional rehabilitation therapy instrument based on combined waveforms as described in any one of claims 1 to 9, characterized in that: include, The initial assessment and filing module is used to receive basic input data of the target joint and combine it with the low-energy test results to perform state integration and effectiveness calibration, and generate an initial assessment dataset. The feature fusion module is used to extract morning stun response features and multi-frequency impedance features from the initial evaluation dataset, and to correlate and integrate them to generate a joint morning stun impedance map. The path arrangement module is used to determine the control stage path and allocate the output region for the combined impedance spectrum of the morning stiffness, generate the stage allocation result, and perform combined waveform arrangement to generate the initial prescription diagram of the combined waveform. The execution response module is used to expand the channels and load the timing of the initial prescription diagram of the combined waveform, read the status change information of each output channel and associate and organize it according to the output channel and execution timing to generate a real-time control response set. The closed-loop correction module is used to correct parameters and rearrange stages of the real-time control response set, and synchronously update the channel control relationships in the initial prescription diagram of the combined waveform to generate a closed-loop updated prescription diagram. The file collection module is used to determine the control end state of the output area based on the closed-loop update prescription diagram, and to record the control end state, real-time control response set and closed-loop update prescription diagram according to the output area and control timing to generate a control response file.

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