Automatic positioning device and assisted treatment bed

Abstract

This utility model discloses an automatic positioning device and an auxiliary treatment bed, relating to the field of medical device technology. The automatic positioning device includes a mounting base and an automatic positioning component. The mounting base is used to mount a treatment handle, which is used for facial treatment operations. A second linear motion module drive end is connected to the mounting base, enabling it to move closer to or away from the face. A first rotary motion module drive end is connected to the second linear motion module, enabling it to rotate. A curved motion module drive end is connected to the first rotary motion module, enabling it to move in a curved path. A second rotary motion module drive end is connected to the curved motion module, enabling it to rotate. A first linear motion module drive end is connected to the second rotary motion module, enabling it to move along the vertical direction of the face. This solution aims to address the problem of doctor fatigue caused by a heavy handle.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an automatic positioning device and an auxiliary treatment bed. Background Technology

[0002] Skin treatment devices typically consist of a main unit and a treatment handpiece. The main unit is the control center of the entire treatment system, responsible for controlling various parameters during treatment, such as energy output, pulse frequency, and treatment mode. The treatment handpiece is the connecting component between the main unit and the patient's skin, responsible for transmitting the energy generated by the main unit to the patient's skin. During treatment, the doctor needs to operate the treatment handpiece for an extended period. However, the treatment handpiece is relatively heavy, and prolonged holding and operation can lead to doctor fatigue and affect the efficiency and accuracy of the treatment. Utility Model Content

[0003] The main purpose of this invention is to propose an automatic positioning device and an auxiliary treatment bed, which aims to solve the problem that the heavy handle in the prior art makes doctors easily fatigued.

[0004] To achieve the above objectives, the automatic positioning device proposed in this utility model includes:

[0005] Mounting base for mounting a treatment handle for performing treatment procedures on the face; and

[0006] An automatic positioning component includes a first linear motion module, a second linear motion module, a curved motion module, a first rotational motion module, and a second rotational motion module. The driving end of the second linear motion module is connected to the mounting base and is used to drive the mounting base to move closer to or away from the face. The driving end of the first rotational motion module is connected to the second linear motion module and is used to drive the second linear motion module to rotate. The driving end of the curved motion module is connected to the first rotational motion module and is used to drive the first rotational motion module to move in a curved path. The driving end of the second rotational motion module is connected to the curved motion module and is used to drive the curved motion module to rotate. The driving end of the first linear motion module is connected to the second rotational motion module and is used to drive the second rotational motion module to move along the vertical direction of the face.

[0007] In one embodiment, the curved motion module includes a curved guide rail, a first driving member, a gear, and a rack. The rack is disposed on the curved guide rail, the gear meshes with the rack, the output end of the first driving member is connected to one end of the gear, and the end of the gear away from the first driving member is rotatably connected to the first rotary motion module.

[0008] In one embodiment, the curved guide rail is an arc-shaped guide rail.

[0009] In one embodiment, the curved guide rail includes a straight section and two arc-shaped sections, with the two ends of the straight section respectively connected to the two arc-shaped sections.

[0010] In one embodiment, the curved motion module includes a slider that is slidably connected to the curved guide rail and connected to the first rotary motion module, and the end of the gear away from the first drive member is rotatably connected to the slider.

[0011] In one embodiment, the second rotary motion module includes two second driving members, the output ends of which are respectively connected to the two ends of the curved guide rail.

[0012] In one embodiment, the first linear motion module includes a connector, two linear guides, and two third drive components. The two linear guides are spaced apart, and the two ends of the two linear guides are respectively connected to the two ends of the connector. Each third drive component is drivenly connected to one of the linear guides, the drive end of each third drive component is connected to a second drive component, and each second drive component is slidably connected to one of the linear guides.

[0013] In one embodiment, a camera module is also included, which is used to capture photos of the face.

[0014] In one embodiment, the camera module is fixed to the mounting base.

[0015] In one embodiment, a bracket is also included, the bracket being disposed on the connector, and the camera module being disposed on the bracket.

[0016] In one embodiment, the treatment end of the treatment handle is provided with two contact sensors spaced apart.

[0017] This utility model also proposes an auxiliary treatment bed, comprising:

[0018] The bed body, wherein a headrest area is formed at one end of the bed body; and

[0019] The automatic positioning device described in any of the above embodiments is disposed in the head placement area.

[0020] In this technical solution, a treatment handle is used to perform treatment operations on the face. The treatment handle is mounted on a mounting base, which is mounted on a second linear motion module. The treatment handle can achieve multi-degree-of-freedom omnidirectional movement based on the movement of the automatic positioning component. The second linear motion module drives the treatment handle to move linearly closer to or further away from the face, so that the treatment handle is in close contact with the facial skin. The first rotational motion module drives the second linear motion module to rotate, so that the treatment handle can rotate, supplementing the degree of freedom of movement of the treatment handle and adapting to the treatment needs of different angles of the face. The curvilinear motion module drives the first rotational motion module to move along a non-linear track, so that the treatment handle can move along a complex curved path, such as an arc, a semi-circle, or a combination of tracks, to cover the left and right parts of the face, such as the left and right cheeks. The second rotational motion module drives the curvilinear motion module to rotate, so that the handle covers the upper and lower parts of the face, such as the forehead and jaw. The first linear motion module drives the second rotational motion module to move linearly along the vertical direction of the face, so that the treatment handle can cover the upper and lower parts of the face, ensuring that the treatment handle can reach any position on the face. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 A schematic diagram of an embodiment of the automatic positioning device provided by this utility model;

[0023] Figure 2 for Figure 1 Enlarged view of section A in the middle;

[0024] Figure 3 A schematic diagram illustrating an embodiment of the movement process of the treatment handle according to this utility model;

[0025] Figure 4 A schematic diagram of an embodiment of projecting the BP line onto the ZOY plane is provided for this utility model;

[0026] Figure 5 A schematic diagram illustrating another embodiment of the treatment handle movement process of this utility model;

[0027] Figure 6 A schematic diagram of the structure of an embodiment of the automatic positioning device for treatment provided by this utility model;

[0028] Figure 7A schematic diagram of the structure of the automatic positioning device for treatment according to another embodiment of the present invention is provided;

[0029] Figure 8 This is a schematic diagram of the structure of another embodiment of the automatic positioning device for treatment provided by this utility model.

[0030] Explanation of icon numbers:

[0031] 100. Automatic positioning device; 1. Treatment handle; 21. First linear motion module; 211. Connector; 212. Linear guide rail; 213. Third drive component; 22. Second linear motion module; 23. Curvilinear motion module; 231. Curvilinear guide rail; 232. First drive component; 233. Gear; 234. Rack; 235. Slider; 24. First rotary motion module; 25. Second rotary motion module; 251. Second drive component; 3. Camera module; 4. Support.

[0032] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0034] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0035] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0036] This utility model proposes an automatic positioning device 100.

[0037] Please see Figure 1 , Figure 6 , Figure 7 as well as Figure 8 In one embodiment of this utility model, the automatic positioning device 100 includes a mounting base and an automatic positioning component. The mounting base is used to mount a treatment handle 1, which is used to perform treatment operations on the face. The automatic positioning component includes a first linear motion module 21, a second linear motion module 22, a curved motion module 23, a first rotational motion module 24, and a second rotational motion module 25. The driving end of the second linear motion module 22 is connected to the mounting base and is used to drive the mounting base to move closer to or away from the face. The driving end of the first rotational motion module 24 is connected to the second linear motion module 22 and is used to drive the second linear motion module 22 to rotate. The driving end of the curved motion module 23 is connected to the first rotational motion module 24 and is used to drive the first rotational motion module 24 to move in a curved direction. The driving end of the second rotational motion module 25 is connected to the curved motion module 23 and is used to drive the curved motion module 23 to rotate. The driving end of the first linear motion module 21 is connected to the second rotational motion module 25 and is used to drive the second rotational motion module 25 to move along the vertical direction of the face.

[0038] In this technical solution, the treatment handle 1 is used to perform treatment operations on the face. The treatment handle 1 is mounted on the mounting base, which is mounted on the second linear motion module 22. The treatment handle 1 can achieve multi-degree-of-freedom omnidirectional movement according to the movement of the automatic positioning component. The second linear motion module 22 drives the treatment handle 1 to move linearly closer to or further away from the face so that the treatment handle 1 is in close contact with the facial skin. The first rotational motion module 24 drives the second linear motion module 22 to rotate so that the treatment handle 1 can rotate, supplementing the degree of freedom of movement of the treatment handle 1 and adapting to the treatment needs of different angles of the face. The curved motion module 23 drives the first rotational motion module 24 to move along a non-linear track, enabling the treatment handle 1 to move along a complex curved path, such as an arc, a semi-circle, or a combination of tracks, to cover the left and right parts of the face, such as the left and right cheeks; the second rotational motion module 25 drives the curved motion module 23 to rotate, so that the handle covers the upper and lower parts of the face, such as the forehead and jaw; the first linear motion module 21 drives the second rotational motion module 25 to move in a straight line along the vertical direction of the face, so that the treatment handle 1 can cover the upper and lower parts of the face, ensuring that the treatment handle 1 can reach any position on the face.

[0039] Through the coordinated operation of the second linear motion module 22, the first rotary motion module 24, the curvilinear motion module 23, the second rotary motion module 25, and the first linear motion module 21, the treatment handle 1 can achieve multi-degree-of-freedom omnidirectional movement, covering any position on the face and adapting to various complex curved surfaces. The automatic positioning device 100 can accurately move the treatment handle 1 to the designated position, reducing the time and fatigue of manual operation for doctors and improving the efficiency and accuracy of treatment. Doctors only need to send operation commands remotely, and the automatic positioning device 100 can complete the positioning and treatment operation of the treatment handle 1, reducing the burden on doctors to hold the handle for a long time and avoiding the decrease in treatment accuracy due to fatigue. The design of the curvilinear motion module 23 and the second rotary motion module 25 allows the treatment handle 1 to move along a curved path, adapting to the treatment needs of different parts of the face, such as the sides, top, and forehead, as well as treatment needs at different angles, improving the flexibility and adaptability of treatment. Through the above design, this automatic positioning device 100 can effectively solve the problem of doctors being easily fatigued by the heavy handle in the prior art, providing a more efficient, flexible, and comfortable solution.

[0040] The first rotary motion module 24 and the second rotary motion module 25 can be stepper rotary motors or servo rotary motors. The second linear motion module 22 can be a linear motor or a cylinder. The curved motion module 23 can be a transmission combination of curved guide rail 231, drive component, gear 233 and rack 234, or it can be a combination of curved guide rail 231, slider 235 and drive component. The first linear motion module 21 can be a transmission combination of linear guide rail, drive component, gear 233 and rack 234, or it can be a combination of linear guide rail, slider and drive component. This solution does not limit the specific form of this motion module.

[0041] Specifically, please refer to Figure 1In one embodiment, the curved motion module 23 includes a curved guide rail 231, a first driving member 232, a gear 233, and a rack 234. The rack 234 is disposed on the curved guide rail 231, and the gear 233 meshes with the rack 234. The output end of the first driving member 232 is connected to one end of the gear 233, and the end of the gear 233 away from the first driving member 232 is rotatably connected to the first rotary motion module 24. The curved guide rail 231 provides a predetermined curved path for the movement of the treatment handle 1. The shape of the curved guide rail 231 can be designed as an arc, semi-circle, or other curved shape according to treatment needs to adapt to the treatment needs of different parts of the face. The curved shape makes it easy for the distance between the treatment handle and the corresponding treatment area on the face to change little when the treatment handle 1 slides along the curved guide rail 231, reducing the distance the treatment handle 1 moves closer to or further away from the face. The rack 234 is mounted on the curved guide rail 231 for meshing with the gear 233. The shape and position of the rack 234 match the curved guide rail 231 to ensure that the gear 233 can move smoothly along the path of the curved guide rail 231. The gear 233 meshes with the rack 234, and the rotation of the gear 233 driven by the first drive member 232 will drive the first drive member 232, the gear 233, and the treatment handle 1 to move along the rack 234. 32 provides power for the rotation of gear 233. The output end of the first drive member 232 is connected to one end of gear 233. By driving gear 233 to rotate, gear 233 moves along rack 234, thereby realizing the curved movement of treatment handle 1. The first drive member 232 provides power, and its output end is connected to one end of gear 233. The first drive member 232 drives gear 233 to rotate. Since gear 233 meshes with rack 234, the rotation of gear 233 will drive the first drive member 232 and gear 233 to move along rack 234, thereby driving the first rotary motion module 24 to move along the path of curved guide rail 231, thereby realizing the curved movement of treatment handle 1. The shape of curved guide rail 231 determines the movement path of treatment handle 1. By designing different shapes of curved guide rail 231, treatment handle 1 can move along a curved path, such as covering the left and right parts of the face (left and right cheeks). Through the meshing transmission of gear 233 and rack 234, the curved movement path of the treatment handle 1 can be precisely controlled; the curved guide rail 231 can be designed into different shapes according to treatment needs, so that the treatment handle 1 can adapt to various complex curved surfaces of the face; the design of the curved motion module 23 enables the treatment handle 1 to move along a complex curved path, improving the flexibility and adaptability of treatment.

[0042] Please see Figure 1In one embodiment, the curved guide rail 231 is an arc-shaped guide rail. The curved guide rail 231 is an arc-shaped guide rail, which is typically used to realize the movement of the treatment handle 1 along an arc-shaped path. The arc-shaped guide rail provides a fixed installation path for the rack 234, ensuring that the rack 234 is arranged along the arc-shaped trajectory. The shape of the arc-shaped guide rail can be designed with different curvatures according to treatment needs to adapt to the arc contours of different parts of the face (such as cheeks, forehead, chin, etc.).

[0043] Please see Figure 2 In another embodiment, the curved guide rail 231 includes a straight section and two arc-shaped sections, with the two ends of the straight section connected to the two arc-shaped sections respectively. The straight section is a straight-shaped guide rail used to move the treatment handle 1 along a straight path, typically used to cover straight areas of the face, such as the bridge of the nose and philtrum. This is because during treatment, the nose, philtrum, and mouth, which are located in the center of the face, are relatively flat, and a straight section can better fit the shape of these areas. The two arc-shaped sections are connected to the two ends of the straight section, and are used to move the treatment handle 1 along an arc-shaped path, typically used to cover arc-shaped areas of the face, such as the left and right sides of the face. The two ends of the straight section are connected to the two arc-shaped sections respectively, forming a continuous curved path. This design allows the treatment handle 1 to smoothly transition between the straight and arc-shaped paths, making it more closely fit the overall contour of the face. The gear 233 smoothly transitions between the straight and arc-shaped sections, ensuring that the movement path of the treatment handle 1 is continuous and uninterrupted.

[0044] Further, please refer to Figure 1 and Figure 2 In one embodiment, the curved motion module 23 includes a slider 235, which is slidably connected to the curved guide rail 231 and connected to the first rotary motion module 24. The end of the gear 233 away from the first driving member 232 is rotatably connected to the slider 235. The slider 235, slidably connected to the curved guide rail 231, can slide along a predetermined path on the curved guide rail 231. The slider 235, connected to the first rotary motion module 24, converts the rotation of the gear 233 into movement of the first rotary motion module 24. The function of the slider 235 is to ensure that the first rotary motion module 24 can move smoothly along the curved guide rail 231, while providing a stable connection point.

[0045] Please see Figure 1In one embodiment, the second rotary motion module 25 includes two second drive members 251, the output ends of which are respectively connected to the two ends of the curved guide rail 231. The two drive members 251 rotate synchronously with the same angular velocity and in the same direction, causing the curved guide rail 231 to rotate stably around its axis. The rotation angle and speed of the curved guide rail 231 can be precisely controlled by precisely controlling the rotational speed and direction of rotation of the two drive members 251. The two second drive members 251 provide rotational power, driving the curved guide rail 231 to rotate. The curved guide rail 231 not only provides a movement path for the gear 233 and the slider 235, but also acts as a carrier of rotary motion, rotating itself. The rotational motion of the curved guide rail 231 is transmitted to the slider 235 and the first rotary motion module 24, ultimately driving the treatment handle 1 along... The rotational movement of the second rotational motion module 25 enables the treatment handle 1 to cover the upper and lower parts of the face, such as the forehead and jaw, further expanding the coverage area of ​​the treatment handle 1. Combined with the arc and linear movement of the curve motion module 23, the rotational movement of the second rotational motion module 25 enables the treatment handle 1 to achieve more complex three-dimensional motion paths, adapting to various complex facial contours. Through the precise control of the second drive component 251, the precise rotational movement of the treatment handle 1 can be achieved, further improving the accuracy and flexibility of treatment. The automated rotational movement reduces the number of times the doctor manually adjusts the position of the handle, improving treatment efficiency.

[0046] Please see Figure 1 In one embodiment, the first linear motion module 21 includes a connector 211, two linear guide rails 212, and two third drive members 213. The two linear guide rails 212 are spaced apart, and their two ends are respectively connected to the two ends of the connector 211. Each third drive member 213 is drively connected to one of the linear guide rails 212, and the drive end of each third drive member 213 is connected to a second drive member 251. Each second drive member 251 is slidably connected to one of the linear guide rails 212. The connector 211 is used to fix and support the linear guide rails 212, ensuring the stability of the linear guide rails 212. The two linear guide rails 212 provide a linear movement path for the treatment handle 1 along the vertical direction of the face (see [link]). Figure 6 , Figure 7 and Figure 8This ensures that the treatment handle 1 can move smoothly up and down along the face; two third drive members 213 provide power for linear movement, driving the treatment handle 1 to move along the linear guide rail 212; the third drive member 213 can simultaneously drive the second drive member 251, the curved guide rail 231, the mounting base, and the treatment handle 1 to move in a linear direction, while the second drive member 251 drives the curved guide rail 231 and the treatment handle 1 to rotate. Through the coordinated work of the third drive member 213 and the second drive member 251, the treatment handle 1 can not only move linearly along the linear guide rail 212, but also rotate, realizing a complex three-dimensional motion path to cover any position on the face. The third driving member 213 is connected to the linear guide rail 212 via a transmission. This can be achieved by setting a slider 235 that slides with the linear guide rail 212, with the driving end of the third driving member 213 connected to the slider 235, and the second driving member 251 located on the slider 235. Alternatively, a rack 234 can be set on the linear guide rail 212, with the driving end of the third driving member 213 connected to a gear 233, the gear 233 meshing with the rack 234, and the gear 233 rotatably connected to the second driving member 251. This solution does not impose any restrictions on this approach.

[0047] Please see Figure 1 In one embodiment, the automatic positioning device 100 further includes a camera module 3, which is used to capture photos of the face. The camera module 3 is electrically connected to the controller of the treatment handle 1. The camera module 3 is used to capture image data of the face and send the captured images to the controller of the treatment handle 1. The controller of the treatment handle 1 generates a three-dimensional model of the face through an image processing algorithm. Through three-dimensional modeling, the shape, contour, and feature points of the face can be accurately determined, providing accurate positioning data for the automatic positioning device 100. There can be one or two camera modules 3, and this solution does not limit this. The camera module 3 can be mounted on a mounting base or on a bracket connected to a connector, and this solution does not limit this either.

[0048] In another embodiment, the camera module 3 is fixed on the mounting base. By mounting the camera module 3 on the base, it can first move in multiple directions under the drive of the automatic positioning component. Then, under the drive of the automatic positioning component, the camera module 3 can acquire and collect image data of the entire face. The camera module 3 is electrically connected to the controller of the treatment handle 1. The camera module 3 sends the acquired facial image data to the controller of the treatment handle 1. The controller of the treatment handle 1 generates a three-dimensional model of the face through image processing algorithms. Through three-dimensional modeling, the shape, contour, and feature points of the face can be accurately determined, providing accurate positioning data for the automatic positioning device 100. The camera module 3 can monitor the position and movement path of the treatment handle 1 in real time and feed the data back to the controller of the treatment handle 1. The controller of the treatment handle 1 adjusts the motion parameters of each motion module according to the three-dimensional modeling data to ensure that the treatment handle 1 can accurately reach the designated position.

[0049] Please see Figure 1In one embodiment, the automatic positioning device 100 further includes a bracket 4, which is disposed on the connector 211, and the camera module 3 is disposed on the bracket 4. The bracket 4 can be designed with a preset angle to ensure that the lens of the camera module 3 is always aligned with the center area of ​​the "head placement area," avoiding "edge distortion" and "blind spots" (such as missing key treatment areas like the forehead and jawline) in the captured image due to module shaking or angle shift, ensuring that the 3D model can completely cover the facial contour. The camera module 3 is used to collect facial image data. The camera module 3 is electrically connected to the controller of the treatment handle 1. The camera module 3 sends the collected facial image data to the controller of the treatment handle 1. The controller of the treatment handle 1 generates a 3D model of the face using an image processing algorithm. Through 3D modeling, the shape, contour, and feature points of the face can be accurately determined, providing accurate positioning data for the automatic positioning device 100. Specifically, the camera module 3 collects facial image data and sends the data... The controller sends a 3D model to the treatment handle 1 to determine the movement path and target position of the treatment handle 1. Based on the 3D model data, the third drive component 213 drives the second drive component 251 to move along the linear guide rail 212, adjusting the position of the treatment handle 1 in the vertical direction along the face. The second linear motion module 22 drives the treatment handle 1 to move closer to or further away from the face to ensure that the treatment handle 1 is in close contact with the facial skin. The first drive component 232 drives the gear 233 to rotate, and the slider 235 moves along the curved guide rail 231, causing the treatment handle 1 to move along the curved path. The first rotational motion module 24 drives the treatment handle 1 to rotate to adapt to the treatment needs of different angles of the face. The second drive component 251 drives the curved guide rail 231 to rotate, causing the treatment handle 1 to move along the rotational path to cover the upper and lower parts of the face. The camera module 3 monitors the position and movement path of the treatment handle 1 in real time and sends the data to the controller of the treatment handle 1. The controller of the treatment handle 1 adjusts the motion parameters of each motion module according to the real-time data to ensure that the treatment handle 1 can accurately reach the designated position. The electrical connection between the camera module 3 and the controller of the treatment handle 1 realizes automated motion control, reduces the number of manual operations by doctors, and improves treatment efficiency. Through real-time feedback and adjustment, the automatic positioning device 100 can adapt to various complex facial shapes and treatment needs.

[0050] In another embodiment, the treatment end of the treatment handle 1 is provided with two contact sensors spaced apart. The two contact sensors are positioned such that they can individually detect the contact between the treatment handle 1 and the facial skin. The contact sensors detect whether the treatment handle 1 is in contact with the facial skin. When a contact sensor contacts the facial skin, it generates a signal and feeds it back to the control system. If only one contact sensor is in contact with the facial skin and generates a signal, the control system determines that the posture of the treatment handle 1 needs fine-tuning. When both contact sensors generate signals, the control system determines that the treatment handle 1 is properly attached to the facial skin and treatment can begin.

[0051] More specifically, camera module 3 performs real-time modeling of the face, obtaining a three-dimensional mathematical model of the face, and obtaining the three-dimensional coordinates P(x) of any part of the face. p y p , z p ) and normal vector L(n x n y n z (For coordinate systems, please refer to [reference]). Figure 3 ;

[0052] Given the normal vector L(n) at the treatment point x n y n z ) and the coordinates of the point P(x) p y p , z p The equation of the straight line normal at the treatment point can then be obtained as follows: (x, y, z) is a point on the line, and the intersection of this normal with the XOY plane is B(x). b y b ,0), according to the equation of the straight line, we can obtain: z b =0.

[0053] The third drive unit 213 controls the curved guide rail 231 to move along the Y-axis, that is, along the linear guide rail 212 to B(0, y). b ,0).

[0054] The second drive unit 251 is controlled to rotate the curved guide rail 231 by an angle θ. x (Defined as the angle with the XOY plane), so that the BP line coincides with the plane containing the curved guide rail 231, and the BP line is projected onto the ZOY plane (see [reference]). Figure 4 ), from which we can obtain θ x The calculation formula is as follows:

[0055] The first drive unit 232 is controlled to move the treatment handle 1 along the curved guide rail 231 to point P, and the first drive unit 232 is displaced by an angle θ. y (Defined as the angle between the line connecting point P to the center of the curved guide rail 231 and the bottom edge of the curved guide rail 231; please refer to...) Figure 5 The calculation formula is as follows: At this time, the treatment handle 1 is located directly above the treatment position P, and the central axis of the treatment handle 1 coincides with the normal vector at point P.

[0056] The second linear motion module 22 is controlled to move the treatment handle 1 downward. The end of the treatment handle 1 has a contact sensor. When the end of the treatment handle 1 touches the skin, the movement stops. The contact sensor at the end of the treatment handle 1 is divided into two, left and right. When only one of them has a signal, the first rotational motion module 24 can be controlled to finely adjust the posture of the treatment handle 1 until both contact sensors have signals. When it is determined that the treatment handle 1 is in normal contact with the face, the treatment begins.

[0057] This utility model also proposes an auxiliary treatment bed, which includes a bed body and an automatic positioning device 100. The specific structure of the automatic positioning device 100 is as described in the above embodiments. Since this auxiliary treatment bed adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. The bed body has a head placement area formed at one end; the automatic positioning device 100 is located in the head placement area.

[0058] In this embodiment, the bed body is used to support the patient's body and provide a comfortable treatment environment; a dedicated head placement area is formed at the end of the bed body for the patient to place their head during treatment; an automatic positioning device 100 is installed in the head placement area of ​​the bed body for precise treatment operations on the patient's head, including multi-degree-of-freedom omnidirectional movement and posture adjustment of the treatment handle 1.

[0059] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An automatic positioning device, characterized in that, include: Mounting base for mounting a treatment handle for performing treatment procedures on the face; and The automatic positioning component includes a first linear motion module, a second linear motion module, a curvilinear motion module, a first rotational motion module, and a second rotational motion module. The drive end of the second linear motion module is connected to the mounting base and is used to drive the mounting base to move closer to or away from the face. The drive end of the first rotary motion module is connected to the second linear motion module and is used to drive the second linear motion module to rotate. The drive end of the curved motion module is connected to the first rotary motion module and is used to drive the first rotary motion module to move in a curved path. The drive end of the second rotary motion module is connected to the curvilinear motion module and is used to drive the curvilinear motion module to rotate. The drive end of the first linear motion module is connected to the second rotary motion module and is used to drive the second rotary motion module to move along the vertical direction of the face.

2. The automatic positioning device as described in claim 1, characterized in that, The curved motion module includes a curved guide rail, a first driving component, a gear, and a rack. The rack is disposed on the curved guide rail, and the gear meshes with the rack. The output end of the first driving component is connected to one end of the gear, and the end of the gear away from the first driving component is rotatably connected to the first rotary motion module.

3. The automatic positioning device as described in claim 2, characterized in that, The curved guide rail is an arc-shaped guide rail.

4. The automatic positioning device as described in claim 2, characterized in that, The curved guide rail includes a straight section and two arc sections, with the two ends of the straight section connected to the two arc sections respectively.

5. The automatic positioning device as described in claim 2, characterized in that, The curved motion module includes a slider, which is slidably connected to the curved guide rail and connected to the first rotary motion module. The end of the gear away from the first driving member is rotatably connected to the slider.

6. The automatic positioning device as described in claim 2, characterized in that, The second rotary motion module includes two second driving components, the output ends of which are respectively connected to the two ends of the curved guide rail.

7. The automatic positioning device as described in claim 6, characterized in that, The first linear motion module includes a connector, two linear guides, and two third drive components. The two linear guides are spaced apart, and the two ends of the two linear guides are respectively connected to the two ends of the connector. Each third drive component is drivenly connected to one of the linear guides, and the drive end of each third drive component is connected to a second drive component. Each second drive component is slidably connected to one of the linear guides.

8. The automatic positioning device as described in claim 7, characterized in that, It also includes a camera module for capturing photos of the face.

9. The automatic positioning device as described in claim 8, characterized in that, The camera module is fixed on the mounting base.

10. The automatic positioning device as described in claim 8, characterized in that, It also includes a bracket, which is disposed on the connector, and the camera module is disposed on the bracket.

11. The automatic positioning device as described in any one of claims 1 to 10, characterized in that, The treatment end of the treatment handle is equipped with two contact sensors spaced apart.

12. An auxiliary treatment bed, characterized in that, include: The bed body has a head placement area formed at one end; and The automatic positioning device as described in any one of claims 1 to 11, wherein the automatic positioning device is disposed in the head placement area.

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