Intelligent physiotherapy handle system

Abstract

The intelligent physiotherapy handle system comprises a laser physiotherapy head, the laser physiotherapy head comprises a shell, an optical fiber module, a first lens and a second lens, and at least part of the optical fiber module extends into the shell; the first lens is movably connected in the shell; the second lens is connected in the shell and located on the side, away from the optical fiber module, of the first lens; wherein the first lens and the second lens are suitable for light rays emitted by the optical fiber module to penetrate through, and the first lens can move in the direction close to or away from the optical fiber module. Compared with the prior art, the first lens can move in the shell, the size of a light spot is adjusted by changing the distance between the first lens and the laser source, and the requirements of different treatment parts and illness conditions are met; meanwhile, the intelligent physiotherapy handle system comprises a mechanical arm system and a host system, an operator controls the mechanical arm system to move through the host system, the mechanical arm system drives the laser physiotherapy head to move to a treatment part, and the laser physiotherapy head does not need to be manually moved.

Description

Technical Field

[0001] The present application relates to the technical field of medical instruments, and in particular to an intelligent physiotherapy handle system. Background Art

[0002] Laser therapy utilizes laser light to stimulate local blood circulation, relieve pain, promote wound healing, and treat a variety of diseases and conditions. Laser therapy requires a relatively uniform application of energy to the specific treatment area. This creates a spot, which allows the laser energy to diffuse within a relatively fixed area. This ensures that cells within the treatment area receive a relatively balanced energy stimulation, thereby enhancing the biostimulatory effects of laser therapy and promoting cell metabolism, tissue repair, and regeneration.

[0003] In physical therapy, the therapeutic dose of laser therapy can be easily controlled by adjusting parameters such as the size of the light spot and the power of the laser. Therefore, the adjustability of the light spot is one of the most important functions to improve the effect of laser physical therapy. Traditional laser physical therapy is more troublesome to change the size of the light spot, and requires manual movement of the irradiation treatment area. If there are many treatment areas, the manual operation of the handle needs to be constantly moved, which is time-consuming and labor-intensive. Utility Model Content

[0004] In view of the deficiencies in the existing technology, the utility model provides an intelligent physiotherapy handle system that can realize the function of quickly changing the size of the light spot.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0006] A smart physiotherapy handle system includes a laser physiotherapy head, which includes a housing, an optical fiber module, a first lens, and a second lens. The optical fiber module at least partially extends into the housing; the first lens is movably connected to the housing; the second lens is connected to the housing and is located on a side of the first lens away from the optical fiber module; wherein the first lens and the second lens are suitable for allowing light emitted by the optical fiber module to pass through, and the first lens can be moved in a direction close to or away from the optical fiber module.

[0007] As one embodiment, the laser therapy head includes a driving module, which is disposed in the housing and connected to the first lens for driving the first lens to move.

[0008] As one embodiment, the housing includes a first end and a second end arranged opposite to each other along its axial direction, the optical fiber module at least partially extends into the housing from the first end, the second lens is arranged close to the second end, and the second end is suitable for allowing the light generated by the optical fiber module to pass through; wherein, the port of the second end gradually increases in size in the direction away from the first end.

[0009] In one embodiment, a plurality of through grooves are formed along the circumference of the second end, pointing from the second end to the first end, and the height of the through grooves is lower than the height of the second lens.

[0010] As one embodiment, the laser therapy head includes a third lens, and the third lens is arranged between the first lens and the second lens and close to the second lens.

[0011] As one embodiment, the laser therapy head includes an imaging module, which is connected to the housing and is used to mark the treatment position and display the treatment temperature.

[0012] As one embodiment, the intelligent physiotherapy handle system also includes a host system and a robotic arm system, the host system is connected to the robotic arm system, the laser physiotherapy head is connected to the robotic arm system, and movable casters are provided at the bottom of the host system.

[0013] As one embodiment, the robotic arm system includes a first rotating arm, a second rotating arm and a third rotating arm, the first rotating arm is rotationally connected to the host system, the second rotating arm is rotationally connected to the first rotating arm, the third rotating arm is rotationally connected to the second rotating arm, and the third rotating arm is connected to the laser therapy head, wherein the rotation directions of the first rotating arm, the second rotating arm and the third rotating arm are different.

[0014] In one embodiment, the robotic arm system includes a first connecting member, a second connecting member, and a third connecting member, wherein the first connecting member is rotationally connected to the third rotating arm, and the third connecting member is rotationally connected to the host system;

[0015] The second connecting member is provided with a first rotating portion, a second rotating portion and a third rotating portion, the first rotating portion is rotationally connected to the first connecting member, the second rotating portion is rotationally connected to the first rotating arm, and the third rotating portion is rotationally connected to the third connecting member; wherein, the first rotating portion, the second rotating portion and the third rotating portion are not collinear.

[0016] As one embodiment, the intelligent physiotherapy handle system includes a display system, and the display system is electrically connected to the host system and the robotic arm system respectively.

[0017] The beneficial effects of the present invention are as follows: an embodiment of the present application provides an intelligent physiotherapy handle system, comprising a laser physiotherapy head, the laser physiotherapy head comprising a housing, an optical fiber module, a first lens, and a second lens, wherein the optical fiber module at least partially extends into the housing; the first lens is movably connected to the housing; the second lens is connected to the housing and is located on a side of the first lens away from the optical fiber module; wherein the first lens and the second lens are adapted to allow light emitted by the optical fiber module to pass through, and the first lens can be moved in a direction closer to or away from the optical fiber module. Compared to the prior art, the first lens of the present application can be moved within the housing, and the size of the light spot can be adjusted by changing the distance between the first lens and the laser source to adapt to the needs of different treatment sites and conditions, with a simple structure and easy operation; at the same time, the intelligent physiotherapy handle system comprises a robotic arm system and a host system, wherein an operator controls the movement of the robotic arm system through the host system, and the robotic arm system drives the laser physiotherapy head to the treatment site, eliminating the need for manual movement of the laser physiotherapy head, thereby improving the working efficiency and automation level of the intelligent physiotherapy handle system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The following is a schematic structural diagram of the intelligent physiotherapy handle system according to an embodiment of the present invention;

[0019] Figure 2 A cross-sectional schematic diagram of a laser therapy head according to an embodiment of the present invention is shown;

[0020] Figure 3 for Figure 1 Enlarged view of point A in the middle;

[0021] Figure 4 A side view of the intelligent physiotherapy handle system according to an embodiment of the present invention is shown;

[0022] Figure 5 Schematic diagrams of light spots at different positions of the first lens in an embodiment of the present utility model are shown.

[0023] Description of reference numerals:

[0024] 10. Laser therapy head; 101. Housing; 102. Optical fiber module; 103. First lens; 104. Second lens; 105. Driving module; 106. Imaging module; 107. Third lens; 1011. First end; 1012. Second end; 1013. Through slot;

[0025] 20. Host system; 201. Mobile casters;

[0026] 30. Robotic arm system; 301. First rotating arm; 302. Second rotating arm; 303. Third rotating arm; 304. First connecting member; 305. Second connecting member; 306. Third connecting member; 3051. First rotating portion; 3052. Second rotating portion; 3053. Third rotating portion;

[0027] 40. Display system. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-5 This application is described in further detail.

[0029] See Figure 1 and Figure 2 An embodiment of the present application provides an intelligent physiotherapy handle system, including a laser physiotherapy head 10, which includes a housing 101, an optical fiber module 102, a first lens 103 and a second lens 104. The optical fiber module 102 at least partially extends into the housing 101; the first lens 103 is movably connected to the housing 101; the second lens 104 is connected to the housing 101 and is located on a side of the first lens 103 away from the optical fiber module 102; wherein the first lens 103 and the second lens 104 are suitable for allowing light emitted by the optical fiber module 102 to pass through, and the first lens 103 can move in a direction close to or away from the optical fiber module 102.

[0030] In actual application, the light-emitting end of the optical fiber module 102 extends into the housing 101, the first lens 103 is installed at the position of the light-emitting end, and the second lens 104 is installed on the side of the first lens 103 away from the optical fiber module 102. The laser light emitted by the optical fiber module 102 passes through the first lens 103 and the second lens 104 in sequence to form a light spot. At the same time, the first lens 103 is movable within the housing 101. Specifically, the first lens 103 moves along the axial direction of the housing 101, thereby adjusting the distance between the first lens 103 and the optical fiber module 102. By changing the distance between the first lens 103 and the laser source, the light spot size is affected. When the first lens 103 is close to the laser source, the light spot generally becomes smaller; when the first lens 103 is away from the laser source, the light spot generally becomes larger, thereby achieving the adjustment of the light spot size to meet the needs of different treatment areas and conditions.

[0031] It should be noted that the first lens 103 may be a concave lens, and the second lens 104 may be a convex lens.

[0032] See again Figure 1 The intelligent physiotherapy handle system also includes a host system 20 and a robotic arm system 30 . The host system 20 is connected to the robotic arm system 30 , and the laser physiotherapy head 10 is connected to the robotic arm system 30 .

[0033] In actual application, the host system 20 is electrically connected to the robotic arm system 30. The host system 20 is used to control the movement of the robotic arm system 30. The laser therapy head 10 is connected to the robotic arm system 30. During normal use, the operator controls the movement of the robotic arm system 30 through the host system 20. The robotic arm system 30 drives the laser therapy head 10 to move to the treatment site. The laser therapy head 10 emits laser to form a light spot, which is irradiated on the treatment site to achieve the laser therapy effect for treatment and rehabilitation purposes. There is no need to manually move the laser therapy head 10 frequently, saving time and effort.

[0034] It should be noted that the host system 20 is usually provided with a power supply and control module for providing power and data communication to the robotic arm system 30 and the laser therapy head 10 .

[0035] See again Figure 2 The laser therapy head 10 further includes a driving module 105 . The driving module 105 is disposed in the housing 101 . The driving module 105 is connected to the first lens 103 and is used to drive the first lens 103 to move.

[0036] In order to improve the working efficiency of the laser therapy head 10 and realize automatic adjustment of the spot size, the present application sets up a driving module 105. The driving module 105 can be electrically connected to the host system 20, and the driving module 105 is electrically controlled by the control module in the host system 20. When the host system 20 receives treatment information, the operator can output the required spot size through the control module, and the control system controls the driving module 105 to start. The driving module 105 drives the first lens 103 to move to an appropriate position so that the output spot size meets the treatment requirements.

[0037] It is understood that the drive module 105 can be a structure such as an electric push rod or a motor screw. There can be one or more drive modules 105. One drive module 105 is connected to the center of the first lens 103 to make the movement of the first lens 103 more stable and uniform. Multiple drive modules 105 can be symmetrically arranged relative to the first lens 103 to improve the stability of the movement of the first lens 103. The structure and number of the drive modules 105 are not limited in this application.

[0038] See again Figure 2 The housing 101 includes a first end 1011 and a second end 1012 that are opposite to each other along its axial direction. The optical fiber module 102 at least partially extends into the housing 101 from the first end 1011. The second lens 104 is arranged near the second end 1012. The second end 1012 is suitable for allowing light generated by the optical fiber module 102 to pass through. In the direction away from the first end 1011, the port of the second end 1012 gradually increases.

[0039] In actual application, the housing 101 includes a first end 1011 and a second end 1012. The first end 1011 is used for the optical fiber module 102 to extend into, which is conducive to the assembly and disassembly of the optical fiber module 102. The second end 1012 is used for the light emitted by the optical fiber module 102 to pass through. The second end 1012 gradually increases in the direction away from the first end 1011. That is, the second end 1012 is in the shape of a trumpet. This arrangement is conducive to the emission of light and avoids the second end 1012 blocking the optical path of the light emission. At the same time, it optimizes the distribution of the light beam, so that the laser beam can gradually diffuse when it is emitted to form a more uniform light spot; the trumpet shape also makes it easier for the physiotherapy head to adapt to the curved surfaces of different parts of the body, making it easier for doctors or therapists to align the physiotherapy head with the treatment part during operation, which can improve the accuracy of positioning.

[0040] See Figure 3 The second end 1012 is provided with a plurality of through grooves 1013 along its circumference, pointing from the second end 1012 to the direction of the first end 1011 , and the height of the through grooves 1013 is lower than the height of the second lens 104 .

[0041] In actual use, the laser therapy head 10 generates a certain amount of heat during operation. If this heat cannot be dissipated promptly, it may affect the performance and lifespan of the device and may even cause discomfort to the patient. The through-groove 1013 at the second end 1012 increases the heat dissipation area, allowing heat to be dissipated more quickly, reducing the risk of device failure due to overheating and protecting internal optical elements or electronic components.

[0042] At the same time, the height of the through groove 1013 is lower than that of the second lens 104 , that is, the through groove 1013 will not affect the light emitted from the second lens 104 , thereby preventing the light from diffusing in the through groove 1013 and affecting the effect of forming a light spot.

[0043] See again Figure 2 The laser therapy head 10 further includes a third lens 1014 , which is disposed between the first lens 103 and the second lens 104 and close to the second lens 104 .

[0044] In practical applications, the three lenses provided in this application can optimize beam quality, help improve laser transmission efficiency, and ensure that more laser energy reaches the treatment area. Furthermore, the combination of the three lenses can achieve different focal lengths and spot sizes to meet different treatment needs. The three lenses can also play a certain filtering and protective role, filtering out stray light and unwanted wavelength components in the laser beam, reducing the risk of injury to patients and operators. Furthermore, since the laser therapy head 10 requires frequent use, high requirements are placed on the stability and durability of the lenses. The three-lens design can increase the reliability of the device and reduce the frequency of maintenance and replacement.

[0045] It should be noted that the third lens 1014 can be a concave lens.

[0046] See again Figure 2 The laser therapy head 10 further includes an imaging module 106 , which is connected to the housing 101 and is used to mark the treatment position and display the treatment temperature.

[0047] In this embodiment, an imaging module 106 is also integrated into the laser therapy head 10. The imaging module 106 is connected to the second end 1012 of the housing 101. The imaging module 106 is electrically connected to the host system 20. The patient's treatment area is marked through the imaging module 106 and the generated coordinate data is sent to the robotic arm system 30. The robotic arm system 30 drives the laser therapy head 10 to move to the area that needs treatment. Since the imaging module 106 is connected to the second end 1012, the imaging module 106 is close to the patient's treatment area during treatment, and can also display the surface temperature of the treatment area, so as to remind the user in time to prevent overheating and burning the skin.

[0048] It should be noted that the imaging module 106 may adopt an infrared imaging system.

[0049] See Figure 4 , the bottom of the host system 20 is provided with movable casters 201. Such arrangement, when in use, can push the host system 20 to move to the desired position, improve the mobility of the intelligent physiotherapy handle system, and increase the practicality of the device.

[0050] See again Figure 4 The robotic arm system 30 includes a first rotating arm 301, a second rotating arm 302 and a third rotating arm 303. The first rotating arm 301 is rotationally connected to the host system 20, the second rotating arm 302 is rotationally connected to the first rotating arm 301, the third rotating arm 303 is rotationally connected to the second rotating arm 302, and the third rotating arm 303 is connected to the laser therapy head 10, wherein the rotation directions of the first rotating arm 301, the second rotating arm 302 and the third rotating arm 303 are all different.

[0051] In actual applications, in order to adjust the position of the laser therapy head 10 at multiple angles, the robotic arm system 30 usually needs to be set with multiple degrees of freedom of movement, such as translation and rotation in the X, Y, and Z directions. Therefore, the robotic arm system 30 includes a first rotating arm 301, a second rotating arm 302, and a third rotating arm 303. The first rotating arm 301 is rotatably connected to the host system 20, and the first rotating arm 301 can rotate around the Z axis relative to the host system 20. The second rotating arm 302 is rotatably connected to the first rotating arm 301, and the second rotating arm 302 can rotate around the Y axis relative to the host system 20. The third rotating arm 303 is rotatably connected to the second rotating arm 302, and the third rotating arm 303 can rotate around the X axis relative to the host system 20. The laser therapy head is connected to the third rotating arm 303 to realize the rotational freedom of the laser therapy head in the three directions of X, Y, and Z. At the same time, the first rotating arm 301, the second rotating arm 302 and the third rotating arm 303 can also translate along the X, Y and Z directions respectively, thereby realizing the translational freedom of the laser treatment head in the X, Y and Z directions.

[0052] See again Figure 4 The robotic arm system 30 also includes a first connecting member 304, a second connecting member 305 and a third connecting member 306, the first connecting member 304 is rotationally connected to the third rotating arm 303, and the third connecting member 306 is rotationally connected to the host system 20; the second connecting member 305 is provided with a first rotating portion 3051, a second rotating portion 3052 and a third rotating portion 3053, the first rotating portion 3051 is rotationally connected to the first connecting member 304, the second rotating portion 3052 is rotationally connected to the first rotating arm 301, and the third rotating portion 3053 is rotationally connected to the third connecting member 306; wherein the first rotating portion 3051, the second rotating portion 3052 and the third rotating portion 3053 are not collinear.

[0053] In this embodiment, one end of the first connecting member 304 is connected to the third rotating arm 303, and the other end is rotationally connected to the second connecting rod through the second rotating portion 3052. The third connecting rod is rotationally connected to the second connecting member 305 through the third rotating portion 3053. The second connecting member 305 is rotationally connected to the first rotating arm 301 through the first rotating portion 3051. With this arrangement, when the third rotating arm 303 needs to be rotated, the third rotating arm 303 can be driven to rotate by rotating any one of the first connecting member 304, the second connecting member 305 and the third connecting member 306 to achieve fine-tuning of the third rotating arm 303.

[0054] At the same time, the first rotating portion 3051 , the second rotating portion 3052 and the third rotating portion 3053 are not collinear, so that the second connecting member 305 is triangular in shape, and the structure of the second connecting member 305 is more stable, thereby improving its structural strength.

[0055] See again Figure 1 The intelligent physiotherapy handle system includes a display system 40, which is electrically connected to the host system 20 and the robotic arm system 30 respectively.

[0056] In practical applications, the display system 40 can be used to display various treatment parameters of the intelligent physiotherapy handle system, such as laser power, irradiation time, spot size, and treatment mode. This allows doctors or operators to accurately understand the current treatment status, ensuring the accuracy and safety of treatment. The display system 40 can also display the operation process and precautions to guide the operator to perform the correct operation. During the treatment process, if an abnormality occurs, the display screen can also provide corresponding prompts to guide the operator to take the correct action, enhancing the user experience and human-computer interaction.

[0057] Different from the prior art, the embodiment of the present application provides an intelligent physiotherapy handle system 10, including a laser physiotherapy head 10, which includes a housing 101, an optical fiber module 102, a first lens 103 and a second lens 104. The optical fiber module 102 is at least partially extended into the housing 101; the first lens 103 is movably connected to the housing 101; the second lens 104 is connected to the housing 101 and is located on the side of the first lens 103 away from the optical fiber module 102; wherein the first lens 103 and the second lens 104 are suitable for allowing light emitted by the optical fiber module 102 to pass through, and the first lens 103 can move in a direction close to or away from the optical fiber module 102. Compared with the existing technology, the first lens 103 of the present application can be moved in the housing 101. The size of the light spot can be adjusted by changing the distance between the first lens 103 and the laser source to adapt to the needs of different treatment parts and diseases. It has a simple structure and is easy to operate. At the same time, the intelligent therapy handle system includes a robotic arm system 30 and a host system 20. The operator controls the movement of the robotic arm system 30 through the host system 20, and the robotic arm system 30 drives the laser therapy head 10 to move to the treatment part. There is no need to manually move the laser therapy head 10, which improves the working efficiency and automation level of the intelligent therapy handle system.

[0058] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. An intelligent physiotherapy handle system, characterized in that: It comprises a laser therapy head (10); the laser therapy head (10) comprises: housing (101); an optical fiber module (102) at least partially extending into the housing (101); A first lens (103) is movably connected to the housing (101); a second lens (104) connected to the housing (101) and located on a side of the first lens (103) away from the optical fiber module (102); The first lens (103) and the second lens (104) are suitable for allowing light emitted by the optical fiber module (102) to pass through, and the first lens (103) can move in a direction close to or away from the optical fiber module (102).

2. The intelligent physiotherapy handle system according to claim 1, characterized in that: The laser therapy head (10) comprises a driving module (105), wherein the driving module (105) is disposed in the housing (101), and the driving module (105) is connected to the first lens (103) and is used to drive the first lens (103) to move.

3. The intelligent physiotherapy handle system according to claim 1, characterized in that: The housing (101) comprises a first end (1011) and a second end (1012) arranged opposite to each other along its axial direction; the optical fiber module (102) at least partially extends from the first end (1011) into the housing (101); the second lens (104) is arranged near the second end (1012); the second end (1012) is suitable for allowing light generated by the optical fiber module (102) to pass through; wherein, in a direction away from the first end (1011), the port of the second end (1012) gradually increases.

4. The intelligent physiotherapy handle system according to claim 3, characterized in that: The second end (1012) is provided with a plurality of through grooves (1013) along its circumference, pointing from the second end (1012) to the first end (1011), and the height of the through grooves (1013) is lower than the height of the second lens (104).

5. The intelligent physiotherapy handle system according to claim 1, characterized in that: The laser therapy head (10) comprises a third lens (1014), wherein the third lens (1014) is arranged between the first lens (103) and the second lens (104), and is arranged close to the second lens (104).

6. The intelligent physiotherapy handle system according to claim 1, characterized in that: The laser therapy head (10) comprises an imaging module (106), the imaging module (106) being connected to the housing (101), and the imaging module (106) being used to mark a treatment position and display a treatment temperature.

7. The intelligent physiotherapy handle system according to claim 1, characterized in that: The intelligent physiotherapy handle system further comprises a host system (20) and a robotic arm system (30), wherein the host system (20) is connected to the robotic arm system (30), and the intelligent physiotherapy handle system is connected to the robotic arm system (30), and a movable caster (201) is provided at the bottom of the host system (20).

8. The intelligent physiotherapy handle system according to claim 7, characterized in that: The robotic arm system (30) comprises a first rotating arm (301), a second rotating arm (302) and a third rotating arm (303), wherein the first rotating arm (301) is rotationally connected to the host system (20), the second rotating arm (302) is rotationally connected to the first rotating arm (301), the third rotating arm (303) is rotationally connected to the second rotating arm (302), and the third rotating arm (303) is connected to the laser therapy head (10), wherein the rotation directions of the first rotating arm (301), the second rotating arm (302) and the third rotating arm (303) are all different.

9. The intelligent physiotherapy handle system according to claim 8, characterized in that: The robotic arm system (30) includes a first connecting member (304), a second connecting member (305) and a third connecting member (306), wherein the first connecting member (304) is rotationally connected to the third rotating arm (303), and the third connecting member (306) is rotationally connected to the host system (20); the second connecting member (305) is provided with a first rotating part (3051), a second rotating part (3052) and a third rotating part (3053), wherein the first rotating part (3051) is rotationally connected to the first connecting member (304), the second rotating part (3052) is rotationally connected to the first rotating arm (301), and the third rotating part (3053) is rotationally connected to the third connecting member (306); wherein the first rotating part (3051), the second rotating part (3052) and the third rotating part (3053) are not collinear.

10. The intelligent physiotherapy handle system according to claim 7, characterized in that: The intelligent physiotherapy handle system includes a display system (40), and the display system (40) is electrically connected to the host system (20) and the robotic arm system (30) respectively.

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