Fire dragon jar robot rehabilitation physiotherapy system

Abstract

The application discloses a kind of fire dragon jar robot rehabilitation physiotherapy system, including physical execution unit, information perception unit, information fusion and state research unit, strategy generation and scheduling unit, safety monitoring unit and data record and evolution unit.Information perception unit includes visual perception subunit, force perception subunit, heat perception subunit, distance perception subunit and physiological signal perception subunit, information fusion and state research unit carries out layered fusion processing to multi-source heterogeneous information, generates real-time state label, strategy generation and scheduling unit is built into physiotherapy base element library, safety monitoring unit carries out safety risk assessment based on multi-physical quantity joint discrimination rule and executes hierarchical response, data record and evolution unit are used to record the data of previous physiotherapy process, extract curative effect characteristic vector and update individualized physiotherapy parameter baseline.The application realizes the integration of heat force cooperation, state perception and adaptive control in fire dragon jar physiotherapy process.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation therapy, and more specifically, to a fire dragon cup robot rehabilitation therapy system. Background Technology

[0002] Fire Dragon Cupping Therapy is an important component of external treatment methods in Traditional Chinese Medicine. It combines the heat radiation effect of moxibustion with the mechanical effect of massage, possessing multiple benefits such as warming the meridians and dispelling cold, promoting blood circulation and removing blood stasis, and loosening adhesions. It has unique advantages in the rehabilitation and physiotherapy of cervical spondylosis, lumbar muscle strain, and frozen shoulder. Traditional Fire Dragon Cupping therapy relies entirely on manual operation, requiring a high level of skill, experience, physical strength, and concentration from the practitioner, and it is difficult to guarantee the consistency and repeatability of treatment.

[0003] In recent years, with the development of robotics and artificial intelligence, TCM physiotherapy robots have become a research hotspot. However, most existing systems simply assemble moxibustion and massage functions as independent modules, without considering the organic coordination of heat therapy and force therapy in terms of timing and intensity at the system level. Furthermore, the fusion and utilization of multi-source sensor information is insufficient. Although some existing systems are equipped with multiple sensors, various signals are mostly used independently or triggered by simple thresholds in control decisions. There is a lack of a systematic method for hierarchically fusing multi-source heterogeneous information to support intelligent decision-making, as well as a lack of dynamic control mechanisms based on real-time status feedback. The control logic of existing systems is mostly based on preset timing control, which cannot adaptively adjust the treatment strategy according to the real-time changes in the patient's tissue status during physiotherapy. There is also a lack of cross-treatment data recording and parameter evolution mechanisms. The "intelligence" of existing systems is limited to closed-loop control within a single treatment, and the efficacy data of each physiotherapy session is not incorporated into the optimization basis for subsequent treatments.

[0004] Therefore, it is necessary to make further improvements to the existing Huolongguan robot rehabilitation therapy system. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the object of this invention is to propose a "Fire Dragon Jar" robotic rehabilitation therapy system.

[0006] To achieve the above objectives, the Huolongguan Robot Rehabilitation Therapy System according to an embodiment of the present invention includes: a physical execution unit, an information perception unit, an information fusion and state judgment unit, a strategy generation and scheduling unit, a safety monitoring unit, and a data recording and evolution unit.

[0007] The physical execution unit is used to carry the fire dragon cupping device and output thermal radiation and mechanical force to the treatment area according to the control command.

[0008] The information sensing unit includes a visual sensing subunit, a force sensing subunit, a thermal sensing subunit, a distance sensing subunit, and a physiological signal sensing subunit, which are used to collect visual images and thermal field distribution of the treatment area, contact force between the fire dragon cupping device and the skin, local temperature and temperature distribution of the skin surface, distance and relative posture between the device and the skin surface, and the patient's physiological signals, respectively.

[0009] The information fusion and status assessment unit is used to perform hierarchical fusion processing on the multi-source heterogeneous information collected by the information sensing unit to generate real-time status labels that characterize the tissue status of the treatment area and the patient's response status.

[0010] The strategy generation and scheduling unit has a built-in physical therapy primitive library. It triggers the execution of the corresponding physical therapy primitive based on the current state label and dynamically adjusts the subsequent primitive sequence when the state label undergoes a predetermined change.

[0011] The safety monitoring unit conducts a safety risk assessment of the entire physiotherapy process based on the joint discrimination rules of multiple physical quantities, and performs graded response operations according to the risk level.

[0012] The data recording and evolution unit is used to record data from each physiotherapy session, extract therapeutic effect feature vectors, and update the baseline of individualized physiotherapy parameters accordingly.

[0013] In addition, the Huolongguan robotic rehabilitation therapy system according to the above embodiments of the present invention may also have the following additional technical features: According to one embodiment of the present invention, the visual perception subunit includes a color camera and an infrared thermal imaging camera.

[0014] A color camera is used to acquire visible light images of the treatment area for three-dimensional reconstruction of the human body surface and acupoint location.

[0015] Infrared thermal imaging cameras are used to acquire images of the thermal field distribution in the treatment area for assessing local blood circulation and heat conduction uniformity. The color camera and the infrared thermal imaging camera acquire data synchronously in time and are calibrated and registered to the same coordinate system in space.

[0016] According to one embodiment of the present invention, the force sensing subunit includes a normal force sensor and a tangential force sensor.

[0017] The normal force sensor is used to measure the vertical pressure applied to the skin surface by the actuation device of the fire dragon cup.

[0018] Tangential force sensors are used to measure the frictional and shear forces when the Huolongguan (a traditional Chinese medicine) device slides along the skin surface.

[0019] The normal force sensor and the tangential force sensor together output the three-dimensional contact force state between the Huolongguan actuation device and the skin.

[0020] According to one embodiment of the present invention, the thermal sensing subunit includes a multi-point temperature sensor array distributed on the skin-proximal side of the fire dragon cupping device, for real-time measurement of the temperature and temperature distribution at different locations on the skin surface of the treatment area.

[0021] According to one embodiment of the present invention, the distance sensing subunit includes a laser ranging sensor array installed on the edge or bottom of the fire dragon cupping device. The laser ranging sensors are no less than three and are not collinearly distributed, and are used to measure the distance between the fire dragon cupping device and multiple points on the skin surface in real time, thereby calculating the spatial height and tilt posture of the device relative to the skin surface.

[0022] According to one embodiment of the present invention, the physiological signal sensing subunit includes a heart rate sensor and a body motion sensor.

[0023] Heart rate sensors are used to collect patient heart rate and heart rate variability data for assessing tolerance levels and emotional states.

[0024] Body motion sensors are used to collect micro-movements or body motion signals of a patient's limbs for the detection of defensive actions.

[0025] According to one embodiment of the present invention, the information fusion and state assessment unit includes a low-level rapid fusion subunit and a high-level semantic fusion subunit.

[0026] The low-level fast fusion subunit is used to synchronize and rapidly fuse multi-source sensing data on the time axis, and output fused data stream to support real-time control.

[0027] The high-level semantic fusion subunit is used to further combine the fused data stream output by the low-level fast fusion subunit with the patient's physiological signals for comprehensive analysis, and output the state label with decision semantics.

[0028] The status labels include at least a first type of status label characterizing the thermal state of the treatment area, a second type of status label characterizing the tissue mechanical state of the treatment area, a third type of status label characterizing the patient's tolerance level, and a fourth type of status label characterizing the stage of the treatment process.

[0029] According to one embodiment of the present invention, the basic types included in the physiotherapy basic library include at least fixed moxibustion basic, rotary moxibustion basic, sparrow-pecking moxibustion basic, kneading basic, pushing basic, pressing basic, point-pointing basic and rubbing basic; each basic is associated with a triggering condition and a subsequent jump rule, wherein the triggering condition is defined based on the status label.

[0030] According to one embodiment of the present invention, the strategy generation and scheduling unit organizes a single complete physiotherapy session into a three-layer structure: a strategy layer, a treatment course layer, and a primitive layer, wherein: The strategy layer defines the overall goals and constraints of physical therapy; The treatment layer breaks down the overall goal into treatment phases with a logical sequence. The primitive layer configures specific physical therapy primitives for each treatment stage and the triggering and jump conditions between primitives; The three-layer structure of strategy layer, treatment course layer and basic element layer is dynamically adjusted according to the changes in the status labels during the physiotherapy process.

[0031] According to one embodiment of the present invention, the multi-physical quantity joint discrimination rule adopted by the safety monitoring unit is as follows: multiple physical quantities, including at least contact force and thermal radiation intensity, are monitored in combination. When the combined state of each physical quantity exceeds the predetermined safety envelope range, even if each individual physical quantity does not exceed its respective single threshold limit, the system still determines that there is a safety risk and executes intervention measures corresponding to the risk level.

[0032] The Fire Dragon Cupping Robotic Rehabilitation Therapy System provided by this invention ensures the synergistic effect of thermal action in Fire Dragon Cupping therapy by scheduling thermal radiation and mechanical force output with unified commands from the execution end. The information sensing unit is configured with five sub-units: visual perception, force perception, thermal perception, distance perception, and physiological signal perception. It synchronously collects multi-dimensional information and submits it to the information fusion and state judgment unit for hierarchical processing, generating state labels reflecting tissue state and the patient's real-time response. The strategy generation and scheduling unit uses these labels as trigger signals to call corresponding techniques from the built-in physiotherapy primitive library and dynamically adjusts the execution sequence according to state changes, no longer relying on pre-fixed time programs. The safety monitoring unit comprehensively judges multiple physical quantities such as contact force and thermal radiation, and can detect risk situations where a single indicator is normal but the combination is abnormal, and respond in a graded manner. The data recording and evolution unit extracts therapeutic features from each treatment and updates the parameter baseline, ensuring that the treatment strategy continuously converges to the individualized optimal configuration in subsequent treatment sessions. The above-mentioned links are connected in a closed loop of perception-fusion-decision-execution-feedback, which enables the system to form an overall capability in terms of responsiveness, strategy adaptability, comprehensive risk protection and cross-treatment self-optimization, providing a feasible system solution for the standardized operation and intelligent promotion of the Fire Dragon Cupping Therapy.

[0033] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0034] 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 the structures shown in these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of the information sensing unit in an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the information fusion and state assessment unit in an embodiment of the present invention; Figure 4 This is a schematic diagram of the overall structure of the physiotherapy element library in an embodiment of the present invention.

[0036] Icon labels: Physical execution unit 10; Information sensing unit 20; Visual perception subunit 21; Color camera 211; Infrared thermal imaging camera 212; Force perception subunit 22; Normal force sensor 221; Tangential force sensor 222; Thermal sensing subunit 23; Multi-point temperature sensor array 231; Distance sensing subunit 24; Laser rangefinder sensor array 241; Physiological signal sensing subunit 25; Heart rate sensor 251; Body motion sensor 252; Information fusion and status assessment unit 30; Status label 31; First type of status label 311; Second type of status label 312; Third category status label 313; The fourth type of status label is 314; Low-level rapid fusion subunit 32; High-level semantic fusion subunit 33; Strategy generation and scheduling unit 40; Physiotherapy Element Library 41; Fixed Moxibustion Element 411; Rotary Moxibustion Element 412; Sparrow-pecking moxibustion element 413; Kneading method primitive 414; Inference primitive 415; According to the legal unit 416; Dot method primitive 417; Mofa Basic 418; Security monitoring unit 50; Data recording and evolution unit 60.

[0037] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0039] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "circumferential," and "radial," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are 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 this invention.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 according to the specific circumstances.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] The Fire Dragon Jar Robot Rehabilitation Therapy System of this invention, according to an embodiment of the present invention, is described in detail below with reference to the accompanying drawings.

[0044] Reference Figures 1 to 4 As shown, the Huolongguan robot rehabilitation therapy system provided according to an embodiment of the present invention includes: a physical execution unit 10, an information perception unit 20, an information fusion and state judgment unit 30, a strategy generation and scheduling unit 40, a safety monitoring unit 50, and a data recording and evolution unit 60.

[0045] The physical execution unit 10 is used to carry the fire dragon cup execution device and output thermal radiation and mechanical force to the treatment area according to the control command.

[0046] The information sensing unit 20 includes a visual sensing subunit 21, a force sensing subunit 22, a heat sensing subunit 23, a distance sensing subunit 24, and a physiological signal sensing subunit 25, which are used to collect visual images and thermal field distribution of the treatment area, contact force between the fire dragon cupping device and the skin, local temperature and temperature distribution of the skin surface, distance and relative posture between the device and the skin surface, and physiological signals of the patient, respectively.

[0047] The information fusion and status assessment unit 30 is used to perform hierarchical fusion processing on the multi-source heterogeneous information collected by the information perception unit 20 to generate real-time status labels 31 that characterize the tissue status of the treatment area and the patient's response status.

[0048] The strategy generation and scheduling unit 40 has a built-in physical therapy primitive library 41. It triggers the execution of the corresponding physical therapy primitive based on the current state label 31, and dynamically adjusts the subsequent primitive sequence when the state label 31 undergoes a predetermined change.

[0049] The safety monitoring unit 50 performs a safety risk assessment of the entire physiotherapy process based on the joint discrimination rules of multiple physical quantities, and executes graded response operations according to the risk level.

[0050] The data recording and evolution unit 60 is used to record data from each physiotherapy process, extract therapeutic effect feature vectors, and update the individualized physiotherapy parameter baseline accordingly.

[0051] Based on the above, by scheduling thermal radiation and mechanical force output with unified commands, the synergistic effect of heat in the Fire Dragon Cupping Therapy is ensured from the execution end. The information sensing unit 20 is configured with five sub-units: visual perception, force perception, thermal perception, distance perception, and physiological signal perception. It simultaneously collects multi-dimensional information and submits it to the information fusion and state judgment unit 30 for hierarchical processing, generating state labels 31 reflecting tissue state and the patient's real-time response. The strategy generation and scheduling unit 40 uses these labels as trigger signals to call corresponding techniques from the built-in physiotherapy primitive library 41 and dynamically adjusts the execution sequence according to state changes, no longer relying on pre-fixed time programs. The safety monitoring unit 50 comprehensively judges multiple physical quantities such as contact force and thermal radiation, and can detect risk situations where a single indicator is normal but the combination is abnormal, and respond in a graded manner. The data recording and evolution unit 60, through the extraction of efficacy characteristics and parameter baseline updates, ensures that the treatment strategy continuously converges to the individualized optimal configuration in subsequent treatment courses. The above-mentioned links are connected in a closed loop of perception-fusion-decision-execution-feedback, which enables the system to form an overall capability in terms of responsiveness, strategy adaptability, comprehensive risk protection and cross-treatment self-optimization, providing a feasible system solution for the standardized operation and intelligent promotion of the Fire Dragon Cupping Therapy.

[0052] Preferably, in one embodiment of the present invention, the visual perception subunit 21 includes a color camera 211 and an infrared thermal imaging camera 212.

[0053] The color camera 211 is used to acquire visible light images of the treatment area for use in three-dimensional reconstruction of the human body surface and acupoint location.

[0054] The infrared thermal imaging camera 212 is used to acquire images of the thermal field distribution in the treatment area for the purpose of judging the local blood circulation status and heat conduction uniformity. The color camera 211 and the infrared thermal imaging camera 212 acquire data synchronously in time and are calibrated and registered to the same coordinate system in space.

[0055] Thus, the color camera 211 is used to acquire visible light images of the treatment area for three-dimensional reconstruction of the human body surface and acupoint location; the infrared thermal imaging camera 212 is used to acquire thermal field distribution images of the treatment area for judging the local blood circulation status and heat conduction uniformity; the color camera 211 and the infrared thermal imaging camera 212 acquire data synchronously in time and are calibrated and registered to the same coordinate system in space.

[0056] In the above scheme, the color camera 211 and the infrared thermal imaging camera 212 work together to acquire visible light structural images and infrared thermal field distribution images, respectively. The former, after 3D reconstruction, enables automatic identification and precise positioning of acupoints, while the latter allows the system to assess local blood circulation and heat conduction uniformity in real time. The synchronous acquisition of both images in time and their spatial registration to the same coordinate system ensures a one-to-one correspondence between the visible light image and the thermal image in time and space, enabling the system to accurately establish a correlation between acupoint location and tissue thermal state. This dual-mode vision scheme introduces complementary perception dimensions beyond a single sensing method, significantly improving the system's environmental adaptability and positioning reliability under different lighting conditions, skin colors, and body positions, providing a reliable perceptual foundation for subsequent information fusion and precise treatment.

[0057] Preferably, in one embodiment of the present invention, the force sensing subunit 22 includes a normal force sensor 221 and a tangential force sensor 222.

[0058] The normal force sensor 221 is used to measure the vertical pressure applied to the skin surface by the fire dragon cupping device.

[0059] The tangential force sensor 222 is used to measure the friction and shear force when the Huolongguan actuator slides along the skin surface.

[0060] The normal force sensor 221 and the tangential force sensor 222 together output the three-dimensional contact force state between the Huolongguan actuator and the skin.

[0061] Thus, through the coordinated configuration of the normal force sensor 221 and the tangential force sensor 222, the Huolongguan robot system is provided with real-time three-dimensional contact force sensing capabilities. The vertical pressing force measured by the normal force sensor 221 directly reflects the magnitude of the force applied during the execution of basic elements such as pressing and point techniques, serving as the core basis for force control and safety protection. The frictional and shear forces measured by the tangential force sensor 222 reflect the sliding resistance and lateral force state during the execution of basic elements such as pushing and kneading techniques, serving as important indicators for evaluating the smoothness and comfort of the manipulation. The three-dimensional contact force state output by both sensors allows the system to comprehensively understand the mechanical interaction between the Huolongguan device and the skin, providing real-time feedback for force control accuracy during the execution of basic elements and data support for the safety monitoring unit 50 to determine whether there are abnormal force states. Compared to solutions that only monitor force in a single direction, the three-dimensional force sensing configuration of this invention effectively improves the system's ability to identify complex force states in massage techniques, providing a reliable sensing basis for the accuracy, safety, and comfort of force control operations during Huolongguan therapy.

[0062] For example, the normal force sensor 221 is installed between the actuator of the fire dragon can and the connecting flange of the robotic arm. It adopts the strain gauge or piezoelectric force measurement principle to measure the pressure value applied to the skin surface by the actuator along the axial direction of the robotic arm end in real time. This measured value directly reflects the actual force applied by the basic elements such as pressing and point-applying force during the execution process. The system compares this value with the preset target force value and achieves precise force application through force closed-loop control. At the same time, when the measured value exceeds the safety threshold, the force safety protection is triggered.

[0063] Correspondingly, the tangential force sensor 222 and the normal force sensor 221 are integrated into a single three-dimensional force sensor, which simultaneously measures the force components of the actuator on the skin surface in two orthogonal tangential directions, namely the frictional force along the direction of motion and the lateral shear force perpendicular to the direction of motion. The measured value reflects the magnitude of resistance and lateral force condition of the basic elements such as pushing and kneading that are mainly horizontal sliding during the execution process. Based on this, the system evaluates the smoothness of the technique and monitors abnormal changes in sliding resistance.

[0064] Simultaneously, the system synthesizes the normal force measurement value and two tangential force measurements into a three-dimensional force vector. This vector fully describes the magnitude, direction, and distribution characteristics of the force at the interface between the actuator and the skin. This three-dimensional force state is simultaneously transmitted to the strategy generation and scheduling unit 40 for real-time force control adjustment during primitive execution, and to the safety monitoring unit 50 for determining whether there are any abnormal mechanical risk states.

[0065] Preferably, in one embodiment of the present invention, the thermal sensing subunit 23 includes a multi-point temperature sensor array 231 distributed on the skin-proximal side of the fire dragon cupping device, for real-time measurement of the temperature and temperature distribution at different locations on the skin surface of the treatment area.

[0066] Thus, by using a multi-point temperature sensor array 231 distributed near the skin side of the cupping device, real-time measurement of the skin surface temperature distribution in the treatment area, rather than a single-point temperature, is achieved. Compared to single-point temperature measurement, the multi-point distributed temperature sensor array can simultaneously acquire temperature values ​​at different locations within the treatment area. This allows for the determination of the uniformity of the heat field distribution, identification of local hot or cold zones, and provides a basis for the system to determine whether the moxa stick combustion is normal and whether the cupping device is in the correct posture. It also provides more comprehensive data support for the safety monitoring unit 50 to determine whether there is a risk of local overheating. Furthermore, the dynamic trend of temperature distribution during treatment is itself an important reference for assessing the local tissue blood perfusion status and the degree of inflammatory response. The configuration of the multi-point temperature sensor array 231 allows the system to acquire this information without adding additional equipment, assisting the system in initially judging the uniformity of heat conduction and the tissue's response characteristics to thermal stimulation.

[0067] For example, each sensor can be implemented using thermocouples, thermistors, or infrared temperature sensing chips. The measuring end is maintained at a predetermined distance from the skin surface to continuously collect the skin surface temperature at the corresponding location. The system obtains the temperature difference at different points within the treatment area through multi-point temperature readings, thereby assessing the uniformity of the thermal field distribution, identifying whether there are localized high or low temperatures, and determining whether the thermal radiation is concentrated in the target area. Simultaneously, the system uses the reading trends at each temperature measuring point to identify whether there are abnormal shifts in the thermal field distribution or localized overheating trends, and transmits the temperature data to the safety monitoring unit 50 in real time, providing a data basis for joint thermal safety judgment.

[0068] Preferably, in one embodiment of the present invention, the distance sensing subunit 24 includes a laser ranging sensor array 241 installed on the edge or bottom of the fire dragon cup execution device. The laser ranging sensors are no less than three and are not collinearly distributed, used to measure the distance between the fire dragon cup execution device and multiple points on the skin surface in real time, and then calculate the spatial height and tilt posture of the execution device relative to the skin surface.

[0069] Thus, by installing at least three non-collinearly distributed laser ranging sensor arrays 241 on the edge or bottom of the fire dragon cupping device, real-time measurement of the spatial relationship between the device and the skin surface is achieved. Three or more non-collinear ranging points uniquely determine the spatial height and tilt posture of the device relative to the skin surface, enabling the system to accurately sense whether the end effector remains parallel and whether there is unilateral tilting or lifting during fire dragon cupping. This information is crucial for fire dragon cupping therapy because the distance between the device and the skin directly affects the intensity of heat radiation, and tilting can lead to uneven heat field distribution and deviation in the direction of massage force. Compared to single-point or collinear ranging schemes, this scheme constructs complete spatial geometric constraints through a non-collinear three-point layout, allowing the system to acquire end effector height and posture information in real time during dynamic execution. This provides a direct basis for robotic arm posture correction and a reliable data foundation for distance anomaly detection in safety monitoring, effectively ensuring the stability of the heat radiation distance and the accuracy of the applied force direction.

[0070] Understandably, each sensor emits a laser beam towards the skin surface and receives the reflected signal, independently measuring the vertical distance between the actuator and the skin at its respective measuring point. After receiving the measured values ​​from each distance sensor, the system calculates the average height of the actuator relative to the skin surface and the tilt angle around two orthogonal horizontal axes through spatial geometric calculations, based on the spatial distribution of each measuring point and the corresponding distance value. The height information is used to determine whether the actuator is within the preset optimal radiation distance range and provides feedback for the pose adjustment of the robotic arm in the height direction; the pose information is used to determine whether the actuator remains parallel to the skin surface and provides feedback for the pose adjustment of the robotic arm. When the system detects that the height deviates from the predetermined range or the tilt angle exceeds the allowable value, it sends a pose correction command to the physical execution unit 10. If the correction still fails to return to the safe range, or if there is a sudden change in the height and pose data, the system synchronously transmits the above information to the safety monitoring unit 50 as input parameters for distance dimension safety judgment.

[0071] Preferably, in one embodiment of the present invention, the physiological signal sensing subunit 25 includes a heart rate sensor 251 and a body motion sensor 252.

[0072] The heart rate sensor 251 is used to collect patient heart rate and heart rate variability data for the purpose of assessing tolerance level and emotional state.

[0073] The body movement sensor 252 is used to collect micro-movements or body movement signals of the patient's limbs for use in detecting defensive actions.

[0074] Thus, through the coordinated configuration of heart rate sensor 251 and body movement sensor 252, an objective monitoring channel directly reflecting the patient's subjective feelings is established for the Fire Dragon Cupping Robot System. Heart rate and heart rate variability data are sensitive indicators of autonomic nervous system activity. When patients experience tension or discomfort due to intolerance to treatment intensity, sympathetic nerve excitation will first manifest as an increased heart rate and decreased heart rate variability. This change often precedes the patient's voluntary expression or body movement response. Body movement signals directly reflect the patient's limb reactions. When the treatment stimulus exceeds the tolerance range, the patient will exhibit subconscious avoidance or muscle tension movements. These signals are the most direct representation of defensive reactions. When used together, heart rate variability provides early warning at the autonomic nervous level, while body movement signals provide clear indicators at the behavioral level, forming a complete monitoring link from "internal feelings" to "external reactions."

[0075] Specifically, the heart rate sensor 251 employs the photoplethysmography (PPG) principle. A photoelectric sensor worn on the patient's earlobe, fingertip, or wrist detects blood flow pulse signals. After signal processing, the successive heartbeat intervals are extracted, and the heart rate value and time-domain and frequency-domain indices of heart rate variability are calculated. Decreased heart rate variability typically reflects increased sympathetic nerve tone and is well-correlated with the patient's subjective feelings of tension, pain, or discomfort. The system compares the heart rate variability indices with baseline values ​​in real time. When the decrease in indices exceeds a predetermined range, it is determined that the patient's tolerance level may be approaching its upper limit.

[0076] Simultaneously, the body motion sensor 252, employing a triaxial accelerometer, is worn on the patient's wrist or upper arm on the non-treatment side, continuously acquiring acceleration signals of the limb in three orthogonal directions. When the patient unconsciously withdraws, twitches, or exhibits muscle tension micro-movements due to treatment stimuli exceeding their tolerance range, specific time-domain and frequency-domain variation characteristics will appear in the acceleration signal. The system analyzes the acceleration signal in real time, and when the intensity or frequency of the detected body motion signal exceeds a predetermined threshold, it determines that the patient may be exhibiting a defensive reaction. Furthermore, the heart rate variability data acquired by the heart rate sensor 251 and the body motion signals acquired by the body motion sensor 252 are jointly transmitted to the information fusion and state assessment unit 30. The system combines the two types of data for comprehensive assessment: when the heart rate variability index decreases but there is no significant body motion, it determines that the patient may be in a state of tension but still tolerable, and issues a warning; when the heart rate variability index decreases significantly and body motion signals are detected simultaneously, it determines that the patient's tolerance has reached its limit, generating a corresponding state label 31 to trigger strategy adjustment or a safety response.

[0077] Preferably, in one embodiment of the present invention, the information fusion and state judgment unit 30 includes a low-level fast fusion subunit 32 and a high-level semantic fusion subunit 33.

[0078] The low-level fast fusion subunit 32 is used to synchronize and rapidly fuse multi-source sensing data on the time axis, and output fused data stream to support real-time control.

[0079] The high-level semantic fusion subunit 33 is used to further combine the fused data stream output by the low-level fast fusion subunit 32 with the patient's physiological signals for comprehensive analysis, and output the state label 31 with decision semantics.

[0080] The status label 31 includes at least a first type of status label 311 that characterizes the thermal state of the treatment area, a second type of status label 312 that characterizes the tissue mechanical state of the treatment area, a third type of status label 313 that characterizes the patient's tolerance level, and a fourth type of status label 314 that characterizes the stage of the treatment process.

[0081] Thus, the hierarchical architecture of the low-level rapid fusion subunit 32 and the high-level semantic fusion subunit 33 solves the problem of transforming multi-source heterogeneous data from acquisition to decision-making. The low-level rapid fusion subunit 32 synchronizes and fuses multi-source data such as visual, force, thermal, distance, and physiological signals along the time axis. The output fused data stream directly supports the real-time control of the physical execution unit 10, ensuring the system's response speed during dynamic execution. The high-level semantic fusion subunit 33, based on the low-level fusion, further combines the patient's physiological signals for comprehensive analysis, transforming the fused data at the physical level into state labels 31 with decision-making semantics. The combination of the two enables the system to provide semantically rich decision-making basis for the strategy generation and scheduling unit 40 while ensuring real-time control response. The four types of state labels 31 correspond to tissue thermal state, tissue mechanical state, patient tolerance level, and treatment process stage, respectively, covering the main dimensions required for Huolong Cupping therapy decision-making, and providing clear judgment conditions for the triggering and switching of subsequent primitives. Meanwhile, the representation of state label 31 abstracts the complex multi-physical quantity fusion result into a finite number of identifiable and matchable state categories, reducing the complexity of primitive matching in strategy generation and scheduling unit 40, and enabling the triggering conditions of each primitive in physiotherapy primitive library 41 to be defined and stored in a relatively concise rule form.

[0082] Specifically, the low-level fast fusion subunit 32 receives real-time data from the visual perception subunit 21, force perception subunit 22, thermal perception subunit 23, distance perception subunit 24, and physiological signal perception subunit 25. Through hardware clock synchronization or software timestamp alignment, it unifies various types of data to the same time reference. The synchronized data undergoes preprocessing operations such as coordinate system transformation, dimension normalization, and filtering and denoising to ensure consistency of various types of data in time and space. The preprocessed data is fused at the data level to form a fused data stream, which is sent to the physical execution unit 10 in real time for closed-loop control, and simultaneously sent to the high-level semantic fusion subunit 33 for further analysis.

[0083] The high-level semantic fusion subunit 33 is used to further combine the fused data stream output by the low-level fast fusion subunit 32 with the patient's physiological signals for comprehensive analysis, and output the state label 31 with decision semantics. Specifically, based on the low-level fused data stream, the high-level semantic fusion subunit 33 analyzes the evolution trend of each physical quantity over time and the correlation between them, identifies the current treatment state mode, such as whether the tissue has been sufficiently preheated, whether the contact force fluctuation has stabilized, and whether the heat field distribution is uniform; at the same time, it combines the patient's heart rate variability and the changing trend of body movement signals to comprehensively assess the patient's tolerance status. After the above analysis results are matched with the state label 31 generation rule, the corresponding state label 31 is output.

[0084] The status labels 31 include at least a first type of status label 3111 representing the thermal state of the treatment area, a second type of status label 312 representing the tissue mechanical state of the treatment area, a third type of status label 313 representing the patient's tolerance level, and a fourth type of status label 314 representing the stage of the treatment process. Each status label 31 reflects the current heat accumulation and distribution status of the treatment area, the tissue's response characteristics to mechanical force, the patient's physiological and psychological acceptance of the treatment stimulus, and the current stage in the overall treatment process. The status labels 31 are output to the strategy generation and scheduling unit 40 as the basis for determining the triggering and switching of physiotherapy primitives.

[0085] Preferably, in one embodiment of the present invention, the basic types included in the physiotherapy basic library 41 include at least the following: fixed moxibustion basic 411, rotary moxibustion basic 412, sparrow-pecking moxibustion basic 413, kneading basic 414, pushing basic 415, pressing basic 416, point-pointing basic 417, and rubbing basic 418; each basic is associated with a triggering condition and a subsequent jump rule, wherein the triggering condition is defined based on the state label 31.

[0086] Thus, the physiotherapy element library 41 unifies the moxibustion operations and massage techniques involved in the Fire Dragon Cupping therapy into a unified element system for standardized expression. The three types of moxibustion elements—fixed moxibustion, rotary moxibustion, and sparrow-pecking moxibustion—correspond to three thermal action modes: static thermal radiation, planar rotary thermal radiation, and vertical reciprocating thermal radiation, respectively. The five types of massage elements—kneading, pushing, pressing, point pressing, and rubbing—correspond to five mechanical action modes: circular kneading, linear pushing, vertical pressing, fixed-point deep pressure, and gentle rubbing and soothing, respectively. These eight elements collectively cover the main manipulation types in the clinical operation of Fire Dragon Cupping. The triggering conditions and subsequent jump rules associated with each element are defined based on state labels 31, so that the switching between elements no longer depends on a pre-set fixed time axis, but is dynamically triggered based on the state labels 31, such as the tissue thermal state, mechanical state, patient tolerance level, and treatment process stage, as determined in real time during the treatment process. This method of digitizing traditional Chinese medicine techniques into state-condition driven units provides an executable basis for the system to achieve adaptive scheduling according to state changes. Meanwhile, the scalability of the primitive library also leaves room for the subsequent inclusion of more technique types or the configuration of dedicated primitive sequences for specific diseases.

[0087] Specifically, the physiotherapy primitive library 41 is stored in the strategy generation and scheduling unit 40, and serves as the foundational database for the system's physiotherapy plan arrangement and dynamic scheduling. The definitions of each primitive are as follows: The fixed moxibustion element 411 corresponds to the operation of fixing the fire dragon cup at a predetermined distance above the acupoint and continuously outputting heat radiation. Its core execution parameters include heat radiation intensity and duration.

[0088] The Rotary Moxibustion Element 412 corresponds to the operation of the Fire Dragon Cup moving along a planar circular trajectory above the acupoint. Its core execution parameters include the circular radius, movement speed, and heat radiation intensity.

[0089] The Sparrow Pecking Moxibustion Element 413 corresponds to the operation of the Fire Dragon Cupping Jar moving back and forth vertically above the acupoint. Its core execution parameters include the amplitude of the rise and fall, the frequency of the movement, and the intensity of heat radiation.

[0090] The kneading element 414 corresponds to the circular kneading operation along the skin surface using the Fire Dragon Cupping device. Its core execution parameters include the circular radius, movement speed, vertical pressing force, and duration.

[0091] The Pushing Method Element 415 corresponds to the Fire Dragon Cupping technique, which involves unidirectional linear pushing and stroking along the skin surface. Its core execution parameters include the direction of movement, speed of movement, vertical pressure, and pushing distance.

[0092] The 416 basic unit corresponds to the Fire Dragon Cupping technique, which involves pressing the skin vertically. Its core execution parameters include vertical pressing force, pressing duration, and number of presses.

[0093] The point method primitive 417 corresponds to the operation of the fire dragon cup fixed point continuous deep pressure. Its core execution parameters include vertical pressing force, deep pressure duration and frequency of action.

[0094] The Mofa Basic 418 corresponds to the Fire Dragon Cupping technique, which involves gently rubbing the skin in a circular motion. Its core parameters include the circular radius, movement speed, and contact force.

[0095] The triggering conditions for each basic unit are defined based on the status labels 31 output by the information fusion and status judgment unit 30. Taking the rotary moxibustion basic unit 412 as an example, its triggering condition can be defined as activation when the first type of status label 311 is "insufficient surface temperature"; when the first type of status label 311 is updated to "surface temperature meets the standard" during execution, it automatically switches to the basic unit corresponding to the next stage according to the subsequent jump rules. Different basic units are associated with different status label 31 conditions according to their respective functional positioning: basic units with heat effect (fixed moxibustion, rotary moxibustion, sparrow-pecking moxibustion) are mainly associated with the first type of heat status label 31, and basic units with mechanical effect (kneading, pushing, pressing, point, rubbing) are mainly associated with the second type of mechanical status label 31. All basic units continuously monitor the third type of patient tolerance level label and the fourth type of treatment process stage label during execution to determine whether it is necessary to interrupt or jump in advance.

[0096] The subsequent jump rules for each primitive are defined based on the jump conditions and target primitives defined by state label 31. When a predetermined change in state label 31 is detected during the execution of the current primitive, the system terminates the current primitive and triggers the target primitive according to the subsequent jump rules, thereby realizing the adaptive adjustment of the physiotherapy plan as the treatment progresses.

[0097] Preferably, in one embodiment of the present invention, the strategy generation and scheduling unit 40 organizes a single complete physiotherapy session into a three-layer structure: a strategy layer, a treatment course layer, and a primitive layer, wherein: The strategy layer defines the overall goals and constraints of physical therapy; The treatment layer breaks down the overall goal into treatment phases with a logical sequence. The primitive layer configures specific physical therapy primitives for each treatment stage and the triggering and jump conditions between primitives; The three-layer structure of strategy layer, treatment course layer and basic element layer is dynamically adjusted according to the changes of the status label 31 during the physiotherapy process.

[0098] Thus, the strategy generation and scheduling unit 40 organizes a single complete physiotherapy session into a three-layer structure: strategy layer, treatment course layer, and primitive layer. At the abstract level of the physiotherapy plan, it achieves the separation of the three levels of goal definition, stage division, and action execution. The three layers are refined step by step from top to bottom and feedback is provided step by step from bottom to top. During the execution process, it is dynamically adjusted according to the changes in the state label 31, so that the system can maintain the stability of the treatment logic at the macro level and flexibly respond to the real-time changes in the patient's state at the micro level. This layered structure is different from the existing schemes that preset the entire physiotherapy session as a single fixed sequence. It allows the adjustment of the physiotherapy plan to be accurately located to the level that needs to be changed, and achieves adaptive optimization of local execution strategies while maintaining the stability of the overall treatment framework.

[0099] Specifically, the strategy layer stores the overall goal type of this physiotherapy session, including but not limited to anti-inflammatory and analgesic effects, adhesion release, improved local circulation, and restoration of joint mobility. It also stores boundary constraints during the physiotherapy process, including but not limited to total duration limits, temperature limits, intensity limits, prohibited areas, and forbidden techniques. The overall goals and constraints generated by the strategy layer are passed down to the treatment course layer and the basic unit layer, serving as the top-level constraints for formulating the physiotherapy plan. Based on the overall goals and constraints passed from the strategy layer, the treatment course layer divides a single physiotherapy session into multiple sequentially executed stages, including but not limited to a warm-up period, a main treatment period, and a closing period, and sets entry conditions and stage goals for each stage. The stage goal of the warm-up period is to raise the surface temperature of the treatment area to a predetermined range; the stage goal of the main treatment period is to complete the predetermined manipulation techniques for each target acupoint; and the stage goal of the closing period is to soothe, relax, and restore the skin's condition. The sequential relationship between these stages constitutes the macroscopic temporal structure of the physiotherapy plan. Based on the target requirements of each stage of the treatment course, the primitive layer selects the corresponding primitive type from the physiotherapy primitive library 41 and configures the execution parameters to generate a set of executable primitive sequences for each stage. At the same time, the primitive layer defines the triggering and jump rules between primitives, including the successor primitive after the current primitive is completed, the conditional jump primitive triggered by the change of status label 31, and the interruption handling primitive in abnormal states.

[0100] The primitive layer switches between primitives or adjusts parameters within primitives based on changes in the real-time status label 31; the treatment process layer switches between stages earlier or later when it detects that a stage goal has been achieved ahead of schedule or that the current stage is difficult to achieve; the strategy layer adjusts the priority of constraint parameters within permissible limits when it detects that constraints may not be met, to ensure the basic safety and effectiveness of the physiotherapy. These three layers respond independently to changes in the status label 31, achieving coordinated adaptation of the physiotherapy plan at both the macro-level goals and the micro-level execution.

[0101] Preferably, in one embodiment of the present invention, the multi-physical quantity joint discrimination rule adopted by the safety monitoring unit 50 is as follows: multiple physical quantities, including at least contact force and thermal radiation intensity, are monitored in combination. When the combined state of each physical quantity exceeds the predetermined safety envelope range, even if each individual physical quantity does not exceed its respective single threshold limit, the system still determines that there is a safety risk and executes intervention measures corresponding to the risk level.

[0102] Thus, the multi-physical quantity joint discrimination rule adopted changes the simple logic of existing technologies that trigger protection simply by exceeding a threshold for a single physical quantity. During cupping therapy, there is a clear physical coupling effect when heat radiation and mechanical force act on the same tissue area: increased contact force leads to local tissue deformation under pressure, reduced blood flow, and changes in heat conduction and heat dissipation efficiency; conversely, heat radiation causes tissue temperature to rise, soft tissue to soften, and the mechanical response characteristics to external forces to change accordingly. Therefore, a normal single physical quantity does not equate to a safe combined state. This solution simultaneously monitors multiple physical quantities, including at least contact force and heat radiation intensity, and uses whether the combined state exceeds the preset safety envelope as the criterion for judgment, enabling the system to effectively identify situations where a single indicator is normal but the combined state already constitutes a risk. This joint discrimination logic is designed based on the actual physical characteristics of thermo-mechanical coupling in cupping therapy. Compared with the discrimination method of independent thresholds, it is more in line with the complex risk characteristics in clinical operation, providing constraints on the parameter adjustment range of the physical execution unit 10 that are closer to the actual safety boundary, and also providing a more reasonable criterion for triggering graded responses.

[0103] Specifically, the safety monitoring unit 50 receives contact force data, thermal sensing data, and distance sensing data from the information sensing unit 20 in real time, and continuously calculates the current multi-physical quantity combination state at a frequency no less than the system control cycle. The combination state includes at least the pairing of contact force value and thermal radiation intensity value. Thermal radiation intensity is indirectly characterized by the distance between the fire dragon cupping device and the skin surface, and the working state of the moxa stick propulsion device; the closer the distance or the more complete the burning of the moxa stick, the higher the thermal radiation intensity. The safety monitoring unit 50 compares the current combination state with a preset safety envelope range; if the combination state is within the safety envelope range, it is determined that the current state is safe, and the system continues to operate normally; if the combination state is outside the safety envelope range, it is determined that there is a safety risk.

[0104] Correspondingly, the safety envelope range is a multi-physical quantity safety boundary pre-stored in the system. This envelope range is defined by statistical modeling of multi-physical quantity data under normal physiotherapy conditions or by a biological tissue safety model based on thermo-coupling. The safety envelope range reflects the safety boundary under the combined action of multiple physical quantities, and each point on its boundary line or boundary surface corresponds to a safety threshold under different combinations of physical quantities. This threshold is usually lower than the single threshold limit when each individual physical quantity is used independently, thus providing more stringent safety protection under combined conditions.

[0105] Understandably, the safety monitoring unit 50 executes tiered response operations based on the level of risk. The tiered response includes at least three levels: Level 1 response corresponds to a low-risk state, where the system issues a warning signal and automatically fine-tunes parameters; Level 2 response corresponds to a medium-risk state, where the system suspends the current operation and waits for operator confirmation via the human-machine interface before resuming; Level 3 response corresponds to a high-risk state, where the system immediately stops all operations and retracts the end effector to a safe position. Different risk levels are distinguished by the degree to which the combined state deviates from the safety envelope; the smaller the deviation, the lower the risk level, and the larger the deviation, the higher the risk level.

[0106] Advantageously, in one embodiment of the invention, the data recording and evolution unit 60 includes a therapeutic feature extraction subunit and a parameter baseline update subunit.

[0107] Thus, the therapeutic feature extraction subunit is used to extract therapeutic feature vectors from the process data of each physiotherapy session after the session. The process data includes temperature measurements, force measurements, distance measurements, patient heart rate variability indices, and records of body movement events at various time points during the physiotherapy. The therapeutic feature vectors include, but are not limited to, the time required for each target acupoint to reach the predetermined temperature, the peak and average contact force during the physiotherapy, the magnitude of changes in patient heart rate variability before and after the physiotherapy, and the frequency of body movement events.

[0108] The parameter baseline update subunit is used to organize the efficacy feature vectors extracted from each physical therapy session into a chronological trajectory for the patient's rehabilitation process. The system performs trend analysis on the rehabilitation process trajectory. If the trend of the efficacy feature vector changes after multiple consecutive physical therapy sessions tends to flatten or converge to a stable range, the current physical therapy parameters are used as the basis for updating the patient's parameter baseline. If the trend shows that the efficacy is continuously improving but has not yet reached a plateau, the current parameter baseline is kept unchanged or fine-tuned.

[0109] In the above scheme, the data recording and evolution unit 60 continuously accumulates the physiotherapy data of the same patient throughout the treatment sessions. It uses the changing trends of the efficacy feature vector as a basis for judging the rehabilitation progress and adjusting treatment parameters, enabling the system to gradually establish a baseline of individualized physiotherapy parameters suitable for the patient. This process does not rely on pre-set fixed treatment parameters but dynamically adjusts based on the patient's own efficacy feedback, allowing the treatment strategy to continuously converge to the individualized optimal configuration in subsequent treatment sessions.

[0110] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0111] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A fire dragon cupping robot rehabilitation physiotherapy system, characterized in that, include: The physical execution unit is used to carry the fire dragon cupping device and output thermal radiation and mechanical force to the treatment area according to control commands. The information sensing unit includes a visual sensing subunit, a force sensing subunit, a thermal sensing subunit, a distance sensing subunit, and a physiological signal sensing subunit, which are used to collect visual images and thermal field distribution of the treatment area, contact force between the fire dragon cupping device and the skin, local temperature and temperature distribution of the skin surface, distance and relative posture between the device and the skin surface, and physiological signals of the patient, respectively. The information fusion and status assessment unit is used to perform hierarchical fusion processing on the multi-source heterogeneous information collected by the information sensing unit to generate real-time status labels that characterize the tissue status of the treatment area and the patient's response status. The strategy generation and scheduling unit has a built-in physical therapy primitive library. It triggers the execution of the corresponding physical therapy primitive based on the current state label and dynamically adjusts the subsequent primitive sequence when the state label undergoes a predetermined change. The safety monitoring unit performs a safety risk assessment of the entire physiotherapy process based on the joint discrimination rules of multiple physical quantities, and executes graded response operations according to the risk level; The data recording and evolution unit is used to record data from each physiotherapy session, extract therapeutic effect feature vectors, and update the baseline of individualized physiotherapy parameters accordingly.

2. The Fire Dragon Jar Robotic Rehabilitation Therapy System according to claim 1, characterized in that, The visual perception subunit includes: A color camera is used to acquire visible light images of the treatment area for three-dimensional reconstruction of the human body surface and acupoint location. Infrared thermal imaging cameras are used to acquire images of the thermal field distribution in the treatment area for assessing local blood circulation and heat conduction uniformity. The color camera and the infrared thermal imaging camera acquire data synchronously in time and are calibrated and registered to the same coordinate system in space.

3. The Fire Dragon Jar Robotic Rehabilitation Therapy System according to claim 1, characterized in that, The force perception subunit includes: Normal force sensor, used to measure the vertical pressure applied to the skin surface by the Huolongguan actuation device; Tangential force sensor is used to measure the frictional and shear forces when the Huolongguan actuation device slides along the skin surface; The normal force sensor and the tangential force sensor together output the three-dimensional contact force state between the Huolongguan actuation device and the skin.

4. The Fire Dragon Jar Robotic Rehabilitation Therapy System according to claim 1, characterized in that, The thermal sensing subunit includes a multi-point temperature sensor array distributed on the skin-proximity side of the fire dragon cupping device, used to measure the temperature and temperature distribution at different locations on the skin surface of the treatment area in real time.

5. The Fire Dragon Jar Robotic Rehabilitation Therapy System according to claim 1, characterized in that, The distance sensing subunit includes a laser ranging sensor array installed on the edge or bottom of the fire dragon cupping device. There are no fewer than three laser ranging sensors that are not collinearly distributed. These sensors are used to measure the distance between the fire dragon cupping device and multiple points on the skin surface in real time, and then calculate the spatial height and tilt posture of the device relative to the skin surface.

6. The Fire Dragon Jar Robotic Rehabilitation Therapy System according to claim 1, characterized in that, The physiological signal sensing subunit includes: Heart rate sensors are used to collect patients' heart rate and heart rate variability data for the purpose of assessing tolerance levels and emotional states. Motion sensors are used to collect micro-movements or body movement signals of a patient's limbs for the detection of defensive actions.

7. The Fire Dragon Jar Robotic Rehabilitation Therapy System according to claim 1, characterized in that, The information fusion and status assessment unit includes: The low-level fast fusion subunit is used to synchronize and quickly fuse multi-source sensing data on the time axis and output fused data stream to support real-time control. The high-level semantic fusion subunit is used to further combine the fused data stream output by the low-level fast fusion subunit with the patient's physiological signals for comprehensive analysis and output the state label with decision semantics. The status labels include at least a first type of status label characterizing the thermal state of the treatment area, a second type of status label characterizing the tissue mechanical state of the treatment area, a third type of status label characterizing the patient's tolerance level, and a fourth type of status label characterizing the stage of the treatment process.

8. The Fire Dragon Jar Robotic Rehabilitation Therapy System according to claim 1, characterized in that, The physiotherapy primitive library contains at least the following primitive types: fixed moxibustion primitive, rotary moxibustion primitive, sparrow-pecking moxibustion primitive, kneading primitive, pushing primitive, pressing primitive, point-pointing primitive, and rubbing primitive; each primitive is associated with a trigger condition and subsequent jump rule, and the trigger condition is defined based on the status label.

9. The Fire Dragon Jar Robotic Rehabilitation Therapy System according to claim 1, characterized in that, The strategy generation and scheduling unit organizes a single complete physiotherapy session into a three-layer structure: a strategy layer, a treatment course layer, and a primitive layer, wherein: The strategy layer defines the overall goals and constraints of physical therapy; The treatment layer breaks down the overall goal into treatment phases with a logical sequence. The primitive layer configures specific physical therapy primitives for each treatment stage and the triggering and jump conditions between primitives; The three-layer structure of strategy layer, treatment course layer and basic element layer is dynamically adjusted according to the changes in the status labels during the physiotherapy process.

10. The Fire Dragon Jar Robotic Rehabilitation Therapy System according to claim 1, characterized in that, The multi-physical quantity joint discrimination rule adopted by the safety monitoring unit is as follows: multiple physical quantities, including at least contact force and thermal radiation intensity, are monitored in combination. When the combined state of each physical quantity exceeds the predetermined safety envelope, even if each individual physical quantity does not exceed its own single threshold limit, the system still determines that there is a safety risk and executes the corresponding risk level intervention measures.

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