Active physical diagnosis system and method

Abstract

This invention provides an active physical therapy system and method. The system includes: an autonomous movement module, a human-computer interaction module, a multimodal perception module, an intelligent examination module, a physical intervention module, and a robot brain module mounted on a diagnostic robot. The autonomous movement module controls the autonomous movement of the diagnostic robot; the human-computer interaction module facilitates interaction between the diagnostic robot and the user; the multimodal perception module collects multi-dimensional health-related data from the user; the intelligent examination module diagnoses the user's health problems based on the multi-dimensional health-related data and provides corresponding physical intervention plans; the physical intervention module executes the corresponding physical intervention plan based on the diagnostic results and physical intervention plan from the intelligent examination module; and the robot brain module coordinates the collaborative work of each module to conduct health diagnosis and treatment for the user. This system provides 24 / 7, professional, personalized, and precise active physical therapy services in a home setting, significantly improving the accuracy, convenience, and professionalism of home health monitoring and management. It effectively meets the health monitoring and management needs of families in the context of an aging population, reduces home medical costs, and significantly improves the level of family health protection.

Description

Technical Field

[0001] This invention relates to the fields of intelligent robots, home health monitoring, and physical therapy, and particularly to an active physical therapy system and method. Background Technology

[0002] With the aging population and increased health awareness among residents, the demand for health monitoring and initial care in the home setting is growing. Currently, in home health services, caregivers are limited by time and energy, making it difficult to monitor users 24 / 7. Moreover, ordinary caregivers lack professional health diagnosis knowledge and are unable to make scientific judgments and interventions regarding users' physical discomfort, making it difficult to meet the demand for professional, round-the-clock health services in the home setting. Summary of the Invention

[0003] This invention provides an active physical therapy system and method. Through the collaborative work of an autonomous movement module, a human-computer interaction module, a multimodal perception module, an intelligent diagnosis module, a physical intervention module, and a robot brain module, it enables the scientific and objective determination of users' health problems and targeted physical intervention. It solves the shortcomings of existing family health services, such as difficulty in 24-hour real-time monitoring, insufficient professionalism, and poor intervention targeting. It realizes all-weather, professional, personalized, and precise active physical therapy services in the home setting, significantly improving the accuracy, convenience, and professionalism of family health monitoring and conditioning. It effectively meets the health monitoring and conditioning needs of families in the context of an aging population, reduces the cost of family medical treatment, and greatly improves the level of family health protection.

[0004] This invention provides an active physical therapy system, comprising: The diagnostic robot is equipped with an autonomous mobility module, a human-computer interaction module, a multimodal perception module, an intelligent diagnosis module, a physical intervention module, and a robot brain module. The autonomous movement module is used to control the autonomous movement of the diagnostic and treatment robot; The human-computer interaction module is used for interaction between the diagnostic robot and the user; The multimodal perception module is used to collect multi-dimensional health-related data from users; The intelligent diagnosis module is used to diagnose the user's health problems based on the user's multi-dimensional health-related data; The physical intervention module is used to execute the corresponding physical intervention plan based on the diagnostic results of the intelligent diagnosis module; The robot's brain module is used to schedule the collaborative work of various modules to conduct health diagnosis and treatment for the user.

[0005] According to an active physical therapy system provided by the present invention, the interaction between the therapy robot and the user includes at least one of the following: Natural language interaction between the diagnostic robot and the user; The diagnostic robot interacts with users to exchange diagnostic information via a touchscreen.

[0006] According to the active physical diagnosis and treatment system provided by the present invention, the multimodal perception module is also used to capture the user's facial expressions, body behavior and voice information in real time to identify user health abnormalities.

[0007] According to the active physical therapy system provided by the present invention, the multimodal sensing module is further used to collect the user's health-related data during and after the physical intervention to determine the effect of the physical intervention and optimize the physical intervention plan.

[0008] According to an active physical therapy system provided by the present invention, the multimodal sensing module includes at least one of the following: Visual sensing unit, voice sensing unit, tactile sensing unit, PPG sensing unit, temperature sensing unit, and slip sensing unit.

[0009] According to the present invention, an active physical diagnosis and treatment system is provided, wherein the intelligent diagnosis module has a built-in diagnosis and treatment knowledge base, and the intelligent diagnosis and treatment module is used to diagnose the user's health problems based on the health-related data and the diagnosis and treatment knowledge base.

[0010] According to the present invention, an active physical diagnosis and treatment system is provided, wherein the diagnosis and treatment knowledge base is constructed based on disease diagnosis and treatment guidelines and expert clinical medical experience, and the diagnosis and treatment knowledge base includes consultation process, palpation standard, diagnostic scoring criteria and corresponding physical intervention plan.

[0011] According to the present invention, an active physical therapy system is provided, wherein the physical intervention module is used to perform stimulation by one or more physical factors such as force, electricity, sound, heat, light, and magnetism based on the diagnostic results and physical intervention plan of the intelligent diagnostic module, and to adjust the physical intervention method and physical intervention parameters in real time based on user feedback.

[0012] According to an active physical therapy system provided by the present invention, the physical intervention module supports at least one of the following: The robotic arm intervenes autonomously by carrying physical factor conditioning components to perform physical intervention on the user's target area. Handheld devices assist in intervention. The robot's end effector can be adapted to home conditioning devices, and it can use the end effector gripper or clamp to grasp the home conditioning device to perform physical intervention on the user's target area.

[0013] According to an active physical therapy system provided by the present invention, the physical intervention module further includes a human body modeling unit and a positioning unit. The human body modeling unit is used to perform three-dimensional modeling of the user's body, and the positioning unit is used to determine the target area of ​​the physical intervention based on the three-dimensional model.

[0014] According to the active physical therapy system provided by the present invention, the robot brain module is also used to store the user's health data, examination records, physical intervention logs and health records, and supports connection to medical platforms for medical guidance and emergency assistance.

[0015] According to the present invention, an active physical therapy system further includes a safety protection module for robotic arm safety protection, electrical safety protection, emergency stop operation, and user privacy protection.

[0016] The present invention also provides an active physical therapy method, comprising: Controlling the autonomous movement of diagnostic and treatment robots; Interact with users; Collect multi-dimensional health-related data from users; Based on the user's multi-dimensional health-related data, diagnose the user's health problems and provide corresponding physical intervention plans; Based on the diagnostic results and physical intervention plan from the intelligent diagnostic module, the corresponding physical intervention plan is executed.

[0017] This invention provides an active physical therapy robot system that, through the collaborative work of an autonomous movement module, a human-computer interaction module, a multimodal perception module, an intelligent diagnosis module, a physical intervention module, and a robot brain module, enables the scientific and objective determination of users' health problems and targeted physical intervention. It overcomes the shortcomings of existing family health services, such as difficulty in 24-hour real-time monitoring, insufficient professionalism, and poor intervention targeting. This system provides all-weather, professional, personalized, and precise active physical therapy services in the home setting, significantly improving the accuracy, convenience, and professionalism of family health monitoring and management. It effectively meets the health monitoring and management needs of families in the context of an aging population, reduces family medical costs, and greatly enhances the level of family health protection. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1This is a schematic diagram of the active physical therapy system provided by the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] The following is combined Figure 1 The present invention describes an active physical therapy system and method.

[0022] With the aging population and increased health awareness, the demand for health monitoring and initial conditioning in the home setting is growing. Currently, home health services mainly rely on manual care or handheld conditioning devices, which have many limitations: Firstly, manual care is limited by time and energy, making it difficult to achieve 24-hour real-time monitoring. When family members show hidden health signals such as abnormal complexion or mild pain, they are easily overlooked. Secondly, handheld treatment devices (such as massagers and infrared therapy devices) require manual operation and lack specificity, making it impossible to match suitable treatment plans according to the user's specific symptoms, resulting in limited treatment effects. Third, ordinary families lack professional health diagnosis knowledge. When family members experience symptoms such as headaches and fatigue, they cannot quickly determine the cause of the illness, nor can they implement scientific preliminary intervention, which can easily delay the opportunity for treatment. Fourth, existing home service robots mostly focus on basic services such as cleaning and food delivery, lacking integrated functions such as health monitoring, intelligent diagnosis and physical intervention, and thus cannot meet the core needs of family health services.

[0023] To address the aforementioned issues, there is an urgent need for a family health robot capable of autonomously detecting health abnormalities in family members, intelligently making preliminary diagnoses and treatment decisions, precisely implementing non-invasive physical interventions, and providing medical guidance. This would fill existing technological gaps and enable intelligent, automated, and professional family health services.

[0024] Figure 1 This is a schematic diagram of the active physical therapy system provided by the present invention, as shown below. Figure 1 As shown, the active physical therapy system includes an autonomous mobility module, a human-computer interaction module, a multimodal perception module, an intelligent diagnosis module, a physical intervention module, and a robot brain module mounted on the diagnostic robot. The autonomous movement module is used to control the autonomous movement of the diagnostic and treatment robot; The human-computer interaction module is used for interaction between the diagnostic robot and the user; The multimodal perception module is used to collect multi-dimensional health-related data from users; The intelligent diagnosis module is used to diagnose users' health problems and determine physical intervention plans based on users' multi-dimensional health-related data. The physical intervention module is used to execute the corresponding physical intervention plan based on the diagnostic results and physical intervention plan of the intelligent diagnosis module. The robot's brain module is used to coordinate the work of various modules to conduct health diagnosis and treatment for users.

[0025] Specifically, the active physical therapy system in this application embodiment includes an autonomous mobility module, a human-computer interaction module, a multimodal perception module, an intelligent examination module, a physical intervention module, and a robot brain module mounted on a diagnostic robot. The autonomous mobility module possesses indoor SLAM navigation, obstacle avoidance, and path planning capabilities, enabling the robot to move autonomously, avoid obstacles, and locate itself in a home setting. It adapts to the spatial requirements of different scenarios, allowing for close-range access to users and effectively lowering the barrier to entry. It is particularly suitable for target users such as the elderly and those with mobility impairments, significantly improving the applicability of the device.

[0026] Optionally, the human-computer interaction module is used to realize information interaction between the diagnostic robot and the user, thereby effectively transmitting information such as obtaining user health needs, providing feedback on diagnostic information and intervention operations, and improving the convenience of physical diagnosis and treatment.

[0027] Optionally, the multimodal perception module acquires various types of health data, such as objective physiological indicators, behavioral characteristics, and voice characteristics of users, through multi-dimensional perception methods such as vision, voice, touch, and physiological sensing. This enables a comprehensive and accurate perception of the user's health status, providing a comprehensive and reliable data source for the intelligent diagnosis module, thereby effectively improving the accuracy of physical diagnosis and treatment.

[0028] Optionally, the intelligent diagnosis module can accurately diagnose users' health problems by analyzing and processing the multi-dimensional health-related data collected by the multi-modal perception module, and provide corresponding physical intervention plans. This effectively solves the diagnosis bias caused by ordinary caregivers' lack of professional knowledge, and improves the accuracy of health problem diagnosis and the pertinence of physical intervention.

[0029] Optionally, the physical intervention module uses the diagnostic results and physical intervention plan from the intelligent diagnosis module as a basis to execute a physical intervention plan corresponding to the user's health problem. By performing physical intervention on the user's target treatment areas, it effectively addresses the lack of professional intervention skills among ordinary caregivers and meets the differentiated treatment needs of different users.

[0030] Optionally, the robot brain module is used to schedule the autonomous movement module, human-computer interaction module, multimodal perception module, intelligent diagnosis module and physical intervention module to work together, realize cross-module data flow and fusion, thereby effectively improving the system's operating efficiency, reducing labor costs, realizing 24-hour health services, and proactively and efficiently completing the user's health diagnosis and treatment work.

[0031] The system described in the above embodiments, through the collaborative work of the autonomous movement module, human-computer interaction module, multimodal perception module, intelligent diagnosis module, physical intervention module, and robot brain module, achieves scientific and objective judgment of user health problems and targeted physical intervention. It solves the shortcomings of existing family health services, such as difficulty in 24-hour real-time monitoring, insufficient professionalism, and poor intervention targeting. It realizes all-weather, professional, personalized, and precise proactive physical diagnosis and treatment services in the family setting, significantly improving the accuracy, convenience, and professionalism of family health monitoring and conditioning. It effectively meets the health monitoring and conditioning needs of family settings in the context of an aging population, reduces family medical costs, and greatly improves the level of family health protection.

[0032] In some embodiments, the interaction between the diagnostic robot and the user includes at least one of the following: Natural language interaction between the diagnostic robot and the user; The diagnostic robot interacts with users to exchange diagnostic information via a touchscreen.

[0033] Specifically, in this embodiment, users can autonomously express their health needs, symptoms, and operational instructions using natural language. The robot can then provide feedback on consultation questions, examination results, intervention plans, and operational guidelines using natural language, effectively lowering the operational threshold and allowing users of different ages and health conditions to easily initiate diagnostic interactions, thus improving interaction efficiency. Optionally, the diagnostic robot can also be equipped with a touch-screen interactive display to create a visual human-computer interaction interface, enabling operations such as health information entry, intelligent consultation, and intervention parameter adjustment. It can also visually display health data, examination reports, intervention processes, and historical medical records in the form of graphics, forms, etc., ensuring the effectiveness and reliability of interactions in different home scenarios.

[0034] For example, the human-computer interaction module in this application employs speech synthesis and recognition technology, enabling it to autonomously inquire about the user's health status, such as "Are you feeling unwell?" or "Where does it hurt?", and receive the user's voice responses, recognizing symptom information. Optionally, the speech synthesis uses a human-like tone and moderate speaking speed, thereby effectively improving the user's communication experience. Optionally, a touchscreen can also be set on the front of the robot body, supporting multi-touch, displaying information such as diagnostic problems, intervention plans, and operation instructions. When the user's voice expression is unclear, they can select the corresponding symptoms or feelings through the touchscreen to assist in completing the diagnosis.

[0035] The system described in the above embodiments enables efficient transmission of health requests, treatment instructions, and feedback information through natural language or touch screens, significantly reducing the operational threshold for users of different ages and physical conditions, and effectively ensuring the effectiveness and reliability of human-computer interaction in various home scenarios.

[0036] In some embodiments, the multimodal perception module is also used to capture the user's facial expressions, body movements, and voice information in real time for the purpose of identifying user health abnormalities.

[0037] Specifically, in this embodiment, the multimodal perception module can capture the user's facial expressions, body movements and voice information in real time, and analyze and process the above information through the built-in recognition algorithm to accurately identify whether the user has any health abnormalities. This effectively enables proactive monitoring of the user's health status and timely identification of the user's health problems, thereby triggering the collection and diagnosis of the user's multidimensional health-related data, ensuring the timeliness and accuracy of health diagnosis and treatment in the home setting.

[0038] For example, when the robot is waiting in the living room or performing home services, it may discover through a camera that an elderly person is sitting on the sofa, continuously rubbing their right temple with their right hand, with a furrowed brow and a pained expression. If the built-in algorithm analyzes and determines that there is a potential health abnormality, it will automatically trigger the robot's proactive care and diagnosis process. The robot will then autonomously move to the elderly person's side to initiate a health inquiry and begin subsequent collection and diagnosis of multi-dimensional health-related data.

[0039] The system described in the above embodiment uses a multimodal perception module to capture and intelligently analyze users' facial expressions, body movements, and voice information in real time, enabling proactive identification and early warning of users' health abnormalities. This breaks away from the traditional health monitoring model that requires users to actively trigger it. The system can promptly capture various hidden health abnormality signals and quickly initiate the diagnosis process, making health monitoring in the home setting more proactive and timely. This significantly improves the response efficiency and accuracy of home health diagnosis and treatment, and better adapts to the all-weather, intelligent health service needs of the home setting.

[0040] In some embodiments, the multimodal perception module is also used to collect users' health-related data during and after physical intervention to determine the effectiveness of the physical intervention and optimize the physical intervention plan.

[0041] Specifically, in this embodiment, the multimodal perception module can not only collect multi-dimensional health-related data of users for health diagnosis and treatment and physical intervention, but also collect users' health-related data again during and after the physical intervention to track the user's physical status feedback to the physical intervention in real time, promptly detect changes in the user's physical indicators, physical discomfort, etc. during the intervention, avoid poor experience or unsatisfactory intervention effect due to improper intervention parameters, ensure the safety and effectiveness of the physical intervention process, and improve the effect of physical intervention.

[0042] In other words, this application uses a multimodal perception module to monitor the facial color, expression, behavior and voice information of family members in real time. This allows it to proactively identify latent signals of health abnormalities such as headaches and abdominal pain. It can trigger a response without the user having to actively seek help, thus enabling proactive detection of health abnormalities and preventing latent symptoms from being ignored. This solves the problem of difficulty in timely detection of health abnormalities in existing family scenarios, and is especially suitable for the elderly, children and other people who cannot express their discomfort in a timely manner.

[0043] In the method described above, during and after physical intervention, the multimodal perception module collects user health-related data, providing a basis for quantitative evaluation of the physical intervention effect and precise optimization of the intervention plan, thereby effectively improving the effectiveness of physical intervention.

[0044] In some embodiments, the multimodal sensing module includes at least one of the following: Visual sensing unit, voice sensing unit, tactile sensing unit, PPG sensing unit, temperature sensing unit, and slip sensing unit.

[0045] Specifically, in this embodiment, the multimodal perception module may include a visual perception unit, a voice perception unit, a tactile perception unit, a PPG sensing unit, a temperature perception unit, and a slip perception unit. The visual perception unit includes a high-resolution RGBD camera for real-time capture and analysis of family members' facial expressions, complexion, body movements, and posture. The voice perception unit includes a microphone array for continuous monitoring of user voice and ambient sounds, identifying specific abnormal sounds such as crying, groaning, coughing, and falling sounds, and performing voice emotion analysis and semantic understanding. The tactile perception unit includes one or more tactile sensors for real-time force monitoring during user palpation and physical intervention. The slip perception unit includes one or more slip sensors for identifying the relative sliding trend or minute displacement between the grasped target and the robot's grasping end, enabling the robot to grasp and manipulate objects more skillfully and safely. The PPG sensing unit includes one or more PPG sensors for monitoring blood flow information at different locations on the user and calculating health data such as heart rate, heart rate variability, blood oxygen, and blood pressure. The temperature sensing unit includes an infrared temperature sensor to assist in monitoring family members' body temperatures. When the temperature exceeds the normal range, an abnormality warning is triggered simultaneously, improving the comprehensiveness of abnormality identification. Optionally, when the multimodal sensing module detects an abnormal signal combination exceeding a preset threshold, the robot's proactive care and diagnostic process is automatically triggered.

[0046] The system described in the above embodiment can comprehensively capture intuitive health information such as the user's external behavioral characteristics, voice characteristics, and body surface temperature through a multimodal perception module. It can also accurately collect core physiological indicators such as heart rate, blood oxygen, and blood flow. Furthermore, it can monitor the force and sliding trend in real time during palpation and physical intervention, thus achieving comprehensive perception of the user's health status. This effectively improves the comprehensiveness, accuracy, and timeliness of health abnormality identification and significantly enhances the perception capability and intelligence level of the active physical diagnosis and treatment system.

[0047] In some embodiments, the intelligent diagnostic module has a built-in diagnostic knowledge base. The intelligent diagnostic module is used to conduct diagnostics based on health-related data and the diagnostic knowledge base. The diagnostic knowledge base is built based on disease diagnosis and treatment guidelines and expert clinical medical experience. The diagnostic knowledge base includes consultation process, palpation standards, diagnostic scoring criteria and corresponding physical intervention plans.

[0048] Specifically, in this embodiment, the intelligent diagnostic module has a pre-built knowledge base for the diagnosis and treatment of common diseases. Based on the standardized consultation process in this knowledge base, targeted consultations can be conducted. Simultaneously, combined with multi-dimensional health-related data collected by the multimodal perception module, the consultation information and health data are accurately matched and analyzed to identify and determine the user's health problems, outputting clear diagnostic results and corresponding physical intervention plans, providing a precise basis for the physical intervention module to execute the intervention plan. Optionally, in this embodiment, the diagnostic knowledge base is constructed based on authoritative disease diagnosis and treatment guidelines and professional physician clinical experience, integrating industry-standardized diagnostic and treatment norms with practical diagnostic experience from frontline clinical practice, effectively ensuring the professionalism, standardization, and authority of the diagnostic results. Optionally, the diagnostic knowledge base also includes palpation standards, diagnostic scoring criteria, and corresponding physical intervention plans, thereby providing full-process professional guidance for intelligent diagnosis and treatment, improving the automation and efficiency of the diagnosis and treatment process.

[0049] For example, this application utilizes a human-computer interaction module to conduct a consultation based on the consultation process in the medical knowledge base, refining the user's symptoms through a series of structured questions. Optionally, the robot can also activate corresponding units in the multimodal perception module according to the health data examination process. For instance, it can use a tactile perception unit to gently touch specific muscle groups to assess tenderness and tension, a temperature perception unit to monitor body temperature, a PPG sensing unit to detect health data such as heart rate, heart rate variability, blood oxygen, and blood pressure, and a visual perception unit to analyze the degree of the user's limb movements to assist in determining the level of pain. Subsequently, based on the consultation information and the collected multimodal health data, a precise match is performed with the medical knowledge base to ultimately determine the most likely type and severity of the user's health problem. Optionally, if the symptoms exceed the scope of the knowledge base or indicate a possible serious illness, it strongly recommends and assists in contacting a doctor.

[0050] The system described in the above embodiment effectively ensures the professionalism, standardization, and authority of the intelligent diagnosis results by constructing a diagnosis and treatment knowledge base based on authoritative disease diagnosis and treatment guidelines and physicians' clinical experience, and by incorporating a consultation process, palpation standards, diagnostic scoring criteria, and physical intervention plans, thereby significantly improving the accuracy and scientific nature of health problem diagnosis.

[0051] In some embodiments, the physical intervention module is used to perform stimulation by one or more physical factors such as force, electricity, sound, heat, light, and magnetism based on the diagnostic results of the intelligent diagnostic module and the physical intervention plan, and to adjust the physical intervention method and physical intervention parameters in real time based on user feedback.

[0052] Specifically, in this embodiment, the physical intervention module determines the corresponding physical intervention strategy based on the accurate diagnostic results output by the intelligent diagnosis module and combined with the user's personal information, such as age, gender, weight, and medical history. It selects one or more suitable physical factors from force, electricity, sound, heat, light, and magnetism to apply targeted physical stimulation to the user's uncomfortable areas, achieving precision and specificity in the physical intervention. Optionally, throughout the physical intervention process, user feedback can be obtained through the human-computer interaction module. Simultaneously, combined with user physiological indicators and behavioral characteristics collected by the multimodal perception module, the current intervention method and parameters are dynamically adjusted until the optimal intervention plan suitable for the user's physical condition is matched. Optionally, all physical intervention parameters in this embodiment, such as massage intensity, electrical stimulation intensity, physiotherapy temperature, and intervention duration, can be adjusted in real time according to the user's experience. The user can manually adjust these parameters via voice or touchscreen to ensure intervention comfort and safety.

[0053] In the system described above, the physical intervention module selects one or more suitable physical factors from force, electricity, sound, heat, light, and magnetism to implement targeted stimulation based on the diagnostic results and the user's personal information, effectively ensuring the accuracy and specificity of the physical intervention. Simultaneously, throughout the intervention process, the intervention method and parameters are dynamically adjusted based on the user's subjective feedback and objective physiological and behavioral data collected by the multimodal perception module. This effectively adapts to individual differences among users and changes in their physical state during the intervention process, improving the actual effect of the physical intervention and the user experience. It achieves personalized and dynamic physical therapy, enhancing the professionalism and intelligence of the active physical therapy system.

[0054] In some embodiments, the physical intervention module supports at least one of the following: The robotic arm intervenes autonomously by carrying physical factor conditioning components to perform physical intervention on the user's target area. Handheld device-assisted intervention: The robot's end effector can be adapted to small household conditioning devices. It uses its end effector gripper or latch to grasp these devices and perform physical intervention on the user's target area. Specifically, in this embodiment, the physical intervention module supports two intervention modes, as follows: (1) Autonomous intervention by robotic arm: The robot is equipped with a multi-degree-of-freedom collaborative robotic arm. The end of the robotic arm can be detachably fitted with physical factor conditioning components, including a dexterous hand, transcutaneous acupoint electrical stimulation electrodes, transcranial magnetic stimulation coils, and infrared therapy heads. In addition, the robot's dexterous hand can also integrate multiple physical factor sensors. Different sensors can be mounted on each finger, such as heat, magnetism, light, and electricity sensor modules. The physical factor generation and regulation modules of magnetism, electricity, heat, and light can apply corresponding physical stimulation to specific locations on the human body to achieve the effect of physical intervention. Based on the various physical factors and corresponding parameter settings in the physical intervention plan, combined with the results of human body modeling and acupoint positioning, the robotic arm can perform precise intervention on specific parts, acupoints, or routes of the user's body. For example, for tension headaches, the dexterous hand can massage the temples and Fengchi acupoints, and the transcutaneous acupoints can electrically stimulate the Jiaji acupoints on the neck.

[0055] (2) Handheld device-assisted intervention: The robot end supports handheld home small conditioning devices, such as massagers and TENS therapy devices. The robot guides users to prepare the device through voice and touch screen. According to the instructions on how to use the device, the robot end borrows external devices to achieve physical intervention.

[0056] The system described in the above embodiment provides two differentiated intervention modes: autonomous intervention by a robotic arm and assisted intervention by a handheld device. These modes can be flexibly switched according to the user's health problem type and scenario needs, thereby effectively covering different levels and types of health conditioning needs in home settings.

[0057] In some embodiments, the physical intervention module further includes a human body modeling unit and a positioning unit. The human body modeling unit is used to perform three-dimensional modeling of the user's body, and the positioning unit is used to determine the target part of the physical intervention based on the three-dimensional model.

[0058] Specifically, in this embodiment, the physical intervention module further includes a human body modeling unit and a positioning unit. Optionally, before physical intervention, the human body modeling unit can create a 3D model of the user, the positioning unit can identify the target intervention area on the 3D model, and the visual servo guides the end effector of the robotic arm to precisely position itself at the physical intervention location. For example, based on instructions issued by the central control module and combined with the acupoint positioning results from the human body modeling and positioning units, the robotic arm can perform precise intervention on specific parts of the user's body, meridians, acupoints, or routes. For example, tension headaches can be treated by massaging the temples and Fengchi acupoints with a dexterous hand, or by transcutaneous electrical stimulation of the Jiaji acupoints on the neck.

[0059] The system described in the above embodiment, by adding a human body modeling unit and a positioning unit to the physical intervention module, achieves three-dimensional modeling of the user's body and accurately identifies the intervention target parts on the three-dimensional model by combining an anatomical knowledge base. This significantly improves the positioning accuracy and targeting of physical intervention, effectively avoids poor intervention effects or misoperation caused by positioning deviations, and ensures the accuracy, professionalism and safety of physical intervention.

[0060] In some embodiments, the robot brain module is also used to store the user's health data, medical records, physical intervention logs and health records, and supports connection to medical platforms for medical guidance and emergency assistance.

[0061] Specifically, in this embodiment, the robot's brain module is also used to store user health data, medical records, intervention logs, and other information, supporting data query and export to provide reference for subsequent treatment and medical care. Optionally, the robot's brain module also supports remote networking and can connect to a family doctor platform, triggering medical guidance or emergency assistance when serious health abnormalities are detected.

[0062] For example, in this embodiment, the robot's brain module integrates an industrial-grade main control chip, memory, storage media, and a professional control system, serving as the core control unit of the entire diagnostic and treatment robot. This enables the connection and coordinated scheduling of various functional modules, completing the entire process of data processing, command issuance, and motion control. Optionally, the robot's brain module includes a built-in knowledge base for the diagnosis and treatment of common diseases. This knowledge base is based on publicly available disease diagnosis and treatment guidelines, standards, and expert consensus, and integrates the rich practical experience of clinicians, providing a professional and standardized basis for diagnostic and treatment work. Based on this, the robot can collect various signals from users through a multimodal perception module, analyze and identify health abnormalities through built-in algorithms, and automatically trigger an autonomous inquiry process. It then matches corresponding diagnostic plans based on user-reported symptoms, scheduling the human-computer interaction module and intelligent diagnostic module to complete a refined diagnosis. Next, based on the diagnostic results, it matches an appropriate physical intervention plan and controls the physical intervention module to implement non-invasive physical therapy. Simultaneously, it stores and manages health data, diagnostic records, and physical intervention logs throughout the entire process, supporting data querying and export. Furthermore, it can remotely connect to a medical platform, promptly triggering medical guidance or assisting with emergency help when serious health abnormalities are detected, forming a complete closed-loop health service system.

[0063] The system described in the above embodiment uses a robot brain module to systematically store and retrieve user health data, examination records, physical intervention logs, and health records, providing users with complete and traceable objective data references for subsequent health management and offline medical treatment. At the same time, relying on remote networking capabilities to connect with medical platforms, it can promptly trigger medical guidance and emergency assistance when serious health abnormalities are detected, thus achieving an effective connection between home-based intelligent diagnosis and treatment and professional medical services.

[0064] In some embodiments, the active physical therapy system also includes a safety protection module for robotic arm safety protection, electrical safety protection, emergency stop operation, and user privacy protection.

[0065] Specifically, in this embodiment, the active physical therapy system also includes a safety protection module to protect the robotic arm, electrical components, and user privacy. Optionally, the robotic arm has a built-in tactile sensor or multi-dimensional force sensor. When the contact force with the human body exceeds a set threshold, it will immediately stop moving and retract, effectively avoiding pressure injury to the human body. Optionally, all electrical components of the physical intervention module, such as electrical stimulation electrodes and therapy heads, are designed with insulation and equipped with leakage protection devices. The operating voltage is controlled within a safe voltage range of ≤36V, thereby effectively eliminating the risk of electric shock. Optionally, an emergency stop button is provided on the side of the robot. If the user feels uncomfortable or experiences a sudden abnormality during the treatment process, they can manually press the button, and the robot will immediately terminate all operations. Optionally, the user can turn the visual perception unit on / off according to their needs. The collected image and voice data are only stored locally and in the bound cloud account, and will not be disclosed to third parties, fully protecting user privacy and security.

[0066] The system described in the above embodiment, by adding a safety protection module, constructs a comprehensive safety protection system from four dimensions: robotic arm safety, electrical safety, emergency operation, and privacy protection. This effectively avoids various safety hazards in home-based, non-professional medical operations and significantly improves the safety and reliability of the system.

[0067] For example, this application also provides an active physical therapy method, including: Controlling the autonomous movement of diagnostic and treatment robots; Interact with users; Collect multi-dimensional health-related data from users; Diagnose user health problems based on multi-dimensional health-related data. Based on the diagnostic results from the intelligent diagnostic module, the corresponding physical intervention plan is implemented.

[0068] The method in this embodiment is similar to the system-side embodiment in terms of its specific implementation process and technical effects. For details, please refer to the detailed description in the system-side embodiment. This application will not repeat the details here.

[0069] For example, this application also provides an active physical therapy method, as follows: (1) Proactive Detection: When the robot is on standby in the living room or performing home services, it detects through the camera that the elderly person is sitting on the sofa, continuously rubbing their right temple with their right hand, their brow furrowed, and their expression pained. At the same time, the microphone captures a low groan. The visual and auditory abnormal signals are combined to trigger a "potential health problem" alarm.

[0070] (2) Proactive care and initial consultation: The robot moved smoothly to the sofa, displayed a concerned expression on the screen, and asked in a gentle voice: "You don't look well, is it a headache?" The old man replied: "Yes, I feel a tight band-like pain in my head." (3) Calling the treatment plan: The system recognizes the keyword "tight headband headache" and initially judges that "tension headache" is more likely. It immediately calls the "tension headache" treatment plan built into the robot brain.

[0071] (4) Execute the intelligent diagnosis module: Based on the diagnosis process of tension headache, start the consultation and multimodal health data diagnosis.

[0072] Consultation: The robot asks questions in sequence: "On average, how many days per month do you experience this pain?" "How long does each headache last?" (to determine the frequency and duration of the headache) "Is the pain on the right side or on both sides?" "What does the headache feel like?" "How severe is the headache?" "Does daily activity worsen the headache?" (to confirm the characteristics of the headache) "Do you feel nauseous or want to vomit when you have a headache?" "Do you experience photophobia or phonophobia when you have a headache?" (to confirm accompanying symptoms) "Does the headache always occur on the same side of your head?" "Is the headache accompanied by red eyes, tearing, or nasal congestion?" "..." (differential diagnosis questions to distinguish it from other types of headaches). The elderly person answers each question. During the robot's questioning, if the elderly person has some inability to describe certain symptoms, appropriate options can be provided, such as options to choose whether the headache feels like pressure, tightness, throbbing, or stabbing pain. This further confirms the diagnosis based on the elderly person's previously described symptoms. During the consultation, the elderly person's score is calculated according to the treatment plan and their answers.

[0073] Palpation: The robot says, "Let me check you out, please relax." Then, it controls the robotic arm (equipped with a flexible tactile sensor at the end) to apply appropriate force (<5N) to the forehead, temples, masseter muscle, pterygoid muscle, sternocleidomastoid muscle, splenius muscle, and trapezius muscle, etc., with slight rotation and fixed pressure. Through force sensor feedback and preset algorithm, it judges the local tenderness score (0-3 points) of each muscle and adds up the tenderness scores of each muscle to obtain the total tenderness score.

[0074] Other modal health data assessment: Based on the PPG sensor unit, monitor health indicators such as heart rate, heart rate variability, blood oxygen and blood pressure, and use the temperature sensing unit to monitor body temperature.

[0075] Health problem assessment: Based on the results of multiple rounds of consultations and the muscle tenderness points found by palpation, the system calculates the scores and combines them with health data from other modalities. The system determines that the elderly person has an 88% match rate for "chronic tension headache" and informs the elderly person of the health problem assessment result through the screen or voice.

[0076] (5) Decision-making and implementation of physical intervention programs: ① Decision-making on physical intervention program: Based on the diagnosis of health problems, a physical intervention program for chronic tension headache is selected from the treatment plan for tension headache. Combined with collected health indicators such as heart rate variability and blood pressure, the action site, action parameters, stimulation cycle, and other parameters in the physical intervention program are adjusted accordingly to generate a physical intervention program suitable for tension headache in the elderly, as follows: Transcutaneous electrical nerve stimulation therapy: Low-frequency current (8Hz) is applied to the temples and back neck muscles on the side of the headache for 30 minutes each time, twice a day, for 7 days.

[0077] Low-energy phototherapy (LLLT): Using near-infrared light (wavelength 980nm), irradiate the painful areas of the head and neck for 5 minutes per area, with a total duration not exceeding 20 minutes, twice a day for 7 days.

[0078] ② Intervention target location localization: The robot uses a visual perception unit to quickly perform a three-dimensional scan and model of the elderly person's head, neck and shoulders in a sitting position. It identifies the temples and back neck muscles on the established model and uses palpation to identify the pain areas in the head and neck.

[0079] ③ Implementation of physical intervention plan: The robot says: "Now I will massage the relevant acupoints and muscles to help relieve the pain. If you feel uncomfortable, please tell me immediately." The robotic arm first moves to the vicinity of the elderly person's temples. Through visual servo fine-tuning, the dexterous hand, equipped with an integrated electrical stimulation module and tactile sensing unit, aligns the fingers with the temples. The robotic brain module then controls the electrical stimulation module to generate an 8Hz current to begin electrical stimulation, gradually increasing the intensity from 0N. Simultaneously, a smiley face icon and an intensity bar are displayed on the screen. When the elderly person says, "Yes, this intensity is quite comfortable," the system sets the intensity at that moment (approximately 25N) as the optimal intervention intensity for that acupoint and maintains it for 2 minutes. The same acupressure electrical stimulation is then applied to the muscles of the back of the neck. Because there are more muscles in the neck than in the temples, the pressure may be slightly higher than 25N, and adjustments are made in real time based on the elderly person's feedback.

[0080] After the electrical stimulation is completed, the fingers of the dexterous hand, which integrates the light stimulation module and the tactile sensing unit, are aimed at the painful area of ​​the head and neck. The robot's brain module controls the light stimulation module to generate near-infrared light with a wavelength of 980nm, and irradiates different areas of the head and neck pain for 5 minutes in sequence, with the total irradiation time controlled within 20 minutes.

[0081] In addition to using the robot's dexterous hand for physical intervention, the robot's dexterous hand can also hold external electrical or light stimulation devices to provide corresponding physical interventions for the elderly. In this case, family members may need to cooperate, such as setting the device parameters and duration. During this process, the force applied to the human body by the robot's handheld treatment device is calculated and monitored in real time by tactile sensors to ensure that the force of the treatment tip of the handheld device in contact with the human body remains stable within a safe range.

[0082] (6) Effect evaluation and follow-up suggestions: After the physical intervention, the robot asked, "Do you feel better now?" The elderly person said, "The tightness in my head is much better, and my shoulders are more relaxed." The robot then gave guidance and suggestions: "Please get up and move your cervical spine, and avoid sitting for long periods of time. If the pain recurs, I can treat you again. If the nature of the pain changes or worsens, please let me know in time." In addition, the robot can also give the user dietary adjustment suggestions via voice: "During headaches, you can drink more warm water, avoid eating spicy and greasy foods, do not look down at your phone for a long time, and look up and move your neck every 30 minutes."

[0083] According to the established intervention plan, intervention is performed twice a day at the time set by the user. After the intervention is completed, the elderly person is asked about the recovery of symptoms by voice. The robot brain records the intervention effect (headache relief, improvement of neck stiffness) and updates the elderly person's health record, including the diagnosis results, intervention plan, intervention parameters and effects.

[0084] If the elderly person reports that their symptoms have not improved, and if the symptoms persist for more than 24 hours, the robot will trigger an alert and push a message to the family member's mobile phone, prompting "The elderly person's headache symptoms have not improved and it is recommended to seek medical attention in time," and providing the address, route and appointment method of nearby hospitals (such as community hospitals or the neurology department of tertiary hospitals), and assisting in calling the hospital's consultation number if necessary.

[0085] In the method described above, the robot can move autonomously and proactively detect abnormalities in a family member's complexion, expression, or behavior through sensors such as vision and hearing. When it hears a family member crying or expressing pain, it proactively inquires if the family member is unwell and what symptoms they are experiencing. If so, it further examines the family member through human-computer interaction based on the corresponding diagnostic plan for the symptoms. For example, if a family member has a headache, it conducts a detailed examination based on the questioning and palpation plan corresponding to headaches, ultimately determining the type of health problem and the appropriate physical intervention plan. Based on the physical intervention plan, the robot performs human body modeling and locates corresponding acupoints. It then uses its robotic arm to perform non-invasive physical interventions on specific parts or routes of the family member's body, such as massage, transcutaneous electrical stimulation of acupoints, transcranial magnetic stimulation, and infrared therapy. This can be done using existing handheld small-scale treatment devices or physical intervention components at the end of the robotic arm. The robot can also guide the family member to adjust their diet or perform specific movements to alleviate symptoms or even achieve therapeutic effects. If necessary, the robot can also guide the family member to seek medical attention.

[0086] This invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the active physical diagnosis and treatment method provided by the above methods. The method includes: controlling the autonomous movement of a diagnosis and treatment robot; interacting with the user; collecting multi-dimensional health-related data of the user; diagnosing the user's health problems based on the multi-dimensional health-related data of the user; and executing a corresponding physical intervention plan based on the diagnosis results of the intelligent diagnosis module.

[0087] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the active physical diagnosis and treatment method provided by the above methods. The method includes: controlling the autonomous movement of a diagnosis and treatment robot; interacting with a user; collecting multi-dimensional health-related data of the user; diagnosing the user's health problems and providing a physical intervention plan based on the user's multi-dimensional health-related data; and executing the corresponding physical intervention plan based on the diagnosis results and physical intervention plan of the intelligent diagnosis module.

[0088] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0089] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An active physical therapy system, characterized in that, This includes the autonomous mobility module, human-computer interaction module, multimodal perception module, intelligent diagnosis module, physical intervention module, and robot brain module mounted on the diagnostic robot; The autonomous movement module is used to control the autonomous movement of the diagnostic and treatment robot; The human-computer interaction module is used for interaction between the diagnostic robot and the user; The multimodal perception module is used to collect multi-dimensional health-related data from users; The intelligent diagnosis module is used to diagnose the user's health problems based on the user's multi-dimensional health-related data and provide corresponding physical intervention plans. The physical intervention module is used to execute the corresponding physical intervention plan based on the diagnostic results and physical intervention plan of the intelligent diagnosis module. The robot's brain module is used to schedule the collaborative work of various modules to conduct health diagnosis and treatment for the user.

2. The active physical therapy system according to claim 1, characterized in that, The multimodal perception module is also used to actively capture users' facial expressions, body movements, and voice information in real time to identify user health abnormalities.

3. The active physical therapy system according to claim 1, characterized in that, The multimodal perception module is also used to collect users' health-related data during and after physical intervention to determine the effectiveness of the physical intervention and optimize the physical intervention plan.

4. The active physical therapy system according to claim 1, characterized in that, The multimodal sensing module includes at least one of the following: Visual sensing unit, voice sensing unit, tactile sensing unit, PPG sensing unit, temperature sensing unit, and slip sensing unit.

5. The active physical therapy system according to claim 1, characterized in that, The intelligent diagnosis module has a built-in diagnosis and treatment knowledge base, which is built based on disease diagnosis and treatment guidelines and expert clinical medical experience. The diagnosis and treatment knowledge base includes consultation process, palpation standards, diagnostic scoring criteria and corresponding physical intervention plans.

6. The active physical therapy system according to any one of claims 1-5, characterized in that, The physical intervention module is used to stimulate one or more physical factors such as force, electricity, sound, heat, light, and magnetism according to the diagnostic results and physical intervention plan of the intelligent diagnosis module, and to adjust the physical intervention method and physical intervention parameters in real time according to user feedback.

7. The active physical therapy system according to claim 6, characterized in that, The physical intervention module supports at least one of the following: The robotic arm intervenes autonomously by carrying physical factor conditioning components to perform physical intervention on the user's target area. Handheld devices assist in intervention. The robot's end effector can be adapted to home conditioning devices, and it can use the end effector gripper or clamp to grasp the home conditioning device to perform physical intervention on the user's target area.

8. The active physical therapy system according to claim 6, characterized in that, The physical intervention module also includes a human body modeling unit and a positioning unit. The human body modeling unit is used to perform three-dimensional modeling of the user's body, and the positioning unit is used to determine the target part of the physical intervention based on the three-dimensional model.

9. The active physical therapy system according to any one of claims 1-5, characterized in that, The active physical therapy system also includes a safety protection module for robotic arm safety protection, electrical safety protection, emergency stop operation, and user privacy protection.

10. An active physical therapy method, characterized in that, The active physical therapy system as described in any one of claims 1-9 includes: Controlling the autonomous movement of diagnostic and treatment robots; Interact with users; Collect multi-dimensional health-related data from users; Based on the user's multi-dimensional health-related data, diagnose the user's health problems and provide corresponding physical intervention plans; Based on the diagnostic results and physical intervention plan from the intelligent diagnostic module, the corresponding physical intervention plan is executed.

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