CN111012659A - Massage system and method for basin bottom muscle activation and tightening - Google Patents
Massage system and method for basin bottom muscle activation and tightening Download PDFInfo
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- CN111012659A CN111012659A CN201911391599.5A CN201911391599A CN111012659A CN 111012659 A CN111012659 A CN 111012659A CN 201911391599 A CN201911391599 A CN 201911391599A CN 111012659 A CN111012659 A CN 111012659A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/083—Abdomen
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Abstract
The invention discloses a massage system and a massage method for basin bottom muscle activation and compaction, wherein the system comprises a control system and a massage device, the massage device comprises a massage bed, the massage bed is transversely provided with a support frame, a manipulator is arranged in the middle of the support frame, a simulation massage hand is symmetrically arranged left and right, and the manipulator drives a Z-axis to move linearly through a first driving device; each simulation massage hand is driven to do three-axis linear motion through a second driving device, the manipulator and the two simulation massage hands are correspondingly provided with a three-dimensional omnidirectional pressure sensor, and the first driving device, the two second driving devices and the three-dimensional omnidirectional pressure sensors are electrically connected with a control system; the control system is used for inputting the body data information of the user and sending a massage control command to the massage device according to the set parameters corresponding to the body data information of the user; the pelvic floor muscles are contracted and relaxed by alternately pressing the outer side of the ilium and the corresponding outer side of the knee, so that the activation and the compaction of the pelvic floor muscles are realized.
Description
Technical Field
The invention belongs to the field of traditional Chinese medicine massage and medical instruments based on the traditional Chinese medicine massage, and particularly relates to a massage system and a massage method for activating and compacting pelvic floor muscles.
Background
The pelvic floor of women is mainly composed of muscles and fascia, and supports the visceral organs of the pelvic floor such as the uterus, the rectum, the bladder, the urethra, the vagina and the like to be maintained at normal positions so as to perform normal functions. The muscle components of pelvic floor muscles are classified into type I muscle fibers and type II muscle fibers, wherein the type I muscle fibers mainly perform chronic and tonic contraction, and the type II muscle fibers mainly perform rapid and staged contraction. Once the pelvic floor muscles have hypofunction and poor elasticity, the visceral organs at the pelvic floor cannot be maintained at normal positions, and thus corresponding dysfunction is caused, which is collectively called as pelvic floor dysfunction disease. Decline of the muscle strength of I-type muscle fibers can cause vaginal relaxation, organ prolapse and sexual dysfunction; a decrease in class II myofibrillar muscle strength can cause stress urinary incontinence, pelvic floor muscle atrophy, and the like.
The main causes of the female pelvic floor dysfunctional diseases are pregnancy, childbirth, age increase, lack of exercise, inflammation, trauma and the like, wherein the pregnancy and the childbirth are independent risk factors of the female pelvic floor dysfunctional diseases. The pelvic floor is subjected to different degrees of soft tissue injury due to the chronic traction of the pelvic floor under the action of gravity along with the enlargement of the uterus in the gestation period, and the change of the hormone level in the gestation period can cause the weakening of the pelvic floor supporting structure; when in delivery, the pelvic floor is squeezed by the fetal head, the pelvic floor is stretched and prolonged, and the muscle height is expanded, so that the pelvic floor muscle is subjected to changes such as denervation change and the like. The data shows that 45% of women in married and fertile China have pelvic floor dysfunctional diseases of different degrees. It is reported in the literature that 29-64% of parturients develop stress incontinence associated with pelvic floor dysfunction.
The traditional pelvic floor function rehabilitation therapy has two types: the pelvic floor muscles are stimulated by placing a probe which emits electrical stimulation pulses in the vagina, the injured nerve muscles are awakened, the pelvic floor muscle strength and elasticity are increased, and the pelvic floor function is recovered; or guide the patient to use an auxiliary instrument, such as a Kager sport ball (or a vaginal dumbbell), to perform Kager sport, and achieve the purpose of strengthening pelvic floor muscles by repeatedly scaling muscles. However, both of the two modes only treat the vaginal muscle singly, local recovery is realized, and the effect is not obvious; moreover, most of the current devices for recovering the pelvic floor dysfunction are electrical stimulation or invasive (required to be inserted into the vagina) baroreceptors, and the users often have negative and negative emotions during the treatment process, so that the treatment effect is poor.
The invention develops a massage system for pelvic floor muscle activation and compaction, which is assisted by a unique massage manipulation to realize activation and compaction of pelvic floor muscle groups through a traditional Chinese medicine manipulation and effectively treat problems of vaginal relaxation, organ prolapse, sexual dysfunction, urinary incontinence, fecal incontinence and the like.
Disclosure of Invention
The present invention is directed to overcoming the disadvantages of the prior art and providing a massage system and method for pelvic floor muscle activation and tightening, which solves the problems set forth in the background of the related art.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a massage system for activating and compacting pelvic floor muscles comprises a control system and a massage device, wherein the massage device comprises a massage bed, a support frame is arranged on the massage bed in a transverse mode, a manipulator is arranged in the middle of the support frame, and the manipulator is driven by a first driving device and moves linearly along a Z axis;
the massage bed is characterized in that the massage bed is provided with two simulation massage handles in the transverse direction and in bilateral symmetry with the manipulator as the center, each simulation massage handle drives the motion of three-axis linear motion through a second driving device, the massage surfaces of the manipulator and the two simulation massage handles are respectively and correspondingly provided with a three-dimensional omnidirectional pressure sensor, and the first driving device, the two second driving devices and the three-dimensional omnidirectional pressure sensors are all electrically connected with a control system;
and the control system is used for inputting the body data information of the user and sending a massage control command to the massage device according to the set parameters corresponding to the body data information of the user.
Furthermore, the manipulator comprises a first simulated palm for pressing down and a first mechanical arm for supporting the first simulated palm, the first mechanical arm is fixed on the support frame through a first driving device, and the massage surface of the first simulated palm is provided with the three-dimensional omnidirectional pressure sensor;
the first driving device is a first air cylinder, a piston rod of the first air cylinder is fixedly connected with the first mechanical arm, and a cylinder body of the first air cylinder is fixed on the support frame.
Furthermore, each simulated massage hand comprises a second simulated palm for massage, a simulated wrist joint for realizing horizontal rotation of the second simulated palm and a second mechanical arm for supporting the simulated wrist joint, and the massage surface of the second simulated palm is provided with the three-dimensional omnidirectional pressure sensor;
the second simulation palm is also provided with at least two fingers for pressing the Baliao acupoint, the pressing surface of one finger is provided with a pressure sensor, and the pressure sensor is electrically connected with the control system;
furthermore, each simulation handle is fixedly connected with the support frame through a support rod, and two ends of each support rod are respectively connected with the support frame in a sliding fit mode through a sliding block;
each of the second driving devices comprises a second cylinder, a third cylinder and a fourth cylinder; a piston rod of a second air cylinder corresponding to each second driving device is fixedly connected with the second mechanical arm of the simulated massage hand corresponding to the second driving device and drives the second mechanical arm to do linear motion along the Z axis, a cylinder body of the second air cylinder corresponding to each second driving device is correspondingly fixed on a fixed seat, each fixed seat is connected with a supporting rod corresponding to the fixed seat in a sliding fit mode and is also fixedly connected with a piston rod of a third air cylinder arranged on the supporting rod, and each third air cylinder drives the second mechanical arm of the simulated massage hand corresponding to the third air cylinder to do linear motion along the Y axis by driving the fixed seat corresponding to the third air cylinder; and the sliding block fixed at one end of each supporting rod is correspondingly connected and fixed with a fourth cylinder, and each fourth cylinder drives the corresponding supporting rod to drive the second mechanical arm of the corresponding simulation handle to do linear motion along the X axis.
Furthermore, the simulated wrist joint comprises a first seat plate fixedly connected with a second simulated palm and a second seat plate fixedly connected with a second mechanical arm, one end of the second mechanical arm close to the second seat plate is provided with a stepping motor, and an output shaft of the stepping motor is in meshing connection with a first gear arranged on the first seat plate through a second gear arranged on the second seat plate;
the second mechanical arm comprises a first supporting rod and a second supporting rod, one ends, close to each other, of the first supporting rod and the second supporting rod are hinged and realize folding and bending actions through a fifth cylinder, and one ends, far away from each other, of the first supporting rod and the second supporting rod are fixedly connected with a piston rod of the second seat plate and a piston rod of the second cylinder respectively; and the fifth cylinder and the stepping motor are both electrically connected with the control system 1.
Further, control system includes PLC programmable controller and host PC, PLC programmable controller with host PC communication connection, be equipped with on the host PC with the supporting manipulation APP that uses of manipulation system.
Based on the technical scheme, the massage method for activating and tightening the pelvic floor muscles comprises the following steps:
1) firstly, a patient lies on a massage bed, then the patient keeps the lower half body in a side lying posture, and the outer side of the upper ilium is opposite to the lower part of the manipulator;
2) overlapping the two lower limbs in a crossed manner, and keeping the crossed angle at 30-90 degrees;
3) inputting patient information into a control system, and sending a corresponding massage command to a massage device by using the control system according to corresponding preset parameters corresponding to the body data information of the user;
4) the massage device executes corresponding massage operation to the pelvic floor part of the patient according to the massage command sent by the control system, so that the pelvic floor muscles of the patient are activated and compacted;
wherein, the massage device executes corresponding massage operation to the pelvic floor part of the patient, and the massage device specifically comprises the following steps:
a. firstly, enabling a patient to put the right leg on the left leg in a crossed manner, adjusting the first crossed angle of the right leg and the left leg to be 30-60 degrees, then adjusting a manipulator of a massage device to move the manipulator to the outer side of the right ilium, then adjusting a simulated massage hand (6) positioned at the front side of the patient and moving the simulated massage hand to the outer side of the right knee of the patient, finally adjusting a simulated massage hand (6) positioned at the rear side of the patient to move the simulated massage hand to the rear side of the sacrum of the patient, and simultaneously adjusting the massage postures of two fingers on a second simulated palm corresponding to the simulated massage hand to enable the simulated massage hand to be opposite to eight acupuncture points of the patient;
b. alternately pressing the lateral side of the ilium and the lateral side of the right knee downwards by taking the pelvic muscle as a fulcrum, and pressing the Baliao acupoints;
c. enabling the patient to put the right leg on the left leg in a crossed manner, adjusting the second crossing angle of the right leg and the left leg to be 60-90 degrees, and repeating the step a and the step b;
d. and (4) enabling the patient to cross and place the left leg on the right leg, and repeating the operation of the step a, the step b and the step c to finish a pelvic floor massage cycle.
Further, step a is specifically that the massage posture of the second simulated palm is adjusted through a fifth cylinder and a stepping motor, and the position of the second simulated palm is adjusted through driving a second mechanical arm to do three-axis linear motion through a second driving device;
the first mechanical arm is driven by the first driving device to do Z-axis linear motion so as to adjust the position of the first simulated palm;
further, the specific operation steps in the step b are as follows: the PLC is used for controlling the second driving device to drive the corresponding simulation hand to do three-axis motion so as to drive the second simulation palm to simulate and press the lateral side of the knee or the Baliao point downwards, and the PLC is used for controlling the first driving device to drive the first simulation palm of the corresponding manipulator to simulate and press the lateral side of the ilium downwards.
Further, in the step b, the stress of the first simulated palm and the stress of the two second simulated palms in the direction of the X, Y, Z axis corresponding to the three-dimensional omnidirectional pressure sensors are detected in real time through the three-dimensional omnidirectional pressure sensors, and the stress of the fingertips of the second simulated palms corresponding to the three-dimensional omnidirectional pressure sensors is detected in real time through the pressure sensors and is input into the PLC; the PLC is used for analyzing and comparing the detected stress value with the pressure limit value to generate an adjusting control signal, and then adjusting the rotating speed of the speed regulating valve and the stepping motor of the corresponding cylinder in real time so as to realize the adjustment of the massage action.
The invention has the beneficial effects that:
1. according to the massage system for pelvic floor muscle activation and tightening, provided by the invention, under different angles of intersection of the two lower limbs, the pelvic floor muscle and the muscle fascia are contracted and relaxed by alternately pressing the outer side of the ilium and the corresponding outer side of the knee and pressing the Baliao acupoint in a matching manner, so that muscle groups such as vaginal muscle, anal muscle, urethral sphincter and the like in the whole pelvic cavity are driven to contract and relax, and the activation and tightening of the whole pelvic floor muscle are realized. Meanwhile, the treatment process of the system does not need electrical stimulation or invasive (required to be inserted into vagina) baroreceptors, and negative emotions of the user are eliminated.
The invention develops a massage system for activating and tightening pelvic floor muscles, which is assisted by a unique massage manipulation to activate and tighten pelvic floor muscle groups through a traditional Chinese medicine manipulation and effectively treat the problems of vaginal relaxation, uterine (cervical) prolapse, sexual dysfunction, urinary incontinence, fecal incontinence and the like.
Drawings
FIG. 1 is a schematic diagram of the massage system for pelvic floor muscle activation and tightening of the present invention;
FIG. 2 is a schematic view of the massage device of the present invention;
FIG. 3 is a mechanical schematic diagram of the robot;
FIG. 4 is a schematic view of a mechanism for simulating a hand grip;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
in the figure, 1, a control system; 1.1, a PLC programmable controller; 1.2, an upper PC;
2. a massage device; 3. a massage bed; 4. a support frame; 5. a manipulator; 5.1, a first simulation palm; 5.2, a first mechanical arm; 6. simulating a hand; 6.1, a second simulated palm; 6.2, simulating a wrist joint; 6.21, a first seat plate; 6.22, a second seat plate; 6.23, a stepping motor; 6.24, a second gear; 6.25, a first gear; 6.3, a second mechanical arm; a first strut 6.31; 6.32, a second strut; 6.33, a fifth cylinder; 6.4, finger; 7. a first driving device; 7.1, a first cylinder; 8. a second driving device; 8.1, a second cylinder; 8.11, fixing seats; 8.2, a third cylinder; 8.3, a fourth cylinder; 9. a three-dimensional omnidirectional pressure sensor; 10. a support bar; 10.1, a sliding block; 11. a pressure sensor.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1 to 5, a massage system for basin bottom muscle activation and compaction comprises a control system 1 and a massage device 2, wherein the massage device 2 comprises a massage bed 3, a support frame 4 is transversely arranged on the massage bed 3, a manipulator 5 is arranged in the middle of the support frame 4, and the manipulator 5 is driven by a first driving device 7 and moves linearly along a Z axis;
the massage bed is characterized in that two simulated massage handles 6 are respectively arranged on the transverse direction of the massage bed 3 and are bilaterally symmetrical by taking the mechanical arm 5 as a center, each simulated massage handle 6 is driven by a second driving device 8 to do three-axis linear motion, the massage surfaces of the mechanical arm 5 and the two simulated massage handles 6 are respectively and correspondingly provided with a three-dimensional omnidirectional pressure sensor 9, and the first driving device 7, the two second driving devices 8 and the three-dimensional omnidirectional pressure sensors 9 are all electrically connected with the control system 1;
the control system 1 is used for inputting the body data information of the user and sending a massage control command to the massage device 2 according to the set parameters corresponding to the body data information of the user.
As shown in fig. 3, the manipulator 5 comprises a first simulated palm 5.1 for pressing down and a first manipulator 5.2 for supporting the first simulated palm 5.1, the first manipulator 5.2 is fixed on the support frame 4 by a first driving device 7, and the massage surface of the first simulated palm 5.1 is provided with a three-dimensional omnidirectional pressure sensor 9;
the first driving device 7 is a first air cylinder 7.1, a piston rod of the first air cylinder 7.1 is fixedly connected with the first mechanical arm 5.2, and a cylinder body of the first air cylinder 7.1 is fixed on the support frame 4.
As shown in fig. 1, 4 and 5, each simulated massage hand 6 comprises a second simulated palm 6.1 for massage, a simulated wrist joint 6.2 for realizing horizontal rotation of the second simulated palm 6.1, and a second mechanical arm 6.3 for supporting the simulated wrist joint 6.2, wherein the massage surface of the second simulated palm 6.1 is provided with one three-dimensional omnidirectional pressure sensor 9;
the second simulation palm 6.1 is also provided with at least two fingers 6.4 used for pressing the Baliao acupoint, wherein the pressing surface of one finger 6.4 is provided with a pressure sensor 11, and the pressure sensor 11 is electrically connected with the control system 1;
specifically, the second simulated palm 6.1 comprises a palm seat, two fingers 6.4 used for pressing the Baliao acupoint are arranged on the palm seat, one of the fingers is a thumb, the other finger is a forefinger, the thumb and the forefinger are oppositely arranged, the thumb is fixedly connected with the palm seat, the forefinger is hinged with the palm seat through a forefinger fixing frame, a sixth air cylinder is further arranged on the palm seat, a piston rod of the sixth air cylinder is fixedly connected with the forefinger fixing frame and drives the forefinger to move, and therefore the relative positions of the thumb and the forefinger are adjusted; the sixth cylinder is electrically connected with the PLC 1.1 of the control system 1, when the Baliao acupoint is pressed, the PLC 1.1 controls the sixth cylinder to drive the forefinger, and adjusts the relative position of the thumb and the forefinger, so that the thumb and the forefinger sequentially correspond to the upper, the lower, the middle and the lower Baliao acupoints of the Baliao acupoint.
In the invention, each simulation handle 6 is fixedly connected with the support frame 4 through a support rod 10, and two ends of each support rod 10 are respectively connected with the support frame 4 through a sliding block 10.1 in a sliding fit manner;
each of said second driving means 8 comprises a second cylinder 8.1, a third cylinder 8.2 and a fourth cylinder 8.3; a piston rod of a second cylinder 8.1 corresponding to each second driving device 8 is fixedly connected with the second mechanical arm 6.3 of the corresponding simulated massage hand 6 and drives the second mechanical arm 6.3 to do linear motion along the Z axis, a cylinder body of the second cylinder 8.1 corresponding to each second driving device 8 is correspondingly fixed on a fixed seat 8.11, each fixed seat 8.11 is connected with a corresponding support rod 10 in a sliding fit manner and is also fixedly connected with a piston rod of a third cylinder 8.2 arranged on the support rod 10, and each third cylinder 8.2 drives the second mechanical arm 6.3 of the corresponding simulated massage hand 6 to do linear motion 3 along the Y axis by driving the corresponding fixed seat 8.11; a sliding block 10.1 fixed at one end of each supporting rod 10 is correspondingly connected and fixed with a fourth cylinder 8.3, and each fourth cylinder 8.3 drives a second mechanical arm 6.3 of the corresponding simulation handle 6 to do linear motion along the X axis by driving the corresponding supporting rod 10.
As shown in fig. 5, the simulated wrist joint 6.2 is connected to the second simulated palm 6.1, and includes a first seat plate 6.21 fixedly connected to the second simulated palm 6.1 and a second seat plate 6.22 fixedly connected to the second mechanical arm 6.3, one end of the second mechanical arm 6.3 close to the second seat plate 6.22 is provided with a step motor 6.23, and an output shaft of the step motor 6.23 is engaged with the first gear 6.25 on the first seat plate 6.21 through a second gear 6.24 on the second seat plate 6.22;
the second mechanical arm 6.3 comprises a first supporting rod 6.31 and a second supporting rod 6.32, one end, close to each other, of the first supporting rod 6.31 and one end, close to the second supporting rod 6.32, of the second supporting rod are hinged and achieve folding and bending actions through a fifth cylinder 6.33, and one end, far away from each other, of the first supporting rod 6.31 and one end, far away from each other, of the second supporting rod 6.32 are fixedly connected with piston rods of a second seat plate 6.22 and a second cylinder 8.1 respectively. The fifth cylinder 6.33 and the stepping motor 6.23 are both electrically connected with a PLC 1.1 in the control system 1.
In the invention, the control system 1 comprises a PLC (programmable logic controller) 1.1 and an upper PC (personal computer) 1.2, the PLC 1.1 is in communication connection with the upper PC 1.2, and a massage APP matched with the massage system is arranged on the upper PC 1.2.
A massage method for pelvic floor muscle activation and tightening comprises the following steps:
1) firstly, a patient lies on the massage bed 3, then the patient keeps the lower half body in a side lying posture, and the outer side of the upper ilium is opposite to the lower part of the manipulator 5;
2) overlapping the two lower limbs in a crossed manner, and keeping the crossed angle at 30-90 degrees;
3) inputting patient information into the control system 1, and sending a corresponding massage command to the massage device 2 by using the control system 1 according to corresponding preset parameters corresponding to the body data information of the user;
4) the massage device 2 executes corresponding massage operation to the pelvic floor part of the patient according to the massage command sent by the control system 1, so that the pelvic floor muscles of the patient are activated and compacted;
wherein, the massage device 2 executes corresponding massage operation to the pelvic floor part of the patient, and the method specifically comprises the following steps:
a. firstly, enabling a patient to put the right leg on the left leg in a crossed manner, adjusting the first crossed angle of the right leg and the left leg to be 30-60 degrees, then adjusting a manipulator 5 of a massage device 2 to move the lower part of the manipulator to the outer side of the right ilium, then adjusting a simulated massage hand 6 positioned at the front side of the patient and moving the simulated massage hand to the outer side of the right knee of the patient, finally adjusting the simulated massage hand 6 positioned at the rear side of the patient to move the simulated massage hand to the rear side of the sacrum of the patient, and simultaneously adjusting the massage postures of two fingers on a second simulated palm 6.1 corresponding to the simulated massage hand to enable the simulated massage hand to be opposite to the Baliao acupoint of the patient;
b. alternately pressing the lateral side of the ilium and the lateral side of the right knee downwards by taking the pelvic muscle as a fulcrum, and pressing the Baliao acupoints;
c. enabling the patient to put the right leg on the left leg in a crossed manner, adjusting the second crossing angle of the right leg and the left leg to be 60-90 degrees, and repeating the step a and the step b;
d. and (4) enabling the patient to cross and place the left leg on the right leg, and repeating the operation of the step a, the step b and the step c to finish a pelvic floor massage cycle.
In step 3), the physical information of the patient is detected by a doctor, the condition of the pelvic floor muscle of the patient is determined, and the condition is divided into 5 grades according to a perineum myodynamia test method grrug: no shrinkage quality, shrinkage times of 0 times, and keeping 0s as 0 grade; the symptoms are shivering, the contraction times are 1 time, and the grade of 1 grade can be evaluated if the contraction times can be kept for 1 s; the product is represented by incomplete shrinkage quality, the shrinkage times are 2 times, and the product can be rated as 2 grades when the product can be kept for 2 s; the shrinkage times are 3 times, and 3s can be kept, and the rating is 3; full shrinkage quality with slight resistance, 4 times of shrinkage, rating 4 for 4 s; the product shows complete contraction quality, the contraction frequency is 5 times, and the product can be rated as 5 grades when 5s can be kept;
the massage system is adopted to carry out massage when the muscle strength of the pelvic floor is confirmed to be below 3 levels (including 3 levels), and the control system sends a massage control command to the massage device 2 according to the set parameters corresponding to the muscle strength level of the pelvic floor of the user; the parameter information corresponding to the muscle strength level of the pelvic floor is shown in table 1:
TABLE 1 parameters information corresponding to the muscle strength level of the pelvic floor
In table 1, the pressure values F1, F2, and F3 decrease in sequence; the pressure values F1 ', F2 ' and F3 ' are reduced in sequence; the pressure values F1 ', F2 ', F3 ' are reduced in sequence; and the numerical value ranges of F1, F2, F3, F1 ', F2', F3 ', F1', F2 'and F3' are all obtained by collecting pressure values corresponding to all parts when a doctor carries out massage by hands by adopting the massage manipulation in the invention and carrying out big data statistics.
Further, in the step a, the massage posture of the second simulated palm 6.1 is adjusted through a fifth cylinder 6.33 and a stepping motor 6.23, and the second mechanical arm 6.3 is driven by a second driving device 8 to perform three-axis linear motion so as to adjust the position of the second simulated palm 6.1;
the first mechanical arm 5.2 is driven by the first driving device 7 to do Z-axis linear motion so as to adjust the position of the first simulated palm 5.1;
further, the specific operation steps in the step b are as follows: the three-dimensional pressure limit value and the fingertip pressure limit value set by the PLC 1.1 are used, the PLC 1.1 controls the second driving device 8 to drive the corresponding simulation hand 6 to do three-axis motion to drive the second simulation palm 6.1 to simulate downward pressing on the lateral side of the knee or pressing the Baliao point, and the PLC 1.1 controls the first driving device 7 to drive the first simulation palm 5.1 of the corresponding manipulator 5 to simulate downward pressing on the lateral side of the ilium.
Further, in the step b, the stress of the first simulated palm 5.1 and the stress of the two second simulated palms 6.1 in the direction of the X, Y, Z axis corresponding to the three-dimensional omnidirectional pressure sensor 9 are detected in real time through the three-dimensional omnidirectional pressure sensor 9, and the stress of the fingertips of the second simulated palms 6.1 corresponding to the three-dimensional omnidirectional pressure sensor 11 is detected in real time and is input into the PLC programmable controller 1.1; the PLC 1.1 analyzes and compares the detected stress value with the pressure limit value to generate an adjusting control signal, and then adjusts the rotating speed of the speed regulating valve and the stepping motor of the corresponding cylinder in real time to realize the adjustment of the massage action.
In the present invention, it is confirmed that the pelvis of the patient is normal before the pelvic floor muscles are activated to tighten.
The massage system for activating and tightening pelvic floor muscles provided by the invention has the advantages that under different crossed angles of the two lower limbs, the pelvic floor muscles and the muscle fascia are contracted and relaxed by alternately pressing the outer side of the ilium and the corresponding outer side of the knee and pressing the Baliao acupoint in a matching manner, so that muscle groups of vaginal muscles, anal muscles, urethral sphincters and the like in the whole pelvic cavity are driven to contract and relax, and the problems of vaginal relaxation, uterine (cervical) prolapse, sexual dysfunction, urinary incontinence, fecal incontinence and the like are effectively treated.
Application examples
Application 1: patients are 48 years old, female and urine are leaked, the muscle strength grade of the pelvic floor is confirmed to be 0-1 grade, and by adopting the massage system provided by the invention, a control system of the massage system sends a massage control command to the massage device 2 according to the set parameters corresponding to the muscle strength grade of the pelvic floor of the user being 0-1 grade, so that a massage treatment course is carried out;
after 1 week, the muscle strength grade of the pelvic floor is rechecked and evaluated to be grade 2, and the urine leakage frequency is from 1 time in 1 day to 2 times in 3 days and 1 time in the same time; the control system of the massage system sends a massage control command according to the set parameters corresponding to the user whose pelvic floor muscle strength grade is 2 grade, and a massage treatment course is carried out for one time;
after 2 weeks, the muscle strength grade of the pelvic floor is rechecked and evaluated to 3 grades, and at the moment, the urine leakage frequency is once every 5 days; after that, the treatment course is repeated for 3 times, the vagina is completely cured, the vaginal pressure of the patient is recovered to be normal, and the symptom of urine leakage is eliminated.
Application 2: the patient is 31 years old, female, postpartum vagina is relaxed, the muscle strength grade of the pelvic floor is confirmed to be 2 grade, the massage system provided by the invention is adopted, the control system of the massage system sends a control massage command to the massage device 2 according to the set parameter corresponding to the muscle strength grade of the pelvic floor of the user being 2 grade, and a massage treatment course is carried out; and subsequently, multiple courses of treatment are carried out according to the rechecked pelvic floor muscle strength grade, the treatment is completely cured, and the evaluation is 5 grade.
Application 3: the patient is a 57-year-old woman, and the symptoms before treatment are uterine prolapse, wherein the uterine cervix prolapse is one-degree and two-degree inside the vagina, namely the uterus descends along the vagina from a normal position, and the external opening of the cervix is below the level of the ischial spine;
after the system provided by the invention is adopted to carry out treatment in one course of treatment, the vagina is examined, and the cervical orifice is found to return to the normal position completely.
Application 4: the patient is 66 years old and female, and symptoms before treatment are that the whole pelvic cavity is loose and the stool cannot be held.
After the system provided by the invention is adopted to treat the excrement by 1 course of treatment, the excrement incontinence is improved, and the excrement is cured after 2-3 courses of treatment, so that the excrement is not incontinent any more.
The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A massage system for activating and tightening pelvic floor muscles is characterized by comprising a control system (1) and a massage device (2), wherein the massage device (2) comprises a massage bed (3), a support frame (4) is transversely arranged on the massage bed (3), a manipulator (5) is arranged in the middle of the support frame (4), and the manipulator (5) is driven by a first driving device (7) and moves linearly along a Z axis;
the massage bed is characterized in that two simulation massage handles (6) are arranged on the massage bed (3) in the transverse direction and are bilaterally symmetrical by taking the mechanical arm (5) as a center, each simulation massage handle (6) is driven by a second driving device (8) to do three-axis linear motion, the massage surfaces of the mechanical arm (5) and the two simulation massage handles (6) are respectively and correspondingly provided with a three-dimensional omnidirectional pressure sensor (9), and the first driving device (7), the two second driving devices (8) and the three-dimensional omnidirectional pressure sensors (9) are all electrically connected with the control system (1);
the control system (1) is used for inputting the body data information of the user and sending a massage control command to the massage device (2) according to the set parameters corresponding to the body data information of the user.
2. A massage system for pelvic floor muscle activation compaction, according to claim 1, characterized in that the manipulator (5) comprises a first simulated palm (5.1) for pressing down and a first mechanical arm (5.2) for supporting the first simulated palm (5.1), the first mechanical arm (5.2) is fixed on the support frame (4) through a first driving device (7), and the massage face of the first simulated palm (5.1) is provided with one of the three-dimensional omnidirectional pressure sensors (9);
the first driving device (7) is a first air cylinder (7.1), a piston rod of the first air cylinder (7.1) is fixedly connected with the first mechanical arm (5.2), and a cylinder body of the first air cylinder (7.1) is fixed on the support frame (4).
3. A massage system for pelvic floor muscle activation compaction, as claimed in claim 2, wherein each simulated massage hand (6) comprises a second simulated palm (6.1) for massage, a simulated wrist joint (6.2) for horizontal rotation of the second simulated palm (6.1), and a second mechanical arm (6.3) for supporting the simulated wrist joint (6.2), the massage face of the second simulated palm (6.1) is provided with one of the three-dimensional omnidirectional pressure sensors (9);
the second simulation palm (6.1) is also provided with at least two fingers (6.4) used for pressing the Baliao acupoint, the pressing surface of one finger (6.4) is provided with a pressure sensor (11), and the pressure sensor (11) is electrically connected with the control system (1).
4. The massage system for activating and tightening the pelvic floor muscles as recited in claim 3, wherein each simulated massage hand (6) is fixedly connected with the support frame (4) through a support rod (10), and two ends of each support rod (10) are respectively connected with the support frame (4) through a sliding block (10.1) in a sliding fit manner;
each of said second driving means (8) comprises a second cylinder (8.1), a third cylinder (8.2) and a fourth cylinder (8.3); a piston rod of a second cylinder (8.1) corresponding to each second driving device (8) is fixedly connected with the second mechanical arm (6.3) of the corresponding simulated grip (6) and drives the second mechanical arm (6.3) to do linear motion along the Z axis, a cylinder body of the second cylinder (8.1) corresponding to each second driving device (8) is correspondingly fixed on a fixed seat (8.11), each fixed seat (8.11) is connected with a supporting rod (10) corresponding to the fixed seat in a sliding fit manner and is also fixedly connected with a piston rod of a third cylinder (8.2) arranged on the supporting rod (10), and each third cylinder (8.2) drives the second mechanical arm (6.3) of the corresponding simulated grip (6) to do linear motion along the Y axis by driving the fixed seat (8.11) corresponding to the third cylinder; each sliding block (10.1) fixed at one end of each supporting rod (10) is correspondingly connected and fixed with one fourth cylinder (8.3), and each fourth cylinder (8.3) drives the corresponding supporting rod (10) to drive the second mechanical arm (6.3) of the corresponding simulation handle (6) to do linear motion along the X axis.
5. The massage system for pelvic floor muscle activation and compaction as claimed in claim 4, wherein the simulated wrist joint (6.2) comprises a first seat plate (6.21) fixedly connected with the second simulated palm (6.1) and a second seat plate (6.22) fixedly connected with the second mechanical arm (6.3), a stepping motor (6.23) is arranged at one end of the second mechanical arm (6.3) close to the second seat plate (6.22), and an output shaft of the stepping motor (6.23) is in meshing connection with a first gear (6.25) arranged on the first seat plate (6.21) through a second gear (6.24) arranged on the second seat plate (6.22);
the second mechanical arm (6.3) comprises a first supporting rod (6.31) and a second supporting rod (6.32), one ends, close to each other, of the first supporting rod (6.31) and the second supporting rod (6.32) are hinged, folding and bending actions are achieved through a fifth air cylinder (6.33), and one ends, far away from each other, of the first supporting rod (6.31) and the second supporting rod (6.32) are fixedly connected with piston rods of a second seat plate (6.22) and a second air cylinder (8.1) respectively; and the fifth cylinder (6.33) and the stepping motor (6.23) are electrically connected with the control system 1.
6. Massage system for pelvic floor muscle activation compaction, according to claim 5, characterized in that control system (1) includes PLC programmable controller (1.1) and host PC (1.2), PLC programmable controller (1.1) with host PC (1.2) communication connection, be equipped with on host PC (1.2) with the massage APP that uses with massage system is supporting.
7. A massage method for pelvic floor muscle activation and tightening based on claim 6, characterized by comprising the following steps:
1) firstly, a patient lies on the massage bed (3), then the lower half body of the patient keeps a lateral lying posture, and the outer side of the upper ilium is opposite to the lower part of the manipulator (5);
2) overlapping the two lower limbs in a crossed manner, and keeping the crossed angle at 30-90 degrees;
3) inputting patient information into the control system (1), and sending a corresponding massage command to the massage device (2) by using the control system (1) according to corresponding preset parameters corresponding to the body data information of the user;
4) the massage device (2) executes corresponding massage operation to the pelvic floor part of the patient according to the massage command sent by the control system (1), so that the pelvic floor muscles of the patient are activated and compacted;
wherein, the massage device (2) executes corresponding massage operation to the pelvic floor part of the patient, and the method specifically comprises the following steps:
a. firstly, enabling a patient to put the right leg on the left leg in a crossed manner, adjusting the first crossed angle of the right leg and the left leg to be 30-60 degrees, then adjusting a manipulator (5) of a massage device (2) to move the lower part of the manipulator to the outer side of the right ilium, then adjusting a simulated massage hand (6) positioned at the front side of the patient and moving the simulated massage hand to the outer side of the right knee of the patient, finally adjusting the simulated massage hand (6) positioned at the rear side of the patient to move the simulated massage hand to the rear side of the sacrum of the patient, and simultaneously adjusting the massage postures of two fingers on a corresponding second simulated palm (6.1) to ensure that the simulated massage hand faces eight acupuncture points of the patient;
b. alternately pressing the lateral side of the ilium and the lateral side of the right knee downwards by taking the pelvic muscle as a fulcrum, and pressing the Baliao acupoints;
c. enabling the patient to put the right leg on the left leg in a crossed manner, adjusting the second crossing angle of the right leg and the left leg to be 60-90 degrees, and repeating the step a and the step b;
d. and (4) enabling the patient to cross and place the left leg on the right leg, and repeating the operation of the step a, the step b and the step c to finish a pelvic floor massage cycle.
8. The massage method for pelvic floor muscle activation tightening as claimed in claim 7, wherein: step a, specifically, the massage posture of a second simulated palm (6.1) is adjusted through a fifth cylinder (6.33) and a stepping motor (6.23), and the second mechanical arm (6.3) is driven to do three-axis linear motion through a second driving device (8) so as to adjust the position of the second simulated palm (6.1);
the first mechanical arm (5.2) is driven to do Z-axis linear motion through the first driving device (7) so as to adjust the position of the first simulated palm (5.1).
9. The massage method for pelvic floor muscle activation tightening as claimed in claim 7, wherein: the concrete operation steps of the step b are as follows: the three-dimensional pressure limit value and the fingertip pressure limit value are set through the PLC (1.1), the second driving device (8) is controlled through the PLC (1.1) to drive the corresponding simulation massage hand (6) to carry out three-axis motion so as to drive the second simulation palm (6.1) to simulate downward pressing of the lateral side of the knee or pressing of the point of Baliao, and the first driving device (7) is controlled through the PLC (1.1) to drive the first simulation palm (5.1) of the corresponding manipulator (5) to simulate downward pressing of the lateral side of the ilium.
10. The massage method for pelvic floor muscle activation tightening as claimed in claim 7, wherein: in the step b, the stress of a first simulated palm (5.1) and two second simulated palms (6.1) corresponding to the three-dimensional omnidirectional pressure sensors in the direction of an X, Y, Z axis is detected in real time through the three-dimensional omnidirectional pressure sensors (9), the fingertip stress of the second simulated palm (6.1) corresponding to the three-dimensional omnidirectional pressure sensors is detected in real time through the pressure sensors (11), and the fingertip stress is input into the PLC (1.1); the PLC (1.1) analyzes and compares the detected stress value with the pressure limit value to generate an adjusting control signal, and then adjusts the rotating speed of a speed regulating valve and a stepping motor of a corresponding cylinder in real time to realize the adjustment of the massage action.
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| CN201911391599.5A CN111012659A (en) | 2019-12-30 | 2019-12-30 | Massage system and method for basin bottom muscle activation and tightening |
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| CN201911391599.5A CN111012659A (en) | 2019-12-30 | 2019-12-30 | Massage system and method for basin bottom muscle activation and tightening |
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