CN116712676A - Magnetic therapy equipment controlled by image system and control method thereof - Google Patents
Magnetic therapy equipment controlled by image system and control method thereof Download PDFInfo
- Publication number
- CN116712676A CN116712676A CN202310680531.9A CN202310680531A CN116712676A CN 116712676 A CN116712676 A CN 116712676A CN 202310680531 A CN202310680531 A CN 202310680531A CN 116712676 A CN116712676 A CN 116712676A
- Authority
- CN
- China
- Prior art keywords
- magnetic therapy
- human body
- image
- actuator
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000002653 magnetic therapy Methods 0.000 title claims abstract description 142
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000036544 posture Effects 0.000 claims description 29
- 238000003384 imaging method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 210000003128 head Anatomy 0.000 description 17
- 230000000474 nursing effect Effects 0.000 description 9
- 210000005252 bulbus oculi Anatomy 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000001225 therapeutic effect Effects 0.000 description 3
- 210000001835 viscera Anatomy 0.000 description 3
- 238000005481 NMR spectroscopy Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000000887 face Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000004936 stimulating effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
-
- 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
- G16H30/00—ICT specially adapted for the handling or processing of medical images
- G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N2/00—Magnetotherapy
-
- 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
-
- 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 application discloses a magnetic therapy device controlled by an image system, which comprises: a work table; an image processing device provided on the table, the image processing device being provided with a camera; the controller is electrically connected with the image processing device and stores a magnetic therapy running track of the target part; the manipulator is arranged on the workbench, is connected with the controller in a manual-electric mode and is provided with an actuator; a magnetic therapy head. According to the magnetic therapy equipment controlled by the image system, the manipulator controls the actuator to move according to the magnetic therapy running track, so that the magnetic therapy head on the actuator carries out magnetic therapy on a user, and the magnetic therapy effect is improved. The application also discloses a control method of the magnetic therapy equipment. The user selects the corresponding magnetic therapy part in the human body model according to the target part, thereby calling the accurate magnetic therapy running track so as to ensure that the manipulator moves the actuator according to the accurate magnetic therapy running track. The application can be applied to the technical field of magnetic therapy.
Description
Technical Field
The application relates to the technical field of magnetic therapy, in particular to magnetic therapy equipment controlled by an image system and a control method thereof.
Background
The magnetotherapeutic equipment is an instrument for stimulating or treating the channels, muscles, acupoints, etc. of human body by using artificial magnetic field. At present, a user or medical staff generally operates a magnetic therapeutic instrument, so that an artificial magnetic field generated by the magnetic therapeutic instrument can be aligned with a treatment part of the user, and the treatment part is pressed or irradiated according to a specific track, so that a magnetic therapeutic effect is realized. However, when the magnetic therapy is manually operated, the magnetic therapy apparatus cannot be moved strictly according to a specific trajectory, and the magnetic therapy effect is reduced.
Disclosure of Invention
The present application aims to provide a magnetic therapy device controlled by an image system and a control method thereof, which solve one or more technical problems existing in the prior art, and at least provide a beneficial selection or creation condition.
The technical scheme adopted for solving the technical problems is as follows:
a magnetic therapy apparatus controlled by an imaging system, comprising:
a work table;
an image processing device provided on the table, the image processing device being provided with a camera which captures a human body image, the image processing device establishing a coordinate system based on the human body image and locating a target portion;
the controller is electrically connected with the image processing device and stores the magnetic therapy running track of the target part;
the manipulator is arranged on the workbench, the manipulator is connected with the controller in a manual-electric mode, and the manipulator is provided with an actuator which moves in the coordinate system according to the magnetic therapy running track;
and the magnetic therapy head is arranged on the actuator.
The beneficial effects of the application are as follows: the image processing device is used for establishing a coordinate system based on the human body image of the user shot by the camera, positioning the target part of the user, then sending the position of the target part on the coordinate system and the coordinate system to the controller, the controller is used for retrieving the magnetic therapy running track of the target part and sending the magnetic therapy running track to the manipulator, and the manipulator is used for controlling the actuator to move according to the magnetic therapy running track, so that the magnetic therapy head on the actuator carries out magnetic therapy on the user, and the magnetic therapy effect is improved.
As a further improvement of the above technical solution, the manipulator further includes a pressure sensor, and the pressure sensor is disposed on the actuator.
The actuator is provided with the pressure sensor, so that the manipulator can be helped to judge the force of the actuator for pressing the user, and the force of the actuator for pressing the user is moderate.
As a further improvement of the above technical solution, the manipulator further includes a distance sensor, and the distance sensor is disposed on the actuator.
In the process of using the magnetic therapy head to irradiate the target part of the user, the distance sensor on the actuator is beneficial to the manipulator to judge the distance between the actuator and the user, the irradiation distance is prevented from erroneously reducing the magnetic therapy effect, and the distance sensor is beneficial to the manipulator to judge the distance between the actuator and the obstacle, so that the actuator is prevented from striking the obstacle.
The control method of the magnetic therapy equipment comprises the magnetic therapy equipment controlled by the image system, wherein the controller stores a human body model and a plurality of magnetic therapy running tracks, the human body model is provided with a plurality of magnetic therapy parts, the magnetic therapy parts are in one-to-one correspondence with the magnetic therapy running tracks, and the control method further comprises the following steps:
s1, the camera shoots the human body image of the lying posture of the user;
s2, selecting the magnetic therapy running track corresponding to the magnetic therapy part according to the target part;
s3, the controller outputs the magnetic therapy running track to the manipulator.
The camera shoots a human body image of the lying posture of the user, the user can keep the lying posture for a long time, deviation caused by the activities of the user can be reduced, and the actuator is ensured to accurately correspond to the target part of the user when moving according to the magnetic therapy running track; and, the user selects corresponding magnetic therapy parts in the human body model according to the target parts, thereby calling accurate magnetic therapy running track, and ensuring that the manipulator moves the actuator according to the accurate magnetic therapy running track.
As a further improvement of the above technical solution, the user lying postures include lying, left-side lying, right-side lying, prone lying, and there are a plurality of the mannequins, and each of the user lying postures corresponds to one of the mannequins.
Because viscera or tissues of a human body are exposed in different lying states, lying postures such as lying, left side lying, right side lying and prone lying postures of various users are set, and each user lying posture corresponds to a human body model with a corresponding posture, so that a magnetic therapy running track of a magnetic therapy part corresponding to a target part is selected under the corresponding human body model, and the magnetic therapy effect is improved.
As a further improvement of the above technical solution, between the steps S1 and S2, the controller compares any one of the mannequins with the lying posture of the user to obtain the approximation degree of each mannequin, and in the step S2, the controller selects the mannequin with the highest approximation degree.
The controller can compare any one human body model with the lying gesture of the user to obtain the approximation degree of each human body model and the lying gesture of the user, and select the human body model with the highest approximation degree to provide the user with a proper magnetic force part, so that the use of the magnetic therapy equipment is more convenient.
As a further improvement of the above technical solution, the step S2 further includes:
s21, the controller compares the position of any one magnetic therapy part in the human body model with the position of the target part in the human body image;
s22, obtaining the approximation degree of each magnetic therapy part;
s23, the controller selects the magnetic therapy running track corresponding to the magnetic therapy part with the highest approximation degree.
The controller compares the position of any one magnetic therapy part on the human body model with the position of the target part on the human body image, then selects the magnetic therapy part with the highest approximation degree, conveys the magnetic therapy running track of the magnetic therapy part to the manipulator, and the manipulator moves the executor to carry out magnetic therapy on a user according to the magnetic therapy running track without selection of the user, so that the magnetic therapy equipment is used more conveniently and better.
As a further improvement of the above technical solution, the human body model has a meridian image, and the magnetic therapy running track is drawn along the meridian image.
The magnetic therapy operation estimation is drawn along the meridian image of the human body model, so that an actuator of the manipulator drives the magnetic therapy head to operate along the meridian of the human body, and the magnetic therapy effect is improved.
As a further improvement of the above technical solution, the controller further includes an editing module, where the editing module is configured to edit the magnetic therapy running track.
The editing module enables a user to edit the magnetic therapy running track, and the user can modify the magnetic therapy running track according to actual conditions, so that the magnetic therapy equipment is more flexible to use.
As a further improvement of the above technical solution, the method for positioning the target portion by the image processing apparatus includes:
and moving the actuator to the position above the target position, measuring the distance between the actuator and the target position, and determining the position of the target position according to the position of the actuator in the coordinate system.
The position of the actuator in the coordinate system can be read, the position of the target part in the coordinate system can be accurately positioned according to the distance operation, and the target part can be accurately positioned in a manual positioning mode.
Drawings
The application is further described below with reference to the drawings and examples;
FIG. 1 is a schematic diagram of an embodiment of an image system controlled magnetic therapy apparatus according to the present application.
10. Human body, 11, target site, 100, workbench, 200, image processing device, 210, camera, 300, controller, 400, manipulator, 410, actuator, 500, and magnetic therapy head.
Detailed Description
Reference will now be made in detail to the present embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present application, but not to limit the scope of the present application.
In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
In the description of the present application, if there is a word description such as "a plurality" or the like, the meaning of a plurality is one or more, and the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1, the image system controlled magnetic therapy apparatus of the present application makes the following embodiments:
the magnetic therapy equipment controlled by the image system comprises a workbench 100, an image processing device 200, a controller 300, a manipulator 400 and a magnetic therapy head 500.
The image processing device 200, the controller 300 and the manipulator 400 are all arranged on the workbench 100, and pulleys are arranged at the bottom of the workbench 100, so that the workbench 100 can drive the image processing device 200, the controller 300 and the manipulator 400 to move into different treatment rooms, and a locking mechanism for locking the pulleys is arranged at the bottom of the workbench 100, and when the workbench 100 moves to a proper position, the pulleys are locked through the locking mechanism, so that the workbench 100 is prevented from moving.
In this embodiment, the table 100 can be moved to the side of the care bed, and the user can lie on the care bed. And can set up the link that is used for connecting the nursing bed on workstation 100, through locking mechanism locking pulley back, workstation 100 passes through the link to be connected in the nursing bed, makes workstation 100 and nursing bed on the relative position of user's health fixed, avoids workstation 100 to deviate for the user's health.
The image processing device 200 comprises an image processing system and a camera 210, wherein the image processing system is arranged on the workbench 100, the camera 210 is connected to the top of the workbench 100 through a support frame, the support frame extends upwards and bends towards the outside of the workbench 100, the top end of the support frame extends out of the nursing bed, the camera 210 is connected to the top end of the support frame, and the lens of the camera 210 faces downwards, so that the camera 210 can shoot the human body of a user on the nursing bed, and the human body image of the user can be acquired.
The camera 210 is electrically connected with the image processing system, the camera 210 sends the human body image of the user to the image processing system, the image processing system identifies the human body image, the limb and joint positions of the user are identified, the identification method and related software belong to the prior art in the field, for example, the method for identifying the human body parts is disclosed in the patents of a positioning system and a method based on image identification, a human body gesture detection method based on image identification, a device and a storage medium, a human body detection method based on image identification, a human body detection device, and the like, the publication of which is CN115170911A, and the publication of CN 102028482A.
The image processing system locates the target part 11 for magnetic therapy of the user according to the identification result of the human body image of the user, determines the position of the target part 11 in the human body image, establishes a coordinate system according to the human body image, and determines the coordinates of the target part 11 in the coordinate system.
The user lies on the nursing bed in a posture of lying on the nursing bed, such as lying on the left side, lying on the right side and lying on the prone position.
The controller 300 is provided on the table 100, and four human models corresponding to the lying posture, the left-side lying posture, the right-side lying posture, and the prone posture are stored in the controller 300.
The human body models are respectively provided with a plurality of magnetic therapy parts, wherein the magnetic therapy parts can be viscera, joints, limbs and the like, each human body model is provided with a meridian image, and the magnetic therapy parts and the meridian images are simultaneously reflected on the human body models.
Each magnetic therapy part is provided with a magnetic therapy running track, and the magnetic therapy running track is drawn on the basis of meridian images around the magnetic therapy part. The magnetic therapy moving track is determined based on a preset coordinate system, and the coordinate system of the magnetic therapy moving track is synchronously updated after the image processing device 200 establishes the coordinate system.
The controller 300 may be a computer, in which a three-dimensional drawing tool such as SOLIDWORKS, PROE, UG and the like is provided, through which a human body model is built and a magnetic therapy running track is drawn.
The controller 300 is provided with an editing module, and the editing module can be a keyboard, a mouse, a touch pad and other tools capable of modifying a human body model or modifying a magnetic therapy running track on the three-dimensional graph drawing tool; or the editing module can be a three-dimensional graph drawing tool, and edit by changing a human body model or modifying coordinate points of the magnetic therapy running track through software.
The manipulator 400 is a common industrial manipulator, preferably a multi-axis manipulator, so that the manipulator 400 can move in a three-dimensional space, the end of the manipulator 400 is provided with an actuator 410, and the manipulator 400 realizes the movement of the actuator 410 in the three-dimensional space through the rotation or movement of each joint.
The actuator 410 is provided with a distance sensor, a pressure sensor and a magnetic therapy head 500, the distance sensor and the pressure sensor are arranged outside the magnetic therapy head 500, the magnetic field generated by the magnetic therapy head 500 is prevented from affecting the normal operation of the distance sensor and the pressure sensor, the distance sensors are multiple, the distance sensors are arranged on the periphery of the magnetic therapy head 500, and the distance between the magnetic therapy head 500 and an obstacle or a human body is detected by the distance sensors so as to help the manipulator 400 to judge the position of the actuator 410 relative to the human body or the obstacle. And the pressure sensor is flush with the magnetic therapy head 500, when the magnetic therapy head 500 of the actuator 410 is driven by the manipulator 400 to press the body of the user, the pressure sensor can detect the force of the magnetic therapy head 500 pressing the body of the user, so that the manipulator 400 is helped to adjust the power of the actuator 410, and the pressing force of the magnetic therapy head 500 is more moderate.
The controller 300 is electrically connected with the manipulator 400, and the controller 300 transmits the coordinate system and the magnetic therapy moving track to the manipulator 400, so that the manipulator 400 drives the actuator 410 to move along the magnetic therapy moving track in the coordinate system.
The control method of the magnetic therapy equipment of the application is as follows:
four human models corresponding to the lying posture, the left side lying posture, the right side lying posture and the prone posture are stored in the controller 300; the mode of acquiring four human body models can scan out an external model of a human body under each lying posture through a three-dimensional scanning technology, and then reconstruct a three-dimensional internal model through tomographic data of the human body in nuclear magnetic resonance equipment under different lying postures so as to ensure that organs, tissues, bones and the like in the human body can be accurately positioned; and finally integrating the external model and the internal model into a human body model so as to provide an accurate human body model.
After the human body model is built, because the positions such as the meridians and the acupoints cannot be directly formed from the three-dimensional scanning technology or the nuclear magnetic resonance technology, the schematic structures of the meridians and the acupoints need to be drawn in the human body model through a three-dimensional graph drawing tool so as to display the images of the meridians and the acupoints.
Then, a plurality of magnetic therapy parts are set for each human body model, wherein the magnetic therapy parts can be viscera, muscles, bones, joints, limbs and the like, and then, according to the meridian image and the acupoint image of each magnetic therapy part and the periphery thereof, a magnetic therapy running track is drawn in a three-dimensional graph drawing tool, and then the magnetic therapy running track corresponds to the magnetic therapy parts.
The user lies on the nursing bed, and the posture of the user lying on the nursing bed can be one of lying on the back, left side lying on the back, right side lying on the back and lying on the front, and then the body of the user is kept static, so that deviation of the body of the user relative to the workbench 100 is avoided.
The camera 210 of the image processing apparatus 200 shoots the body of the user, records the image of the lying posture of the user, and then the image processing system of the image processing apparatus 200 recognizes the four limbs and the joint position of the user according to the human body image, and the recognition method and related software belong to the prior art in the field, for example, the patent publication No. CN115170911a, such as a human body key part positioning system and method based on image recognition, a human body posture detection method based on image recognition, a device and a storage medium, a human body examination image processing method and a human body examination device, and the like, the publication No. CN113326778a, and the patent publication No. CN102028482a, are all disclosed as methods for recognizing the human body parts.
The image processing system locates the target part 11 for magnetic therapy of the user according to the identification result of the human body image of the user, determines the position of the target part 11 in the human body image, establishes a coordinate system according to the human body image, and determines the coordinates of the target part 11 in the coordinate system.
The image processing apparatus 200 transmits the human body image to the controller 300, and the controller 300 compares the human body image with a top view of the four human body models.
By means of fitting the appearance, the approximation degree of the human body image and each human body model is determined, for example, the appearance of lying and prone position is obviously different from the appearance of left side lying and right side lying, preliminary judgment is carried out, a first approximation degree is given, and the first approximation degree is 50 minutes.
According to the body part identified by the image processing apparatus 200, a specific part is selected for the next comparison, for example, an eyeball is selected as a reference for the comparison, and a second approximation degree is given, wherein the second approximation degree sequentially indicates that two eyeballs are 75 points, one eyeball is 25 points and no eyeball is 0 point in the human body image from top to bottom.
And adding the first approximation degree and the second approximation degree to further obtain the approximation degree of the human body image and the four human body models. For example, when the user is lying on his/her back, the total of the first approximation degree 50 minutes plus the second approximation degree 75 minutes of the mannequin in the prone position is 125 minutes, the total of the first approximation degree 50 minutes plus the second approximation degree 0 minutes of the mannequin in the prone position is 50 minutes, and the total of the first approximation degree 0 minutes plus the second approximation degree 25 minutes of the mannequin in the left-side position and the right-side position is 25 minutes.
And, according to the position of the selected specific part relative to the human body image, the next comparison is carried out, for example, the eyeball position of the selected eyeball, the left lateral lying posture and the right lateral lying posture are different in the position of the human body image, the eyeball position of the human body image is matched with the eyeball position of the human body model, and then a third approximation degree is given.
The first approximation degree, the second approximation degree, and the third approximation degree are added to obtain approximation degrees of the human body image and the four human body models, and the controller 300 selects the human body model with the highest approximation degree.
Then, the controller 300 compares the positions of the plurality of magnetic therapy parts in the human body model with the positions of the target part 11 in the human body image, and can also obtain the approximation degree by adopting an image matching method, the controller 300 selects the magnetic therapy part with the highest approximation degree, and then the magnetic therapy running track of the magnetic therapy part is adjusted and taken out.
The controller 300 transmits the retrieved magnetic therapy moving track to the manipulator 400, and controls the distance sensor, the pressure sensor and the magnetic therapy head 500 on the actuator 410 to be started, the manipulator 400 drives the actuator 410 to move along the magnetic therapy moving track, and the magnetic therapy head 500 carries out magnetic therapy on the target part 11 of the user along the magnetic therapy moving track.
In some embodiments, the position of the target site 11 is determined by manually positioning the target site 11, and when the image processing apparatus 200 positions the target site 11, the manipulator 400 is manually moved to a position directly above the target site 11, and the coordinates of the target site 11 in the coordinate system are determined according to the distance between the target site 11 and the actuator 410 measured by the distance sensor.
While the preferred embodiment of the present application has been described in detail, the application is not limited to the embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the application, and these modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (10)
1. A magnetic therapy apparatus controlled by an imaging system, characterized in that: comprising the following steps:
a work table;
an image processing device provided on the table, the image processing device being provided with a camera which captures a human body image, the image processing device establishing a coordinate system based on the human body image and locating a target portion;
the controller is electrically connected with the image processing device and stores the magnetic therapy running track of the target part;
the manipulator is arranged on the workbench, the manipulator is connected with the controller in a manual-electric mode, and the manipulator is provided with an actuator which moves in the coordinate system according to the magnetic therapy running track;
and the magnetic therapy head is arranged on the actuator.
2. The magnetic therapy apparatus controlled by an image system according to claim 1, wherein: the manipulator further comprises a pressure sensor, and the pressure sensor is arranged on the actuator.
3. The magnetic therapy apparatus controlled by an image system according to claim 1, wherein: the manipulator further comprises a distance sensor, and the distance sensor is arranged on the actuator.
4. A control method of magnetic therapy equipment is characterized in that: a magnetic therapy apparatus including the control by an image system according to any one of claims 1 to 3, the controller storing a human body model having a plurality of magnetic therapy sites in one-to-one correspondence with a plurality of the magnetic therapy tracks, and a plurality of the magnetic therapy running trajectories, the control method further comprising the steps of:
s1, the camera shoots the human body image of the lying posture of the user;
s2, selecting the magnetic therapy running track corresponding to the magnetic therapy part according to the target part;
s3, the controller outputs the magnetic therapy running track to the manipulator.
5. The method for controlling a magnetic therapy apparatus according to claim 4, wherein: the user lying postures comprise lying, left side lying, right side lying and prone lying, a plurality of human models are provided, and each user lying posture corresponds to one human model.
6. The method for controlling a magnetic therapy apparatus according to claim 5, wherein: and between the step S1 and the step S2, the controller compares any one of the human body models with the lying gesture of the user to obtain the approximation degree of each human body model, and in the step S2, the controller selects the human body model with the highest approximation degree.
7. The method for controlling a magnetic therapy apparatus according to claim 4, wherein: the step S2 further includes:
s21, the controller compares the position of any one magnetic therapy part in the human body model with the position of the target part in the human body image;
s22, obtaining the approximation degree of each magnetic therapy part;
s23, the controller selects the magnetic therapy running track corresponding to the magnetic therapy part with the highest approximation degree.
8. The method for controlling a magnetic therapy apparatus according to claim 4, wherein: the human body model is provided with a meridian image, and the magnetic therapy running track is drawn along the meridian image.
9. The method for controlling a magnetic therapy apparatus according to claim 4, wherein: the controller also comprises an editing module, wherein the editing module is used for editing the magnetic therapy running track.
10. The method for controlling a magnetic therapy apparatus according to claim 4, wherein: the method for positioning the target part by the image processing device comprises the following steps:
and moving the actuator to the position above the target position, measuring the distance between the actuator and the target position, and determining the position of the target position according to the position of the actuator in the coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310680531.9A CN116712676A (en) | 2023-06-08 | 2023-06-08 | Magnetic therapy equipment controlled by image system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310680531.9A CN116712676A (en) | 2023-06-08 | 2023-06-08 | Magnetic therapy equipment controlled by image system and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116712676A true CN116712676A (en) | 2023-09-08 |
Family
ID=87869229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310680531.9A Pending CN116712676A (en) | 2023-06-08 | 2023-06-08 | Magnetic therapy equipment controlled by image system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116712676A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001062173A2 (en) * | 2000-02-25 | 2001-08-30 | The Board Of Trustees Of The Leland Stanford Junior University | Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body |
| CN107515923A (en) * | 2017-08-23 | 2017-12-26 | 合肥龙图腾信息技术有限公司 | A kind of systems, devices and methods for accurately identifying human acupoint |
| CN209696074U (en) * | 2018-11-20 | 2019-11-29 | 丹东科达自动化仪表有限公司 | A kind of magnetism apparatus for dredging the channel |
| CN111135466A (en) * | 2020-02-13 | 2020-05-12 | 和也健康科技有限公司 | Magnetotherapy system based on acupuncture point |
| CN112569110A (en) * | 2020-12-15 | 2021-03-30 | 长沙市索菲亚创客健康管理有限公司 | Shoulder and neck massage device and massage method |
| CN112669371A (en) * | 2020-12-11 | 2021-04-16 | 深圳市大富智慧健康科技有限公司 | Moxibustion robot control device, system, equipment and storage medium |
| 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 |
| CN113555083A (en) * | 2021-08-19 | 2021-10-26 | 遨博（北京）智能科技有限公司 | Massage track generation method |
| CN113616512A (en) * | 2021-08-04 | 2021-11-09 | 杭州甘芝草中医诊所有限公司 | Human body acupuncture point positioning instrument based on traditional Chinese medicine meridian acupuncture point big data |
| CN113855541A (en) * | 2021-11-10 | 2021-12-31 | 泸州市人民医院 | Acupuncture point positioning device for clinical acupuncture and moxibustion therapy of traditional Chinese and western medicine department |
| CN114010945A (en) * | 2021-11-13 | 2022-02-08 | 马洪福 | Neurological magnetic therapy system and operation method thereof |
| CN115393437A (en) * | 2022-08-26 | 2022-11-25 | 扬州大学 | Automatic acupuncture point identification and massage track planning method and household massage robot |
| WO2023030033A1 (en) * | 2021-08-30 | 2023-03-09 | 中科尚易健康科技(北京)有限公司 | Human body acupoint identification method using model decreasing deep learning, and physiotherapy device |
-
2023
- 2023-06-08 CN CN202310680531.9A patent/CN116712676A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001062173A2 (en) * | 2000-02-25 | 2001-08-30 | The Board Of Trustees Of The Leland Stanford Junior University | Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body |
| CN107515923A (en) * | 2017-08-23 | 2017-12-26 | 合肥龙图腾信息技术有限公司 | A kind of systems, devices and methods for accurately identifying human acupoint |
| CN209696074U (en) * | 2018-11-20 | 2019-11-29 | 丹东科达自动化仪表有限公司 | A kind of magnetism apparatus for dredging the channel |
| CN111135466A (en) * | 2020-02-13 | 2020-05-12 | 和也健康科技有限公司 | Magnetotherapy system based on acupuncture point |
| CN112669371A (en) * | 2020-12-11 | 2021-04-16 | 深圳市大富智慧健康科技有限公司 | Moxibustion robot control device, system, equipment and storage medium |
| CN112569110A (en) * | 2020-12-15 | 2021-03-30 | 长沙市索菲亚创客健康管理有限公司 | Shoulder and neck massage device and massage method |
| 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 |
| CN113616512A (en) * | 2021-08-04 | 2021-11-09 | 杭州甘芝草中医诊所有限公司 | Human body acupuncture point positioning instrument based on traditional Chinese medicine meridian acupuncture point big data |
| CN113555083A (en) * | 2021-08-19 | 2021-10-26 | 遨博（北京）智能科技有限公司 | Massage track generation method |
| WO2023030033A1 (en) * | 2021-08-30 | 2023-03-09 | 中科尚易健康科技(北京)有限公司 | Human body acupoint identification method using model decreasing deep learning, and physiotherapy device |
| CN113855541A (en) * | 2021-11-10 | 2021-12-31 | 泸州市人民医院 | Acupuncture point positioning device for clinical acupuncture and moxibustion therapy of traditional Chinese and western medicine department |
| CN114010945A (en) * | 2021-11-13 | 2022-02-08 | 马洪福 | Neurological magnetic therapy system and operation method thereof |
| CN115393437A (en) * | 2022-08-26 | 2022-11-25 | 扬州大学 | Automatic acupuncture point identification and massage track planning method and household massage robot |
Non-Patent Citations (1)
| Title |
|---|
| 董诗绘;王旭;: "基于ABB机器人的人体经络腧穴识别", 现代制造技术与装备, no. 02 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7166852B2 (en) | Treatment target positioning system | |
| US10531858B2 (en) | Methods and systems for guiding the acquisition of ultrasound images | |
| US9572997B2 (en) | Frameless radiosurgery treatment system and method | |
| US6546279B1 (en) | Computer controlled guidance of a biopsy needle | |
| US6961405B2 (en) | Method and apparatus for target position verification | |
| KR20060135063A (en) | Patient positioning assembly | |
| EP2077137A1 (en) | Apparatus and method for radiosurgery | |
| CN106456266A (en) | Guided setup for teleoperated medical device | |
| Sen et al. | A cooperatively controlled robot for ultrasound monitoring of radiation therapy | |
| KR20060104342A (en) | Capsule type physical theraphy apparatus | |
| KR100589229B1 (en) | an automatic operation device for a needle and moxibustion and operation method thereof | |
| CN116019558A (en) | Electromagnetic navigation puncture robot system and positioning method thereof | |
| CN113729941A (en) | VR-based surgery auxiliary positioning system and control method thereof | |
| CN116712676A (en) | Magnetic therapy equipment controlled by image system and control method thereof | |
| CN209405529U (en) | A kind of anticollision simulator and radiotherapy system | |
| CN113081013B (en) | Spacer scanning method, device and system | |
| CN212235664U (en) | Robot-assisted focused ultrasound treatment device | |
| Hanumara et al. | Human factors design for intuitive operation of a low-cost, image-guided, tele-robotic biopsy assistant | |
| US9919165B2 (en) | Systems and methods for fiducial to plan association | |
| CN113842553A (en) | Nondestructive directional tumor therapeutic apparatus | |
| WO1998035625A1 (en) | Robotic simulation, planning and marking platform | |
| Sen | Robotic System and Co-Manipulation Strategy for Ultrasound Guided Radiotherapy | |
| WO2023101629A1 (en) | A smart electrotherapy system | |
| CN111167026A (en) | Robot-assisted focused ultrasound treatment device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |