An intelligent physiotherapy system and method

Abstract

The application discloses an intelligent physiotherapy system and method, and belongs to the physiotherapy technical field; the system is an integrated and intelligent temperature control physiotherapy system which is combined with an infrared thermal imaging module, a silver ion fascia release system, a separate handheld massage rod and a closed-loop precise temperature control, and is mainly suitable for household intelligent rehabilitation physiotherapy, commercial fascia relaxation physiotherapy, local muscle release rehabilitation and the like, and realizes accurate finding of human muscle pain points, comparison of body surface temperature field curative effects before and after physiotherapy, and the like by relying on the infrared thermal imaging, and completes deep muscle fascia release by matching the silver ion fascia release system, maintains safe and stable physiotherapy temperature by cooperating with a temperature control system, and realizes local fine physiotherapy by the handheld massage rod, so as to solve the technical pain points of blind pain point positioning of traditional fascia physiotherapy equipment, no quantitative basis for curative effects, disconnection between temperature control and release action, easy breeding of bacteria of the equipment, and insufficient safety and practicability.

Description

Technical Field

[0001] This invention relates to an intelligent physiotherapy system and method, belonging to the field of physiotherapy technology. Background Technology

[0002] Physical therapy is an important component of modern rehabilitation medicine, using physical agents such as sound, light, electricity, heat, and force to treat diseases, relieve pain, and promote tissue repair. Currently, there are many types of physical therapy equipment on the market, such as ultrasound therapy devices, transcutaneous electrical nerve stimulation (TENS) devices, myofascial release devices, and cold compress devices. However, these existing physical therapy devices generally suffer from limited functionality and low levels of automation.

[0003] Specifically, existing conventional myofascial therapy, massage, and temperature-controlled therapy products generally suffer from several insurmountable technical shortcomings, mainly in the following aspects: First, muscle and myofascial pain points rely entirely on the user's subjective description, lacking objective and visual detection and localization methods. Conventional release equipment cannot achieve targeted and precise operation, resulting in poor therapeutic specificity and low release efficiency. Second, there is a lack of a quantitative evaluation mechanism for therapeutic efficacy. The recovery effects before and after treatment lack intuitive data and image support, making it impossible for users to clearly perceive the improvement in muscle relaxation and blood circulation. Third, infrared thermal imaging technology is only used for basic temperature measurement and is not deeply integrated with myofascial release mechanisms and temperature control modules, resulting in fragmented functions and low levels of intelligence. Fourth, temperature control systems are mostly coarse-grained adjustments, lacking differentiated temperature adaptation logic for different muscle areas. This leads to large temperature fluctuations, easily causing local overheating discomfort or insufficient temperature affecting the release effect, and there is no real-time monitoring capability for the entire temperature range. Fifth, conventional myofascial release equipment is in long-term contact with human skin, lacks antibacterial protection design, and is prone to bacterial growth and odor, resulting in poor hygiene and safety performance. Summary of the Invention

[0004] (a) Technical problems to be solved The technical problem to be solved by this invention is to address the issues of existing myofascial therapy equipment, such as blind pain point localization, lack of quantitative evidence of efficacy, disconnect between temperature control and release movements, susceptibility to bacterial growth, and insufficient safety and practicality.

[0005] (II) Technical Solution To address the aforementioned technical problems, the present invention provides an intelligent physiotherapy system, comprising: Main controller: Used to coordinate and schedule the data acquisition module, heating module, massage therapy execution module and safety protection module, and to perform closed-loop data storage, coordinated linkage and real-time response control; Human-computer interaction module: used to receive the user's physiotherapy parameter settings and operation commands, and transmit the commands to the main controller; Data acquisition module: used to collect real-time status information of the human body's physiotherapy area and transmit the collected data to the main controller for pain point localization; Heating module: Driven by the main controller, it is used to stably control the temperature of the physiotherapy area within a preset temperature range; Massage therapy execution module: It is used to perform massage therapy operations with corresponding intensity and mode on the target area according to the control instructions output by the main controller and the positioning information of the therapy area obtained by the data acquisition module; Safety protection module: Used to monitor the overall operating status of the system in real time. When the temperature exceeds the standard or abnormal operation is detected, it sends an abnormal signal to the main controller and outputs an abnormal alarm signal.

[0006] The main controller enables closed-loop management of the entire process, coordinating and scheduling multiple functional modules including data acquisition, heating, massage, and safety protection. It allows for collaborative response across multiple modules and completes data storage throughout the entire treatment process, ensuring precise and controllable control. The human-computer interaction module supports user-defined parameters to adapt to the treatment needs of different groups. The data acquisition module accurately locates pain points, solving the problem of inaccurate positioning in manual therapy. The heating module achieves closed-loop stable temperature control, preventing burns from excessive heat or insufficient temperature for therapeutic effect. The massage therapy execution module accurately matches intensity and mode based on positioning information, improving the targeted nature of the therapy. The safety protection module monitors the system operation throughout, promptly alarming and shutting down in abnormal situations, providing dual protection for safety from both hardware and software perspectives. The entire system achieves intelligent and automated therapy, solving the problems of traditional manual therapy, such as reliance on technician experience, unstable effects, and insufficient safety.

[0007] Furthermore, the data acquisition module includes an infrared thermal imaging mechanism for scanning thermal imaging data of the human body surface. By incorporating the infrared thermal imaging mechanism to scan thermal imaging data of the human body surface and utilizing the difference in metabolic temperature between the pain point area and normal tissue, non-contact preliminary pain point localization can be achieved. This eliminates the need for users to manually describe the pain location, resulting in more objective and accurate localization. It also improves the efficiency of pre-treatment examinations and reduces reliance on user self-reporting.

[0008] Furthermore, the data acquisition module also includes a contact sensor. Adding a contact sensor to the non-contact positioning based on infrared thermal imaging allows for the acquisition of more refined local physiological information such as fascial tension and force feedback through contact, compensating for the limitation of non-contact infrared imaging in only acquiring surface temperature information. This achieves a dual-layer positioning system of "non-contact initial positioning + contact-based fine positioning," further improving the accuracy of pain point location and providing more reliable data support for subsequent precise massage. Furthermore, the massage therapy execution module includes a myofascial release mechanism, which comprises a control box, a robotic arm, and a massage head. The robotic arm is mounted on the control box, and the massage head is mounted on the robotic arm, enabling it to perform automatic massage therapy. Using a myofascial release mechanism with a robotic arm and massage head can replace manual labor in performing long-term, repetitive myofascial release massage movements, freeing up manpower. Moreover, the robotic arm can accurately reproduce the set massage intensity, angle, and movement trajectory, avoiding the problems of uneven intensity and distorted movements in manual massage, ensuring the stability of the myofascial release therapy effect. Automatic massage also reduces the workload of the therapist.

[0009] Furthermore, the robotic arm is equipped with a connecting seat, and the massage head is equipped with a connecting head, which is detachably connected to the connecting seat. The massage head is detachably connected to the robotic arm's connecting seat via the connecting head. This allows for quick replacement of massage heads of corresponding specifications and shapes according to different treatment areas and user needs, adapting to more treatment scenarios and improving system applicability. It also facilitates the separate removal of the massage head for cleaning and disinfection, reducing the risk of cross-infection. Additionally, if the massage head is damaged, only the massage head needs to be replaced, eliminating the need to replace the entire robotic arm and reducing maintenance costs.

[0010] Furthermore, the massage therapy execution module also includes a massage stick for manual massage therapy. The addition of a manual massage stick in addition to the automatic myofascial release mechanism meets the user's personalized massage needs: for special areas that are difficult for the automated robotic arm to reach, or areas where the user requires additional manual adjustment, the manual massage stick can supplement the therapy, combining the convenience of automated therapy with the flexibility of manual therapy, thus expanding the system's applicability.

[0011] Furthermore, all parts of the massage therapy execution module that come into contact with the human body are coated with a silver ion antibacterial coating. This coating continuously inhibits the growth and reproduction of bacteria and fungi on the contact surfaces, reducing the risk of cross-infection during therapy, improving the hygiene and safety of the system, and also reducing the frequency and difficulty of daily cleaning and disinfection of the parts.

[0012] Furthermore, it also includes a wireless communication module for remote control of user terminals and / or uploading of physiotherapy data. Adding the wireless communication module enables users to remotely control the physiotherapy system via mobile phones, tablets, and other terminals, making parameter adjustments and starting / stopping physiotherapy more convenient. It also supports remote uploading of physiotherapy data, allowing doctors to remotely view the user's physiotherapy process and effects, providing data support for subsequent adjustments to the physiotherapy plan, and facilitating data traceability and health management for home-based physiotherapy.

[0013] Furthermore, it also includes a power module. The system is powered by a combination of 220V AC power and a built-in battery. The power module manages the system's power supply. This dual power supply method, combining 220V AC power and a built-in battery, allows for direct AC power supply during regular, fixed-location use, avoiding frequent charging. When mobile use is required or during power outages, the system can switch to the built-in battery to ensure continuous operation, improving the flexibility and reliability of the system's usage scenarios.

[0014] The present invention also provides a physiotherapy method for the above-described intelligent physiotherapy system, which includes the following steps: S1. Initialization and Pre-treatment Record Establishment Through the human-computer interaction module, the myofascial release mode is selected and the target physiotherapy temperature is set. The main controller completes the self-test and calibration of each module, and collects the initial state information of the human physiotherapy area through the data acquisition module for filing, storage and preliminary location of pain points. The system then enters standby mode. S2, Performing Physiotherapy The physiotherapy begins by heating the treatment area through the heating module. At the same time, the massage physiotherapy execution module performs massage physiotherapy operations with corresponding intensity and mode on the target area according to the control instructions output by the main controller and the positioning information of the treatment area obtained by the data acquisition module. S3, Phased Control ① Heating and Adaptation Stage: The data acquisition module monitors the rate and uniformity of body surface heating in real time, while controlling the massage therapy execution module to perform a low-speed, gentle massage to accelerate the even diffusion of heat and avoid a sudden rise in local temperature; ② Constant temperature therapy stage: After reaching the target therapy temperature, the main controller adjusts the heating module to a low-power constant temperature state, the data acquisition module continuously monitors the steady state of the body surface temperature, and the massage therapy execution module automatically switches to the myofascial release mode selected by the user, accurately targeting the pain points. ③ Dynamic temperature control stage: If the data acquisition module detects that the local temperature is too high, the main controller immediately reduces the heating power of the corresponding area, and the massage therapy execution module automatically slows down the rhythm of the movement to accelerate local heat dissipation; if the temperature is lower than the preset value, the heating power is quickly increased, and the massage therapy execution module assists in heating by providing low-speed and gentle massage. S4. Safety Protection and Physiotherapy Review During physiotherapy, when the temperature exceeds the standard or an abnormal operation is detected, the safety protection module sends an abnormal signal to the main controller and outputs an abnormal alarm signal. After the physiotherapy is completed, the data acquisition module collects the body surface status information again, and the main controller automatically generates a comparison chart of the status information before and after the physiotherapy to complete the quantitative review of the therapeutic effect.

[0015] This phased, controlled physiotherapy method adapts to the different temperature and massage intensity needs of the body's tissues during treatment: the heating phase, combined with gentle massage, accelerates heat diffusion, avoids local burns, and improves the uniformity of heating; the constant temperature phase switches to the formal physiotherapy mode, precisely targeting pain points and ensuring effective relaxation; the dynamic temperature adjustment phase automatically adjusts the heating power and massage rhythm based on real-time monitoring data, always maintaining the temperature within a safe and effective range, achieving dynamic closed-loop control throughout the entire process; after the physiotherapy, before-and-after comparison charts are automatically generated, quantifying the therapeutic effect and allowing users and doctors to intuitively judge the physiotherapy results, review the rationality of the physiotherapy plan, making the overall physiotherapy process more scientific, safer, and with quantifiable and traceable effects.

[0016] (III) Beneficial Effects The above-described technical solution of the present invention has the following advantages: This invention achieves closed-loop management of the entire process through a main controller, coordinating and scheduling multiple functional modules including data acquisition, heating, massage, and safety protection. It enables collaborative response across multiple modules and completes data storage for the entire treatment process, ensuring precise and controllable control. The human-computer interaction module supports user-defined parameters to adapt to the treatment needs of different groups. The data acquisition module enables precise pain point location, solving the problem of inaccurate positioning in manual therapy. The heating module achieves closed-loop stable temperature control, preventing burns from excessive heat or insufficient temperature for therapeutic effect. The massage therapy execution module accurately matches intensity and mode based on positioning information, improving the targeted nature of the therapy. The safety protection module monitors the system operation throughout, promptly alarming and shutting down in abnormal situations, providing dual protection for safety from both hardware and software perspectives. The entire system achieves intelligent and automated therapy, solving the problems of traditional manual therapy, which relies on technician experience, has unstable effects, and lacks safety. After the therapy, before-and-after comparison charts are automatically generated, quantifying the therapeutic effect and allowing users and doctors to intuitively judge the treatment effect, review the rationality of the treatment plan, and make the overall therapy process more scientific and safe, with quantifiable and traceable effects.

[0017] In addition to the technical problems solved by the present invention, the technical features of the technical solutions constituted by the present invention, and the advantages brought about by the technical features of these technical solutions as described above, other technical features of the present invention and the advantages brought about by these technical features will be further explained in conjunction with the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is a schematic diagram of the structural block of the physiotherapy system of the present invention.

[0020] Figure 2 This is a schematic diagram of the infrared thermal imaging mechanism of the present invention.

[0021] Figure 3 This is a schematic diagram of the myofascial release mechanism of the present invention (without the massage head installed).

[0022] Figure 4 This is a schematic diagram of the connector of the present invention.

[0023] Figure 5 This is a schematic diagram of the connector with a massage head according to the present invention.

[0024] Figure 6 This is a schematic diagram of the massage stick (and its various matching massage heads) of the present invention.

[0025] In the diagram: 1. Infrared thermal imaging mechanism; 2. Fascial release mechanism; 3. Control box; 4. Robotic arm; 5. Massage head; 6. Connector; 7. Connector head; 8. Massage stick; 9. Slot; 10. Card slot; 11. Telescopic plug; 12. Insert block. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] Example 1 like Figure 1-6 As shown, an intelligent physiotherapy system includes: Main controller: Used to coordinate and schedule the wireless communication module, power supply module, data acquisition module, heating module, massage therapy execution module, and safety protection module, performing closed-loop data storage, coordinated linkage, and real-time response control. The main controller can be, for example, an embedded MCU (microcontroller), using existing technology. The main controller has a built-in adaptive PID temperature control algorithm (using existing technology), possessing functions for overall system data coordination, command issuance, linkage control, data storage, and safety protection. It serves as the control core of the entire system, achieving full-domain temperature control and multi-module collaborative scheduling.

[0029] Human-computer interaction module: This module receives the user's physiotherapy parameter settings and operation commands, and transmits these commands to the main controller. For example, it can be a combination of a touchscreen and buttons.

[0030] Data acquisition module: Used to collect real-time status information (especially temperature data) of the human body's physiotherapy area and transmit the collected data to the main controller for pain point localization; the data acquisition module includes an infrared thermal imaging mechanism 1, used to scan the human body surface for thermal imaging data, with an infrared thermal imaging temperature measurement accuracy of ±0.1℃. The non-contact infrared thermal imaging mechanism 1 is existing technology, such as... Figure 2 As shown, it generally includes an infrared imaging display screen, a camera, and an adjustable support arm, with an effective imaging distance of 0.3m-3m. It has no heating function and possesses two core technological functions: first, by scanning the temperature distribution on the human body surface, it identifies pain points such as muscle tension, fascial adhesions, and cold-dampness accumulation based on temperature differences and locates their coordinates (the specific pain point identification method can be that staff identify pain points based on thermal imaging maps or that the main controller identifies and calculates them). For automatic identification through the main controller, the specific process could be as follows: the main controller uses a multi-level fusion identification strategy of temperature threshold, machine vision algorithm, and lightweight AI model to achieve automated identification of abnormal pain points in thermal imaging. The system first analyzes the original temperature matrix output by the thermal imager, and through dual rules of absolute temperature threshold and relative temperature difference threshold, batch-screens pixel areas with abnormal temperatures to complete coarse detection; then, it calls image algorithms such as morphological processing, edge detection, and region feature extraction to denoise the candidate areas, segment connected components, analyze morphology and temperature gradients, and filter out invalid interference such as light and shadow and environmental heat sources; finally, the processed feature image is input into the embedded AI. The inference model, combined with fault characteristics learned from massive samples, completes anomaly type identification and confidence assessment, accurately pinpointing various pain points such as equipment overheating, leakage, and defects (it can also locate pain points based on previously collected database case models), replacing subjective pain point judgment; secondly, it can collect thermal imaging data of the body surface before and after physiotherapy, automatically generating comparison maps (existing infrared thermal imaging mechanisms 1 can automatically generate comparison maps), realizing visualized and quantitative comparison of physiotherapy efficacy. The data acquisition module also includes a contact sensor (not shown in the attached diagram).

[0031] Heating Module: Driven by the main controller (or manually adjusted by moving the moxibustion head), this module stabilizes the temperature of the treatment area within a preset range. It achieves closed-loop precise temperature control, keeping temperature fluctuations within ±0.2℃, and possesses both constant temperature maintenance and abnormal temperature adjustment capabilities. This heating module is a device with multiple moxibustion heads, where moxibustion generates heat. Temperature control is achieved by adjusting the position of the moxibustion heads. Heating module temperature control parameters: Temperature adjustment range 35℃-55℃, default comfortable treatment temperature 42℃ (can be detected and determined using existing technologies such as temperature sensors), steady-state accuracy ±0.2℃, heating time ≤3 minutes.

[0032] Massage therapy execution module: Based on control commands output by the main controller and combined with the therapy area positioning information (pain point coordinates transmitted by infrared thermal imaging) obtained by the data acquisition module, this module performs massage therapy operations of corresponding intensity and mode on the target area, achieving targeted automatic myofascial release. The release action is synchronized and adapted with the heating module. The massage therapy execution module includes a myofascial release mechanism 2 (existing technology, which can be directly adopted), such as... Figure 3 As shown, the myofascial release mechanism 2 (existing technology) includes a control box 3, a multi-degree-of-freedom robotic arm 4, and a massage head 5 (capable of high-frequency vibration release). The robotic arm 4 is mounted on the control box 3, and the massage head 5 is mounted on the robotic arm 4 and can be driven to perform automatic massage therapy. A connecting seat 6 is provided on the robotic arm 4, and a connecting head 7 is provided on the massage head 5. The connecting head 7 and the connecting seat 6 are detachably connected. Specifically, the connecting seat 6 is symmetrically provided with slots 9, and slots 10 are respectively provided on both sides of the slots 9. The connecting head 7 is symmetrically provided with telescopic plugs 11. The telescopic plugs 11 are connected to the connecting head 7 by springs (not shown in the attached drawings). When the telescopic plugs 11 are subjected to force, they can retract into the connecting head 7, and when the force is removed, they can pop out. Insert blocks 12 are respectively provided on both sides of the telescopic plugs 11. When the telescopic plugs 11 are subjected to force and retract into the connecting head 7, the insert blocks 12 also retract into the connecting head 7. When the telescopic plugs 11 pop out of the connecting head 7, the insert blocks 12 pop out of the connecting head 7. During installation, the telescopic plugs 11 are pressed by hand to align the connecting seat 6 with the connecting head 7, and then the telescopic plugs 11 are released, causing them to lock into the slots 9. At this time, the insert blocks 12 are inserted into the slots 10, thereby realizing the quick replacement and disassembly of the massage head 5 and the robotic arm 4. The massage therapy execution module also includes a massage stick 8, such as... Figure 6As shown, it can be equipped with various replaceable massage heads for manual massage therapy. All parts of the massage therapy execution module that come into contact with the human body are coated with a silver ion antibacterial coating. The massage stick 8 is a dual-mode handheld massage stick 8 (dual-mode means that the usage mode includes manual or automatic), and can be equipped with the connector 7 described below (simply set the sleeve and lock the bolt for fixation), so that it can be mounted on the mechanical arm 4 of the myofascial release mechanism 2. It has two working modes: independent manual mode can be operated by hand to achieve local fine massage; with automatic mode, it can be directly fixed to the mechanical arm 4 of the silver ion myofascial release mechanism 2 (only one of the massage head 5 and massage stick 8 can be installed on the mechanical arm 4 at the same time), and runs synchronously with the mechanical arm 4 without manual operation.

[0033] Safety protection module: Used to monitor the overall operating status of the system in real time. When the temperature exceeds the standard or abnormal operation is detected, it sends an abnormal signal to the main controller and outputs an abnormal alarm signal.

[0034] The wireless communication module is used to enable remote control of the user terminal and / or uploading of physiotherapy data.

[0035] The power module is used to manage the power supply of the system. The system is powered by a combination of 220V AC power supply and built-in battery (power outage life ≥60 minutes).

[0036] This innovative system deeply integrates four core components: infrared thermal imaging, a heating module (precise closed-loop temperature control unit), a silver ion myofascial release mechanism 2, and a handheld massage stick 8. It establishes a comprehensive intelligent physiotherapy system encompassing "infrared thermal imaging for record-keeping and detection - intelligent pain point identification and positioning - closed-loop temperature control for safety - targeted myofascial release therapy - before-and-after efficacy comparison and review." Infrared thermal imaging objectively captures differences in body surface temperature distribution, precisely locating pain points such as muscle tension, myofascial adhesions, and cold-dampness accumulation. The heating module maintains a stable therapeutic temperature suitable for the human body. The silver ion myofascial release mechanism 2 performs deep, sterile release, while the massage stick 8 addresses local blind spots. Finally, the system quantifies the rehabilitation effect through before-and-after thermal imaging comparisons. Simultaneously, the silver ion material achieves long-lasting antibacterial effects, filling a technological gap in the physiotherapy industry for integrated intelligent targeted therapy, efficacy visualization, and hygiene protection.

[0037] This system provides a safe, comfortable, and efficient integrated intelligent temperature control therapy solution. It collects real-time data on skin temperature, muscle tension, and contact pressure using multimodal sensors (i.e., in addition to the temperature sensor mentioned earlier, a pressure sensor is also needed; for example, the robotic arm 4 connected to the massage head 5 could be a torque-sensing support arm, which can be implemented using existing technology). This data is dynamically fed back to the main controller, allowing the system to respond in milliseconds and coordinately adjust the massage frequency and heat application temperature gradient (heat application temperature adjustment is achieved through the use of moxibustion heads). It supports independent temperature control for different areas (i.e., using different moxibustion heads for zoned temperature control) and one-click access to personalized scene modes (allowing for the detachable snap-on massage head 5 to target different body parts), significantly improving the accuracy of the therapy and user compliance.

[0038] More specifically, the silver ion myofascial release mechanism 2 can be set with 16 myofascial release modes (myofascial release mode, joint release mode, muscle release mode, facial release mode, limb release mode, massage therapy mode, acupressure therapy mode, rubbing therapy mode, flaccid paralysis mode, arthralgia mode, tendon injury mode, meridian mode, Ashi point mode, Ren and Du meridian mode, neurological rehabilitation mode, and sleep disorder mode), 10 levels of intensity adjustment (i.e., divided into 1 to 10 levels according to the intensity), the silver ion coating has an antibacterial rate of ≥99%, and the robotic arm 4 has a movement positioning accuracy of ≤1cm.

[0039] Example 2 This embodiment provides a physiotherapy method using the intelligent physiotherapy system described in the above embodiments. This physiotherapy method adopts a closed-loop working logic of infrared imaging record-pain point location-temperature control calculation-linked release-effect review. The four core modules of temperature control function, infrared thermal imaging, silver ion myofascial release mechanism 2, and massage stick 8 are seamlessly linked, and specifically include the following steps: S1. Initialization and Pre-treatment Record Establishment The patient lies within the appropriate treatment area of ​​the system and, through the human-computer interaction module, selects one of the following modes: myofascial release (myofascial release, joint release, muscle release, facial release, limb release, massage therapy, acupressure therapy, rubbing therapy, flaccid paralysis, arthralgia, muscle injury, meridian, ashi point, Ren and Du meridians, neurorehabilitation, or sleep disorder; each mode can be used for pain relief, improving local blood circulation, promoting inflammation resolution, softening scars, loosening adhesions, and promoting sleep, etc.), sets the target treatment temperature, and activates the infrared thermal imaging function of the data acquisition module. Simultaneously, the massage stick 8's working mode is selected. After receiving the instructions from the human-computer interaction module, the main controller completes self-checks and calibrations of each module and collects initial state information of the human treatment area through the data acquisition module. This primarily involves the infrared thermal imaging mechanism 1 scanning the human treatment area and collecting basic thermal imaging data for archiving and storage, performing archiving and storage, and initial pain point localization. The system then enters standby mode. S2, Performing Physiotherapy The physiotherapy begins by heating the treatment area via a heating module. Simultaneously, the massage therapy execution module, based on control commands output from the main controller and combined with the treatment area positioning information obtained from the data acquisition module, performs massage therapy operations with corresponding intensity and mode on the target area. Specifically, the infrared thermal imaging mechanism 1 transmits real-time body surface temperature data across the entire body, while contact sensors simultaneously collect the contact temperature of the massage head 5 and massage stick 8 of the myofascial release mechanism 2, as well as the ambient temperature (the contact sensors are ordinary temperature sensors, which can be installed on the massage head 5, massage stick 8, and the surrounding environment using existing technology). This multi-source temperature data is transmitted at high speed to the main controller. The main controller, using an adaptive PID algorithm (implemented using existing technology), compares the real-time temperature with the target temperature, calculates the temperature deviation, and, combined with pain point positioning data, dynamically adjusts the heating power of the heating module and the release and massage parameters of the massage therapy execution module to avoid temperature overshoot and large fluctuations, ensuring that the temperature remains stable within the preset range.

[0040] S3, Phased Control ① Heating and Adaptation Stage: The infrared thermal imaging mechanism 1 of the data acquisition module monitors the temperature rise rate and uniformity of the body surface in real time, while controlling the myofascial release mechanism 2 of the massage therapy execution module to perform a slow and gentle massage, accelerating the uniform diffusion of heat and avoiding a sudden rise in local temperature; if the massage stick 8 is in automatic mode, it will synchronously follow the system to start low-frequency linkage massage (manually activated); if it is in independent manual mode, the low-frequency massage can be manually activated. Both modes can promote local blood circulation. ② Constant Temperature Therapy Stage: After reaching the target therapy temperature, the main controller adjusts the heating module to a low-power constant temperature state (for example, the moxibustion head can be installed on a robotic arm 4 that can control its rotation and lifting, and temperature control can be achieved by controlling the position of the moxibustion head; the existing robotic arm 4 structure can be used; or it can be achieved by using a device that can control the degree of burning of the moxibustion head, such as controlling the air supply to the burning position of the moxibustion head). The data acquisition module continuously monitors the steady state of the body surface temperature, and the myofascial release mechanism 2 of the massage therapy execution module automatically switches to the myofascial release mode selected by the user, accurately acting on the pain points; the massage stick 8 can select the usage mode according to needs. In automatic mode, it is installed on the myofascial release mechanism 2 and follows the system to synchronously strengthen local release. In manual mode, it is manually operated to autonomously target and press to assist the therapy. Constant temperature combined with targeted release maximizes the muscle and myofascial relaxation effect; ③ Dynamic temperature control stage: If the data acquisition module detects that the local temperature is too high, the main controller immediately reduces the heating power of the corresponding area (moxibustion is temperature adjustable (existing technology) to achieve regional temperature control), and the massage therapy execution module automatically slows down the rhythm of the movements to accelerate local heat dissipation; if the temperature is lower than the preset value, the heating power is quickly increased, and the massage therapy execution module assists in heating with low-speed gentle massage; the constant temperature therapy state is maintained throughout the process, and the dual-mode massage sticks 8 respond synchronously to the temperature control command (manual operation is required to respond) to ensure temperature stability.

[0041] S4. Safety Protection and Physiotherapy Review During physiotherapy, the system continuously collects temperature data in a loop, corrects heating and loosening parameters in real time, and forms a closed-loop control. When the temperature exceeds the limit, the sensor fails, or the equipment operates abnormally, the safety protection module sends an abnormal signal to the main controller, outputs an abnormal alarm signal, and immediately activates the emergency protection program to ensure safety in all aspects. After physiotherapy, the infrared thermal imaging mechanism 1 of the data acquisition module collects the body surface temperature status information again after physiotherapy. The main controller automatically generates a comparison chart of the status information before and after physiotherapy to complete the quantitative review of the therapeutic effect.

[0042] This application follows a closed-loop working logic of "pre-treatment record establishment and positioning - dual-mode temperature measurement and calculation - constant temperature linkage physiotherapy - dynamic temperature adjustment and protection - post-treatment efficacy review," with four major modules—temperature control, relaxation, massage, and imaging—working in tandem to achieve fully automated operation. It can achieve: 1. Precise pain point localization, say goodbye to blind physical therapy: Relying on infrared thermal imaging for full-range temperature measurement, it objectively identifies muscle pain points and fascial adhesion sites, replacing subjective judgment, achieving targeted release, and greatly improving the efficiency of physical therapy.

[0043] 2. Visualized therapeutic effects and quantifiable rehabilitation results: Comparison of thermal imaging maps before and after physiotherapy intuitively shows the temperature rise and improvement in blood circulation, making the therapeutic effect clearly visible and increasing user satisfaction.

[0044] 3. Precise and stable temperature control for more comfortable physiotherapy: Dual redundant temperature measurement + adaptive PID algorithm, temperature fluctuation is controlled within ±0.2℃, with no local overheating problem, adapting to the human muscle tolerance temperature, maximizing comfort.

[0045] 4. Enhanced hygiene and safety with long-lasting antibacterial effect: The silver ion antibacterial coating on the contact parts effectively inhibits bacterial growth, solving the hygiene hazards of traditional physiotherapy equipment and making it suitable for repeated use in both home and commercial settings.

[0046] 5. Flexible usage modes and wider scenario adaptation: The dual-mode handheld massager supports independent manual fine operation, and can also be equipped with a myofascial release system to achieve automatic linkage release. It takes into account multiple scenarios such as single-person manual care and automatic physiotherapy for the whole family. It can be combined with large-area full-body release and local blind spot care to meet the needs of all parts such as shoulders, neck, waist, back, and joints.

[0047] 6. High level of intelligence and easy operation: Supports local and remote dual control, automatic positioning, automatic temperature control, automatic recount, and multiple safety protections, making it safe for the elderly and children to use.

[0048] Furthermore, in the description of the invention, unless otherwise stated, the use of terms such as “center,” “upper,” “lower,” “left,” “right,” “vertical,” “horizontal,” “inner,” and “outer” to indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings is merely for the convenience of describing the invention and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0049] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An intelligent physiotherapy system, characterized in that, include: Main controller: Used to coordinate and schedule the data acquisition module, heating module, massage therapy execution module and safety protection module, and to perform closed-loop data storage, coordinated linkage and real-time response control; Human-computer interaction module: used to receive the user's physiotherapy parameter settings and operation commands, and transmit the commands to the main controller; Data acquisition module: used to collect real-time status information of the human body's physiotherapy area and transmit the collected data to the main controller for pain point localization; Heating module: Driven by the main controller, it is used to stably control the temperature of the physiotherapy area within a preset temperature range; Massage therapy execution module: It is used to perform massage therapy operations with corresponding intensity and mode on the target area according to the control instructions output by the main controller and the positioning information of the therapy area obtained by the data acquisition module; Safety protection module: Used to monitor the overall operating status of the system in real time. When the temperature exceeds the standard or abnormal operation is detected, it sends an abnormal signal to the main controller and outputs an abnormal alarm signal.

2. The intelligent physiotherapy system according to claim 1, characterized in that: The data acquisition module includes an infrared thermal imaging mechanism for scanning thermal imaging data of the human body surface.

3. The intelligent physiotherapy system according to claim 2, characterized in that: The data acquisition module also includes a contact sensor.

4. The intelligent physiotherapy system according to claim 3, characterized in that: The massage therapy execution module includes a myofascial release mechanism, which includes a control box, a robotic arm, and a massage head. The control box is equipped with the robotic arm, and the robotic arm is equipped with the massage head, which can drive the robotic arm to perform automatic massage therapy.

5. The intelligent physiotherapy system according to claim 4, characterized in that: The robotic arm is equipped with a connecting seat, and the massage head is equipped with a connecting head, which is detachably connected to the connecting seat.

6. The intelligent physiotherapy system according to claim 5, characterized in that: The massage therapy execution module also includes a massage stick for manual massage therapy.

7. The intelligent physiotherapy system according to claim 6, characterized in that: All parts of the massage therapy execution module that come into contact with the human body are coated with a silver ion antibacterial coating.

8. The intelligent physiotherapy system according to claim 7, characterized in that: It also includes a wireless communication module for enabling remote control of the user terminal and / or uploading of physiotherapy data.

9. The intelligent physiotherapy system according to claim 8, characterized in that: It also includes a power module. The system is powered by a combination of 220V AC power and a built-in battery. The power module is used to manage the power supply of the system.

10. A physiotherapy method using an intelligent physiotherapy system according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Initialization and Pre-treatment Record Establishment Through the human-computer interaction module, the myofascial release mode is selected and the target physiotherapy temperature is set. The main controller completes the self-test and calibration of each module, and collects the initial state information of the human physiotherapy area through the data acquisition module for filing, storage and preliminary location of pain points. The system then enters standby mode. S2, Performing Physiotherapy The physiotherapy begins by heating the treatment area through the heating module. At the same time, the massage physiotherapy execution module performs massage physiotherapy operations with corresponding intensity and mode on the target area according to the control instructions output by the main controller and the positioning information of the treatment area obtained by the data acquisition module. S3, Phased Control ① Heating and Adaptation Stage: The data acquisition module monitors the rate and uniformity of body surface heating in real time, while controlling the massage therapy execution module to perform a low-speed, gentle massage to accelerate the even diffusion of heat and avoid a sudden rise in local temperature; ② Constant temperature therapy stage: After reaching the target therapy temperature, the main controller adjusts the heating module to a low-power constant temperature state, the data acquisition module continuously monitors the steady state of the body surface temperature, and the massage therapy execution module automatically switches to the myofascial release mode selected by the user, accurately targeting the pain points. ③ Dynamic temperature control stage: If the data acquisition module detects that the local temperature is too high, the main controller immediately reduces the heating power of the corresponding area, and the massage therapy execution module automatically slows down the rhythm of the movement to accelerate local heat dissipation; if the temperature is lower than the preset value, the heating power is quickly increased, and the massage therapy execution module assists in heating by providing low-speed and gentle massage. S4. Safety Protection and Physiotherapy Review During physiotherapy, when the temperature exceeds the standard or an abnormal operation is detected, the safety protection module sends an abnormal signal to the main controller and outputs an abnormal alarm signal. After the physiotherapy is completed, the data acquisition module collects the body surface status information again, and the main controller automatically generates a comparison chart of the status information before and after the physiotherapy to complete the quantitative review of the therapeutic effect.

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