Gua sha device

Abstract

The application relates to a gua sha device, which comprises a mechanical arm, a gua sha plate, a controller, a force sensor and a visual sensor. One end of the mechanical arm is fixed, and the other end of the mechanical arm is connected with the gua sha plate. The force sensor and the visual sensor are arranged at the end of the mechanical arm close to the gua sha plate. The mechanical arm, the force sensor and the visual sensor are connected with the controller. The force sensor detects the force parameter of the gua sha plate and transmits the force parameter to the controller. The visual sensor detects the visual parameter of the gua sha plate and transmits the visual parameter to the controller. The controller controls the mechanical arm to drive the gua sha plate to move. The force parameter and the visual parameter of the environment where the gua sha plate is located are detected by the force sensor and the visual sensor respectively, so that the controller can control the mechanical arm to adjust the posture based on the force parameter and the visual parameter, and then drive the gua sha plate to move, and the gua sha plate can be controlled to move to different gua sha areas of a patient to be gua sha. The gua sha device can meet different gua sha requirements of the patient and enhance the applicability of the gua sha device.

Description

Technical Field

[0001] This application relates to the field of physiotherapy and nursing equipment technology, and in particular to a scraping device. Background Technology

[0002] Gua sha is a method of preventing and treating diseases by using specialized tools and applying specific techniques to the body surface based on the theories of meridians and acupoints in Traditional Chinese Medicine. Currently, the most common method involves a qualified medical professional manually holding the gua sha tool and performing the scraping according to the patient's symptoms and needs, using a set frequency and technique.

[0003] In order to reduce manual labor and make scraping more convenient, some mechanical devices that can perform scraping automatically have gradually emerged, such as electromechanical negative pressure magnetic scraping devices. These devices are usually designed with a negative pressure magnetic contact surface, which contacts the patient to perform scraping therapy through negative pressure suction, magnetic cupping, heat therapy massage, or other methods.

[0004] However, negative pressure magnetic scraping devices require the scraping location to be in close contact with the contact surface to form negative pressure, which places strict requirements on the scraping location and limits the area that can be used on the patient. Therefore, they are not suitable for patients with different scraping needs. Utility Model Content

[0005] Therefore, it is necessary to provide a scraping device that can be applied to multiple parts of the patient's body and has high applicability, in order to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides a gua sha device, which includes a robotic arm, a gua sha board, a controller, a force sensor, and a vision sensor. One end of the robotic arm is fixed, and the other end of the robotic arm is connected to the gua sha board. The force sensor and the vision sensor are both disposed at the end of the robotic arm near the gua sha board. The robotic arm, the force sensor, and the vision sensor are all connected to the controller.

[0007] The force sensor detects the force parameters of the scraping board and transmits them to the controller; the vision sensor detects the visual parameters of the scraping board and transmits them to the controller; the controller controls the robotic arm to move the scraping board.

[0008] In one embodiment, the visual sensor is a 3D camera.

[0009] In one embodiment, the robotic arm includes a movable axis and an end effector, both of which are connected to the controller. The end effector is located at one end of the movable axis and connected to the scraping board. The end of the movable axis away from the end effector is fixed. The force sensor and the vision sensor are both located on the end effector.

[0010] In one embodiment, the scraping board is detachably mounted on the end holder.

[0011] In one embodiment, there are multiple force sensors, each of which is disposed between the end holder and the scraping board to detect the force parameters of the scraping board.

[0012] In one embodiment, the scraping device further includes a base, and one end of the robotic arm away from the scraping board is fixed to the base.

[0013] In one embodiment, the base includes a frame and rollers, the robotic arm is fixed to the frame, and the rollers are disposed at the end of the frame away from the robotic arm.

[0014] In one embodiment, the base further includes a scraping auxiliary cavity, which is embedded in the frame and used to hold the scraping medium.

[0015] In one embodiment, the gua sha device further includes a display screen disposed on the base and connected to the controller.

[0016] In one embodiment, the robotic arm is a multi-axis robotic arm.

[0017] The aforementioned gua sha device includes a robotic arm, a gua sha board, a controller, a force sensor, and a vision sensor. One end of the robotic arm is fixed, and the other end is connected to the gua sha board. Both the force sensor and the vision sensor are located at the end of the robotic arm near the gua sha board. The robotic arm, force sensor, and vision sensor are all connected to the controller. Specifically, the force sensor detects the force parameters of the gua sha board and transmits them to the controller; the vision sensor detects the visual parameters of the gua sha board and transmits them to the controller; the controller controls the robotic arm to move the gua sha board. By detecting the force and visual parameters of the environment in which the gua sha board is located, the controller can adjust the posture of the robotic arm based on these parameters, thereby moving the gua sha board and controlling it to move to different gua sha areas of the patient being treated. Compared to negative pressure suction, using a scraping board requires less restriction on the area being scraped, making it suitable for different scraping areas. Combining the two methods can meet the diverse scraping needs of patients and enhance the applicability of the scraping equipment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a scraping device in one embodiment;

[0019] Figure 2 This is a schematic diagram of a gua sha device in one embodiment.

[0020] Explanation of reference numerals in the attached diagram: 1-Gua Sha board, 2-End clamp, 3-Force sensor, 4-Vision sensor, 5-Moving shaft, 6-Gua Sha auxiliary cavity, 7-Display screen, 8-Shelf, 9-Rolling wheel, 10-Main unit, 11-Robotic arm. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0023] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0024] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0026] Gua sha, or scraping therapy, is a method of treating and preventing diseases by using specialized tools and applying specific techniques to the skin's surface based on the theories of meridians and acupoints in Traditional Chinese Medicine. As an ancient and effective TCM therapy, it stimulates the capillaries in the skin and epidermis, causing local vasodilation, increasing blood flow, and promoting blood circulation. It also stimulates the skin and deeper tissues, promoting local blood circulation and relieving muscle tension and pain. Currently, most gua sha machines use negative pressure magnetic suction. This method requires the patient's scraping area to be in contact with the magnetic contact surface to generate negative pressure. Limited by the size of the magnetic contact surface, this type of gua sha requires a relatively flat scraping area. For example, the back is relatively flat, making negative pressure magnetic scraping more effective, while the skin surface around joints such as elbows and ankles is more uneven, making it more difficult. Therefore, the current negative pressure magnetic scraping method has insufficient applicability. Furthermore, the applicant's analysis in actual scraping practice shows that negative pressure magnetic scraping is less effective than scraping with a scraping board. However, using a scraping board with mechanical equipment can lead to inaccurate scraping positions and deviations in the scraping path due to the small scraping area. Therefore, this application provides a scraping device that allows for scraping with a scraping board, suitable for multiple areas of the patient's body, while maintaining accuracy and improving the applicability of the scraping device.

[0027] In one embodiment, such as Figure 1 As shown, this application provides a gua sha device, which includes a robotic arm 11, a gua sha board 1, a controller (not shown), a force sensor 3, and a vision sensor 4. One end of the robotic arm 11 is fixed, and the other end of the robotic arm 11 is connected to the gua sha board 1. The force sensor 3 and the vision sensor 4 are both located at the end of the robotic arm 11 near the gua sha board 1. The robotic arm 11, the force sensor 3, and the vision sensor 4 are all connected to the controller. The force sensor 3 detects the force parameters of the gua sha board 1 and transmits them to the controller; the vision sensor 4 detects the visual parameters of the gua sha board 1 and transmits them to the controller; the controller controls the robotic arm 11 to move the gua sha board 1.

[0028] The scraping board 1 is the tool used for scraping (gua sha). It can be made of materials such as Bian stone or buffalo horn. The shape of the scraping board 1 is not limited; for example, it can be semi-circular, fish-shaped, kidney-shaped, or oval. The scraping board 1 stimulates the patient's designated meridians and acupoints in the scraping area to achieve health and wellness. It should be noted that during scraping, professionals will select different scraping boards 1 according to the patient's physical condition. In this embodiment, the scraping board 1 is connected to the unfixed end of the robotic arm 11 and can move across the patient's scraping area under the movement of the robotic arm 11.

[0029] The robotic arm 11 refers to a complex system composed of multiple joints and arm segments. It can drive the joints and actuators via motors or other power devices to achieve movement in various degrees of freedom. The robotic arm 11 is typically equipped with sensors and actuators, enabling precise position and speed control based on preset programs or real-time input control signals. In this embodiment, the sensors include a force sensor 3 and a vision sensor 4, and the actuator can be a structure connected to one end of the scraping board 1.

[0030] Furthermore, in one embodiment, such as Figure 2 As shown, the robotic arm 11 includes a movable shaft 5 and an end effector 2. Both the movable shaft 5 and the end effector 2 are connected to a controller. The end effector 2 is located at one end of the movable shaft 5 and is connected to the scraping plate 1. The end of the movable shaft 5 away from the end effector 2 is fixed. A force sensor 3 and a vision sensor 4 are both located on the end effector 2.

[0031] The movable axis 5 is a shaft composed of multiple joints and arm segments, which is the part of the robotic arm 11 excluding the end effector. The movable axis 5 includes multiple arm segments and joints between each arm segment, which together enable the robotic arm 11 to move flexibly. The end effector 2 is an end effector in the robotic arm 11, used to fulfill the functional requirements of the robotic arm 11, such as handling, gripping, or moving objects by clamping. In this embodiment, the end effector 2 grips the scraping board 1 and can carry the scraping board 1 to different spatial positions to facilitate scraping the patient.

[0032] Force sensor 3 and vision sensor 4 are both located on end effector 2, close to the scraping board 1, enabling more accurate acquisition of force and visual parameters of the scraping board 1. The controller connects the movable axis 5 and end effector 2. It can control the rotation of each joint of the movable axis 5, thus achieving motion control of the robotic arm 11; alternatively, the end effector 2 can have a certain degree of freedom, similar to a small joint in the movable axis 5, allowing the controller to control the end effector 2 to deflect at a certain angle, thereby enhancing the flexibility of the robotic arm 11.

[0033] Optionally, the end effector 2 can also change the object it holds under the control of the controller. That is, in one embodiment, the scraping board 1 is detachably mounted on the end effector 2. The end effector 2 has a relaxed state and a gripped state. When the end effector 2 is in the relaxed state, the scraping board 1 will fall off the end effector 2; when the end effector 2 is in the gripped state, the scraping board 1 can be fixed to the end effector 2. Therefore, if a professional needs to replace the scraping board 1 or adjust its position, they can issue a corresponding command to the controller to make the controller control the end effector 2 to be in the relaxed state. After the professional has finished replacing or adjusting it, the controller will then control the end effector 2 to be in the gripped state to fix the scraping board 1 again.

[0034] Optionally, in one embodiment, the robotic arm 11 is a multi-axis robotic arm. The multi-axis robotic arm has multiple rotating or moving joints, each of which can rotate or move within a certain range, thereby enabling the multi-axis robotic arm to move to any point in a three-dimensional space within a certain space, that is, to move the scraping board 1 to the patient's scraping areas.

[0035] It is important to note that when using a scraping device for scraping, the patient needs to be in different positions, such as lying down, sitting, or prone, either sitting in a fixed chair or lying on a fixed treatment bed. The patient's position must be within the range of motion of the robotic arm 11. The relative position between the patient and the scraping device can be adjusted by a professional. Unless otherwise specified, the professional in this application refers to doctors, nurses, or other medical personnel with basic medical knowledge and familiarity with scraping therapy.

[0036] Force sensor 3 is a device that converts the magnitude of force into a relevant electrical signal. By detecting the force on the scraping board 1 being tested, the force parameters are obtained. Since the scraping board 1 is the component that realizes scraping and directly contacts the scraping area of ​​the patient, the force parameters of the scraping board 1 can characterize the parameters of scraping therapy such as scraping force and scraping direction.

[0037] Optionally, the force sensor 3 may be used to detect the force parameters of the scraping board 1 by means of elastic deformation principle (indirectly detecting the magnitude of the force of the scraping board 1 by detecting the elastic deformation that occurs when the force is applied), piezoelectric effect principle (using the structure of piezoelectric material to generate a potential difference by causing charge polarization under force, and indirectly measuring the force of the scraping board 1 based on the potential difference or charge), resistance effect principle (indirectly measuring the force on the scraping board 1 based on the change of resistance following the pressure or torque), and capacitance effect principle (using a sensor made of a material whose capacitance changes with the force, such as a capacitive sensing element). It is not limited here.

[0038] The force sensor 3 can be positioned between the scraping board 1 and the end holder 2, or between the end holder 2 and the movable shaft 5, and it only needs to be able to detect the force on the scraping board 1. Further, in one embodiment, there are multiple force sensors 3, each positioned between the end holder 2 and the scraping board 1, to detect the force parameters of the scraping board 1. It is understood that each force sensor 3 can be positioned at different locations between the scraping board 1 and the end holder 2 to achieve omnidirectional detection, so that the force parameters can cover the force on the scraping board 1 from multiple angles and directions.

[0039] The vision sensor 4 is a type of sensor that can convert optical signals into digital signals to achieve functions such as image acquisition, processing, and analysis. It is typically used to acquire images. In this embodiment, it can acquire images of the area surrounding the location of the gua sha board 1, i.e., visual parameters. By setting the vision sensor 4 at one end of the robotic arm 11 near the gua sha board 1, it can work in conjunction with the robotic arm 11, helping the robotic arm 11 to complete hand-eye calibration and making the control of the robotic arm 11 more precise.

[0040] Optionally, the vision sensor 4 comprises a CCD (Charge-Coupled Device) / CMOS (Complementary Metal Oxide Semiconductor) camera, an optical system, an illumination system, and an image acquisition card.

[0041] Depending on the selected visual sensor 4, the number of pixels in the image acquisition varies, resulting in different accuracy of the obtained visual parameters. In one embodiment, the visual sensor 4 is a 3D camera. A 3D camera is a device capable of capturing three-dimensional information of a scene or object. Compared to traditional two-dimensional imaging technology, it provides richer and more three-dimensional data support, enabling the acquisition and processing of three-dimensional information of objects or scenes. In this embodiment, the 3D camera is mounted on the robotic arm 11 near the gua sha board 1, with the shooting direction facing the gua sha board 1 (if the visual sensor 4 can take 360° panoramic photos, the shooting direction does not need to be limited), capturing the three-dimensional scene information of the gua sha board 1 as visual parameters.

[0042] It should be noted that the visual parameters captured by the visual sensor 4 include the patient's location and the relative position of the gua sha board 1 and the patient, and may also include the relative position of the patient's gua sha area and the gua sha board 1.

[0043] The controller receives force parameters transmitted from force sensor 3 and visual parameters transmitted from vision sensor 4. The force parameters indicate whether the scraping board 1 is in contact with an object (usually the patient's scraping area under professional guidance), and if so, the magnitude and direction of the force applied to the scraping board 1. The visual parameters indicate the relative position of the scraping board 1 to the patient, and also the scraping position during the scraping process. This allows the controller to perform hand-eye calibration based on vision sensor 4 and the robotic arm 11, achieving synchronized control. Combining the force and visual parameters with the scraping therapy stored within the controller, the controller can adjust and drive the robotic arm 11, causing it to move according to the stored scraping trajectory. It also adjusts the scraping force and direction of the scraping board 1 applied to the patient's scraping area to match the scraping therapy.

[0044] The scraping therapy stored in the controller is derived by professionals based on scraping templates and adjusted according to the different physical conditions of each patient. The scraping templates are pre-set by professionals, who can edit them on a terminal or other computer device connected to the controller, or edit and save them directly on the controller, as long as computing power is not limited. After obtaining the scraping template, professionals adjust it according to the patient's individual constitution or scraping needs to obtain a scraping therapy specific to that patient. This therapy is then entered into the controller, which controls the robotic arm 11 to move according to parameters such as the scraping path, scraping force, scraping technique, scraping speed, number of scrapings, and scraping angle, to complete the scraping treatment on the patient.

[0045] In this embodiment, the scraping device includes a robotic arm 11, a scraping board 1, a controller, a force sensor 3, and a vision sensor 4. One end of the robotic arm 11 is fixed, and the other end is connected to the scraping board 1. The force sensor 3 and the vision sensor 4 are both located at the end of the robotic arm 11 near the scraping board 1. The robotic arm 11, the force sensor 3, and the vision sensor 4 are all connected to the controller. The force sensor 3 detects the force parameters of the scraping board 1 and transmits them to the controller; the vision sensor 4 detects the visual parameters of the scraping board 1 and transmits them to the controller; the controller controls the robotic arm 11 to move the scraping board 1. By detecting the force parameters and visual parameters of the environment in which the scraping board 1 is located, the force sensor 3 and the vision sensor 4 respectively, the controller can control the robotic arm 11 to adjust its posture based on the force and visual parameters, thereby moving the scraping board 1 and controlling it to move to different scraping areas of the patient being scraped. Compared to negative pressure suction, using a scraping board 1 requires less stringent conditions on the patient's scraping area and can be applied to different scraping areas. Combining the two methods can meet the different scraping needs of patients and enhance the applicability of the scraping equipment.

[0046] In order to better fix the scraping device, in one embodiment, the scraping device also includes a base, and the end of the robotic arm 11 away from the scraping plate 1 is fixed to the base.

[0047] The base has a flat surface capable of supporting and fixing the robotic arm 11. It may have recesses that engage with the robotic arm 11, or structures that interact with the fixed end of the robotic arm 11 to achieve fixation, such as snap-fit, threads, and magnetic attraction. As a platform supporting the weight of the robotic arm 11 and fixing the end of the robotic arm 11 away from the scraping board 1, the shape of the base is not limited. That is, the base can be a cube of different shapes. While fulfilling the function of supporting the robotic arm 11, it can adapt to different application environments. For example, it can engage and fix with the edge of the treatment bed where the patient lies, so that the treatment bed and the scraping device can be matched in a one-to-one combination for nursing care. Furthermore, the processor can be placed inside the base, thus eliminating the need to integrate the processor into the robotic arm 11 and reducing the burden on the robotic arm 11.

[0048] To enhance the flexibility of the scraping device, in one embodiment, such as Figure 2 As shown, the base includes a frame and rollers 9. The robotic arm 11 is fixed to the frame, and the rollers 9 are provided at the end of the frame away from the robotic arm 11.

[0049] Specifically, the frame refers to a support structure with a platform that supports the weight of the robotic arm 11 and fixes the end of the robotic arm 11 away from the scraping board 1. It is movably connected to the rollers 9. Optionally, the frame can be a hollow structure or a solid structure, such as... Figure 2 As shown, the solid structure of the stand can be the main unit box 10, which is used to place the controller and maintain an aesthetically pleasing appearance; the hollow structure of the stand can be set with a recessed area as a shelf 8, where professionals can place other items, improving the applicability and convenience of the scraping device.

[0050] The roller 9 can be a swivel caster, capable of rotating freely 360 degrees from the ground, offering high flexibility and enabling the frame to move, thus allowing the scraping device to move accordingly and enhancing its flexibility. This allows professionals to push the scraping device to a designated position as needed, bringing the scraping board 1 close to the patient's scraping area, before activating the device and using the scraping therapy techniques within it.

[0051] Furthermore, in one embodiment, the base also includes a scraping auxiliary cavity 6, which is embedded in the frame and used to place the scraping medium.

[0052] Specifically, the scraping auxiliary cavity 6 can be a detachable vessel attached to the stand. The stand is provided with corresponding recesses for placing and fixing the scraping auxiliary cavity 6. The scraping auxiliary cavity 6 contains scraping media, such as sterile water, scraping oil, scraping lotion, etc., which need to be applied to the scraping board 1 during the scraping process. These media can improve the patient's experience during the scraping process and ensure the scraping effect.

[0053] Furthermore, the scraping therapy can include a step of dipping the scraping medium in the scraping medium. This allows the robotic arm 11 to move the scraping board 1 to the scraping auxiliary cavity 6 to pick up the scraping medium before performing scraping on the patient. The position of the scraping auxiliary cavity 6 and the shape of its base are pre-stored in the controller and do not require real-time adjustment.

[0054] In one embodiment, the gua sha device further includes a display screen 7, which is disposed on the base and connected to a controller.

[0055] Specifically, the display screen 7 can be placed on the base and directly connected to the controller set in the base. It can display the scraping steps in the currently executed scraping therapy and can display the corresponding scraping path, scraping force, scraping technique, scraping speed, scraping number of times, scraping angle and other parameters.

[0056] Furthermore, the scraping template and scraping therapy can also be set via the display screen 7 on the scraping device. Professionals interact with the display screen 7 to set the scraping template, and when scraping is needed for the patient, they select the scraping template and adjust it to obtain the scraping therapy. After selecting the scraping therapy, the scraping is performed on the patient in a way that is simultaneously displayed on the display screen 7 and executed synchronously by the robotic arm 11, so that professionals can know the progress of scraping at all times.

[0057] To better understand the above solution, a detailed explanation will be provided below with reference to a specific embodiment.

[0058] like Figure 2As shown, the base includes a frame, rollers 9, and a scraping auxiliary cavity 6. The frame includes a main unit box 10 and a shelf 8. The main unit box 10 can hold a controller, and the shelf 8 can hold gauze, disinfectant, replacement scraping boards 1, and other items. Casters (rolling wheels 9) are installed under the frame for pushing. A display screen 7 can be installed on the frame, allowing operators to view, set, and operate the scraping. The scraping auxiliary cavity 6 can be installed on the frame to automatically pick up the scraping medium during scraping operations. The robotic arm 11 is mounted on the platform, and the scraping head is mounted on the end of the robotic arm 11; a 3D camera (vision sensor 4) is mounted on the end of the robotic arm 11; a force sensor 3 is mounted between the end of the robotic arm 11 and the scraping board 1 to measure the force on the scraping board 1 in multiple dimensions; the force sensor 3 can also be mounted between the end gripper 2 and the movable shaft 5 to measure the force on the end gripper 2 as the force on the scraping board 1; the scraping board 1 is held by the end gripper 2 at the end of the robotic arm 11 and can be removed and replaced.

[0059] First, professionals set up some commonly used scraping areas and treatment templates for the techniques. Using human models (who can be of different heights, weights, or ages), the models sit in a fixed position on a chair or lie on a fixed treatment bed in different positions. Professionals (usually doctors) move the scraping device using the rollers 9 and can also control the movement of the robotic arm 11 to move the scraping head above the patient's scraping area. A 3D camera (visual sensor 4) takes a photo containing spatial information. After image processing using depth maps and visual algorithms, a 3D depth map is obtained and displayed on the display screen 7.

[0060] The scraping area is displayed on screen 7. The operator (i.e., a professional) directly sets the scraping route of the scraping template on the image of the scraping area displayed on screen 7 by clicking, dragging, and moving. Simultaneously, the operator can select and input parameters to set scraping techniques, strength, speed, number of scraping strokes, scraping board angle, scraping intensity, and other parameters to refine the scraping template. Similarly, different scraping templates with different routes and techniques are generated for different scraping areas (i.e., acupoints, meridians, etc.) on different models. These multiple scraping templates can be saved, extracted, and imported into other scraping devices. These templates only need to be set once and belong to the professional knowledge base of scraping therapy; once set, they can be reused multiple times.

[0061] When a patient needs gua sha, the operator selects the corresponding gua sha template for the appropriate area on display screen 7 based on the doctor's prescription. The operator can also adjust the gua sha intensity coefficient and fine-tune the gua sha steps according to the prescription, generating a gua sha treatment plan for the patient. This plan is then displayed on display screen 7 as a treatment list.

[0062] Before the scraping therapy begins, the operator places the end of the robotic arm 11 near the scraping area. A 3D camera at the end of the robotic arm 11 captures an image of the patient's scraping area and matches it with a preset image within the scraping template. The scraping route is then previewed on the display screen 7. The operator observes the position of the scraping route on the scraping area in the image and can fine-tune the posture of the end of the robotic arm 11 to achieve a good photographing posture and optimal matching, ensuring an accurate scraping route. After the operator confirms the matching is complete, the scraping device, based on the route of the scraping template, the actual image information, and the operator's fine-tuned angle, obtains the final scraping trajectory.

[0063] After the operator confirms the scraping trajectory on display screen 7 and clicks "start," the scraping device controls the robotic arm 11 to hold the scraping board 1 according to the scraping trajectory and technique parameters generated by the scraping therapy. This simulates a human hand scraping the area. A 3D camera and force sensor 3 acquire real-time data on position changes and force variations, providing feedback to adjust the robotic arm 11's trajectory and posture, enabling scraping according to the set route, speed, and intensity. Display screen 7 shows the force curve and scraping steps during the process.

[0064] During the scraping process, according to the settings within the scraping therapy, the scraping board 1 is automatically controlled to pick up the scraping medium at the scraping auxiliary cavity 6. For example, before starting to scrape and after scraping a set number of times, the robotic arm 11 automatically moves to the scraping auxiliary cavity 6, and after the scraping board 1 picks up the scraping medium, it returns to the scraping site to continue performing the scraping therapy.

[0065] Meanwhile, during the scraping therapy, the operator can pause the scraping by clicking the pause button on the display screen 7, or the patient can pause the scraping by triggering the pause button on the control line connected to the controller. After the scraping action is interrupted, the robotic arm 11 retracts and returns to the standby position.

[0066] In this embodiment, a robotic arm 11 is used to drive the scraping head of the scraping board 1, simulating manual scraping movements. This allows the robot to perform scraping, reducing the workload of operators, decreasing the professional requirements for operators, and improving the consistency of scraping quality. During the scraping process, a scraping therapy is generated based on a customized scraping template. Operators can adjust parameters such as scraping technique, pressure, and speed to achieve professional scraping effects.

[0067] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A gua sha device, characterized in that, The scraping device includes a robotic arm, a scraping board, a controller, a force sensor, and a vision sensor. One end of the robotic arm is fixed, and the other end of the robotic arm is connected to the scraping board. The force sensor and the vision sensor are both located at the end of the robotic arm near the scraping board. The robotic arm, the force sensor, and the vision sensor are all connected to the controller. The force sensor detects the force parameters of the scraping board and transmits them to the controller; the vision sensor detects the visual parameters of the scraping board and transmits them to the controller; the controller controls the robotic arm to move the scraping board.

2. The gua sha device of claim 1, wherein, The visual sensor is a 3D camera.

3. The gua sha device of claim 1, wherein, The robotic arm includes a movable axis and an end effector. Both the movable axis and the end effector are connected to the controller. The end effector is located at one end of the movable axis and is connected to the scraping board. The end of the movable axis away from the end effector is fixed. The force sensor and the vision sensor are both located on the end effector.

4. The gua sha device of claim 3, wherein, The scraping board is detachably mounted on the end clamp.

5. The gua sha device of claim 3, wherein, The force sensors are multiple, and each force sensor is disposed between the end holder and the scraping board to detect the force parameters of the scraping board.

6. The gua sha device of claim 1, wherein, The scraping device also includes a base, and the end of the robotic arm away from the scraping board is fixed to the base.

7. The gua sha device of claim 6, wherein, The base includes a frame and rollers, the robotic arm is fixed to the frame, and the rollers are provided at the end of the frame away from the robotic arm.

8. The gua sha device of claim 7, wherein, The base also includes a scraping auxiliary cavity, which is embedded in the frame and used to place the scraping medium.

9. The gua sha device of claim 6, wherein, The scraping device also includes a display screen, which is mounted on the base and connected to the controller.

10. The gua sha device of claim 1, wherein, The robotic arm is a multi-axis robotic arm.

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