CN116712674A - Intelligent automatic basin bottom treatment device and control method thereof - Google Patents

Intelligent automatic basin bottom treatment device and control method thereof Download PDF

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Publication number
CN116712674A
CN116712674A CN202310793524.XA CN202310793524A CN116712674A CN 116712674 A CN116712674 A CN 116712674A CN 202310793524 A CN202310793524 A CN 202310793524A CN 116712674 A CN116712674 A CN 116712674A
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China
Prior art keywords
treatment
intelligent
angle
module
energy
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CN202310793524.XA
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Chinese (zh)
Inventor
金燕
姜李龙
仇凯
曲振林
魏华寅
张尧
洪问俊
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Nanjing Vishee Medical Technology Co Ltd
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Nanjing Vishee Medical Technology Co Ltd
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Priority to CN202310793524.XA priority Critical patent/CN116712674A/en
Publication of CN116712674A publication Critical patent/CN116712674A/en
Priority to PCT/CN2023/119765 priority patent/WO2024061225A1/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/40—Applying electric fields by inductive or capacitive coupling ; Applying radio-frequency signals
    • 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
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/008—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms using shock waves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/36007—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of urogenital or gastrointestinal organs, e.g. for incontinence control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N2/00—Magnetotherapy
    • A61N2/004—Magnetotherapy specially adapted for a specific therapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/06—Radiation therapy using light
    • A61N5/0601—Apparatus for use inside the body
    • A61N5/0603—Apparatus for use inside the body for treatment of body cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/06—Radiation therapy using light
    • A61N5/0613—Apparatus adapted for a specific treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • 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
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • 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
    • G16H40/63—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 local operation
    • 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
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5082—Temperature sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/06—Radiation therapy using light
    • A61N5/0601—Apparatus for use inside the body
    • A61N5/0603—Apparatus for use inside the body for treatment of body cavities
    • A61N2005/0611—Vagina
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0004—Applications of ultrasound therapy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention provides an intelligent automatic basin bottom treatment device and a control method thereof, wherein the intelligent automatic basin bottom treatment device comprises treatment equipment, a control device and a control device, wherein the treatment equipment is used for determining a treatment scheme and transmitting energy for treatment; the treatment equipment is electrically connected with an intelligent motion driving module and a treatment executing module, wherein the intelligent motion driving module comprises a clamping mechanism, a control circuit system and a multi-dimensional multi-angle driving mechanism; the clamping mechanism is detachably connected with the treatment execution module, and the multi-dimensional multi-angle driving mechanism is connected with the clamping mechanism; the control circuit system is used for controlling the multi-dimensional multi-angle driving mechanism to drive the treatment execution module to perform multi-dimensional multi-angle movement; the intelligent automatic basin bottom treatment device drives the treatment execution module to perform multidimensional and multi-angle movement by controlling the intelligent movement driving module so that the treatment execution module enters a preset position of the basin bottom to perform treatment.

Description

Intelligent automatic basin bottom treatment device and control method thereof
Technical Field
The invention relates to the technical field of medical equipment, in particular to an intelligent automatic basin bottom treatment device and a control method thereof.
Background
Pelvic floor treatment is divided into surgical treatment and non-surgical treatment; the non-operative treatment mainly comprises pelvic floor muscle exercise, biofeedback therapy and energy stimulation therapy, so that damaged muscles and nerves can be truly corrected, and the medical composition has long-term curative effect. In the existing pelvic floor treatment equipment, the method for treating the pelvic floor by using the energy source technology generally adopts a mode of manually holding a handle and a treatment electrode or holding the tail end of the treatment electrode or directly placing the treatment electrode in the vagina.
In the treatment process, a user needs to hold the handle all the time, intermittently rotate the treatment head, feed the treatment head back and forth, rotate the treatment head at multiple inclination angles or press the treatment head, the user can be tired to hold the handle for a long time, and the user needs to keep the same posture and is difficult to hold; in addition, the difficulty of manually controlling and rotating a specific angle, depth, position and pressing force is high, higher accuracy cannot be achieved, subjective judgment is fully relied on, and the single treatment process of the same operator is prolonged along with time, fatigue degree is increased, so that later-stage deviation is increased, the accuracy and consistency of treatment cannot be achieved, and the reliability of the treatment effect cannot be guaranteed; furthermore, the method of holding the handle and treating the head by hand does not protect the privacy of the user well.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an intelligent automatic basin bottom treatment device and a control method thereof, which can solve the problems that the existing handheld treatment device is difficult to manually control and rotate a specific angle, depth, position and pressing force, cannot achieve higher accuracy and cannot guarantee the reliability of treatment effect by fully relying on subjective judgment.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention is realized by the following technical scheme: an intelligent automatic basin bottom treatment device comprises
A treatment device for determining a treatment plan and transmitting energy for treatment; the treatment equipment is electrically connected with an intelligent motion driving module and a treatment executing module, wherein the intelligent motion driving module comprises a clamping mechanism, a control circuit system and a multi-dimensional multi-angle driving mechanism; the clamping mechanism is detachably connected with the treatment execution module, and the multi-dimensional multi-angle driving mechanism is connected with the clamping mechanism; the control circuit system is used for controlling the multi-dimensional multi-angle driving mechanism to drive the treatment execution module to perform multi-dimensional multi-angle movement.
Further, the treatment equipment comprises an interaction system, a control system and an energy source emission system, wherein the interaction system and the energy source emission system are connected with the control system; the interactive system is used for setting a treatment scheme, and the energy source emission system is used for emitting any one of radio frequency, electric stimulation, ultrasound, magnetic stimulation, light and shock waves.
Further, the treatment execution module comprises an energy delivery part, an energy bearing part, a feedback sensor and a support main body, wherein the energy delivery part, the energy bearing part and the feedback sensor are arranged on the side part of the support main body, the energy delivery part is used for delivering the energy emitted by the energy source emission system to the energy bearing part for treatment, and the feedback sensor comprises a temperature sensor and a pressure sensor.
Further, the multi-dimensional multi-angle driving mechanism comprises a combined arm, wherein the combined arm comprises a horizontal moving component, a protective cover, a fixed shell, a first linear driving component, a rotary driving component, a fixed ring and a limiting ring; the rotary driving assembly is connected with the clamping mechanism and is used for driving the clamping mechanism to rotate; a fixed shell is fixed outside the rotary driving assembly, and a protective cover is arranged outside the fixed shell; a horizontal moving assembly is arranged between the fixed shell and the protective cover and is used for driving the clamping mechanism to horizontally move; the outer side of the protective cover is provided with a pushing ring, and the outer side of the pushing ring is provided with a limiting ring; the pushing ring is filled with elastic materials, the outer surface of the limiting ring is provided with a plurality of through holes in an annular array, and each through hole corresponds to one first linear driving assembly.
Further, the rotary driving assembly comprises a second motor, a second gear and a third gear, the third gear is arranged on the outer side of the clamping mechanism, the third gear is meshed with the second gear, and the second gear is connected with the second motor; the horizontal movement assembly comprises a fixed frame, a first gear, a first motor and a sliding block; the side of protection casing is seted up the spout, slider sliding connection spout, the top of slider is fixed with the fixed shell, the bottom of slider is equipped with the plate tooth, plate tooth meshing first gear, first motor is connected to first gear, first motor first gear is located in the mount.
Further, the axial included angle between the treatment executing module and the clamping mechanism is 0-30 degrees.
Further, the multi-dimensional multi-angle driving mechanism comprises a mechanical arm, wherein the mechanical arm comprises a supporting arm, a second linear driving assembly, a third linear driving assembly, a rotating disc, a base and a third motor, one end of the rotating disc is connected with the clamping mechanism, and the other end of the rotating disc is connected with the third motor; the rotary disk is rotationally connected with a third linear driving assembly, and the third linear driving assembly is rotationally connected with a supporting arm; a second linear driving assembly is arranged between the supporting arm and the third linear driving assembly, and the second linear driving assembly is used for driving the third linear driving assembly to change the angle; the bottom of the supporting arm is connected with the base.
A control method of an intelligent automatic basin bottom treatment device comprises the following steps of
Determining a treatment regimen on the treatment device based on the user profile and symptoms;
the treatment equipment determines the operation parameters of the intelligent motion driving module according to the treatment scheme;
the intelligent motion driving module drives the treatment executing module to perform multidimensional and multi-angle motion according to the operation parameters until the treatment executing module reaches a preset position;
and starting the treatment equipment and the treatment execution module to output energy, and adjusting treatment energy and time according to the feedback condition of the feedback sensor.
Further, the treatment device determines the operating parameters of the intelligent motion driving module according to the treatment scheme, including
The treatment equipment calculates according to the age m, the internal dimensions a, b and c of the vagina and symptoms to obtain parameter values x, y and z and angles theta of the operation of each movement mechanism of the combined arm:
x＝f 1 (a，b，c)+x 0 ，
y＝f 2 (a，b，c)+y 0 ，
y＝f 3 (a，b，c)+z 0 ，
θ＝f 4 (a，b，c)+θ 0 ；
x in the above 0 、y 0 、z 0 All are quantitative rigid constants; f (f) 1 、f 2 、f 3 、f 4 As a function of a motion control algorithm.
Further, the treatment device determines the operating parameters of the intelligent motion driving module according to the treatment scheme, including
The treatment equipment is installed according to the age m, the internal dimension a, b, c and the mechanical arm of the vagina and the original installationPoint x 1 、y 1 、z 1 And calculating symptoms to obtain a mechanical arm attitude control parameter and a position control parameter:
θ＝f -1 (x，y，z，α，β，γ)
x 1 ＝x-x b
y 1 ＝y-y b
z 1 ＝z-z
wherein θ represents the angle of each joint of the mechanical arm, x, y, z represent the position of the end of the mechanical arm, a, β, γ represent the posture of the end of the mechanical arm, and x a 、y b 、z b The spatial coordinates of a position B where the mechanical arm is located; f (f) -1 (x) Is a calculation formula of inverse kinematics.
Compared with the prior art, the invention has the beneficial effects that:
the intelligent automatic basin bottom treatment device drives the treatment execution module to perform multidimensional and multi-angle movement by controlling the intelligent movement driving module so that the treatment execution module enters a preset position of the basin bottom to perform treatment; even the follow-up treatment for a long time has no deviation, the treatment is accurate and consistent, the reliability of the treatment effect is ensured, and the private part of the user is well protected.
Drawings
The disclosure of the present invention is described with reference to the accompanying drawings. It should be understood that the drawings are for purposes of illustration only and are not intended to limit the scope of the present invention in which like reference numerals are used to designate like parts. Wherein:
FIG. 1 is a system block diagram of an intelligent pelvic floor automated treatment apparatus of the present invention;
FIG. 2 is a schematic view of a partial structure of a combined arm according to an embodiment of the present invention;
FIG. 3 is a schematic view of the whole structure of the arm assembly according to the embodiment of the present invention;
FIG. 4 is a schematic view of the combined arm according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of a treatment actuator according to an embodiment of the present invention after installation;
FIG. 6 is a schematic diagram showing a comparison of the driving of the first linear driving device according to the embodiment of the present invention;
FIG. 7 is a schematic view of a mechanical arm according to an embodiment of the present invention;
FIG. 8 is a flow chart of a control method of the intelligent pelvic floor automatic treatment device of the invention;
FIG. 9 is a schematic diagram of a flow chart of the control method of the intelligent pelvic floor automatic treatment device of the invention during treatment;
the reference numerals in the drawings indicate: 1. a treatment device; 11. an interactive system; 12. a control system; 13. an energy source emission system; 2. an intelligent motion driving module; 21. a clamping mechanism; 22. control circuitry; 23. a multi-dimensional multi-angle drive mechanism; 3. a treatment execution module; 4. a combination arm; 41. a horizontal movement assembly; 411. a fixing frame; 412. a first gear; 413. a first motor; 414. a slide block; 42. a protective cover; 43. a fixed case; 44. a first linear drive assembly; 45. a rotary drive assembly; 451. a second motor; 452. a second gear; 453. a third gear; 46. pushing the ring; 47. a limiting ring; 5. a mechanical arm; 51. a support arm; 52. a second linear drive assembly; 53. a third linear drive assembly; 54. a rotating disc; 55. a base; 56. and a third motor.
Detailed Description
It is to be understood that, according to the technical solution of the present invention, those skilled in the art may propose various alternative structural modes and implementation modes without changing the true spirit of the present invention. Accordingly, the following detailed description and drawings are merely illustrative of the invention and are not intended to be exhaustive or to limit the invention to the precise form disclosed.
The invention provides an intelligent automatic treatment device for basin bottom, as shown in figure 1,
comprising a treatment device 1, said treatment device 1 being adapted to determine a treatment regimen and to emit energy for treatment; in particular, the treatment device 1 comprises an interaction system 11, a control system 12 and an energy source emission system 13;
the interaction system 11 and the energy source emission system 13 are connected with a control system 12; the interactive interface of the interactive system 11 is used for setting a therapeutic scheme, and the energy source emitting system 13 is used for emitting any one of radio frequency, electric stimulation, ultrasound, magnetic stimulation, light and shock wave.
The treatment equipment 1 is electrically connected with an intelligent motion driving module 2 and a treatment executing module 3, wherein the intelligent motion driving module 2 comprises a clamping mechanism 21, a control circuit system 22 and a multi-dimensional multi-angle driving mechanism 23; the clamping mechanism 21 is detachably connected with the treatment execution module 3, the treatment execution module 3 is provided with a plurality of types, the inclination angles (relative to the clamping mechanism 21) of the treatment execution module 3 are different, and the axial included angle range between the treatment execution module 3 and the clamping mechanism 21 is generally 0-30 degrees; for example, as shown in fig. 5, a is a vertical treatment head portion of the treatment performing module 3, b is a treatment head portion of the treatment performing module 3 deflected by a certain angle (for example, a portion b in fig. 5 is a treatment performing module 3 deflected by 30 ° relative to the clamping mechanism 21), so that the treatment performing module 3 with different inclination angles can be replaced according to different needs for use, and the treatment performing module 3 deflected by a certain angle performs a conical surface rotation motion with a controllable angle at the moment of matching the rotation motion, so as to achieve the treatment requirement. The multi-dimensional multi-angle driving mechanism 23 is connected with the clamping mechanism 21; the control circuit system 22 is electrically connected with the control system 12, and the control circuit system 22 is used for controlling the multi-dimensional multi-angle driving mechanism 23 to drive the treatment execution module 3 to perform multi-dimensional multi-angle movement; multi-dimensional multi-angle motion includes, but is not limited to, rotational motion, linear motion, fixed point pressing, controlled tilt angle rotational motion.
The treatment performing module 3 includes an energy delivery part, an energy bearing part, a feedback sensor and a support body, wherein the energy delivery part, the energy bearing part and the feedback sensor are arranged on the side of the support body, the energy delivery part is used for delivering the energy emitted by the energy source emitting system 13 to the energy bearing part for treatment, the energy bearing part includes one of an electrode plate, a coil, an ultrasonic transducer or an impact wave energy converter, and the specific energy bearing part is determined according to the energy source of the energy source emitting system 13, and the feedback sensor includes a temperature sensor and a pressure sensor.
Embodiment case one: as shown in fig. 2, 3 and 4, the multi-dimensional multi-angle driving mechanism 23 includes a combination arm 4, and the combination arm 4 includes a horizontal moving assembly 41, a protective cover 42, a fixed housing 43, a first linear driving assembly 44, a rotary driving assembly 45, a push ring 46 and a limit ring 47; the rotary driving assembly 45 is connected with the clamping mechanism 21, and the rotary driving assembly 45 is used for driving the clamping mechanism 21 to rotate; illustratively, the rotary driving assembly 45 includes a second motor 451, a second gear 452 and a third gear 453, wherein the third gear 453 is disposed on the outer side of the clamping mechanism 21, the third gear 453 engages the second gear 452, the second gear 452 is connected to the second motor 451, and the second motor 451 drives the second gear 452 to rotate and thereby drive the third gear 453 to rotate, so that the clamping mechanism 21 can drive the therapeutic execution module 3 to rotate; a fixed shell 43 is fixed on the outer part of the rotary driving assembly 45, and a protective cover 42 is arranged on the outer part of the fixed shell 43; a horizontal moving assembly 41 is arranged between the fixed shell 43 and the protective cover 42, and the horizontal moving assembly 41 is used for driving the clamping mechanism 21 to horizontally move; illustratively, the horizontal movement assembly 41 includes a fixed frame 411, a first gear 412, a first motor 413, and a slider 414; the side of the protective cover 42 is provided with a sliding groove, the sliding block 414 is connected with the sliding groove in a sliding way, the top end of the sliding block 414 is fixedly provided with a fixed shell 43, the bottom end of the sliding block 414 is provided with plate teeth, the plate teeth are meshed with the first gear 412, the first gear 412 is connected with the first motor 413, and the first motor 413 and the first gear 412 are arranged in the fixed frame 411; the first motor 413 is started to drive the first gear 412 to rotate, and the first gear 412 can drive the slider 414 to move in the protective cover 42 when rotating, so as to drive the treatment execution module 3 to horizontally move; the outer side of the protective cover 42 is provided with a push ring 46, the outer side of the push ring 46 is provided with a limiting ring 47, and the limiting ring 47 can be matched with a supporting base for supporting the whole combined arm 4; the pushing ring 46 and the limiting ring 47 are filled with an elastic material, under the condition that no external force exists, the pushing ring 46 is concentric with the limiting ring 47 under the action of the elastic material, the outer surface of the limiting ring 47 is provided with a plurality of through holes in an annular array, each through hole corresponds to one first linear driving assembly 44, and as shown in fig. 3, the first linear driving assemblies 44 are provided with three, the first linear driving assemblies 44 penetrate through the through holes to be in contact with the pushing ring 46, the pushing ring 46 drives the internal integral structure to move to one side, as shown in fig. 4, the leftmost first linear driving assembly 44 in fig. 4 pushes the inside of the pushing ring 46 to integrally move to the right, so that the pressing operation of the treatment executing module 3 is completed, and referring to fig. 6, fig. 6 is an integral top view, the change from the first linear driving assembly 44 before pushing (c) to the second pushing (d) can be seen; the first linear drive assembly 44 may include one of an electric push rod, a hydraulic push rod, and a pneumatic push rod, but is not limited thereto and any linear drive assembly capable of being driven is within the scope of the present invention.
One of application scenes of the invention is treatment in a cavity channel of a basin bottom, and the invention is applicable to full-cavity channel breaking treatment (rotary motion), full-cavity channel treatment with different depths (linear motion+rotary motion), intra-cavity channel positioning treatment (linear motion+rotary motion), intra-cavity channel positioning pressing treatment (linear motion+rotary motion+pressing) and controllable inclination rotary motion (rotary motion+pressing+inclination mass execution module with a certain angle). A doctor selects a treatment scheme on the treatment equipment through the symptoms of the user; after the treatment scheme is entered, the intelligent motion driving module is activated, and the treatment executing module is driven to perform corresponding motion according to the selected treatment scheme. The treatment execution module is electrically connected with the treatment equipment and used for conveying energy. The treatment execution module is provided with a feedback sensor, and when the set value is reached, the treatment equipment can control the output of energy, and meanwhile, the position area under treatment, the movement track and the real-time sensor value are displayed on the equipment display interface.
The invention also provides a control method of the intelligent automatic basin bottom treatment device, as shown in fig. 8, comprising the following steps:
step one: determining a treatment regimen on the treatment device based on the user symptoms and the base information;
specifically, the symptoms include physical examination symptoms and complaints, the basic information includes the age and the vaginal size of the user, and the treatment scheme, that is, the treatment position, the treatment energy intensity, the treatment time, and the like, are determined from the interface of the interactive system of the treatment device.
Step two: the treatment equipment determines the operation parameters of the intelligent motion driving module according to the treatment scheme;
specifically, the treatment device calculates according to the age m of the user, the dimensions a, b and c of the internal space of the vagina, the physical examination symptoms and the complaint symptoms to obtain the parameter values x, y, z and the angle theta of the operation of each movement mechanism of the intelligent movement driving module, wherein:
x＝f 1 (a，b，c)+x 0 ，
y＝f 2 (a，b，c)+y 0 ，
y＝f 3 (a，b，c)+z 0 ，
θ＝f 4 (a，b，c)+θ 0 ；
x in the above 0 、y 0 、z 0 All are unquantized rigid constants, f 1 、f 2 、f 3 、f 4 As a function of a motion control algorithm.
Step three: the intelligent motion driving module drives the treatment executing module to perform multidimensional and multi-angle motion according to the operation parameters until the treatment executing module reaches a preset position;
the intelligent motion driving module adjusts the position of the treatment executing module according to the treatment scheme until reaching the treatment part; specifically, after the treatment position and the treatment scheme are determined, the intelligent motion driving module drives the treatment execution module to linearly move and/or press, so that the treatment execution module rotates through the rotary motion after reaching the preset position.
Step four: starting the treatment equipment and the treatment execution module to output energy, and adjusting the energy and time of the treatment equipment according to the feedback condition of the feedback sensor; exemplary adjustments to the treatment energy P and time t of the treatment device are made in conjunction with the real-time temperature value temp value obtained by the feedback sensor. Wherein:
P＝f 5 (Z t ，temp)
Z T ＝a 0 +a 1 *cos(T*w)+b 1 *sin(T*w)
wherein: a, a 0 ，a 1 ，b 1 W is an unquantized rigid constant, T is a target temperature, Z T Biological tissue impedance.
Specifically, the treatment equipment and the treatment execution module are started, so that the energy emitted by the energy source emission system is transmitted to the treatment execution module for treatment; the flow of the treatment is shown in figure 9,
when energy is delivered to the treatment execution module, judging whether a preset value is reached, and judging whether a preset temperature is reached by detecting the temperature value through a temperature sensor in an exemplary manner; if the preset value is not reached, continuing to carry out energy transmission; if the preset value is reached, the low power is maintained, whether the preset time is reached or not is judged, if the preset time is not reached, the low power is maintained continuously, if the preset time is not reached, the energy output is ended, the automatic treatment device exits from the treatment part, and the treatment is completed.
Implementation case two: as shown in fig. 4, the multi-dimensional multi-angle driving mechanism 23 includes a mechanical arm 5, and is illustrated by way of example by two mechanical arms 5; the mechanical arm 5 comprises a supporting arm 51, a second linear driving assembly 52, a third linear driving assembly 53, a rotating disc 54, a base 55 and a third motor 56, one end of the rotating disc 54 is connected with the clamping mechanism 21, and the other end of the rotating disc 54 is connected with the third motor 56; the third motor 56 drives the rotary disk 54 to rotate, so as to drive the treatment executing module 3 to rotate; the rotating disc 54 is rotatably connected with a third linear driving assembly 53, and the third linear driving assembly 53 is used for driving the treatment executing module 3 to horizontally move; and the third linear driving assembly 53 is rotatably connected with the supporting arm 51; a second linear driving assembly 52 is arranged between the supporting arm 51 and the third linear driving assembly 53, and the second linear driving assembly 52 is used for driving the third linear driving assembly 53 to change the angle, so as to realize fixed-point pressing movement and controllable inclination angle rotating movement by changing the inclination angle of the treatment executing module 3; the bottom end of the supporting arm 51 is connected with a base 55; the second and third linear driving assemblies 52 and 53 include one of electric push rods, hydraulic push rods and pneumatic push rods, but are not limited thereto, and any linear driving assembly capable of driving is within the scope of the present invention.
The invention provides a control method of an intelligent automatic basin bottom treatment device, which comprises the following steps:
step one: determining a treatment regimen on the treatment device based on the user symptoms and the base information;
specifically, the symptoms include physical examination symptoms and complaint symptoms, the basic information includes the age and the vaginal size of the user, and the treatment scheme, that is, the treatment position, the treatment energy intensity, the treatment time and the like, is determined from the interactive interface of the interactive system of the treatment device.
Step two: the treatment equipment determines the operation parameters of the intelligent motion driving module according to the treatment scheme;
specifically, setting a treatment scheme according to the physical examination symptoms, complaint symptoms, age and vagina size of a user, and setting the origin position x of the mechanical arm 1 、y 1 、z 1 The treatment device can be used for treating the cervical spondylosis according to the age m of the user, the vaginal dimensions a, b and c and the origin position x of the mechanical arm 1 、y 1 、z 1 And calculating symptoms to obtain attitude control parameters and position control parameters of the multi-axis mechanical arm: the joint motion-based control principle is a joint motion-based control principle that decomposes the complex spatial motion of a robot arm into motions of each joint in order to control the robot arm to a specified position. In articulation control, precise control of the joint is required, typically using position or velocity sensors to detect the real-time position or velocity of the joint, and then based on a control algorithm to achieve a predetermined position or velocity of the joint
θ＝f -1 (x，y，z，α，β，γ)
x 1 ＝x-x b
y 1 ＝y-y b
z 1 ＝z-z b
Wherein θ represents the angle of each joint of the mechanical arm, x, y, z represent the position of the end of the mechanical arm, a, β, γ represent the posture of the end of the mechanical arm, and x a 、y b 、z b The spatial coordinates of a position B where the mechanical arm is located; f (f) -1 (x) Is a calculation formula of inverse kinematics.
Step three: the intelligent motion driving module drives the treatment executing module to perform multidimensional and multi-angle motion according to the operation parameters until the treatment executing module reaches a preset position;
the intelligent motion driving module adjusts the position of the treatment executing module according to the treatment scheme until reaching the treatment part; specifically, after the treatment part and the treatment scheme are determined, the intelligent motion driving module drives the treatment execution module to perform linear motion and/or press at a controllable inclination angle, so that the treatment execution module rotates through rotary motion after reaching a preset position.
Step four: and starting the treatment equipment and the treatment execution module to output energy, and adjusting the energy and time of the treatment equipment according to the feedback condition of the feedback sensor.
The intelligent automatic basin bottom treatment device drives the treatment execution module to perform multidimensional and multi-angle movement by controlling the intelligent movement driving module so that the treatment execution module enters a preset position of the basin bottom; even the follow-up treatment for a long time has no deviation, the treatment is accurate and consistent, the reliability of the treatment effect is ensured, and the private part of the user is well protected.
The technical scope of the present invention is not limited to the above description, and those skilled in the art may make various changes and modifications to the above-described embodiments without departing from the technical spirit of the present invention, and these changes and modifications should be included in the scope of the present invention.

Claims (10)

1. An intelligent automatic basin bottom treatment device is characterized in that: comprising
A treatment device for determining a treatment plan and transmitting energy for treatment; the treatment equipment is electrically connected with an intelligent motion driving module and a treatment executing module, wherein the intelligent motion driving module comprises a clamping mechanism, a control circuit system and a multi-dimensional multi-angle driving mechanism; the clamping mechanism is detachably connected with the treatment execution module, and the multi-dimensional multi-angle driving mechanism is connected with the clamping mechanism; the control circuit system is used for controlling the multi-dimensional multi-angle driving mechanism to drive the treatment execution module to perform multi-dimensional multi-angle movement.
2. The intelligent pelvic floor automated treatment device of claim 1, wherein: the treatment equipment comprises an interaction system, a control system and an energy source emission system, wherein the interaction system and the energy source emission system are connected with the control system; the interactive system is used for setting a treatment scheme, and the energy source emission system is used for emitting any one of radio frequency, electric stimulation, ultrasound, magnetic stimulation, light and shock waves.
3. The intelligent pelvic floor automated treatment device of claim 1, wherein: the treatment execution module comprises an energy conveying part, an energy bearing part, a feedback sensor and a support main body, wherein the energy conveying part, the energy bearing part and the feedback sensor are arranged on the side part of the support main body, the energy conveying part is used for conveying energy emitted by the energy source emission system to the energy bearing part for treatment, and the feedback sensor comprises a temperature sensor and a pressure sensor.
4. An intelligent pelvic floor automated treatment apparatus according to any one of claims 1-3, wherein: the multi-dimensional multi-angle driving mechanism comprises a combined arm, wherein the combined arm comprises a horizontal moving assembly, a protective cover, a fixed shell, a first linear driving assembly, a rotary driving assembly, a fixed ring and a limiting ring; the rotary driving assembly is connected with the clamping mechanism and is used for driving the clamping mechanism to rotate; a fixed shell is fixed outside the rotary driving assembly, and a protective cover is arranged outside the fixed shell; a horizontal moving assembly is arranged between the fixed shell and the protective cover and is used for driving the clamping mechanism to horizontally move; the outer side of the protective cover is provided with a pushing ring, and the outer side of the pushing ring is provided with a limiting ring; the pushing ring is filled with elastic materials, the outer surface of the limiting ring is provided with a plurality of through holes in an annular array, and each through hole corresponds to one first linear driving assembly.
5. The intelligent pelvic floor automated treatment device of claim 4, wherein: the rotary driving assembly comprises a second motor, a second gear and a third gear, the third gear is arranged on the outer side of the clamping mechanism, the third gear is meshed with the second gear, and the second gear is connected with the second motor; the horizontal movement assembly comprises a fixed frame, a first gear, a first motor and a sliding block; the side of protection casing is seted up the spout, slider sliding connection spout, the top of slider is fixed with the fixed shell, the bottom of slider is equipped with the plate tooth, plate tooth meshing first gear, first motor is connected to first gear, first motor first gear is located in the mount.
6. The intelligent automatic basin bottom treatment device according to claim 4, wherein the axial included angle between the treatment executing module and the clamping mechanism is in the range of 0-30 degrees.
7. An intelligent pelvic floor automated treatment apparatus according to any one of claims 1-3, wherein: the multi-dimensional multi-angle driving mechanism comprises a mechanical arm, wherein the mechanical arm comprises a supporting arm, a second linear driving assembly, a third linear driving assembly, a rotating disc, a base and a third motor, one end of the rotating disc is connected with the clamping mechanism, and the other end of the rotating disc is connected with the third motor; the rotary disk is rotationally connected with a third linear driving assembly, and the third linear driving assembly is rotationally connected with a supporting arm; a second linear driving assembly is arranged between the supporting arm and the third linear driving assembly, and the second linear driving assembly is used for driving the third linear driving assembly to change the angle; the bottom of the supporting arm is connected with the base.
8. A control method of an intelligent automatic basin bottom treatment device is characterized by comprising the following steps of
Determining a treatment regimen on the treatment device based on the user profile and symptoms;
the treatment equipment determines the operation parameters of the intelligent motion driving module according to the treatment scheme;
the intelligent motion driving module drives the treatment executing module to perform multidimensional and multi-angle motion according to the operation parameters until the treatment executing module reaches a preset position;
and starting the treatment equipment and the treatment execution module to output energy, and adjusting treatment energy and time according to the feedback condition of the feedback sensor.
9. The intelligent pelvic floor automated treatment device of claim 8, wherein: the treatment device determines the operation parameters of the intelligent motion driving module according to the treatment scheme, comprising
The treatment equipment calculates according to the age m, the internal dimensions a, b and c of the vagina and symptoms to obtain parameter values x, y and z and angles theta of the operation of each movement mechanism of the combined arm:
x＝f 1 (a，b，c)+x 0 ，
y＝f 2 (a，b，c)+y 0 ，
y＝f 3 (a，b，c)+z 0 ，
θ＝f 4 (a，b，c)+θ 0 ；
x in the above 0 、y 0 、z 0 All are quantitative rigid constants; f (f) 1 、f 2 、f 3 、f 4 As a function of a motion control algorithm.
10. The intelligent pelvic floor automated treatment device of claim 8, wherein: the treatment device determines the operation parameters of the intelligent motion driving module according to the treatment scheme, comprising
The treatment equipment is arranged at the origin x according to the age m, the internal dimension a, b, c of the vagina and the mechanical arm 1 、y 1 、z 1 And calculating symptoms to obtain a mechanical arm attitude control parameter and a position control parameter:
θ＝f -1 (x，y，z，α，β，γ)
x 1 ＝x-x b
y 1 ＝y-y b
z 1 ＝z-z
wherein θ represents the angle of each joint of the mechanical arm, x, y, z represent the position of the end of the mechanical arm, a, β, γ represent the posture of the end of the mechanical arm, and x a 、y b 、z b The spatial coordinates of a position B where the mechanical arm is located; f (f) -1 (x) Is a calculation formula of inverse kinematics.
CN202310793524.XA 2022-09-20 2023-06-30 Intelligent automatic basin bottom treatment device and control method thereof Pending CN116712674A (en)

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CN202310793524.XA CN116712674A (en) 2023-06-30 2023-06-30 Intelligent automatic basin bottom treatment device and control method thereof
PCT/CN2023/119765 WO2024061225A1 (en) 2022-09-20 2023-09-19 Radio frequency private therapeutic instrument

Applications Claiming Priority (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024061225A1 (en) * 2022-09-20 2024-03-28 南京伟思医疗科技股份有限公司 Radio frequency private therapeutic instrument

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024061225A1 (en) * 2022-09-20 2024-03-28 南京伟思医疗科技股份有限公司 Radio frequency private therapeutic instrument

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