CN115813755B - Multifunctional physiotherapy moxibustion instrument based on artificial intelligence posture adjustment - Google Patents
Multifunctional physiotherapy moxibustion instrument based on artificial intelligence posture adjustment Download PDFInfo
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Abstract
The invention belongs to the technical field of moxibustion instruments, and discloses a multifunctional physiotherapy moxibustion instrument based on artificial intelligence posture adjustment, which comprises: the device comprises a human body analysis module, a temperature sensor, a visual sensor, a gesture recognition module and an intelligent temperature control module. The human body analysis module is used for identifying and dividing each part of a human body in a patient image, the temperature sensor is used for collecting the skin surface temperature of the patient, the vision sensor is used for collecting dynamic gestures of medical staff, the gesture identification module is used for extracting gesture information from the dynamic gestures and generating action instructions according to the gesture information, the action instructions are sent to the intelligent temperature control module, and the intelligent temperature control module is used for controlling the temperature of the multifunctional physiotherapy moxibustion instrument according to the skin surface temperature of the patient and the action instructions. The multifunctional physiotherapy moxibustion instrument based on the artificial intelligence posture adjustment has the advantages of simplicity in operation, accuracy in temperature control, sensitivity in reaction, good doctor-patient experience and the like.
Description
Technical Field
The invention belongs to the technical field of moxibustion instruments, and particularly relates to a multifunctional physiotherapy moxibustion instrument based on artificial intelligence posture adjustment.
Background
Moxibustion has been used in China for thousands of years, and moxibustion therapy is carried out by ancient people, and is influenced by human operation and subjective factors, so that each step and temperature cannot be accurately controlled. In the current generation, the moxibustion has great medical value, and various moxibustion therapeutic instruments are also appeared. However, these moxibustion therapeutic apparatuses generally have the problems of insensitive temperature control, insufficient intelligence in operation and inability of interacting with medical care, seriously affect the efficiency and effect of treatment, and reduce the experience of users.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multifunctional physiotherapy moxibustion instrument based on artificial intelligence posture adjustment, which can select proper treatment temperature according to the characteristics of a human body and control the temperature in real time in the moxibustion process; in addition, the pose of the moxibustion instrument can be adjusted according to the gestures and the language of a doctor, so that the multi-dimensional artificial intelligent control of the moxibustion instrument is realized.
The technical scheme of the invention is as follows:
a multifunctional physiotherapy moxibustion instrument based on artificial intelligence posture adjustment, comprising:
the system comprises a human body analysis module, a temperature sensor, a visual sensor, a gesture recognition module and an intelligent temperature control module; wherein,
the human body analysis module is used for receiving the patient image acquired by the vision sensor and identifying and dividing each part of the human body in the image;
the temperature sensor is used for collecting the skin surface temperature of the patient and sending the skin surface temperature to the intelligent temperature control module;
the visual sensor is used for collecting dynamic gestures of medical staff;
the gesture recognition module is used for extracting gesture information from dynamic gestures, generating action instructions according to the gesture information and sending the action instructions to the intelligent temperature control module;
the intelligent temperature control module controls the temperature of the multifunctional physiotherapy moxibustion instrument according to the skin surface temperature of the patient and the action instruction.
Further, the gesture recognition module includes:
the medical care action perception model is used for generating an action instruction according to gesture information; the medical action perception model is a trained fusion model of P3D and a transducer.
Further, the gesture information includes a video frame and an optical flow estimate.
Furthermore, the multifunctional physiotherapy moxibustion instrument further comprises an intelligent temperature setting module, wherein the intelligent temperature setting module comprises a temperature intelligent learning algorithm model, and the temperature intelligent learning algorithm model performs cooperative processing on multi-source heterogeneous data to provide a comfortable temperature range; the multi-source heterogeneous data includes a linguistic description of the patient, a body part image, and a temperature value.
Further, the body parts include legs, waist, hands, and abdomen.
Further, the temperature control is achieved by adjusting the height of the irradiated face to the skin surface of the patient.
Further, the multifunctional physiotherapy moxibustion instrument comprises a manipulator so as to realize the adjustment of the distance between the multifunctional physiotherapy moxibustion instrument and the surface of the skin of a patient. Furthermore, the temperature control is realized by adjusting the ignition of the moxibustion and the number of the totally-enclosed or semi-enclosed moxibustion.
Further, training a fusion model of the P3D and the transducer by adopting a video frame; the video frames are obtained by processing a video training set; the video training set comprises a plurality of gesture motion video clips for adjusting the multifunctional physiotherapy moxibustion instrument.
Furthermore, the intelligent temperature control module adopts a multithread cooperative control technology, takes the skin surface temperature and action instructions of a patient as input, and judges the priority to adjust the pose of the multifunctional physiotherapy moxibustion instrument.
Further, the medical action perception model comprises a space channel sub-model and a time channel sub-model, the space channel sub-model processes video frames, the time channel sub-model processes optical flow estimation, and an action instruction is generated by combining the output of the space channel sub-model and the output of the time channel sub-model.
Compared with the prior art, the invention has the beneficial effects that:
1. the multifunctional physiotherapy moxibustion instrument can identify gesture actions of medical staff in the treatment process, and the temperature of the moxibustion instrument can be controlled in real time.
2. The multifunctional physiotherapy moxibustion instrument disclosed by the invention can comprehensively consider gesture actions of the skin surface of a patient and medical staff in the treatment process, and intelligently control the temperature of the moxibustion instrument.
3. The multifunctional physiotherapy moxibustion instrument can intelligently select the temperature range of treatment according to the information of a patient.
4. The multifunctional physiotherapy moxibustion instrument adopts a fusion model of P3D and a transducer, combines space and time information during recognition, and greatly improves the accuracy and stability of motion recognition.
Drawings
For a clearer description of an embodiment of the invention or of the solutions of the prior art, reference will be made to the accompanying drawings, which are used in the embodiments and which are intended to illustrate, but not to limit the invention in any way, the features and advantages of which can be obtained according to these drawings without inventive labour for a person skilled in the art.
Fig. 1 is a diagram of a human body analysis network architecture of a human body analysis module of a multifunctional physiotherapy and moxibustion instrument of the present invention;
FIG. 2 is a flowchart of a man-machine interaction method of the multifunctional physiotherapy moxibustion apparatus based on artificial intelligence;
FIG. 3 is a diagram showing a fusion model structure of P3D and Transfomer adopted by the multifunctional physiotherapy moxibustion apparatus of the present invention;
FIG. 4 is a graph of the optical flow estimation result of the elevation dynamic gesture of the present invention;
FIG. 5 is a graph of the result of optical flow estimation for reducing dynamic gestures according to the present invention;
FIG. 6 is a graph showing the variation of training errors of the medical action perception model of the multifunctional physiotherapy moxibustion instrument of the present invention;
fig. 7 is a schematic working diagram of the mechanical arm of the multifunctional physiotherapy and moxibustion instrument;
in the figure, the base is 1-, the first joint is 2-, the first mechanical arm is 3-, the second joint is 4-, the second mechanical arm is 5-, the third joint is 6-, the third mechanical arm is 7-and the fourth joint is 8-.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
A multifunctional physiotherapy moxibustion instrument based on artificial intelligence posture adjustment, comprising: the intelligent temperature control system comprises a human body analysis module, an intelligent temperature setting module, a temperature sensor, a visual sensor, a gesture recognition module and an intelligent temperature control module;
the human body analysis module is used for receiving the patient image acquired by the visual sensor, and identifying and dividing each part of the human body in the image so as to determine the part of the human body to be aligned by the moxibustion instrument.
The human body analysis module is a deep neural network for dividing tasks. The device consists of an edge detection branch, a human body segmentation branch and a feature fusion branch, and the whole architecture is shown in figure 1. Unlike the prior art, the present invention employs a transducer-based architecture to fuse features from edge detection branches with features from human segmentation branches. Specifically, the segmentation branches of the human body analysis module adopt labeled human body analysis masks (masks) for supervision training, and the edge branches adopt extracted image edge binary images for supervision training. In order to obtain higher segmentation precision at the edge part, the features of the segmentation branch and the edge branch are fused to obtain a feature fusion module based on a transducer, wherein two context embedding vectors are set in the module to respectively represent the segmentation context and the edge context. The two embedded vectors are used as the query of the transducer, and the intermediate layer characteristics of the two branches are used as keys and values and are respectively input into the respective transducers for integration. The results output by the transformers are spliced together, and the final human body analysis result is output through a 1×1 convolution and decoder.
The multifunctional physiotherapy moxibustion instrument further comprises an intelligent temperature setting module, wherein the intelligent temperature setting module comprises a temperature intelligent learning algorithm model, and the temperature intelligent learning algorithm model performs cooperative processing on multi-source heterogeneous data to provide a comfortable temperature range; the multi-source heterogeneous data includes a linguistic description of the patient, a body part image, and a temperature value.
The temperature sensor is used for collecting the skin surface temperature of the patient and sending the skin surface temperature to the intelligent temperature control module. Preferably, the temperature sensor is an infrared thermometer.
The vision sensor is used for collecting dynamic gestures of medical staff. Preferably, the dynamic gesture includes, but is not limited to, zooming, panning, clicking, grabbing, rotating operations.
The gesture recognition module comprises gesture information for recognizing medical staff and a medical action perception model (shown in figure 2) for converting the gesture information into action instructions. The model is a fusion model of P3D and a transducer (shown in figure 3), the fusion model of P3D and the transducer is trained by adopting a video frame, and the video frame is obtained by processing a video training set; the video training set comprises a plurality of gesture motion video clips for adjusting the multifunctional physiotherapy moxibustion instrument.
Unlike traditional motion recognition models, the medical motion perception model of the invention comprises a space channel sub-model and a time channel sub-model, wherein the space channel sub-model processes video frames in gesture information, the time channel sub-model processes optical flow estimation in the gesture information (as shown in fig. 4 and 5), and motion instructions are generated by combining the output of the space channel sub-model and the time channel sub-model.
FIG. 6 shows a graph of training error variation for a healthcare motion perception model and a graph of training error variation for a time channel sub-model.
Specifically, when a dynamic gesture is identified, a video frame and optical flow estimation are obtained from a video, and a video frame picture is input into a space channel sub-model to obtain a first dynamic gesture behavior probability; inputting the optical flow estimation into the time channel sub-model to obtain a second dynamic gesture behavior probability; the first dynamic gesture behavior probability and the second dynamic gesture behavior probability are weighted and averaged, wherein the weight selection of the two sub-models is 0.5, and the weighted and averaged advantage is that the error rate of dynamic gesture recognition is reduced. For example, if the first dynamic gesture behavior is predicted incorrectly and the second dynamic gesture behavior is predicted correctly, then there is a likelihood that the weighted average post-gesture behavior is predicted correctly. The output of the two sub-models is the probability of each dynamic gesture, and the position index with the maximum probability value is obtained and mapped into gesture types, so that the final recognition result is obtained.
Compared with the traditional gesture recognition method which only recognizes frame pictures, the method and the device for recognizing the dynamic gestures by adding optical flow estimation recognition represent the motion information of the moving object in the continuous frame pictures, and greatly improve the recognition accuracy of the dynamic gestures.
After the action instruction is obtained, the intelligent temperature control module adopts a multithread cooperative control technology, takes the skin surface temperature of a patient and the action instruction as input, and judges the priority to adjust the pose of the multifunctional physiotherapy moxibustion instrument.
When the pose adjustment is performed, at least one of the following temperature control modes can be adopted for temperature control:
1. the temperature control is achieved by adjusting the height of the irradiated face to the surface of the patient's skin.
2. The temperature control is realized by adjusting the number of moxibustion ignition and full-closed or semi-closed moxibustion.
In the actual treatment process, firstly, the height of the multifunctional physiotherapy moxibustion instrument and the number of moxibustion rods are preset according to the experience of medical staff; when the moxibustion instrument is used for treatment, the position of the moxibustion instrument is finely adjusted, the temperature of the body surface is measured, and the feeling of a patient is consulted. The feeling of the patient is described based on the fuzzy logic method. For example, a 5-stage process may be used to describe, including very low, suitably high, and very high.
The adjustment of the irradiation height can be achieved by a robot arm, as shown in fig. 7. The optimal distance between the multifunctional physiotherapy moxibustion instrument and the human skin is about 0.02m-0.1m according to the adaptation degree of the skin of a patient to the temperature. According to the multifunctional physiotherapy moxibustion instrument, the distance between the moxibustion instrument and a patient can be measured through the built-in distance sensor, and according to the setting of a doctor, the automatic distance adjustment is performed through the control manipulator, so that the skin distance between the moxibustion instrument and the patient is kept to be a set value constantly. The manipulator is composed of a base 1, a first joint 2, a first mechanical arm 3, a second joint 4, a second mechanical arm 5, a third joint 6, a third mechanical arm 7 and a fourth joint 8 which are sequentially connected.
The height of the first mechanical arm 3 is adjustable, so that the accurate regulation and control of the distance between the moxibustion instrument and the skin of a patient are realized. The second mechanical arm 5 and the third mechanical arm 7 have the same length, the first joint 2 can perform circular motion within the range of 0-360 degrees, the second joint 4 and the fourth joint 8 can both move within the range of 90-180 degrees, the third joint 6 can move within the range of 0-180 degrees, and the initial included angle between the first mechanical arm 3 and the second mechanical arm 5W1=150°, the initial angle between the second arm 5 and the third arm 7W2=60°, the initial angle between the third mechanical arm 7 and the multifunctional physiotherapy moxibustion instrumentW3=150°。
The control strategy of the manipulator is as follows:
(1) By adjusting the length of the first arm 3L1, can realize the adjustment of the skin distance between the moxibustion instrument and the patient. For example, a doctor sets the distance between the moxibustion instrument and the skin of the patient to beaThe initial distance between the moxibustion instrument and the surface of the skin of the patient is determined asbAt this time, the first mechanical arm 3 needs to be adjusted to have a height:
through the design to first arm 3 length, the moxibustion instrument can satisfy the treatment demand to different body width patients.
(2) In order to treat other parts of the patient, the position level of the moxibustion instrument is adjusted by adjusting the first joint 2. At this time, the moxibustion instrument needs to be kept at the same horizontal plane for translation, and the angle of the moxibustion instrument is kept vertically downwards. To achieve the above objective, the second joint 4, the third joint 6 and the fourth joint 8 are adjusted simultaneously to satisfy the following relationship:
(3) The moxibustion instrument is arranged in the middle of the long side of the bed. Assuming a bed length ofCWidth ofD. Length of the second mechanical arm 5L2 and length of the third mechanical arm 7L3, the angles of the second joint 4, the third joint 6 and the fourth joint 8 can be controlled, so that the working range of the moxibustion instrument covers the whole bed surface, and the treatment requirements of patients with different heights are met.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the present invention, the terms "first," "second," "third," "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. Multifunctional physiotherapy moxibustion instrument based on artificial intelligence gesture is adjusted, a serial communication port, include:
the system comprises a human body analysis module, a temperature sensor, a visual sensor, a gesture recognition module, an intelligent temperature control module and a manipulator;
the human body analysis module is used for receiving the patient image acquired by the vision sensor, and identifying and dividing each part of the human body in the image;
the temperature sensor is used for collecting the skin surface temperature of the patient and sending the skin surface temperature to the intelligent temperature control module;
the visual sensor is used for collecting dynamic gestures of medical staff;
the gesture recognition module is used for extracting gesture information from dynamic gestures, generating action instructions according to the gesture information and sending the action instructions to the intelligent temperature control module;
the intelligent temperature control module controls the temperature of the multifunctional physiotherapy moxibustion instrument according to the skin surface temperature of the patient and the action instruction;
the intelligent temperature control module adopts a multithread cooperative control technology, takes the skin surface temperature and an action instruction of a patient as input, judges the priority and adjusts the pose of the multifunctional physiotherapy moxibustion instrument;
the temperature control is realized by adjusting the height from the irradiation surface to the skin surface of the patient;
the manipulator is used for adjusting the distance between the multifunctional physiotherapy moxibustion instrument and the surface of the skin of a patient; the manipulator comprises a base, a first joint, a first mechanical arm, a second joint, a second mechanical arm, a third joint, a third mechanical arm and a fourth joint which are sequentially connected;
the second mechanical arm and the third mechanical arm have the same length, the first joint performs circular motion within the range of 0-360 degrees, the second joint and the fourth joint both perform motion within the range of 90-180 degrees, and the third joint performs motion within the range of 0-180 degrees;
the control strategy of the manipulator is as follows:
(1) By adjusting the length of the first mechanical armL1 realizes the adjustment of the skin distance between the moxibustion instrument and the patient, and the expression is as follows:
wherein ,△L1 is the adjustment height of a first mechanical arm;athe distance between the moxibustion instrument and the skin of the patient;ban initial distance between the moxibustion instrument and the surface of the skin of the patient;
(2) The horizontal adjustment of the position of the moxibustion instrument is carried out by adjusting the first joint, the second joint, the third joint and the fourth joint, and the expression is as follows:
wherein ,W1 is the included angle between the first mechanical arm and the second mechanical arm,W2 is the included angle between the second mechanical arm and the third mechanical arm,Wand 3 is an included angle between the third mechanical arm and the multifunctional physiotherapy moxibustion instrument.
2. The multifunctional physiotherapy moxibustion apparatus according to claim 1, wherein the gesture recognition module comprises:
the medical care action perception model is used for generating an action instruction according to gesture information; the medical action perception model is a trained fusion model of P3D and a transducer.
3. The multifunctional physiotherapy moxibustion apparatus according to claim 2, wherein the fusion model of P3D and transducer is trained using video frames; the video frames are obtained by processing a video training set; the video training set comprises a plurality of gesture motion video clips for adjusting the multifunctional physiotherapy moxibustion instrument.
4. The multifunctional physiotherapy moxibustion apparatus of claim 2 wherein said gesture information comprises video frames and optical flow estimates.
5. The multifunctional physiotherapy moxibustion apparatus according to claim 4 wherein the medical action perception model comprises a spatial channel sub-model and a temporal channel sub-model, the spatial channel sub-model processing video frames, the temporal channel sub-model processing optical flow estimates, and generating action instructions in combination with the outputs of the spatial channel sub-model and the temporal channel sub-model.
6. The multifunctional physiotherapy moxibustion instrument according to claim 1, further comprising an intelligent temperature setting module, wherein the intelligent temperature setting module comprises a temperature intelligent learning algorithm model that performs cooperative processing on multi-source heterogeneous data to provide a comfortable temperature range.
7. The multifunctional physiotherapy moxibustion apparatus according to claim 1, wherein the temperature control is achieved by adjusting the number of moxibustion ignition and full-closed or semi-closed moxibustion.
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| CN203154287U (en) * | 2013-01-18 | 2013-08-28 | 北京双威富能科技有限公司 | Moxibustion hot physiotherapy meter |
| CN108211127A (en) * | 2017-12-05 | 2018-06-29 | 深圳市知本石墨烯医疗科技有限公司 | Multifunctional physiotherapy equipment and system |
| US20220000713A1 (en) * | 2020-07-01 | 2022-01-06 | Wellness Allied Inc | Needle warming system |
| CN113332138A (en) * | 2021-07-20 | 2021-09-03 | 上海盛益精密机械有限公司 | Full-automatic moxibustion instrument based on mechanical arm and moxibustion method |
| CN114461078B (en) * | 2022-04-12 | 2022-07-15 | 北京航空航天大学 | Man-machine interaction method based on artificial intelligence |
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