Intelligent robot auxiliary device for shock wave treatment in orthopedics department

Abstract

The utility model provides an intelligent robot auxiliary device for orthopedic shock wave treatment, which belongs to the technical field of medical equipment, solves the problems of inaccurate positioning, complicated operation and difficulty in stably standing on the inclined ground in the prior art, and comprises a motion control device, an auxiliary positioning device and a treatment device, the motion control device comprises a mechanical arm, a main control board, an auxiliary supporting frame and upper control software, the auxiliary positioning device comprises a high-position depth camera, a low-position depth camera and a B-ultrasonic probe, and the treatment device comprises a shock wave treatment head, a displayer and an operation assembly. The auxiliary fixing device comprises universal wheels, an extension frame, a telescopic rod, a mounting cavity and a fixing suction cup. A high-precision 3D model is obtained through the auxiliary positioning device, so that precise positioning is realized; the control process is simplified through the display and the operation assembly; the intelligent robot is stably adsorbed and fixed to the ground through the fixing suction cups.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to an intelligent robot auxiliary device for orthopedic shock wave treatment. Background Art

[0002] In the current medical field, shock wave therapy is widely used as an important and effective method for the treatment of orthopedic diseases such as femoral head necrosis. Shock wave is a high-energy ultrasound. The most common shock wave therapy device used in rehabilitation is the pneumatic ballistic shock wave therapy device. Its working principle is that compressed air drives the bullet in the barrel to move at high speed, hits the treatment probe, generates shock waves and transmits them into the tissue, releases energy, and activates the body's self-repair process through a series of biological effects, and has a good therapeutic effect on the damage, adhesion and tendon calcification of human skeletal muscle and other tissues; shock wave therapy has significant effects in the fields of heel pain, heel pain, plantar fasciitis, calcaneal hypertension, bone bursitis, neck and shoulder pain, neck and shoulder strain, stiff neck, low back pain, lumbar muscle strain, fasciitis, periarthritis of shoulder, tenosynovitis, tennis elbow, trochanteric bursitis, tendon end disease, tibial medial pressure syndrome, etc.; shock wave therapy requires the sound wave emission device of the intelligent robot as the operating source, and the intelligent robot can also provide auxiliary control for shock wave therapy, which is convenient for realizing medical intelligence.

[0003] However, in the existing treatment process, there are many problems with intelligent robots. First, the existing technology cannot accurately locate the disease. Second, in the existing technology, the operation of the intelligent robot is cumbersome, resulting in low stability and accuracy of the treatment effect. Finally, in the existing technology, the movement of the intelligent robot is mainly achieved by universal wheels, but the universal wheels are only fixed by friction and are difficult to fix on an inclined ground. Utility Model Content

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide an innovative, intelligent orthopedic shock wave therapy device that can improve the treatment effect, reduce the complexity of the medical process, and is more intelligent and efficient.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An intelligent robot auxiliary device for orthopedic shock wave treatment, the auxiliary device comprising a motion control device, an auxiliary positioning device, a treatment device and an auxiliary fixing device, the motion control device being fixedly mounted on one side of the top of the intelligent robot by bottom screws, the auxiliary positioning device being mounted on a mechanical arm assembly of the motion control device, the treatment device being fixedly mounted on the end of the mechanical arm of the motion control device, and the auxiliary fixing device being sleeved on the bottom of the intelligent robot.

[0007] As a further description of the above scenario:

[0008] The motion control device includes a robotic arm, a main control board, an auxiliary support frame and upper control software. The main control board is installed at the bottom of the bending arm of the robotic arm. The upper control software is communicated with the main control board. The upper control software is set inside a matching upper computer. The auxiliary support frame is fixedly installed on one side of the intelligent robot, and the auxiliary support frame adopts a scissors frame structure.

[0009] As a further description of the above scenario:

[0010] The auxiliary positioning device includes a high-depth camera, a low-depth camera and a B-ultrasound probe. The high-depth camera is mounted on the upper end of the auxiliary support frame of the motion control device, the low-depth camera is fixedly mounted on the bottom of the horizontal arm of the mechanical arm of the motion control device by screws, the B-ultrasound probe is fixedly mounted on the bottom of the horizontal arm of the mechanical arm of the motion control device by screws, and the B-ultrasound probe is installed in front of the low-depth camera.

[0011] As a further description of the above scenario:

[0012] The treatment device includes a shock wave therapy head, a display and an operating component. The operating component is arranged on the side panel of the intelligent robot. The display is communicatively connected with the main control board of the motion control device. The display is arranged on a side of the top of the intelligent robot away from the motion control device. The shock wave therapy head is mounted on the end suspended arm of the mechanical arm of the motion control device.

[0013] As a further description of the above scenario:

[0014] The auxiliary fixing device includes a universal wheel, an extension frame, a telescopic rod, a fixed suction cup and an installation cavity. The installation cavity is made of a box-type structure. The intelligent robot is installed inside the installation cavity. The extension frame is arranged at the bottom of the intelligent robot. The end of the extension frame is spliced ​​with the telescopic rod through a hole axis, and the fixed suction cup is fixedly sleeved and installed on the bottom of the telescopic rod.

[0015] As a further description of the above scenario:

[0016] The treatment device is driven by the position information provided by the auxiliary positioning device and the motion control device to accurately move the shock wave therapy head to the treatment point to achieve personalized treatment; the telescopic rod of the auxiliary fixing device is controlled by the motion control device to drive the intelligent robot to move.

[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of the utility model are:

[0018] 1. In the present invention, the depth camera introduced into the auxiliary positioning device is combined with the CT image through the B-ultrasound probe to obtain a high-precision 3D model through deep learning image processing technology, thereby achieving accurate positioning of the treatment point, which has the significant advantage of high-precision positioning;

[0019] 2. In the present invention, the parameters of shock wave therapy are adjusted according to the specific conditions of the patient through the display screen and the operating assembly, so as to provide the patient with a personalized treatment plan, thereby improving the treatment effect and optimizing the patient's treatment experience, and having the significant advantages of personalized treatment and high flexibility;

[0020] 3. In the present invention, the motion control component and the upper control software enable the doctor to conveniently control and manage the entire treatment process through the upper computer; compared with the traditional method, the intelligent control has the significant advantages of simple operation, high efficiency, extremely high accuracy and matching the Internet to obtain a variety of treatment plans; through the coordinated movement of the robotic arm, auxiliary positioning and shock wave therapy head, the treatment head is quickly and accurately moved to the treatment point to improve the efficiency of the treatment.

[0021] 4. In the utility model, the fixed suction cup in the mobile fixing assembly is used to fix the robot on the ground by adsorption, so as to achieve auxiliary fixation of the intelligent robot. The fixed suction cup prevents the intelligent robot from tilting, sliding, deflecting and colliding, which may affect the treatment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the three-dimensional structure of an intelligent robot-assisted device for orthopedic shock wave therapy;

[0023] Figure 2 A structural diagram of a motion control device for an intelligent robot-assisted device for orthopedic shock wave therapy;

[0024] Figure 3 This is a structural diagram of an auxiliary positioning device of an intelligent robot-assisted device for orthopedic shock wave therapy;

[0025] Figure 4 A structural diagram of a shock wave therapy head of an intelligent robot-assisted device for orthopedic shock wave therapy;

[0026] Figure 5 A structural diagram of a display and operating device of an intelligent robot-assisted device for orthopedic shock wave therapy;

[0027] Figure 6 A schematic diagram of the structure of a mobile positioning device for an intelligent robot-assisted device for orthopedic shock wave therapy

[0028] In the figure, 1 is a motion control device, 2 is an auxiliary positioning device, 3 is a treatment device, 4 is a robotic arm, 5 is a main control board, 6 is an auxiliary support frame, 7 is a high-depth camera, 8 is a low-depth camera, 9 is an ultrasound probe, 10 is a shock wave therapy head, 11 is a display, 12 is an operating component, 13 is a mobile fixed component, 131 is an extension frame, 132 is a telescopic rod, 133 is a fixed suction cup, 134 is a mounting cavity, and 14 is a universal wheel. Specific implementation plan

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] See also Figure 1-6 As shown, an intelligent robot auxiliary device for orthopedic shock wave therapy, the auxiliary device includes a motion control device 1, an auxiliary positioning device 2, a treatment device 3 and an auxiliary fixing device 13, the motion control device 1 is fixedly mounted on one side of the top of the intelligent robot by bottom screws, the auxiliary positioning device 2 is mounted on the mechanical arm assembly of the motion control device 1, the treatment device 3 is fixedly mounted on the end of the mechanical arm of the motion control device 1, and the auxiliary fixing device 13 is sleeved on the bottom of the intelligent robot.

[0031] In the above embodiment: the motion control device 1 includes a robotic arm 4, a main control board 5, an auxiliary support frame 6 and a host control software, the main control board 5 is installed at the bottom of the bending arm of the robotic arm 4, the host control software is communicated with the main control board 5, the host control software is set inside a matching host computer, the auxiliary support frame 6 is fixedly installed on one side of the intelligent robot, and the auxiliary support frame 6 adopts a scissors frame type structure.

[0032] In a specific embodiment: the motion control device 1 constructs a highly flexible and accurate mechanical arm motion control system, and through the collaborative work of hardware drive and control software, it realizes accurate positioning and movement of the treatment point, providing a reliable foundation for shock wave therapy; the six-axis design of the mechanical arm 4 gives the system a larger range of motion and more flexible posture control capabilities; the main control board 5 guides and monitors the motion state of the mechanical arm 4 through communication with the mechanical arm 4; the upper control software provides doctors with an intuitive and convenient operation interface through a matching upper computer, so that they can easily control the entire system; the innovation of the motion control device 1 lies in its excellent precision and flexibility, which provides a robust and controllable foundation for the treatment process; the accurate positioning and efficient movement of the mechanical arm 4 enable the treatment device 3 to move quickly and accurately to the patient's specific treatment point, providing doctors with an unprecedented operating experience; therefore, the motion control device 1 provides key support for the implementation of shock wave therapy and promotes the efficient operation of the entire system.

[0033] In the above embodiment: the auxiliary positioning device 2 includes a high-depth camera 7, a low-depth camera 8 and a B-ultrasound probe 9, the high-depth camera 7 is mounted on the upper end of the auxiliary support frame 6 of the motion control device 1, the low-depth camera 8 is fixedly installed at the bottom of the horizontal arm of the mechanical arm 4 of the motion control device 1 by screws, the B-ultrasound probe 9 is fixedly installed at the bottom of the horizontal arm of the mechanical arm 4 of the motion control device 1 by screws, and the B-ultrasound probe 9 is installed in front of the low-depth camera 8.

[0034] In a specific embodiment: the auxiliary positioning device 2 adopts advanced depth camera technology, provides high-precision position information for shock wave therapy, and lays a foundation for personalized treatment of patients; the auxiliary positioning device 2 includes two depth cameras, wherein the high-position depth camera 7 is installed at a higher position to obtain depth information of the upper perspective; the low-position depth camera 8 is installed on the mechanical arm, and is used for reconstruction of the 3D model and positioning of the treatment point; the coordinated work of the high-position depth camera 7 and the low-position depth camera 8 enables the system to monitor the treatment area in real time, and provide more accurate positioning information in combination with CT images; in the process of accurate positioning, the system uses deep learning image processing technology to fuse the depth image with the CT image, and with the assistance of the B-ultrasound probe 9, realizes accurate marking of the treatment point in the 3D model;

[0035] In the above embodiment: the treatment device 3 includes a shock wave therapy head 10, a display 11 and an operating component 12, the operating component 12 is arranged on the side panel of the intelligent robot, the display 11 is communicatively connected with the main control board 5 of the motion control device 1, the display 11 is arranged on the top of the intelligent robot on a side away from the motion control device 1, and the shock wave therapy head 10 is mounted on the end suspended arm of the mechanical arm 4 of the motion control device 1.

[0036] In a specific embodiment: the treatment device 3 realizes efficient and accurate shock wave treatment by cooperating with the motion control device 1 and the auxiliary positioning device 2; the shock wave treatment head 10 realizes accurate transmission of shock waves to the treatment point by utilizing the position information provided by the auxiliary positioning device 2 and the motion ability of the motion control device 1; in a specific solution, the doctor can adjust the energy and duration parameters of the shock wave according to the specific situation of the patient through a display screen 11 to provide a customized treatment plan for each patient; the treatment device 3 has the characteristics of high efficiency, accuracy and adjustability, making the shock wave treatment more customized and comfortable. Through accurate positioning and motion control, the shock wave treatment head 10 can quickly and accurately transmit shock waves, so as to effectively improve the treatment effect and the patient's treatment experience.

[0037] In the above embodiment: the auxiliary fixing device 13 includes a universal wheel 14, an extension frame 131, a telescopic rod 132, a fixed suction cup 133 and an installation cavity 134. The installation cavity 134 is made of a box-type structure. The intelligent robot is installed inside the installation cavity 134. The extension frame 131 is arranged at the bottom of the intelligent robot. The end of the extension frame 131 is spliced ​​with the telescopic rod 132 through a hole axis, and the bottom of the telescopic rod 132 is fixedly sleeved with the fixed suction cup 133.

[0038] In a specific embodiment, the movement of the intelligent robot mainly depends on the rotation of the universal wheel 14. A connection frame that can rotate 360 ​​degrees is spliced ​​on the outer surface of the universal wheel 14. The universal wheel 14 is fixedly installed in the installation cavity 134 through the connection frame and screws. An auxiliary spring is arranged under the bottom plate inside the installation cavity 134. The auxiliary spring is used to protect the intelligent robot installed in the installation cavity 134 to be in a stable position when moving. The installation cavity 134 is connected to the auxiliary fixing device 13 and the intelligent robot by sleeve-mounting the intelligent robot; the extension frame 131 extends to the bottom of the installation cavity 134 The outer side of the telescopic rod 132 is realized to provide an installation position for the telescopic rod 132 and the fixed suction cup 133 and prevent the telescopic rod 132 from being close to the universal wheel 14, so as to protect the universal wheel 14 and the telescopic rod 132 from friction. The telescopic end of the telescopic rod 132 is connected to the fixed suction cup 133, and the telescopic end of the telescopic rod 132 is arranged inside the fixed suction cup 133. The telescopic rod 132 adjusts the distance between the fixed suction cup 133 and the ground through a telescopic mechanism. The suction cup end face of the fixed suction cup 133 is away from the telescopic rod 132, and the fixed suction cup 133 is adsorbed to the ground through a suction cup structure.

[0039] In the above embodiment: the treatment device 3 is driven by the position information provided by the auxiliary positioning device 2 and the motion control device 1 to accurately move the shock wave therapy head 10 to the treatment point to achieve personalized treatment; the telescopic rod 132 of the auxiliary fixing device 13 is controlled by the motion control device 1 to drive the intelligent robot to move.

[0040] In a specific embodiment: the treatment device 3 reads the position information provided by the auxiliary positioning device 2 and processes the position information to obtain height information. The treatment device 3 realizes movement and precise treatment under the control of the control device 1 through the height information. All operations performed by the treatment device 3 can be controlled by the host computer connected to the motion control device 1 or the display 11 in the treatment device 3; the telescopic rod 132 of the auxiliary fixing device 13 adopts an electric telescopic rod, and the telescopic rod 132 is connected to the display screen 11 and the motion control device 1 through a wire to realize intelligent control of the fixing and relaxation of the auxiliary fixing device 13.

[0041] A specific implementation scheme of an intelligent robot-assisted device for orthopedic shock wave therapy is as follows: before the treatment begins, the shaved head universal wheel 14 moves the intelligent robot to the side of the bed, and fixes it through the auxiliary fixing device 13, and then uses a CT machine to capture a CT image, which is imported into the intelligent robot-assisted device, and the system will display the corresponding CT image; the patient lies on the bed, and the image obtained by the high-position depth camera 7 is combined with the deep learning image processing technology to realize the fusion of the CT image and the depth camera data to generate an accurate 3D model. The doctor selects the treatment area, sets the treatment parameters, and previews the treatment route in the 3D model through the display 11, and uses the B-ultrasound probe 9 to further confirm the position, and then conducts treatment after confirmation.

[0042] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0043] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intelligent robot-assisted device for orthopedic shock wave therapy, characterized in that: The intelligent robot auxiliary device comprises a motion control device (1), an auxiliary positioning device (2), a treatment device (3) and an auxiliary fixing device (13), wherein the motion control device (1) is fixedly mounted on one side of the top of the intelligent robot by means of bottom screws, the auxiliary positioning device (2) is mounted on a mechanical arm assembly of the motion control device (1), the treatment device (3) is fixedly mounted on the end of the mechanical arm of the motion control device (1), and the auxiliary fixing device (13) is sleeved and arranged on the bottom of the intelligent robot; The auxiliary positioning device (2) comprises a high-position depth camera (7), a low-position depth camera (8) and a B-ultrasound probe (9); the high-position depth camera (7) is mounted on the upper end of the auxiliary support frame (6) of the motion control device (1); the low-position depth camera (8) is fixedly mounted on the bottom of the horizontal arm of the mechanical arm (4) of the motion control device (1) by screws; the B-ultrasound probe (9) is fixedly mounted on the bottom of the horizontal arm of the mechanical arm (4) of the motion control device (1) by screws; and the B-ultrasound probe (9) is mounted in front of the low-position depth camera (8); The auxiliary fixing device (13) comprises a universal wheel (14), an extension frame (131), a telescopic rod (132), a fixed suction cup (133) and a mounting cavity (134); the mounting cavity (134) is manufactured by adopting a box-shaped structure; the intelligent robot is mounted inside the mounting cavity (134); the extension frame (131) is arranged at the bottom of the intelligent robot; the telescopic rod (132) is mounted on the end of the extension frame (131) through a hole-shaft splicing; and the fixed suction cup (133) is fixedly sleeved and mounted on the bottom of the telescopic rod (132).

2. The intelligent robot-assisted device for orthopedic shock wave therapy according to claim 1, characterized in that: The motion control device (1) comprises a mechanical arm (4), a main control board (5), an auxiliary support frame (6) and upper control software, wherein the main control board (5) is mounted at the bottom of the bending arm of the mechanical arm (4), the upper control software is communicatively connected with the main control board (5), and the upper control software is arranged inside a matching upper computer, and the auxiliary support frame (6) is fixedly mounted on one side of the intelligent robot, and the auxiliary support frame (6) adopts a cross-link structure.

3. The intelligent robot-assisted device for orthopedic shock wave therapy according to claim 1, characterized in that: The treatment device (3) comprises a shock wave treatment head (10), a display (11) and an operating component (12); the operating component (12) is arranged on a side panel of the intelligent robot; the display (11) is communicatively connected with a main control board (5) of the motion control device (1); the display (11) is arranged on a side of the top of the intelligent robot away from the motion control device (1); and the shock wave treatment head (10) is mounted on a suspended arm at the end of a mechanical arm (4) of the motion control device (1).

4. The intelligent robot-assisted device for orthopedic shock wave therapy according to claim 1, characterized in that: The treatment device (3) is driven by the position information provided by the auxiliary positioning device (2) and the motion control device (1) to accurately move the shock wave treatment head (10) to the treatment point, thereby realizing personalized treatment; the telescopic rod (132) of the auxiliary fixing device (13) is controlled by the motion control device (1) to drive the intelligent robot to move.

Images