CN115157246A - Physical therapy robot and physical therapy method thereof - Google Patents
Physical therapy robot and physical therapy method thereof Download PDFInfo
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Abstract
The invention discloses a physical therapy robot and a physical therapy method thereof, wherein the physical therapy robot comprises a physical therapy mechanism and a robot body; the physical therapy device in the physical therapy mechanism comprises a detection unit, a generation unit, a man-machine interaction unit and a learning unit, wherein the detection unit is used for detecting a focus area of a human body, acquiring point cloud data and transmitting the point cloud data to the control unit; the control unit generates a physical therapy scheme according to the point cloud data and the learning data and displays the physical therapy scheme on the human-computer interaction unit; the generating unit is used for transmitting the generated motion trail data to the control unit; the control unit controls the physical therapy mechanism to complete the physical therapy process according to the motion trail data; the learning unit is used for acquiring learning data and continuously updating the treatment scheme data. A physiotherapy method is also disclosed. The invention solves the problems that the existing rehabilitation medical appliance has single function, is greatly influenced by human factors, and can cause harm to the health of medical care personnel if the medical appliance with single function is used for a long time.
Description
Technical Field
The invention relates to the technical field of rehabilitation and medical treatment, in particular to a physiotherapy robot and a physiotherapy method thereof.
Background
Along with the improvement of the quality of life of people, various rehabilitation markets are continuously increased, a plurality of novel rehabilitation treatment technologies are gradually researched and developed and commercially applied, and from the demand, people needing rehabilitation such as huge lying-in women, mental disability patients, nervous system disease patients, osteoarticular muscle disease patients, old people and the like in China derive huge demands on rehabilitation physiotherapy services and rehabilitation medical appliances. With the acceleration of aging population, the increasing number of patients with chronic diseases year by year, the increasing number of puerperal women after releasing the two-birth policy and the promotion of other factors, the demand of the rehabilitation medical service and the rehabilitation medical apparatus in China will continuously increase.
At present, most recovered medical instrument intelligent degree is relatively at the bottom, all comprises more single medical equipment, for example ultrasonic wave, magnetic stimulation, shock wave, radio frequency, equipment such as phototherapy, and it is big to artifical operation technique dependence, simultaneously because recovered physiotherapy time is general relatively, then once treat 2 hours more, medical personnel can be tired in the treatment process unavoidably to exert an influence to treatment, it is healthy also a harm to medical personnel to strain simultaneously. The disadvantages of using this method are: (1) requiring skilled manipulation of the treatment by the operator; (2) physical fatigue affects the therapeutic efficacy because of long time; (3) Different people have different operations, and the curative effect cannot be guaranteed; (4) overwork is also a health hazard to medical personnel.
Therefore, in practical application of the treatment equipment, a medical robot which is not influenced by human factors and has a standard treatment process is urgently needed.
Disclosure of Invention
The existing rehabilitation medical instrument has single function and is greatly influenced by human factors, and the medical instrument with single function can cause harm to the health of medical care personnel after being used for a long time.
Aiming at the problems, the physiotherapy robot and the physiotherapy method thereof are provided, the detection unit is used for scanning the focus region of a human body, the learning unit is used for detecting acting force data and temperature data in the physiotherapy process to update and compensate physiotherapy scheme data, the movement track of physiotherapy action is predicted and generated, the physiotherapy robot is used for carrying out physiotherapy on the human body in the whole course, and the problems that the existing rehabilitation medical instrument is single in function, is greatly influenced by human factors, and can cause harm to the health of medical care personnel due to long-term use of the medical instrument with the single function are solved.
A physical therapy robot for automatically performing physical therapy on a lesion part of a human body, comprising:
a physical therapy mechanism;
a robot body;
the physical therapy mechanism is arranged on the robot body and performs physical therapy on the focus part of the human body under the action of a control command of the control unit in the robot body;
the physiotherapy mechanism includes:
a physical therapy mechanical arm;
a physical therapy device;
the physiotherapy device is arranged at the tail end of the physiotherapy mechanical arm and is used for performing physiotherapy on a focus part under the driving action of the physiotherapy mechanical arm;
the physical therapy device comprises:
a detection unit;
a generating unit;
a human-computer interaction unit;
a learning unit;
the detection unit, the generation unit, the learning unit and the human-computer interaction unit are respectively connected with the control unit;
the detection unit is used for detecting a focus area of a human body, acquiring point cloud data and transmitting the point cloud data to the control unit;
the control unit generates a physical therapy scheme according to the point cloud data and the learning data and displays the physical therapy scheme on the human-computer interaction unit;
the generating unit is used for predicting the motion trail of the physical therapy action according to the physical therapy scheme and transmitting the generated motion trail data to the control unit;
the control unit controls the physical therapy mechanism to complete a physical therapy process according to the motion trail data;
the learning unit is used for acquiring learning data and continuously updating treatment scheme data according to acting force data and temperature data detected in the physical therapy process.
With reference to the physiotherapy robot of the first aspect of the present invention, in a first possible implementation manner, the learning unit includes:
a force control sensor;
a temperature sensor;
a data update module;
the force control sensor and the temperature sensor are respectively connected with the data updating module;
the force control sensor is used for detecting moment component data of the physiotherapy device in all directions in the physiotherapy process;
the temperature sensor is used for detecting temperature data of a focus area of a human body in a physical therapy process;
the data updating module is used for updating and compensating the torque data and the temperature data in the treatment scheme by utilizing the torque component data and the temperature data so as to update the physiotherapy scheme in real time.
With reference to the first possible implementation manner of the first aspect of the present invention, in a second possible implementation manner, the detection unit includes:
a vision sensor;
the vision sensor is used for scanning the focus position of the human body and acquiring point cloud data of the position.
With reference to the second possible implementation manner of the first aspect of the present invention, in a third possible implementation manner, the generating unit predicts the motion trajectory of the physical therapy action by using the force control sensor according to an impedance module type, where the impedance model is:
further integrating the equation (1) to obtain a motion trajectory expression:
wherein the content of the first and second substances,
m is an inertia coefficient diagonal matrix, B is a damping coefficient diagonal matrix, K is a stiffness coefficient diagonal matrix, F e For moment components detected by force-controlled sensors, x e t ＝x-x d Is the difference between the actual pose and the expected pose at the time t,
is x e The second derivative and the first derivative of (a),
is x e t The first derivative of (a).
In a second aspect, a physiotherapy method using the physiotherapy robot of the first aspect, comprising:
200, generating a physical therapy scheme according to the point cloud data and the learning data and displaying the physical therapy scheme on the human-computer interaction unit;
and step 400, controlling a physical therapy mechanism to complete a physical therapy process according to the predicted motion trail data.
With reference to the physiotherapy method of the second aspect, in a first possible implementation manner, the physiotherapy method further includes:
and 500, acquiring learning data according to the acting force moment component data and the temperature data detected in the physiotherapy process.
With reference to the first possible implementation manner of the second aspect of the present invention, in a second possible implementation manner, the step 300 includes:
wherein the content of the first and second substances,
m is an inertia coefficient diagonal matrix, B is a damping coefficient diagonal matrix, K is a stiffness coefficient diagonal matrix, F e For moment components detected by force-controlled sensors, x e t ＝x-x d As the difference between the actual pose and the expected pose at time t,
is x e The second derivative and the first derivative of (a),
is x e t The first derivative of (a).
With reference to the second possible implementation manner of the present invention, in a third possible implementation manner, the step 500 includes:
and step 520, updating and compensating the torque data and the temperature data in the physiotherapy scheme by using the torque component data and the temperature data, and acquiring learning data so as to update the physiotherapy scheme in real time.
According to the physical therapy robot and the physical therapy method thereof, the detection unit is used for scanning the focus area of a human body, the learning unit is used for detecting acting force data and temperature data in the physical therapy process to update and compensate physical therapy scheme data, the motion trail of physical therapy actions is predicted and generated, the physical therapy robot is adopted to carry out physical therapy on the human body in the whole process, and the problems that the existing rehabilitation medical instrument has a single function, is greatly influenced by human factors, and can cause harm to the health of medical care personnel when the medical instrument with the single function is used for a long time are solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a first embodiment of a robot for physical therapy according to the present invention;
FIG. 2 is a schematic view illustrating the connection of the physiotherapy apparatus module in the physiotherapy robot according to the present invention;
FIG. 3 is a schematic diagram illustrating the connection of learning unit modules in a physiotherapeutic robot according to the present invention;
FIG. 4 is a schematic view of a first embodiment of a physiotherapy method of the present invention;
FIG. 5 is a schematic view of a second embodiment of a physiotherapy method of the present invention;
FIG. 6 is a schematic view of a third embodiment of a physiotherapy method of the present invention;
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Other embodiments, which can be derived by one of ordinary skill in the art from the embodiments given herein without any creative effort, shall fall within the protection scope of the present invention.
The existing rehabilitation medical instrument has single function and is greatly influenced by human factors, and the medical instrument with single function can cause harm to the health of medical care personnel after being used for a long time.
Aiming at the problems, a physical therapy robot and a physical therapy method thereof are provided.
A robot for physical therapy, as shown in fig. 1, fig. 1 is a schematic view of an overall structure of a first embodiment of a robot for physical therapy according to the present invention; is used for carrying out automatic physical therapy on the focus part of a human body and comprises a physical therapy mechanism and a robot body 10; the physical therapy mechanism is arranged on the robot body 10 and performs physical therapy on the focus part of the human body under the action of a control command of the control unit 11 in the robot body 10; the physiotherapy mechanism comprises a physiotherapy mechanical arm 21 and a physiotherapy device 22; the physiotherapy device 22 is arranged at the tail end of the physiotherapy mechanical arm 21 and is used for performing physiotherapy on the focus part under the driving action of the physiotherapy mechanical arm 21.
Further, referring to fig. 2, fig. 2 is a schematic diagram illustrating a module connection of a physiotherapy apparatus 22 in a physiotherapy robot according to the present invention; the physiotherapy device 22 comprises a detection unit 221, a generation unit 222, a man-machine interaction unit 224 and a learning unit 223, wherein the detection unit 221, the generation unit 222, the learning unit 223 and the man-machine interaction unit 224 are respectively connected with the control unit 11; the detection unit 221 is configured to detect a focus area of a human body, acquire point cloud data, and transmit the point cloud data to the control unit 11; the control unit 11 generates a physical therapy scheme according to the point cloud data and the learning data and displays the physical therapy scheme on the human-computer interaction unit 224; the generation unit 222 is configured to predict a motion trajectory of a physical therapy action according to a physical therapy plan, and transmit generated motion trajectory data to the control unit 11; the control unit 11 controls the physical therapy mechanism to complete the physical therapy process according to the motion trail data; the learning unit 223 is used for acquiring learning data and continuously updating the treatment scheme data according to the acting force data and the temperature data detected in the physiotherapy process.
Firstly, scanning a focus area by using a detection unit 221, and acquiring image point cloud data of the area, wherein preferably, the detection unit 221 may comprise a visual sensor; the vision sensor scans the focus position of the human body to obtain point cloud data of the position. After the point cloud data is preprocessed, a physiotherapy plan is generated by the generation unit 222 according to the preprocessed point cloud data, and the physiotherapy plan is displayed on the human-computer interaction unit 224.
The human-computer interaction unit 224 may be a functional machine display device connected with the robot main body, or may be an intelligent terminal display connected with the robot through a wireless signal.
The function display device and the intelligent terminal display can have a touch function, and function keys can be arranged to complete interaction.
The detection unit 221 is used for scanning the focus area of the human body, the learning unit 223 is used for detecting acting force data and temperature data in the physical therapy process to update and compensate physical therapy scheme data, the movement track of physical therapy actions is predicted and generated, physical therapy is conducted on the human body by the physical therapy robot in the whole process, the problem that the existing rehabilitation medical instrument is single in function, the influence of human factors is large, and the problem that the health of medical workers is harmed due to the fact that the medical instrument with the single function is used for a long time is solved.
It should be known to those skilled in the art that the motion trajectory in the present application includes not only the physical therapy motion trajectory of the physical therapy mechanism, but also the motion trajectory of the robot body 10 in the physical therapy process, and each physical therapy motion is a composition of the motion trajectories of the robot body 10 and the physical therapy mechanism.
The robot body 10 moves to drive the physical therapy mechanism, and simultaneously, the physical therapy action is completed by the movement of the physical therapy mechanism.
Preferably, as shown in fig. 3, fig. 3 is a schematic connection diagram of the learning unit 223 module in a physiotherapeutic robot according to the present invention; learning unit 223 may include force control sensor 2231, temperature sensor 2232, data update module 2233; the force control sensor 2231 and the temperature sensor 2232 are respectively connected with the data updating module 2233; the force control sensor 2231 is used for detecting moment component data of the physiotherapy apparatus 22 in various directions during the physiotherapy; the temperature sensor 2232 is used for detecting the temperature data of the focus area of the human body in the physical therapy process; the data updating module 2233 is configured to update and compensate the torque data and the temperature data in the therapy plan by using the torque component data and the temperature data, so as to update the therapy plan in real time.
The vision sensor scans the focus area to generate a preliminary physiotherapy scheme, and when physiotherapy is performed, the learning unit 223 is used for detecting acting force and temperature data of the focus area in the physiotherapy process in real time, so that the preliminary physiotherapy scheme is supplemented, and data is provided for further updating of the movement track.
Further, the generation unit 222 predicts the movement trajectory of the physical therapy robot according to the impedance module type and using the moment component data detected by the force control sensor 2231, where the impedance model is:
further integrating the equation (1) to obtain a motion trajectory expression:
wherein the content of the first and second substances,
m is an inertia coefficient diagonal matrix, B is a damping coefficient diagonal matrix, K is a stiffness coefficient diagonal matrix, F e For moment components, x, detected by force-controlled sensor 2231 e t ＝x-x d As the difference between the actual pose and the expected pose at time t,
is x e The second derivative and the first derivative of (a),
is x e t The first derivative of (a).
In a second aspect, a physiotherapy method, as shown in fig. 4, fig. 4 is a schematic view of a first embodiment of a physiotherapy method according to the present invention; the physiotherapy robot of the first aspect is utilized, and the method comprises the steps of 100, detecting a human body focus area and acquiring point cloud data; 200, generating a physical therapy scheme according to the point cloud data and the learning data and displaying the physical therapy scheme on a man-machine interaction unit 224; step 300, predicting the motion trail of the physical therapy motion according to the physical therapy scheme; and 400, controlling a physical therapy mechanism to complete a physical therapy process according to the predicted motion trail data.
Preferably, the physiotherapy method further comprises: and 500, acquiring learning data according to the acting force moment component data and the temperature data detected in the physiotherapy process.
Preferably, as shown in fig. 5, fig. 5 is a schematic view of a second embodiment of a physiotherapy method according to the present invention; step 300 comprises: step 310, obtaining an environmental impedance model of the acting force by using the moment component data detected by the force control sensor 2231:
wherein the content of the first and second substances,
m is an inertia coefficient diagonal matrix, B is a damping coefficient diagonal matrix, K is a stiffness coefficient diagonal matrix, F e For moment components, x, detected by force-controlled sensor 2231 e t ＝x-x d Is the actual pose at the time t andthe difference in the expected pose is then calculated,
is x e The second derivative and the first derivative of (a),
is x e t The first derivative of (a).
Preferably, as shown in fig. 6, fig. 6 is a schematic view of a third embodiment of a physiotherapy method according to the present invention; step 500 comprises: step 510, detecting moment component data and temperature data of a focus area of a human body of the physiotherapy device 22 in all directions in the physiotherapy process; and step 520, updating and compensating the torque data and the temperature data in the physiotherapy scheme by using the torque component data and the temperature data, and acquiring learning data so as to update the physiotherapy scheme in real time.
According to the physical therapy robot and the physical therapy method thereof, the detection unit 221 is used for scanning the focus area of a human body, the data updating module 2233 is used for detecting acting force data and temperature data in the physical therapy process to update and compensate physical therapy scheme data, the motion trail of physical therapy actions is generated in a prediction mode, the physical therapy robot is used for physical therapy of the human body in the whole process, and the problems that the existing rehabilitation medical instrument is single in function, is greatly influenced by human factors, and can cause harm to the health of medical care personnel when the medical instrument with the single function is used for a long time are solved.
The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot for physical therapy for automatically performing physical therapy on a lesion part of a human body, comprising:
a physical therapy mechanism;
a robot body;
the physical therapy mechanism is arranged on the robot body and performs physical therapy on the focus part of the human body under the action of a control command of the control unit in the robot body;
the physiotherapy mechanism includes:
a physical therapy mechanical arm;
a physical therapy device;
the physiotherapy device is arranged at the tail end of the physiotherapy mechanical arm and is used for performing physiotherapy on a focus part under the driving action of the physiotherapy mechanical arm;
the physical therapy device comprises:
a detection unit;
a generating unit;
a human-computer interaction unit;
a learning unit;
the detection unit, the generation unit, the learning unit and the human-computer interaction unit are respectively connected with the control unit;
the detection unit is used for detecting a focus area of a human body, acquiring point cloud data and transmitting the point cloud data to the control unit;
the control unit generates a physical therapy scheme according to the point cloud data and the learning data and displays the physical therapy scheme on the human-computer interaction unit;
the generating unit is used for predicting the motion trail of the physical therapy action according to the physical therapy scheme and transmitting the generated motion trail data to the control unit;
the control unit controls the physical therapy mechanism to complete a physical therapy process according to the motion track data;
the learning unit is used for acquiring learning data and continuously updating treatment scheme data according to acting force data and temperature data detected in the physical therapy process.
2. The physio-therapeutic robot of claim 1, wherein the learning unit comprises:
a force-controlled sensor;
a temperature sensor;
a data update module;
the force control sensor and the temperature sensor are respectively connected with the data updating module;
the force control sensor is used for detecting moment component data of the physiotherapy device in all directions in the physiotherapy process;
the temperature sensor is used for detecting temperature data of a focus area of a human body in a physical therapy process;
the data updating module is used for updating and compensating the torque data and the temperature data in the treatment scheme by utilizing the torque component data and the temperature data so as to update the physiotherapy scheme in real time.
3. The physio-robot of claim 2, wherein the detection unit comprises:
a vision sensor;
the vision sensor is used for scanning the focus position of the human body and acquiring point cloud data of the position.
4. The robot of claim 3, wherein the generating unit predicts a motion trajectory of a physical therapy action according to an impedance model using the moment component data detected by the force control sensor, the impedance model being:
further integrating the formula (1) to obtain a motion trajectory expression:
wherein the content of the first and second substances,
m is an inertia coefficient diagonal matrix, B is a damping coefficient diagonal matrix, K is a stiffness coefficient diagonal matrix, F e For moment components detected by force-controlled sensors, x e t ＝x-x d As the difference between the actual pose and the expected pose at time t,
is x e The second derivative and the first derivative of (a),
is x e t The first derivative of (a).
5. A physio-robot according to claim 4, characterised in that said human-machine interaction unit comprises, but is not limited to:
a function display device in wired connection with the physiotherapy robot;
and the intelligent terminal display is in wireless connection with the physical therapy robot.
6. A physiotherapy method using the physiotherapy robot according to any one of claims 1 to 5, comprising:
step 100, detecting a human body focus area to obtain point cloud data;
200, generating a physical therapy scheme according to the point cloud data and the learning data and displaying the physical therapy scheme on the human-computer interaction unit;
step 300, predicting the pose and the motion track of the physiotherapy device according to the physiotherapy scheme;
and 400, controlling a physical therapy mechanism to complete a physical therapy process according to the predicted motion trail data.
7. The physiotherapy method of claim 6, further comprising:
and 500, acquiring learning data according to the acting force moment component data and the temperature data detected in the physiotherapy process.
8. A physiotherapy method according to claim 7, wherein the step 300 comprises:
step 310, obtaining an environmental impedance model of the acting force by using the moment component data detected by the force control sensor:
step 320, integrating the environment impedance model, and predicting a motion trajectory expression of the physical therapy action:
wherein, the first and the second end of the pipe are connected with each other,
m is an inertia coefficient diagonal matrix, B is a damping coefficient diagonal matrix, K is a stiffness coefficient diagonal matrix, F e For moment components detected by force-controlled sensors, x e t ＝x-x d As the difference between the actual pose and the expected pose at time t,
is x e The second derivative and the first derivative of (a),
is x e t The first derivative of (a).
9. The physiotherapy method of claim 8, wherein the step 500 comprises:
step 510, detecting moment component data and temperature data of a focus area of a human body of the physical therapy action in each direction in the physical therapy process;
and step 520, updating and compensating the torque data and the temperature data in the physiotherapy scheme by using the torque component data and the temperature data, and acquiring learning data so as to update the physiotherapy scheme in real time.
10. A physiotherapy method according to claim 9, wherein said human-machine interaction unit includes but is not limited to:
a function display device in wired connection with the physiotherapy robot;
and the intelligent terminal display is in wireless connection with the physical therapy robot.
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