CN116059100A - Constant temperature moxa-moxibustion robotic arm - Google Patents
Constant temperature moxa-moxibustion robotic arm Download PDFInfo
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- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
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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
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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Abstract
The invention discloses a constant temperature moxibustion mechanical arm, which realizes constant temperature moxibustion based on six-axis cooperation, and comprises the following components: the moxibustion device comprises a cooperative mechanical arm main body, a moxibustion module, a communication module, a distance sensor and a temperature sensor; the moxibustion module is arranged at the tail end of the main body of the cooperative mechanical arm through a flange plate; the communication module is arranged on the outer side of the moxibustion module, the communication module is in threaded connection or welded on one end of the anchor ear, the anchor ear is sleeved on the outer circumference of the moxibustion module, the other end of the anchor ear is welded with the flange, and the flange is connected to the tail end of the main body of the cooperative mechanical arm; the communication module is used for transmitting the distance and temperature information measured by the distance sensor and the temperature sensor to the main body of the cooperative mechanical arm; the distance sensor and the temperature sensor are arranged in the cavity of the moxibustion module and are simultaneously arranged at the tail end of the main body of the cooperative mechanical arm. Corresponding applications, moxibustion methods, electronic devices and computer readable storage media are also disclosed.
Description
Technical Field
The invention belongs to the technical field of biological medicine and intelligent sensing, and particularly relates to a constant-temperature moxibustion mechanical arm.
Background
Moxibustion is an important component of traditional Chinese medicine therapy, and has effects of warming and dredging channels and collaterals, dispelling cold evil, promoting blood circulation for removing blood stasis, harmonizing qi and blood, restoring yang, relieving depletion, preventing and protecting health. Moxibustion has been a history of thousands of years, its remarkable therapeutic effects and the wide range of indications have been already confirmed by history and reality, and its form of application and method of operation are continuously improved and perfected. However, the conventional moxibustion method has the following drawbacks:
(1) In the traditional moxibustion process, manual operation of moxibustion is needed in the whole process, from ignition to moxibustion, the moxibustion application person is required to nurse, the distance between the burnt moxa and a moxibustion receiver is manually mastered, so that burn is avoided, and because the moxibustion application person needs to nurse at any time, a plurality of acupuncture points cannot be simultaneously applied under most conditions. And also requires high expertise and technology for moxibustion applying people.
(2) Current moxibustion methods come in a variety of forms, including: hover moxibustion (the simplest moxibustion method in suspension moxibustion, namely, after selecting an acupoint, fixing the moxibustion on the acupoint, performing moxibustion treatment by fixing the burning end of the moxa stick to the acupoint area, performing moxibustion treatment by using sparrow pecking, wherein the moxibustion action is similar to sparrow pecking, the heat sensation of the method is stronger than that of other suspension moxibustion methods, the method is mostly used for emergency and intractable diseases), and convolution moxibustion (the burning end of the moxa stick performs convolution motion at a certain distance above the moxibustion part, and the method is suitable for rheumatalgia, nerve palsy and the like) and has the advantages of wide range of thermal stimulation for patients. However, the current manual operation mode cannot flexibly perform the conversion among various moxibustion methods, so that the patient cannot be comprehensively treated.
Thus, the above-mentioned prior art does have to propose a better solution.
Disclosure of Invention
The invention aims to provide a constant-temperature moxibustion mechanical arm, which belongs to the invention and application of intelligent moxibustion technology, a traditional moxibustion physiotherapy method is transplanted onto the intelligent mechanical arm, moxibustion physiotherapy is carried out on different positions of a human body by utilizing an automatic control technology, a computer technology, an intelligent sensing technology and the like, different physiotherapy modes such as hovering moxibustion, sparrow pecking moxibustion, convolution moxibustion and the like are selected according to requirements, and the moxibustion temperature is adjusted at any time according to personal requirements in the moxibustion process.
In one aspect, the present invention provides a constant temperature moxibustion mechanical arm, based on six-axis cooperation to realize constant temperature moxibustion, including:
the moxibustion device comprises a cooperative mechanical arm main body (1), a moxibustion module (2), a communication module (3), a distance sensor (4) and a temperature sensor (5); wherein:
the moxibustion module (2) is arranged at the tail end of the cooperative mechanical arm main body (1) through a flange plate;
the communication module (3) is fixedly arranged on the outer side of the moxibustion module (2), the communication module (3) is in threaded connection or welded on one end of a hoop, the hoop is sleeved on the outer circumference of the moxibustion module (2), the other end of the hoop is welded with the flange, and the flange is connected with the tail end of the cooperative mechanical arm main body (1); the communication module (3) is used for transmitting the distance and temperature information detected by the distance sensor (4) and the temperature sensor (5) to the cooperative mechanical arm main body (1); the distance sensor (4) and the temperature sensor (5) are arranged in the cavity of the moxibustion module (2) and are simultaneously arranged at the tail end of the cooperative mechanical arm main body (1).
Preferably, the Z axis of the coordinate system of the moxibustion module is always parallel to the Z axis of the flange coordinate system of the cooperative mechanical arm main body.
Preferably, the cooperative mechanical arm main body (1) adjusts the distance between the moxibustion module and the human body according to the temperature data received from the communication module (3); when the temperature of the moxibustion part does not reach the set temperature, the vertical distance between the moxibustion module (2) and the human body is reduced in a safe range by the cooperative mechanical arm main body (1), and otherwise, the vertical distance is increased; when the temperature of the moxibustion part reaches the set temperature, the distance is unchanged; the user can adjust the set temperature in real time in the moxibustion process, the temperature ranges from 37 ℃ to 45 ℃, and the temperature is increased or reduced according to the comfort level of the body feeling.
Preferably, the cooperative mechanical arm main body (1) further comprises a controller, and a constant temperature control strategy and a mechanical arm precise control algorithm are integrated in the controller.
Preferably, the communication modules (3) are respectively used for communication between the moxibustion module (2) and the distance sensor (3) and between the moxibustion module (2) and the temperature sensor (4).
A second aspect of the present invention is to provide an application of the isothermal moxibustion mechanical arm according to the first aspect in isothermal multi-mode automatic moxibustion, wherein the isothermal multi-mode automatic moxibustion method comprises:
s1, user positioning: a user is positioned in a relatively appropriate position with respect to the robotic arm;
s2, setting moxibustion positions and selecting a moxibustion mode: the user selects a part to be subjected to moxibustion and a moxibustion mode, wherein the moxibustion mode comprises three modes of sparrow pecking moxibustion, convolution moxibustion and hovering moxibustion;
s3, performing moxibustion based on the moxibustion part and the moxibustion mode: after the mechanical arm moves to a position corresponding to the moxibustion position, a moxibustion module arranged at the tail end of the mechanical arm starts to perform treatment corresponding to a moxibustion mode; displaying and adjusting the moxibustion distance and the moxibustion temperature in real time in the treatment process;
s4, based on the user 'S will end at any time or the situation that the emergency is passively ended, the moxibustion is ended, and the mechanical arm keeps away from the user' S human body and returns to the initial position.
Preferably, the step S3 further includes: after moxibustion is started, the moxibustion head slowly moves to a first distance above the moxibustion part along with the mechanical arm, and physiotherapy is started according to a moxibustion mode selected by a user; displaying and adjusting the moxibustion temperature in real time through the moxibustion module in the moxibustion process;
preferably, in the hovering moxibustion mode, the moxibustion head and the mechanical arm remain motionless when the moxibustion position reaches the set temperature; in a sparrow pecking moxibustion mode, in the moxibustion process, the moxibustion head moves up and down a second distance and a third distance relative to the original position of the moxibustion head respectively to form a falling shape, three falling forms a period, after each period is finished, the temperature sensor moves to a moxibustion treatment position along with the mechanical arm, the real-time temperature of the moxibustion treatment position is collected, and the temperature is returned to the mechanical arm by the communication module and then enters the next falling period; in a convolution moxibustion mode, a moxibustion head moves along with a mechanical arm in a convolution manner above a moxibustion part, the movement radius is 10 millimeters, each convolution is three weeks and is a period, after each period is finished, a temperature sensor moves along with the mechanical arm to the moxibustion part, real-time temperature acquisition of the moxibustion part is carried out, and the temperature is returned to the mechanical arm by a communication module and then enters the next convolution period.
A third aspect of the invention provides an electronic device comprising a processor and a memory, the memory storing a plurality of instructions, the processor being for reading the instructions and performing the method according to the second aspect.
A fourth aspect of the invention provides a computer readable storage medium storing a plurality of instructions readable by a processor and for performing the method of the second aspect.
The system, the method, the electronic equipment and the computer readable storage medium provided by the invention have the following beneficial technical effects:
(1) A control strategy and a control algorithm of the moxibustion mechanical arm. Unlike the prior art, we have integrated temperature and distance sensor at moxa-moxibustion equipment end, can carry out real-time supervision to the temperature of human moxa-moxibustion position, through the regulation to moxa-moxibustion distance and time of hovering at the moxa-moxibustion point, control the temperature of human moxa-moxibustion position to realize constant temperature moxa-moxibustion, avoided because the moxa-moxibustion position is to the long-time moxa-moxibustion scald that leads to of tolerating high temperature. Through the constant temperature control strategy, the accurate control algorithm of the mechanical arm is used, so that good experience of moxibustion is ensured.
(2) The invention and application of intelligent moxibustion technology are that the traditional moxibustion physiotherapy technique is transplanted to an intelligent mechanical arm, the moxibustion physiotherapy is carried out on different positions of a human body by utilizing an automatic control technology, a computer technology, an intelligent sensing technology and the like, the constant temperature control of the moxibustion physiotherapy is achieved, the traditional moxibustion physiotherapy means is digitalized, standardized and intelligent, different physiotherapy modes such as hovering moxibustion, sparrow pecking moxibustion, rotary moxibustion and the like are selected according to requirements, and the moxibustion temperature is adjusted at any time according to personal requirements in the moxibustion process. The moxibustion tool is a modern intelligent moxibustion tool which is used for carrying and innovating traditional Chinese medicine moxibustion, is safe, reliable, effective, convenient and quick and low in price, is provided for disease prevention and treatment of moxibustion therapy, simultaneously enables people to obtain more intelligent and automatic physiotherapy experience, the moxibustion function is realized in a mechanical arm system, the intelligent mechanical arm can replace hands to perform ancient moxibustion for users, multiple moxibustion modes can be perfectly and repeatedly carved, the more flexible and accurate moxibustion method than hands can be realized, the problems of insufficient clinical hands, insufficient standardization and the like of hospitals are effectively solved, manual errors are reduced, labor cost is reduced, and moxibustion efficiency is improved.
Drawings
Fig. 1 is a block diagram of a constant temperature moxibustion robot according to the preferred embodiment of the present invention;
fig. 2 is a flowchart illustrating a multi-mode moxibustion method based on a mechanical arm according to the preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of an embodiment of an electronic device according to the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1, this embodiment provides a constant temperature moxa-moxibustion robotic arm, realizes constant temperature moxa-moxibustion based on six-axis cooperation, includes:
the moxibustion device comprises a cooperative mechanical arm main body 1, a moxibustion module 2, a communication module 3, a distance sensor 4 and a temperature sensor 5; wherein:
the moxibustion module 2 is arranged at the tail end of the cooperative mechanical arm main body 1 through a flange plate;
the communication module 3 is fixedly arranged on the outer side of the moxibustion module 2, in this embodiment, the communication module 3 is in threaded connection or welded on one end of a hoop, the hoop is sleeved on the outer circumference of the moxibustion module 2, the other end of the hoop is welded with the flange, and the flange is connected to the tail end of the cooperative mechanical arm main body 1; the communication module 3 is used for transmitting the distance and temperature information detected by the distance sensor 4 and the temperature sensor 5 to the cooperative mechanical arm main body 1; the distance sensor 4 and the temperature sensor 5 are arranged in the cavity of the moxibustion module 2 and are simultaneously arranged at the tail end of the cooperative mechanical arm main body 1.
As a preferable implementation mode, the Z axis of the coordinate system of the moxibustion module is always parallel to the Z axis of the flange coordinate system of the cooperative mechanical arm main body.
As a preferred embodiment, the cooperative mechanical arm main body 1 adjusts the distance between the moxibustion module and the human body according to the temperature data received from the communication module 3; when the temperature of the moxibustion part does not reach the set temperature, the vertical distance between the moxibustion module 2 and the human body is reduced in the safety range by the cooperative mechanical arm main body 1, and otherwise, the vertical distance is increased; when the temperature of the moxibustion part reaches the set temperature, the distance is unchanged; the user can adjust the set temperature in real time in the moxibustion process, the temperature ranges from 37 ℃ to 45 ℃, and the temperature is increased or reduced according to the comfort level of the body feeling.
As a preferred embodiment, the cooperative mechanical arm main body 1 further comprises a controller, and a constant temperature control strategy and a mechanical arm precise control algorithm are integrated in the controller.
As a preferred embodiment, the communication modules 3 have two communication modules for respectively communicating between the moxibustion module 2 and the distance sensor 3 and between the moxibustion module 2 and the temperature sensor 4.
Referring to fig. 2, the embodiment is further used to provide an application of the isothermal moxibustion mechanical arm in isothermal multi-mode automatic moxibustion.
As a preferred embodiment, the method of isothermal multi-mode automatic moxibustion comprises:
s1, user positioning: a user is positioned in a relatively appropriate position with respect to the robotic arm; in the embodiment, the user lies or lies on a proper position of the physiotherapy couch, and the physiotherapy couch is positioned relative to the mechanical arm in advance;
s2, setting moxibustion positions and selecting a moxibustion mode: the user selects a part to be subjected to moxibustion and a moxibustion mode on the control terminal APP, wherein the moxibustion mode comprises three modes of sparrow pecking moxibustion, convolution moxibustion and hovering moxibustion;
s3, performing moxibustion based on the moxibustion part and the moxibustion mode: after the mechanical arm moves to a position corresponding to the moxibustion position, a moxibustion module arranged at the tail end of the mechanical arm starts to perform treatment corresponding to a moxibustion mode; displaying and adjusting the moxibustion distance and the moxibustion temperature in real time in the treatment process;
s4, based on the user 'S will end at any time or the situation that the emergency is passively ended, the moxibustion is ended, and the mechanical arm keeps away from the user' S human body and returns to the initial position.
As a preferred embodiment, the S3 further includes: after moxibustion is started, the moxibustion head slowly moves to a first distance above the moxibustion part along with the mechanical arm, and physiotherapy is started according to a moxibustion mode selected by a user; displaying and adjusting the moxibustion temperature in real time through the moxibustion module in the moxibustion process;
as a preferred embodiment, in the hovering moxibustion mode, the moxibustion head and the mechanical arm remain motionless after the moxibustion position reaches the set temperature; in the sparrow pecking moxibustion mode, in the moxibustion process, the moxibustion head moves up and down by a second distance and a third distance relative to the original position of the moxibustion head, in the embodiment, the second distance and the third distance are 2 centimeters, the moxibustion head and the third distance are in a one-drop shape, three lifting and falling are in a period, after each period is finished, the temperature sensor moves to a moxibustion treatment position along with the mechanical arm, the real-time temperature of the moxibustion treatment position is collected, and the temperature is returned to the mechanical arm by the communication module, and then the next lifting and falling period is entered; in a convolution moxibustion mode, a moxibustion head moves along with a mechanical arm in a convolution manner above a moxibustion part, the movement radius is 10 millimeters, each convolution is three weeks and is a period, after each period is finished, a temperature sensor moves along with the mechanical arm to the moxibustion part, real-time temperature acquisition of the moxibustion part is carried out, and the temperature is returned to the mechanical arm by a communication module and then enters the next convolution period.
The invention also provides a memory storing a plurality of instructions for implementing the method according to embodiment one.
As shown in fig. 3, the present invention further provides an electronic device, including a processor 301 and a memory 302 connected to the processor 301, where the memory 302 stores a plurality of instructions, and the instructions may be loaded and executed by the processor, so that the processor can perform the method according to the embodiment.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. Constant temperature moxa-moxibustion robotic arm, its characterized in that realizes constant temperature moxa-moxibustion based on six cooperation, includes:
the moxibustion device comprises a cooperative mechanical arm main body (1), a moxibustion module (2), a communication module (3), a distance sensor (4) and a temperature sensor (5); wherein:
the moxibustion module (2) is arranged at the tail end of the cooperative mechanical arm main body (1) through a flange plate;
the communication module (3) is fixedly arranged on the outer side of the moxibustion module (2), the communication module (3) is in threaded connection or welded on one end of a hoop, the hoop is sleeved on the outer circumference of the moxibustion module (2), the other end of the hoop is welded with the flange, and the flange is connected with the tail end of the cooperative mechanical arm main body (1); the communication module (3) is used for transmitting the distance and temperature information detected by the distance sensor (4) and the temperature sensor (5) to the cooperative mechanical arm main body (1); the distance sensor (4) and the temperature sensor (5) are arranged in the cavity of the moxibustion module (2) and are simultaneously arranged at the tail end of the cooperative mechanical arm main body (1).
2. The constant temperature moxibustion mechanical arm according to claim 1, wherein the coordinate system Z-axis of the moxibustion module is always parallel to the flange coordinate system Z-axis of the cooperating mechanical arm body.
3. A constant temperature moxibustion mechanical arm according to claim 1, characterized in that the cooperating mechanical arm body (1) adjusts the distance of the moxibustion module from the human body according to the temperature data received from the communication module (3); when the temperature of the moxibustion part does not reach the set temperature, the vertical distance between the moxibustion module (2) and the human body is reduced in a safe range by the cooperative mechanical arm main body (1), and otherwise, the vertical distance is increased; when the temperature of the moxibustion part reaches the set temperature, the distance is unchanged; the user can adjust the set temperature in real time in the moxibustion process, the temperature ranges from 37 ℃ to 45 ℃, and the temperature is increased or reduced according to the comfort level of the body feeling.
4. A constant temperature moxibustion robot as claimed in claim 3, characterized in that the co-operating robot body (1) further comprises a controller, in which a constant temperature control strategy and a robot precise control algorithm are integrated.
5. A constant temperature moxibustion mechanical arm according to claim 1, characterized in that the number of the communication modules (3) is two, and the communication modules are respectively used for communication between the moxibustion module (2) and the distance sensor (3) and between the moxibustion module (2) and the temperature sensor (4).
6. Use of a constant temperature moxibustion robot arm according to any of claims 1-5 in a constant temperature multi-mode automatic moxibustion, characterized in that the method of constant temperature multi-mode automatic moxibustion comprises:
s1, user positioning: a user is positioned in a relatively appropriate position with respect to the robotic arm;
s2, setting moxibustion positions and selecting a moxibustion mode: the user selects a part to be subjected to moxibustion and a moxibustion mode, wherein the moxibustion mode comprises three modes of sparrow pecking moxibustion, convolution moxibustion and hovering moxibustion;
s3, performing moxibustion based on the moxibustion part and the moxibustion mode: after the mechanical arm moves to a position corresponding to the moxibustion position, a moxibustion module arranged at the tail end of the mechanical arm starts to perform treatment corresponding to a moxibustion mode; displaying and adjusting the moxibustion distance and the moxibustion temperature in real time in the treatment process;
s4, based on the user 'S will end at any time or the situation that the emergency is passively ended, the moxibustion is ended, and the mechanical arm keeps away from the user' S human body and returns to the initial position.
7. The use of claim 6, wherein S3 further comprises: after moxibustion is started, the moxibustion head slowly moves to a first distance above the moxibustion part along with the mechanical arm, and physiotherapy is started according to a moxibustion mode selected by a user; the moxibustion temperature is displayed and adjusted in real time through the moxibustion module in the moxibustion process.
8. The use according to claim 7, wherein in the hover moxibustion mode, the moxibustion head and the mechanical arm remain stationary after the moxibustion position reaches the set temperature; in a sparrow pecking moxibustion mode, in the moxibustion process, the moxibustion head moves up and down a second distance and a third distance relative to the original position of the moxibustion head respectively to form a falling shape, three falling forms a period, after each period is finished, the temperature sensor moves to a moxibustion treatment position along with the mechanical arm, the real-time temperature of the moxibustion treatment position is collected, and the temperature is returned to the mechanical arm by the communication module and then enters the next falling period; in a convolution moxibustion mode, a moxibustion head moves along with a mechanical arm in a convolution manner above a moxibustion part, the movement radius is 10 millimeters, each convolution is three weeks and is a period, after each period is finished, a temperature sensor moves along with the mechanical arm to the moxibustion part, real-time temperature acquisition of the moxibustion part is carried out, and the temperature is returned to the mechanical arm by a communication module and then enters the next convolution period.
9. An electronic device comprising a processor and a memory, the memory storing a plurality of instructions, the processor configured to read the instructions and perform the method of claims 6-8.
10. A computer readable storage medium storing a plurality of instructions readable by a processor and for performing the method of claims 6-8.
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| CN202211533825.0A CN116059100A (en) | 2022-12-01 | 2022-12-01 | Constant temperature moxa-moxibustion robotic arm |
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