CN111135031A - Remote massage system and method based on artificial intelligence - Google Patents
Remote massage system and method based on artificial intelligence Download PDFInfo
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- CN111135031A CN111135031A CN202010023580.1A CN202010023580A CN111135031A CN 111135031 A CN111135031 A CN 111135031A CN 202010023580 A CN202010023580 A CN 202010023580A CN 111135031 A CN111135031 A CN 111135031A
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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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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/50—Control means thereof
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Public Health (AREA)
- Medical Informatics (AREA)
- Physical Education & Sports Medicine (AREA)
- Biomedical Technology (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Animal Behavior & Ethology (AREA)
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- Business, Economics & Management (AREA)
- General Business, Economics & Management (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses a remote massage system and a method based on artificial intelligence, wherein the remote massage system comprises a massager and a massage module, wherein the massager can output massage physical therapy actions aiming at a patient; the data acquisition device is a sensor used for acquiring the gesture and the force of the fingers of the masseur; and the controller is used for receiving the data of the data acquisition device and controlling the massager to move. The remote massage system and the method based on artificial intelligence can realize remote massage, realize normalization of massage only by recording the massage process of a masseur once, realize remote infinite massage without the need of the masseur or a patient to get on the door, and greatly improve the efficiency.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to a remote massage system and a remote massage method based on artificial intelligence.
Background
At present, no matter the massage therapy for human or animal is carried out manually by a masseur, the mode is high in price, and the massage therapy can be carried out only by a patient and the masseur in the same space. In view of the above, a massage chair or a massage machine for remote treatment has been proposed, and as disclosed in chinese patent application publication No. CN105872259A, a massage chair remote control system and a massage chair remote control method, a massage machine disclosed in chinese patent application publication No. CN107874993A, and a remote diagnosis system provided with the massage machine are disclosed.
However, the above method still has the following problems: the massager and the massage chair can not simulate the force of a masseur, and only can massage the patient by means of preset force. Therefore, the massage effect is not ideal, and even the secondary injury of the patient can be caused by the problem of the massage strength.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a system and a method capable of remotely massaging.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a remote massage system based on artificial intelligence, comprising:
the massager can output massage physical therapy actions aiming at the patient;
the data acquisition device is a sensor used for acquiring the gesture and the force of the fingers of the masseur;
and the controller is used for receiving the data of the data acquisition device and controlling the massager to move.
Furthermore, the data acquisition device comprises a finger end pressure sensor, a finger bending posture sensor, a hand back ten-axis sensor, a forearm ten-axis sensor, an upper arm ten-axis sensor and a first transmission unit, wherein the transmission unit is used for sending the data acquired by each sensor to the controller.
The patient model is made of soft materials and used for simulating the body shape of a patient, the marker is arranged on the patient model and used for positioning the position relationship between the patient model and a masseur, and the second transmission unit can transmit the position relationship between the patient model and the masseur to the controller.
Further, the massager comprises a bionic mechanical arm and a bionic mechanical arm which are connected in sequence, wherein a force sensor and an attitude sensor are arranged on the bionic mechanical arm and the bionic mechanical arm, and the bionic mechanical arm is provided with a temperature adjusting module.
Furthermore, the bionic mechanical arm and the bionic mechanical arm are both provided with force overload protection devices.
Furthermore, the massager also comprises a lifting carrying platform, and the bionic mechanical arm are both arranged on the carrying platform.
Furthermore, the massager also comprises a radar module for detecting the position between the massager and the patient, a camera for acquiring the image of the patient, a thermal imaging induction module and a control unit which is respectively connected with the radar module, the camera, the thermal imaging induction module, the carrying platform, the bionic manipulator and the bionic mechanical arm.
The invention also provides a remote massage method based on artificial intelligence, which comprises the following steps:
remotely acquiring data of hand massage of a masseur, including finger pressing force, finger and arm postures;
and massaging the body of the patient by using a massager, and controlling the massage action posture and the pressing force of the massager to be consistent with the acquired data.
Further, the step one and the step two further comprise the steps of obtaining morphological data of the treated part of the patient to establish a patient model, and fitting the patient model and the hand massage data of the masseur.
Further, the method comprises the step of presetting a finger pressing force threshold value, and when the finger pressing force exerted by the massager exceeds the threshold value, the massager is immediately stopped and the initial posture is recovered.
Has the advantages that: the remote massage system and the method based on artificial intelligence can realize remote massage, realize normalization of massage only by recording the massage process of a masseur once, realize remote infinite massage without the need of the masseur or a patient to get on the door, and greatly improve the efficiency.
Drawings
FIG. 1 is a schematic diagram of the composition of a remote massage system based on artificial intelligence according to the present invention;
fig. 2 is a schematic structural diagram of a massage machine of the artificial intelligence-based remote massage system shown in fig. 1;
FIG. 3 is a schematic view showing a palm-side portion of a manipulator of the massage machine shown in FIG. 2;
FIG. 4 is a schematic structural view of the back side of the manipulator arm shown in FIG. 3;
FIG. 5 is a schematic diagram of the patient model portion of the artificial intelligence based remote massage system of FIG. 1;
fig. 6 is a flow chart of a remote massage method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1-5, an embodiment of the artificial intelligence based remote massage system of the present invention comprises: a data acquisition device 3, a controller 2 and a patient model 4.
The data acquisition device 3 is used for acquiring the finger postures and force of a masseur, and comprises a finger end pressure sensor 31, a finger bending posture sensor 32, a hand back ten-axis sensor 33, a forearm ten-axis sensor 34, an upper arm ten-axis sensor 35 and a first transmission unit, wherein the transmission unit is used for sending the data acquired by each sensor to the controller 2, and the controller 2 performs fusion modeling on the data. Preferably, an armless glove is used as a carrier, the finger end pressure sensor 31, the finger bending posture sensor 32, the hand back ten-axis sensor 33, the forearm ten-axis sensor 34 and the upper arm ten-axis sensor 35 are arranged on the armless glove, and an exoskeleton can also be used as a carrier, and such structural changes still fall into the protection scope of the invention.
And the controller 2 is used for receiving the data of the data acquisition device 3 and controlling the massager to move.
The patient model 4 is made of soft materials and used for simulating the body shape of a patient, and comprises a marker and a second transmission unit, wherein the marker is arranged on the patient model 4 and used for positioning the position relation between the patient model 4 and a masseur, and the second transmission unit can transmit the position relation between the patient model 4 and the masseur to the controller 2.
The massager comprises a rack, and a bionic mechanical arm 12, a bionic mechanical arm 13 and a rack which are arranged on the rack and connected in sequence, wherein a force sensor and an attitude sensor are arranged on the bionic mechanical arm 12 and the bionic mechanical arm 13, and the bionic mechanical arm 12 is provided with a temperature adjusting module.
The bionic mechanical arm 12 and the bionic mechanical arm 13 are both provided with a force overload protection device. Specifically, the force overload protection device on the bionic manipulator 12 comprises a first power mechanism which is independently arranged, one end of the first power mechanism is connected with the bionic manipulator 12, one end of the first power mechanism is connected with the bionic manipulator 13, and when the force overload occurs, the finger end pressure sensor detects that the pressure exceeds the preset pressure, the first power mechanism drives the manipulator 12 to be far away from the patient. Similarly, the force overload protection device on the bionic mechanical arm 13 comprises a second power mechanism which is independently arranged, one end of the second power mechanism is connected with the bionic mechanical arm 13, one end of the second power mechanism is connected with the frame, and when the force overload occurs, the finger end pressure sensor detects that the pressure exceeds the preset pressure, the second power mechanism drives the mechanical arm 13 to be far away from the patient.
The massager also comprises a lifting carrying platform 11, and the rack, the bionic mechanical arm 12 and the bionic mechanical arm 13 are all arranged on the carrying platform 11. In this embodiment, the carrying platform 11 may be a self-powered carrying platform 11, such as an electric vehicle platform, or may be an unpowered trolley platform provided with at least three rollers, and such structural changes still fall within the scope of the present invention.
The massager also comprises a radar module 15 used for detecting the position between the massager and the patient, a camera 16 used for acquiring the image of the patient, a thermal imaging induction module 14 used for acquiring the body temperature data of the patient, and a control unit respectively connected with the radar module 15, the camera 16, the thermal imaging induction module 14, the carrying platform 11, the bionic mechanical arm 12 and the bionic mechanical arm 13.
The invention also provides a remote massage method based on artificial intelligence, which is shown in figure 6 and comprises the following steps:
s01: and remotely acquiring data of hand massage of a masseur, including finger pressing force, finger and arm postures. In the present embodiment, a method of wearing sensors on hands and arms of a masseur may be adopted, or hand massage data of the masseur may be collected by an external scanning method.
S02: and massaging the body of the patient by using a massager, and controlling the massage action posture and the pressing force of the massager to be consistent with the acquired data.
Further, the step one and the step two further comprise the steps of obtaining morphological data of the treated part of the patient, establishing a patient data model, and fitting the patient data model and the hand massage data of the masseur. In this embodiment, a sensor may be provided on the patient to detect the pressure and skin deformation data experienced by the patient.
Further, the method comprises the step of presetting a finger pressing force threshold value, and when the finger pressing force exerted by the massager exceeds the threshold value, the massager is immediately stopped and the initial posture is recovered.
The remote massage system and the method can realize remote massage, can realize normalization of massage only by recording the massage process of a masseur once, can realize remote infinite massage without the need of the masseur or a patient to go home, and greatly improve the efficiency.
The remote massage system and the method can realize remote massage, can realize normalization of massage only by recording the massage process of a masseur once, can realize remote infinite massage without the need of the masseur or a patient to go home, and greatly improve the efficiency. The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. Remote massage system based on artificial intelligence, its characterized in that includes:
the massager can output massage physical therapy actions aiming at the patient;
the data acquisition device is a sensor used for acquiring the gesture and the force of the fingers of the masseur;
and the controller is used for receiving the data of the data acquisition device and controlling the massager to move.
2. The artificial intelligence based remote massage system according to claim 1, wherein the data acquisition device comprises a finger tip pressure sensor, a finger bending posture sensor, a ten-axis sensor of a back of a hand, a ten-axis sensor of a forearm, a ten-axis sensor of an upper arm, and a first transmission unit for transmitting data acquired by each of the sensors to the controller.
3. The artificial intelligence based remote massage system as claimed in claim 1, further comprising a patient model made of soft material for simulating the body shape of the patient, a marker provided on the patient model for locating the positional relationship between the patient model and the massage engineer, and a second transmission unit for transmitting the positional relationship between the patient model and the massage engineer to the controller.
4. The artificial intelligence based remote massage system according to claim 1, wherein the massage machine comprises a bionic manipulator and a bionic mechanical arm which are connected in sequence, the bionic manipulator and the bionic mechanical arm are both provided with a force sensor and an attitude sensor, and the bionic manipulator is provided with a temperature adjusting module.
5. The artificial intelligence based remote massage system of claim 4, wherein the bionic manipulator and the bionic mechanical arm are both provided with a force overload protection device.
6. The artificial intelligence based remote massage system of claim 4, wherein the massage machine further comprises a liftable carrying platform, and the bionic manipulator and the bionic mechanical arm are both arranged on the carrying platform.
7. The artificial intelligence based remote massage system according to claim 6, wherein the massage machine further comprises a radar module for detecting a position between the massage machine and the patient, a camera for acquiring an image of the patient, a thermal imaging induction module, and a control unit respectively connected to the radar module, the camera, the thermal imaging induction module, the carrying platform, the bionic manipulator, and the bionic manipulator.
8. The remote massage method based on artificial intelligence is characterized by comprising the following steps:
remotely acquiring hand massage data of a masseur, wherein the hand massage data comprise finger pressing force, finger and arm postures;
and step two, massaging the body of the patient by using a massager, and controlling the massage action posture and the pressing force of the massager to be consistent with the acquired data.
9. The artificial intelligence based remote massage method according to claim 8, further comprising, between the first step and the second step, obtaining morphological data of the treated part of the patient to build a patient model, and fitting the patient model to the hand massage data of the masseur.
10. The artificial intelligence based remote massage method as claimed in claim 8, further comprising presetting a finger pressing force threshold value, and when the finger pressing force applied by the massage machine exceeds the threshold value, the massage machine is immediately stopped and the initial posture is restored.
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| CN202010023580.1A CN111135031A (en) | 2020-01-09 | 2020-01-09 | Remote massage system and method based on artificial intelligence |
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| CN202010023580.1A CN111135031A (en) | 2020-01-09 | 2020-01-09 | Remote massage system and method based on artificial intelligence |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021243056A1 (en) * | 2020-05-27 | 2021-12-02 | Roam Robotics Inc. | Methods for improved user mobility and treatment |
| US11213417B2 (en) | 2015-03-27 | 2022-01-04 | Roam Robotics Inc. | Lower-leg exoskeleton system and method |
| DE102021200653B3 (en) | 2021-01-26 | 2022-03-24 | Volkswagen Aktiengesellschaft | massage device |
| CN115429232A (en) * | 2022-11-09 | 2022-12-06 | 山东印迹生物技术有限公司 | Palpation device based on artificial intelligence |
| CN115951588A (en) * | 2023-03-10 | 2023-04-11 | 广东亿佛手健康科技有限公司 | Massage mechanical action control method and system based on AI self-adaptive adjustment |
| US11642857B2 (en) | 2020-02-25 | 2023-05-09 | Roam Robotics Inc. | Fluidic actuator manufacturing method |
| US11872181B2 (en) | 2017-08-29 | 2024-01-16 | Roam Robotics Inc. | Semi-supervised intent recognition system and method |
| US11931307B2 (en) | 2019-12-13 | 2024-03-19 | Roam Robotics Inc. | Skiing exoskeleton control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11213417B2 (en) | 2015-03-27 | 2022-01-04 | Roam Robotics Inc. | Lower-leg exoskeleton system and method |
| US11872181B2 (en) | 2017-08-29 | 2024-01-16 | Roam Robotics Inc. | Semi-supervised intent recognition system and method |
| US11931307B2 (en) | 2019-12-13 | 2024-03-19 | Roam Robotics Inc. | Skiing exoskeleton control method and system |
| US11642857B2 (en) | 2020-02-25 | 2023-05-09 | Roam Robotics Inc. | Fluidic actuator manufacturing method |
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| CN115429232A (en) * | 2022-11-09 | 2022-12-06 | 山东印迹生物技术有限公司 | Palpation device based on artificial intelligence |
| CN115951588A (en) * | 2023-03-10 | 2023-04-11 | 广东亿佛手健康科技有限公司 | Massage mechanical action control method and system based on AI self-adaptive adjustment |
| CN115951588B (en) * | 2023-03-10 | 2023-09-01 | 广东亿佛手健康科技有限公司 | Massaging mechanical action control method and system based on AI self-adaptive adjustment |
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