WO2015121695A1

WO2015121695A1 - Physiotherapy treatment & analysis device

Info

Publication number: WO2015121695A1
Application number: PCT/HU2015/000013
Authority: WO
Inventors: Tibor NORMANDY
Original assignee: Normandy Tibor
Priority date: 2014-02-11
Filing date: 2015-02-10
Publication date: 2015-08-20
Also published as: HUP1400060A2

Abstract

The present invention relates to a physiotherapy device which is suitable to treat, scan and analysis the status of different parts of human body. The device has a table like part to entirely support the laying human body. The other major part is the body treating unit which has at least one treating head with treating and/or scanning sensor elements able to touch the human skin. The treating/scanning head mounted on a unit which can move at least along the longitudinal and vertical axis. The treatment unit can be equipped with many different treatment heads (60; 83; 87; 93; 99; 105). The required treatment heads (60; 83; 87; 93; 99; 105) for at least one treatment program are stored on the treatment unit in specially designed treatment head repository (76). The required treatment head (60; 83; 87; 93; 99; 105) mounted to the vertical driving subassembly (17) with unified locking-unlocking mechanism (18). The locking- unlocking mechanism (18) based on axial movement and rotation of connecting parts and blocking elements.

Description

PHYSIOTHERAPY TREATMENT & ANALYSIS DEVICE

The present invention relates to a physiotherapy device which is suitable to treat, scan and analyze some parts of human body. The device has a table like part to entirety support the laying human body. The other major part is the body treatment unit which has at least one treating head with treating and/or scanning sensors elements able to touch the human skin. The treating/scanning tool mounted on a unit which can move at least along the longitudinal and vertical axis. The device can treat different muscle groups, such as the shoulder, back, waist, buttocks, legs, etc with 3- 5 dimensional motion. The extra dimensions could mean the important time and force factor or dimensions in physiotherapy treatment for example when pre-programmed motion is synchronized with the selected rhythm or music.

All well known, during the massage a mechanical stimulus applied for the surface of the body, partially directly and partially indirectly effects the nervous system and also affects the muscle tone. There are many beneficial effects such as, refreshes the skin, muscle and blood circulation, effects on the functioning of the heart, calming effect on the nervous system, thus counteracting negative responses, helps in relaxation, resolving stress, relieves muscle involuntary tension, thereby improving the flexibility and performance ability. During the massage the muscle metabolism will accelerate the depletion of metabolites, histamine and bradykinin also released and have general pain-relieving effect. Unfortunately, for various reasons (lack of time, lack of money etc), not everyone can afford to regularly use professionals for a massage, so there are various professional massage equipment, on the market trying to replace certain functionalities of the professionals. These countless varieties developed that perform different levels of quality of massaging action but none of them using the opportunity to scan, analyze the human skin, muscles and joints.

Such a device is known from for example US - 5,916,182. c. patent. The device contains a unit which can be placed under a bed like section and contains cross and longitudinal moving mechanism associated with a rod stretched up beside the bed. Attached to this another swivel rod extending over the bed. The outer end of the arm having a motor, a crank drive in the arm in a nested axis, guided by the inner end of the lever hinge of vertically movable rod. This is the lower end of the massage head. The massage head is two freely rotating balls on a wobbly shaft. The massage head pressure can be adjusted simply with a sliding weight on the arm. The cross and longitudinal movement controlled.

US - 4,875,470. c. patent describes an apparatus, which over the massage table with a pneumatically driven crane able to move up and down. The crane holds a longitudinal guides with a pneumatically driven carriage. On the carriage, on a transverse axis with two longitudinal arms, pneumatically waved arms suspended. On both arms a transversely tillable lever which is against a spring, and

pneumatically movable towards one another. The freely rotating massage rollers are at the lower end on the arms. The massage pressure and its control accomplished with the longitudinal swinging arms.

US - 4,984,568. c. Patent, At this device a telescopic, rotating column is attached to the edge of a bed. At the top of the column there is a tiltable telescopic arm with a swivel massage head at the end. The moving of each element in the example is hydraulic, but stepper motor may also be used. The program works essentially the same way as programming the industrial robots, where the clients can control the movements with a joystick. Two types of massage head can be used one flexible fingers, the other wavy longitudinal cylinders. The massage heads can be replaced by removing the suspension pin. The head designed with downward jets to apply body lotion for the body from the reservoir in the head (or ex. massage Oil) can be applied to the massaging surface.

DE - 195.24.666. c. According to patent this massage device has a table with longitudinal guides with a moving carriage for the y-direction. The carriage holds a column that is vertically movable relative to the z-direction of the slide. At the top of the column there is a horizontally rotating shaft with movable carriage for the x- direction. A bar goes down from the carriage and at the bottom of which is attached the massage head holding bracket with a ball joint. Different massage heads can be used. For example, a massage head, with a vibration motor is built in. Different material can be attached to the massage heads, for example natural bristles, foam- W

3 rubber or any other suitable covering for the massage. The massage head can be designed without the vibration motor, for example with moving fingers or with rolling surface. The massage heads can be provided with heating which increases the blood flow and good feeling on the massaged area.

As the examples above show the massaging devices usually operate with one type of massage head, usually a rolling element. However, prior to this examples, as the introduction section describes different body parts and different type of massage would require different massage heads. Some devices attempted to meet this demand and designed with different kind of massage heads. However, even if simple locking is used (although there is no indication of any in the descriptions), the massaging head must be replaced by the person treated or the person operating the equipment. Since these equipment aim is to be controlled by the treated person for example with a joystick then it's quite uncomfortable to stop the treatment and the equipment to exchange massage head and may even have to wait for the operator as well.

The aim of the invention is to provide a physiotherapy device which can

uninterruptedly provide various type of treatment. The recognition is that the physiotherapy device must be fitted with a unit where the treatment heads, scanning and sensing heads can be automatically changed without human intervention.

Therefor the selected or proposed program for treatment can be executed without the client or operator interaction. Beside that the types of treatment heads and scanning heads must be increased, with improved control system.

The present invention relates to a physiotherapy device which comprises a horizontal surface to support the human a body and a treatment unit. The treatment unit has at least one part above the horizontal treatment surface which has the treatment head with the treatment elements and can touch the human body surface. This unit can move parallel to the longitudinal axis and has at least one subassembly unit which can drive the treatment head on the vertical direction. According to the invention, the physiotherapy device has different treatment heads. All the required heads are stored on the physiotherapy device for at least one treatment program. All treatment heads can be attached to the vertically moving assembly with unified resolvable locking mechanism. To lock - unlock the two parts of the locking mechanism an axial displacement, rotation and latch movement used.

Along with a favor design the invention the physiotherapy device has a dispensing treatment head container with spreadable body lotion for personal care. At the bottom of the treatment head there is at least one product applicator elements.

In another preferred embodiment of the invention where the applicator element of the head piece is rotatable in either direction with embedded balls. These balls are at the bottom of the container half embedded and half outside of the surface of the container.

Another preferred embodiment of the invention where the physiotherapy device has treatment head with infrared and/or laser light for heating the muscles. This treatment head unit can be its own or build into other treatment heads.

Another preferred embodiment of the invention where the physiotherapy device has a unit designed to locate and continuously monitor different body parts, muscles, muscle groups or joints with 3D digital image analysis based on visible and infrared sensor technology.

Another preferred embodiment of the invention where the physiotherapy device has a treatment head which will provide opportunity to locally or remotely scan and analyze certain muscles, joints and skin cell disorders, including early warnings for the presents of melanoma skin cells using the achievements in echoscopy and photoacoustic. These sensors can be placed on other treatment heads and/or placed on its own unit.

Finally the preferred embodiment of the invention where the movement of the treatment head of the physiotherapy device is connected and controlled by the input from the dynamic 3D digital image analysis which is based on visible and infrared sensor technology.

The semi or fully automated device can be operated by the patient himself/herself with control device like smartphone, tablet or remotely by a trained person or by a professional person in physiotherapy. The invention can be recognized with greater details with some examples as shown at the attached drawings, wherein

Figure 1 shows the complete physiotherapy device of the invention as perspective representation

Figure 2 shows the device lower driving subassembly as I. detail view

taken in Figure 1.

Figure 3 shows the upper part of the device taken in Figure 1. as II. top plan view Figure 4 shows the device vertically moving subassembly

of the upper part of Figure 3. labeled III. view

Figure 5 shows is a physiotherapy device treatment head, the rotary and locking mechanism taken on Figure 3. as IV. vertical section view

Figure 6 shows the locking mechanism, in cross-sectional view V. taken on Figure 5. Figure 7 shows the locking mechanism, in vertical cross-sectional view VI.

taken on Figure 5.

Figure 8 - 9 shows a version of the treatment head from front view and side view, Figure 10 - 11 shows another version of the treatment head

from front view and side view

Figure 12 - 13 shows third version of the treatment head

from side view and under view

Figure 14 shows vertical section view of the fourth version of the treatment head Figure 15 shows an acupressure treatment head in a partial cross section - part view Figure 16 shows the Figure 15 acupressure treatment head from bottom view

Figure 17 shows a version of the treatment head for lotion applicator partial cross section - part view and finally

Figure 18 shows the above lotion applicator head (Figure 17) from bottom view

As in Figure 1 shows the physiotherapy device of the present invention basically comprises a treatment table 1 and body treatment unit 2, assembled from several components.

1. The treatment table is set firmly on the floor. The design - apart from the fashionable design - similar to the simplest version of the traditional treatment table or solarium bed. 1. The treatment table 1 is equipped with padding on the upper side 3 to support the person to be treated.

The basis of the body treatment unit 4 shown in Figure 2 is the longitudinal driving subassembly. The carrier piece is an l-section beam 5, which is attached to the treatment table 1 along with the longitudinal axis and fixed to the floor. Top on the Base 5 is a fixed longitudinal guide rail 6, with a movable carriage 7. Within the guide rail 6 is ball screw shaft on which the carriage fixed with the ball-screw nut 9. One end of the ball screw shaft 8 connected to the transmission 10 and is driven by motor 1 1. The other end of the ball screw shaft 8 fixed with bearing 12 to the other end of the guide rail 6.

On the carriage 7 the column 13 is fixed whose upper end is designed as horizontal support frame 14. The support frame 14 extends above the treatment table 1. The supporting frame 14, as shown in Figure 3 is a transverse moving subassembly 15, an upper 16 local longitudinal moving unit and a vertical moving unit 17 is designed.

The support frame 14 perpendicularly on one side of to the longitudinal axis of treatment table 1 is a guide rail built 19 to provide movement for carriage 20. Within the guide rail 19 is a ball screw shaft 21 arranged on which the ball screw nut 22 runs. The ball screw nut 22 is fixed to the carriage 20. One end of the ball screw shaft 21 is connected to gear box 23 driven by a motor 24. The other end of the ball screw shaft 21 mounted with bearings 25.

The support frame 14 (in Figure 3 ) perpendicularly on other side of to the

longitudinal axis of treatment table 1 is also provided with guide rail 26 in which a free-running carriage 27 moves.

The transverse drive assembly 15 ( Figure 3 ) consist of the : guide rail 19 with the 20 carriage, guide rail 26 with the carriage 27, ball screw 21 with ball screw nut 22, the gearbox 23 and the motor 24.

The carriages 20 and the 27 are attached to each ends of the guide rail 28, parallel to treatment table longitudinal axis. On the guide rail 28 the carriage 29 can move. Within the guide rail 28 is a ball screw 30 arranged and connected with one end to the gearbox 31. The gearbox 31 driven by electric motor 32 .The other end of the ball-screw 30 is mounted with bearings 33 at the other end of the guide rail 28. On the ball screw 30 is the ball screw nut 34 runs and fixed to the carriage 29.

The guide rail 28 with the carriage 29, the ball screw 30 with its nut 34, the gearbox 31 and the electric motor 32 make the top local longitudinal driving unit 16 (Figure 1). The carriage 29 - is attached to the upper end of a vertical guide rail 35 - shown in figure 4. Arranged parallel with vertical guide rail 35 a vertical ball-screw shaft 36 to which connected to the gearbox 37. The gearbox 37 driven by electric motor 38. Parallel with ball-screw shaft 36 is the vertical holding frame built from rods 39. The upper end of the vertical rods 39 attached to two parallel sides of the prismatic block 40, - shown in Figure 5, And the lower ends - is attached likewise to the parallel side of the prismatic block 41. The upper block 40 is guided with rail 35, and attached to ball-screw nut 42 on ball-screw 36.

The guide-rail 35, vertical support 39, ball-screw 36, ball-screw nut 42, the gearbox 37 and the electric motor 38 is made up the vertical driving unit 17.

The bottom block 41 of the vertical support 39 - as shown in Figure 5-7 - a vertically downwardly extending pivot pin 43, on which a rotary disc 44 on bearing. The rotary disc 44 has spur gear 45 on the surface. On one side of the bottom block 41 electrical motor 46 mounted with vertical axis and gear wheel 47 on its shaft connected to the gear wheel 45.

The shaft 43, rotary disc 44, gears wheel 45, electrical motor 46, gear wheel 47 together form the rotating head assembly 112.

Lower half of the rotary disc 44 is formed in a pot like cylindrical wall 48 in which a cylindrical adapter 49 is located.

The upper half and outer cylindrical surface 50 of the adapter 49, - shown in Figure 6 - with equal spacing of 60 - 60° three rib 51 is formed. The lower end of the ribs 51 is connected with tapered surface 52 to the cylindrical surface 50. Figure 6 shows the ribs 51 with dashed lines. The curved outer surface of the ribs 51 fit into the inner surface of the wall 48.

As shown in Figure 6, in the wall 48, opposite to the three conical surface 52, about at the bisecting plane, a long narrow ball nest 53 is cut. The central angles for the ball nests 53 are 60 - 60 degrees. In the ball nests 53 one-one series of balls 54 is disposed, which have a diameter greater than the thickness of the wail 48 but smaller than the sum of the thickness of the wall 48 and the height of the rib 51. Inside the edge of ball nest 53 the head of a small edge, which prevents the balls 54 falling out at adapter 49.

Inside the lower end face of the rotary disc 44 and inside the upper end face-surface of the adapter 49 are three pairs of key slots 55 and 56 formed in pairs with equal pitch, same width in radius direction. Outside the wall 48 sleeve 57 is placed, in which is also uniformly distributed three keys 58 along the radial direction extends into the key slots 55 and 56. The depth of key slot 55 in the rotary disc 44 in - as shown in Figure 7 - is greater than the height of the key 58, while the depth of the keyway 56 in the adapter 49 is half of the of the key 58 height. The sleeve 57 is supported from the bottom with a retaining ring fitted in wall 48. Pre-stressed spring 59 is positioned between the upper end face of sleeve 57 and the rotary disk 44.

Any treatment head can be mounted to the adapter 49, - for example the carrier element 61 of the treatment head 60 in which the arms 62 are radially arranged and fitted with bearings. The actual treatment performing elements 63 are arranged at the lower end of the arms 62. The treatment performing elements 63 in this case rollers, attached on each arms 62 mounted with bearings on the axle 84. The face surface of the rollers on the treatment performing elements 63 in this case considered as convex, but cylindrical or uneven surfaces, for example, smooth, rough, knobby or tooth surface can be formed.

In the middle of the arms 62 joining point one cross-link arm 64 is connected. The other end of cross-link arm 64 is connected with lower end of drive rod 65. The drive rod 65 extends through the hole 66 in middle support member 61.

The wall 48, the cylinder 50, ribs 51, conical surface 52, balls nest 53, balls 54, key slot 55-56, sleeve 57, key 58, spring 59 together form the locking-unlocking head connector assembly 18.

Along the axis of the adapter 49, rotary disk 44, the axle pin 43 and the lower block 41 are through bore 67, 68, 69 and 70, which extends through the drive rod 65. At the center of the adapter 49 is the driving rod 65 in cylindrical seat 71 with fixed support ring 72. The pre-stressed spring 73 is positioned between the bottom of the nest 71 and support ring 72. One end of a two-armed lever 74 is resting on the upper end of the drive rod 65. The axis of rotation of the lever arm 74 is supported at the lower block 41 , and the other end is connected to the driving rod of the vertical driving unit 75.

The magazine for treatment heads repository 76 is fixed to a column 13 (Figure 1) on the body treatment unit 2. The magazine is a horizontal plate 77 with U-shaped notches 78. The notches 78 near the inner edges 79 are designed with guiding edge, at their innermost point is formed with an upstanding knobble 80. At the front area of the lower edge of the adapter 49 are with equal spacing three guiding slots with central angle 60 -60°which fit for the guiding knobble 80. The guiding knobble 80 and guiding slots 81 positioned above at the default position of the sleeve 57 as the lower edge of the sleeve 57.

The guide rail 6 and the carriage7, the guide rail 19 and the carriage 20, the guide rail 26 and the carriage 27 and guide rail 28 and the carriage 29 considered of linear guide rail carriage pair. The ball-screw shaft 8 and nut 9, the ball-screw shaft 21 and the nut 22, the ball-screw shaft 30 and the nut 34 and the ball-screw shaft 36 and the nut 42 is formed as ball screw / ball nut pair. Each of the linear guide rail carriage pair and the ball screw / ball nut pairs commercially available fittings, so they require no detailed description.

The electric motor 11 , the motor 24, the motor 32 and the motors 38 are stepper electric motors so they position do not require additional feedback sensors likewise the respective operated components. The maximum output torque of the stepper motors are continuously monitored (example 20 times a second) and set to a safe level.

The local vertical driving subassembly 75 is an electrically operated linear actuator, which is commercially available fittings, and may operate with stepper motor ball- screw.

For vertical actuator assembly 17 is important that its applied vertical force does not exceed the permissible value. It can be continuously calculated from the stepper motor torque value, but as redundancy for additional safety pressure sensor 82 is attached at the vertical holder rod 39. Figure 1 shows that the body treatment unit 2 operates the treatment head 60 in a Cartesian coordinate system, where treatment tables 1 longitudinal axis is the X direction, the vertical direction Y, and movement perpendicular to the treatment tables 1 is the Z-direction. The movement of the treatment head 60 in direction X is the sum of the X1 movement of the longitudinal driving subassembly 4 and the X2 movement of the local upper longitudinal driving subassembly 16.

The motor 1 1 , the motor 24, the motor 32, the motor 38 and the sensor 82 produces a pressure signal - is connected to the input port for a programmable computer - not shown. The computer performs the high precision control of the stepper motors (± 0,5mm) position in the X1 , X2, Y1.Y2 and Z directions, and the produced force F at the treatment head 60 at given position, the force and time T spent at the position. The 3, 4 or 5 "dimensions" are the possible variations of the treatment device when f (x, y, t) , f (x, y, z, t) and f (x, y1 , y2, z, t) values are controlled in all directions with high accuracy (± 0 5mm, 0,1 sec, ± 0.1 N force),Y2 coordinates is the vertical movement of the lever 74.

Obviously, the full control of the device can be pre-programmed with computer and operated via control panel, remote control, tablet or smart phone, etc. Users, individuals have the opportunity to write, store, run their own programs if they wish. Devices can be linked together vie the Internet if the individuals wish.

There is a possibility to operate the device via the microphone of tablet or

smartphone with a simple verbal commands (for example, "Next", "Back", "Weaker", "Stronger", "Again", "Stop" , Slower, Shoulder, Waist, Programl , etc.). The tablet, smartphone control option is desirable because the treated person can control the treatment program (interrupt, revise) himself /herself under the treatment. There are continuously running background program processes on the computer with highest priority to cancel any unsafe commands.

Finally, it should be noted that the used moving parts in place like the ball screw / ball nut pairs can be replaced with toothed belt / geared wheel or rack / pinion pairs or pulse-controlled pneumatic cylinders, pulse-controlled hydraulic cylinders and in some places, typically as vertical moving subassembly 17 the local vertical subassembly 75 electromagnets may be used.

The physiotherapy unit now shown theoretically can be used for different treatments, but since the treatment head 60 specifically designed to stimulate muscles, so the easiest to demonstrate the operation of the device through the muscles stimulation program. There are two ways to create the treatment control programs.

One option is a unique setting of all parameters. This means the movements on X1 , X2, Y1 , Y2 and Z axis for the treatment head 60 must be programmed, in each position with required force F on the treated body produced by the treatment head 60 and the time T1 ... Tn spent in each positions.

It will be appreciated that this kind of program is very complicated, it would take a lot of time, and not everyone is able to do. Therefore, several dozen pre-programmed subroutines, group of subroutines and full treatment programs was developed with different motions. These programs are optimized and organized for different muscles, muscle groups, joints, and muscle states. These subroutines can be customized, modified to the individual needs, can be extended, rearranged, and to some extent randomly linked together.

For example a subroutine can be as : HF202805, VU302400, HB204020 and VD286050, - Where the first two letters indicates the direction of the motion [HF: horizontal-forward; VU: vertical-up; HB: horizontal, backward; VD: vertical-down]. - The first two digits indicates the (tt) time/second , the second three digits (ddd) distance [mm], the third two (nn) is the force [N] , in general AB(ttdddnn). The treatment head number is not included in this programming function as one subroutine runs normally with one treatment head.

The subroutines can be assembled in many way to achieve different kind of body treatment, for example

- To massage muscle groups (for example, back, shoulders, waist, buttocks, thigh, leg or the whole body.)

- The massage nature (eg., relaxing, refreshing, medical, sports, etc.)

- The intensity of the massage (eg, light, medium, intense, but the range can divided to finer scale.)

- Different treatment heads as required during the complete therapy.

- The order and time of the massaging operations. The movement of the treatment heads 60 or the entire treatment can be synchronized with pre-selected music and the program can run with it. In this case, a computer subprogram analyzes the music pace, rhythm and automatically generate the necessary parameters for the treatment head control program. The music can be selected from a list, but there is possibility for online internet mode for example when group of machines run in different locations under one management.

Once the patient selected the desired program on the control panel, tablet, remote control or smartphone, lays on the treatment table, clicks to start and the device starts to execute the program.

Although in principle the treatment head can run continuously on the entire length of the body from (foot to neck) the usual method as conventionally is to perform certain regions of the body massage separately. Accordingly, the motor 11 on the lower longitudinal moving unit 4 sets the column 13 in a position so the support frame 14 located above the body region as required by the current program. Then, transverse drive assembly 15 and the top local longitudinal drive assembly 16 is set above the respective body region. Now the vertical drive assembly 7 is reached the operating position.

Once set, the actual treatment, in this case, the massage begins. To do this, the vertical drive assembly 17 with the motor unit 38 pull down the treatment head 60 to body so that the surface pressure applied to the body surface reaches the preset value. This control system continuously receives and checks this value from the motor 38 torque exerted and the signal from the pressure sensor 82 arranged on the vertical support holder bar 39 (figure 5). The treatment elements 63 on the treatment head 60 is continually in contact with the body surface provided with tensed springs 73 attached to holding arms 62.

After reaching the initial position the top local longitudinal driving assembly 16 with its motor 32 will guide through with the coupled carriage 29 the treatment head 60 on the treated body surface with the required dynamically applied force. As the body curvature varies, the treatment head 60 is continuously changing its height driven by the vertical driving assembly 17 according to the changing pressure signals.

If the width of the body region to be treated is wider than the treatment head 60, at the end of the longitudinal movement the transverse driving assembly 15 shifts crosswise the treatment head 60. This may happen at the end of each longitudinal movement so that the treatment head 60 continuously describes a rectangular path, or shifts crosswise the treatment head 60 with its width after each longitudinal movement or by other algorithm which can cover the treated body parts in optimized way. I

The treatment head 60 can be set anywhere over the treatment table 1 with the movement of the bottom longitudinal driving assembly 4, the top longitudinal driving assembly 15 and with the transverse driving assembly 16, so each body region can be treated.

Treatment programs can also be made with the vertical driving assembly 17 constantly changing between two values the height of treatment head 60 with low frequencies. Meanwhile the local vertical driving assembly 75 with the movement Y1 moves the lever 74 down, the spring 73 moves the actuator rod 65 upward, which causes the arms 62 to move in swinging way, thereby simulating the hand fingers kneading massaging movements. Controlling the motor speed of the on local vertical driving assembly 75 from slow kneading to slow vibration achievable.

Combining X, Y1 , Y2, Z motions by operating the three driving assemblies 15, 16, 17 simultaneously, in one sub-program opens up many more way to stimulate muscles, muscle groups. Also the treatment head 60 can be rotated around constantly with motor 46 while the movements on arms 62 can be controlled for better treatment.

When a treatment with one treatment head is complete, the transverse driving subassembly 15 and local longitudinal driving subassembly 16 moves the treatment head to one U-shaped notch 78 of the treatment head repository 76, and then the transverse driving subassembly 15 horizontally places above the notch 78, finally the vertical driving subassembly 17 lowers it for the treatment head repository 76.

Meanwhile, the motor 46 will rotate the rotary disk 44 until guiding slot 81 will positioned above the guiding knobble 80.

When the guiding knobble 80 is placed in the guiding slot 81 , locks the adapter 49 against rotation, also pushes up the sleeve 57, which takes out the key 58 from key slot 56 of the adapter 49. Thus, the rotary disc 44 and with it the wall 48 may be rotated relative to the adapter 49. Then the motor 46 rotates the rotary disc 44 by 60 °, so the balls nest 53 swings out with the balls 54 from the conical surface portion 52 to the smaller diameter part of the cylinder surface 50. Thereby eliminating axial locking between the adapter 49 and the wall 48 also, and the vertical driving assembly 17 can raise the rotary disc 44 from the adapter 49, which remains in treatment head repository 76.

The local longitudinal driving subassembly 16 then moves the rotary disc 44 over the next treatment head and executes the previous operation cycle in reverse to pick the treatment head up.

The presented physiotherapy unit can be made in countless versions. Some of these effects the way the treatment works, the level, the quality, the services of treatment while others only differ in structural design.

The actual surface pressure on the body surface generated by treatment head 60 is monitored by the control system with two different information one based on exerted torque from the motor 38 and the other from the pressure sensor 82 arranged on the vertical holder 39. Expedient to further increase the physical safety of the treated person. Therefore the vertical support rods 39 within the vertical driving assembly 17 can be designed with telescopic force limiter instead of a single rods. If the control system does not detect an over pressure on body surface despite the two signals, the telescopic rods are collapsing when the preset force value is reached, so the surface pressure cannot increase further.

Additionally, the surface pressure can be maximized with torque limiter clutch inserted between the motor 38 in vertical drive assembly 17 and gear box 37. For further safety torque limiter clutch should be inserted between all the motors and gear boxes.

Not only for physical safety but also emotionally desirable if the control system is designed in a way that the event of a power failure at least the vertical driving assembly 17 or even the whole device automatically retreats to start position. This design does not require complex changes. First, the control program must include such subroutine program, secondly a battery should supply adequate power in case of electrical power failure. Additionally or alternatively return springs can be placed on each carriage. With different treatment heads the provided, optional services can be widely enriched. Certainly wide range of treatment heads can be constructed therefore the following description provides only some clues for the conceptual designs.

(To put forward for technical reason the aspect ratio at the attached drawings about the treatment heads are different - the simpler ones are scaled down further.

Although such difference has no significance in this instance. The difference can be clearly observed from the fact that the individual treatment heads fit to the same adapter 49 - as described earlier - so their diameter are the same in each case, regardless of the different scale.)

Figure 8 - 9 shows such a treatment head 83, wherein the performing treatment elements 63 in this instance three pairs of rollers placed on two parallel shaft 84 with bearings. One end of the two arms 62 fixed to shaft 84 the other end of the arms 62 of the supporting elements 85 of the treatment head 83 with bearings. Connection point is formed at the middle of the arms 62 and spring 86 pairs are attached which are pull the 62 arms together. The treatment heads 83 attached to the bottom of the adapter 49 with support element 85.

During the treatment - as earlier described - the local driving assembly 16 moves the treatment head 83 over the treated parts. The vertical driving assembly 17 continuously changing the vertical position of the treatment head 83 according to the signal from pressure sensor which relates to the varying body surface. The steady and continues contact of the treatment elements 63 with the body surface ensured with the springs 86 on the holding arms 62.

This treatment head 83 may be designed similarly to the former treatment head 60 except the springs 86 are replaced on arms 62 with the arms 64.

A very simple design of a treatment head is shown schematically in the Figure 10 - 11. The treatment head 87 includes two downwardly extending arms 62 which are fixed rigidly to the support element 88 on treatment head 87. The two arms 62 hold horizontally arranged shaft 84 with more treatment elements 63.

All treatment elements 63 in previous versions may have different roller diameter. The diameter of the rollers may be chosen to better match the body surface. Treatment head 83, 87 can be rotated by 90 degrees with motor 46 so one treatment can be arranged also across the body with the transverse driving unit 15.

Treatment head 83 and 87 may be designed with interchangeable rollers 63 thus the client can choose and assemble himself/herself treatment elements rollers with different surface structures, materials or diameters.

Treatment head 60 can have simpler design as shown in Figure 12 -13, in the treatment head 89 the arms 62 are arranged in equal spacing similarly to the edges in pyramid. One end of the arms 62 are journalled in the supporting elements 90. In this design the treatment head 89 includes three 62 lever arm 62 but more than three arms can also be used.

At the other end of the arms 62 on axles pair 91 are pair of treatment element 63 is journalled. The treatment element 63 are rollers preferably with same diameter. The shafts 91 are located tangentially in relation to the axis of the vertical driving assembly 17. There are attaching points at the middle of arm 62, which in pairs are connected with springs 92. The springs 92 pull the arms 62 toward each other - - in other words, towards the middle of the treatment head 89.

Further schematic diagram of treatment head 93 is shown in Figure 14. The treatment element 94 of treatment head 93 is a bell-shaped part, at the upper part of which is a ring-shaped slider 95 is guided. Four hinged arms 62 is suspended in equal division at the bottom on slider 95 (of course, three or more than four arms 62 could be used as well). Lower end of the arms 62 - similarly as previously, arranged with tangential axis relative to the vertical driving subassembly 17 - is shaft 91 attached on which the treatment element 63 assembled with a pair of roller bearings.

At the middle of the arms 62 is joining point formed to which a connecting rods 96 is connected. The other end of the connecting rods 96 are connected to each other at a common point and with spring 97. The spring 97 extends through the ring like slide 95, and the other end is connected to the top of the bell-shaped support element 94. The spring 97 pulls up the common point of the connecting rod 96, which geometry is designed to push radially outward the arms 62, so that its edges are located in equilateral pyramid. At the same time the slider 95 is pushed down from above by spring 98. Due to the combined effect of the spring 97 and the spring 98, the arms 62 constantly bear on the inside bottom edge of the bell-shaped support element 94. If the vertical driving subassembly 17 push the treatment head 93 to the body surface, arms 62 slide up inside the bell-shaped support element 94. Due to the mechanical constrains at upward movement the apex angle in pyramid formed by arms 62 is decreasing. In other words the lower end of the arms 62 have inward cohesive motion.

Designed for special acupressure the treatment head 99 as shown in Figure 15 - 16. In the support element 100 of the treatment head 99 are drilled radially diverging holes 101. In the holes 101 are thin flexible floppy arms 103 fixed with screws 102. At the lower end of the arms 103 are the treatment elements 104. The treating elements may be small rollers 104 as shown in Figure 11 or flexible balls mimicking human fingers. The use of acupressure treatment head 99 is the same as the similar hand tool. The muscle stimulation performed similarly to of human fingers with the treatment head 99.

Moreover the arms 62 of the above treatment head 83, 87, 89 or 60 can be made of appropriately flexible material.

Treatment head 105 shown in Figure 17-18 is designed for supplementary massage function. At the bottom of support element 106 of the treatment head 105 a dispensing container 107 is formed. At the bottom of the container 107 are ring- shaped nests in which body lotion applicator elements 109 are embedded. The body lotion applicator elements 109 are balls, which the lower half surface stands out below the upper half surface above the bottom plane of the container 108. The dispensing container 107 is filled with gel lotion 111 through filling valve 1 0. It's clearly visible without more detailed description that the treatment head 105 essentially works like a ball-ended body deodorant.

The treatment head 105 may be used in more practical way with few minor modifications. Thus, in order that the applicator elements 109 better follows the body surface, it is preferable to use ball-joint to attach the dispensing container 107 to the support element 106 or to use flexible material for the bottom of the container 108. The optimum size and number of balls should be also evaluated.

In addition to the actual massaging treatment tools the physiotherapy can be improved with other non-mechanical tools as well. Such devices can operate in the bases of infrared spectrum of light or suitable laser light to heat muscles and muscle groups. These accessories can be built into standalone or combined with other treatment head. The heat treatment improves blood circulation at 45-55°C temperature, reduces muscle tension, reduce pain, easing joint pain at 65-75°C temperature and increase fat breakdown. The heat, infrared and light treatment can help on muscle injuries, sport injuries, can reduce joint pain in stiff neck, shoulders, knee and wrist. Promote healing with aching back, waist connective tissue and rheumatic pain.

The physiotherapy experience will be greatly affected by the uniformity and fine control of pressure throughout the treatment. This can be achieved by measuring dynamically with high resolution the body surface and processed with the control system. The high quality signals from the body surface for the driving control system can be composed in several ways. It is possible to use the available pressure sensor 82 and/or the signal derived from the stepper motor 38 of the vertical driving assembly 17. Also more accurate and able to cover bigger body surface area (not just the actual positions of the treatment head) are based on the digital 3D imaging technology. This technic can precisely map the muscle or muscle group size and position.

Additionally with photoacustic and/or echoscopy sensors the control system is able to analyze certain skin, joint and muscle condition by comparing input image signals with its database. This accessory can be built into and work as separate treatment head.

Dynamic 3D digital image can be created from the body surface, for example using the MT-9M001 Aptina CMOS IR (infrared) camera with laser 1 ,830 nm IR tilt motor, accelerometer and microphone. The device can measure distance with high accuracy (± 0.5mm) by the known principles of 'structured light'. There are other compact size medical 3D imaging devices capable to map the body surface ahead of the moving treatment head with high precision (± 0.5 mm). One device works on the triangulation principle for distance measurement, - emitting laser not vertically to the target surface and detecting the reflected laser light (triangle formation) with CCD matrix sensor on different pixels, depending on the distance of the target area. The provided software can produce dynamic high resolution three-dimensional surface map 20-30 times/frames per second. The continuous surface mapping/ movement detection allows the device to work safely when the client unexpectedly moves (for example, when fall asleep and would move suddenly during sleep). The movement control system software evaluates the received 3D image data and data from the pressure / force sensors to drive the stepper motors of the treatment head accordingly. The 3D image camera(s) and distance measurement sensors occupies small space, it can be attached to the vertical driving assembly 17.

As described above in details this physiotherapy device according to the invention is very versatile it can provide physiotherapy treatment to the entire rear surface of the human body, and full front surface automatically in such a way that the treated person can fully relax, do not have to stiffen his/her muscles against the applying force. The new automatic device suitable to perform motion controlled with 3-5 dimension/parameters. Can provide treatment for different muscle groups, such as shoulder, back, waist, buttocks, legs, etc.

The important part of the device is the treatment head which can reach various part of the body. The treatment head performs the vertical or "Y" coordinate movement. This sub-unit is connected to the longitudinal ("X" coordinate) horizontal driving component. The two parts provides the movement in two degrees of freedom for the treatment head. If necessary, a third sub-unit can provide the movement in "Z" direction. The driving components are preferably designed with stepper motors, ball- screws to deliver high precision and rapid response control system.

In case of 4^th dimensional control the Y (vertical) motion is divided with additional driving component to provide finer movement and pressure control for treatment head like 60. Then the Y (vertical) directional movement is divided to two

components Y1 and Y2, for example with two stepper-motor ball-screw mechanism. This will ensure that the downward movement Y1 will apply controlled pressure on the muscle, while the other independent motion Y2 moves the arms of the treatment head with the treatment elements along the treated surface like human fingers.

Variety of different treatment can be done by using different treatment heads.

The extra 5^th dimension could mean the important time (t) dimension during the treatment, for example moving the treatment head synchronized with pre-selected rhythm or music. The treatment head can be pulled aside from above the treatment table, so the client can easily take place to prepare for the treatment.

The treatment can be assembled with different operations, in which the client can choose the different muscle groups, the type, intensity and length of the treatment. One therapy program can be performed with different treatment heads in one treatment program.

Operating the device is simple and safe. The user can select the desired program from a menu program list on his/her tablet, smart phone or on the device control panel or via remote control, before or after lying down on the treating table. Device with proper hardware/software features can process voice commands as well so the client can give, interrupt and modify running programs via voice. Naturally the highest priority processes running on background on the computer responsible for safe operation can cancel any hazardous instructions.

The computer checks, calculates the relative position of the treatment head against the body surface with signal values received from the 3D image/map processor (20- 30 frames/sec) and from the stepper motors. Continuously checks the exerted force value on the body from pressure sensors as well.

The device can have its own simple high level program language including key instructions, type of therapies, sub-therapies, sub-routines, so the user can create, select, combine, modify, update and save his/her own therapy program on the device, tablet, smartphone or on the cloud, etc for later usage.

The device has special mechanism for additional safety such as torque, force limiters and clutches inserted between motors and gear boxes. The telescopic rods

(connected to treatment head) are collapsing when the preset force value is reached, so the surface pressure cannot increase further. At the event of a power failure at least the vertical driving assembly or even the whole device automatically retreats to start position. The device can also be supplemented with features that can improve the effectiveness of the treatment (heating muscle group, analyzing the status of skin, joint, muscle, control the operation from remote location, change the running program through the Internet by an expert based on the received data and diagnosis.

Claims

C l a i m s

1. The physiotherapy apparatus for treatment, scan and status analysis of

different parts of human body comprising: a horizontal support surface supporting the entire human body;

a treatment unit which has at least one treatment head with treatment elements which able to touch the human skin; the treatment unit having at least one longitudinal driving subassembly having at least one transverse subassembly and having at least one vertical driving subassembly to position the said treatment head; the said treatment unit equipped with number of different said treatment heads (60; 83; 87; 93; 99; 105); the required treatment heads (60; 83; 87; 93; 99; 105) for at least one treatment program are stored on the said treatment unit in specially designed treatment head repository (76); the required treatment head (60; 83; 87; 93; 99; 105) mounted on the vertical driving subassembly (17) with unified locking-unlocking mechanism (18); the locking- unlocking mechanism (18) based on axial movement and rotation of connecting parts and blocking elements.

2. A physiotherapy device as recited in claim 1 , wherein a said treatment head ( 05) comprises a container (107) with a spreadable composition for personal care, with at least one product applicator element ( 09) at the bottom.

3. A physiotherapy device as recited in claim 1 or 2, wherein said the product applicator element (109) of the said treatment head (105) has embedded at least one freely turning ball in such a way that one part of the ball(s) is stays inside the container (107) the other part outside.

4. A physiotherapy device as recited in claim 1 , wherein said the treatment head having infrared or laser light source accessories to warm muscles, the infrared or laser light source working as a separate said treatment head and / or integrated into other said treatment head.

5. A physiotherapy device as recited in claim 1 , wherein said the treatment unit having a digital camera, photoacoustic and/or echoscopy accessories to precisely locating at least one part of the human body and/or to scan and analyze the state of the body parts like, skin, joint, muscle, muscle group; the accessories work as a separate said treatment head and / or integrated into other said treatment head.

6. A physiotherapy device as recited in claim 1 , wherein said the treatment head (60; 83; 87; 93; 99) performing the treatment are equipped with sensors to continuously and dynamically measure and map body surface under and ahead of the treatment head (60; 83; 87; 93; 99) connected with the control system which governs the movement of the treatment head.