WO2021072751A1 - Procédé de commande de la force de frappe d'un pistolet de thérapie pulsée - Google Patents

Procédé de commande de la force de frappe d'un pistolet de thérapie pulsée Download PDF

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Publication number
WO2021072751A1
WO2021072751A1 PCT/CN2019/111973 CN2019111973W WO2021072751A1 WO 2021072751 A1 WO2021072751 A1 WO 2021072751A1 CN 2019111973 W CN2019111973 W CN 2019111973W WO 2021072751 A1 WO2021072751 A1 WO 2021072751A1
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WO
WIPO (PCT)
Prior art keywords
microcontroller
force
gun
standard value
treatment
Prior art date
Application number
PCT/CN2019/111973
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English (en)
Chinese (zh)
Inventor
张新民
李洪涛
申彦魁
Original Assignee
郑州飞龙医疗设备有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 郑州飞龙医疗设备有限公司 filed Critical 郑州飞龙医疗设备有限公司
Priority to PCT/CN2019/111973 priority Critical patent/WO2021072751A1/fr
Priority to CN201980022840.9A priority patent/CN111918629B/zh
Publication of WO2021072751A1 publication Critical patent/WO2021072751A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/006—Percussion or tapping massage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

Definitions

  • the invention relates to a pulse therapy gun, in particular to a method for controlling the striking force of the pulse therapy gun.
  • the pulse therapy gun is a device that treats the affected area through the percussion of the gun tip. Due to external factors such as internal friction of the gun body and its own accuracy, the actual output of the gun tip often deviates from the theoretical output. This deviation is non-linear.
  • the traditional control method is that during the treatment process, the actual output hitting strength is collected and displayed by the force sensor at the back end of the treatment gun head, and the theoretical force value is slowly adjusted so that the actual output hitting strength is slowly changed until it is needed. Due to the need to constantly adjust the treatment intensity during the treatment process, this control method is inconvenient to operate and slow in the adjustment speed, which affects the treatment efficiency.
  • the purpose of the present invention is to address the shortcomings of the prior art, thereby providing a method for controlling the striking force of a pulse therapy gun that is simple to operate, fast in adjustment rate, high in treatment efficiency, and time-saving and labor-saving.
  • the technical solution adopted by the present invention is: a method for controlling the striking force of a pulse therapy gun, which is characterized in that it comprises the following steps:
  • the force sensor at the back end of the treatment gun head collects the hitting force of the gun head, and transmits the hitting force back to the microcontroller;
  • the microcontroller compares the hitting strength with the corresponding standard value, and the microcontroller judges whether each standard value is inaccurate according to the comparison data and whether it needs to be recalibrated.
  • step a) includes the following sub-steps:
  • the force sensor at the back end of the treatment gun head collects the actual hitting force of the gun head, and uses the actual hitting force as the standard value;
  • step d) includes the following sub-steps:
  • the microcontroller compares the hitting strength with the corresponding standard value. If the error is within the set range, it is judged as accurate, and if the error exceeds the set range, it is judged as inaccurate;
  • the setting range in step d1) is 2N.
  • the set ratio in step d2) is 90%.
  • the present invention has outstanding substantive features and significant progress. Specifically, the present invention has been pre-calibrated for the first time, and the actual output of the treatment gun tip is set as a standard value in advance and marked on the host computer. , So that in the treatment process, when you need to output a certain treatment intensity, you can directly click on the corresponding standard value on the host computer, and the gun tip of the treatment gun can output the treatment intensity, eliminating the need for slow adjustment, checking, and comparison. Steps, thereby greatly improving the adjustment rate and treatment efficiency; due to the wear and tear of the machine during use, the actual output hitting strength may continue to change.
  • the force sensor at the end will continuously collect the hitting force and feed it back to the microcontroller.
  • the microcontroller will detect the misalignment in time by comparing the hitting force with the standard value and remind the operator to recalibrate; it has easy operation and speed adjustment The advantages of fast, high treatment efficiency, time-saving and labor-saving.
  • the microcontroller can make a more accurate judgment on whether it is necessary to recalibrate.
  • Fig. 1 is a flow chart of the steps of the method for controlling the striking force of the pulse therapy gun in the present invention.
  • Fig. 2 is a circuit diagram of the power supply in the treatment gun control circuit embodying the present invention.
  • Fig. 3 is a diagram of the main control circuit in the treatment gun control circuit implementing the present invention.
  • Fig. 4 is a communication circuit diagram in the treatment gun control circuit embodying the present invention.
  • Fig. 5 is a sampling circuit diagram in the treatment gun control circuit implementing the present invention.
  • Fig. 6 is a circuit diagram of the coil driving circuit in the treatment gun control circuit embodying the present invention.
  • Fig. 7 is a display circuit diagram in the treatment gun control circuit embodying the present invention.
  • a method for controlling the striking force of a pulse therapy gun is characterized in that it comprises the following steps:
  • the force sensor at the back end of the treatment gun head collects the hitting force of the gun head, and transmits the hitting force back to the microcontroller;
  • the microcontroller compares the hitting strength with the corresponding standard value. If the error is within 2N, it is judged as accurate, and if the error exceeds 2N, it is judged as inaccurate;
  • the initial calibration includes the following sub-steps:
  • the force sensor at the back end of the treatment gun head collects the actual hitting force of the gun head, and uses the actual hitting force as the standard value;
  • This control method is specifically aimed at the control of force in the follow-up percussion treatment process, does not involve pre-diagnosis, is essentially a force control method, and does not itself belong to a treatment method.
  • the treatment gun control circuit used in this embodiment includes a power supply circuit, which converts the external 48V power supply into the power required by the internal parts, which are 15V, 5V, and 3.3V respectively;
  • the main control circuit is used for signal acquisition, parameter setting, data display control and data exchange with the host computer, such as setting frequency, number of hits, hitting strength, control display, etc.;
  • the force sensor and the sampling circuit are combined for the collection of feedback force data and sent to the main control circuit as the basic data for determining whether to trigger the work;
  • the coil drive circuit controls the on-off of the NMOS through the PWM signal sent by the MCU, drives the coil to work to generate a magnetic field, and controls the working state of the treatment gun tip;
  • the display circuit is used to display various parameters and force data, mainly to display the two sets of data of applied force and feedback force.
  • the power supply circuit includes a monolithic step-down switch mode converter U1, a voltage regulator U5, a voltage converter U2, a fuse F1, a diode D6 and D1, a capacitor C1, a capacitor C2, and a capacitor.
  • This circuit is mainly used to step down the 48V power supply to 15V, 5V and 3.3V for power supply to subsequent components.
  • the main control circuit includes a microcontroller U3, a capacitor C12, a capacitor C18, a capacitor C16, a capacitor C25, a capacitor C21, a capacitor C20, a capacitor C19, a capacitor Y1, a resistor R33, R36, and R32.
  • the VDD_3 interface of the microcontroller U3 is connected to one end of the capacitor C18, the other end of the capacitor C18 is grounded, the BOOT0 interface of the microcontroller U3 is connected to the resistor R33 in series and then grounded, the VDD_2 interface of the microcontroller U3 is connected to one end of the capacitor C19, and the other end of the capacitor C19 One end is connected to the VSS_2 interface of the microcontroller U3 and then grounded.
  • the VDD_1 interface of the microcontroller U3 is connected to one end of the capacitor C20, and the other end of the capacitor C20 is grounded.
  • the PA5 and PA6 of the microcontroller U3 are connected through a resistor R36.
  • the VDDA interface of U3 is connected to one end of the capacitor C21, and the other end of the capacitor C21 is grounded.
  • the PD1 interface of the microcontroller U3 is connected to one end of the capacitor C16 and one end of the capacitor Y1.
  • the other end of the capacitor C16 and the other end of the capacitor Y1 are respectively connected to the capacitor Two ends of C12, the other end of capacitor Y1 is also connected to the PD0 interface of microcontroller U3, the other end of capacitor C16 is grounded,
  • the VBAT interface of microcontroller U3 is connected to one end of resistor R32 and one end of capacitor C25, and the other end of capacitor C25 After connecting the capacitor C17 in series, connect the other end of the resistor R32, the other end of the resistor R32 is also connected to the NRST end of the microcontroller U3, the other end of the capacitor C25 is grounded, and the microcontroller U3 is powered by the 3.3V output end of the power supply circuit.
  • This part of the circuit is mainly used to connect various other circuits, communicate with the host computer through the communication circuit, obtain the data of the feedback force through the acquisition circuit, and realize the real-time display of the data through the connection of the display circuit.
  • the communication circuit includes a low-power transceiver U4, a capacitor C24, a resistor R20, a resistor R21, a resistor R22, a resistor R24, a resistor R25, a resistor R40, a fuse F3, a fuse F4, a diode D2, and Diode D3,
  • the R end of the low-power transceiver U4 is connected to the PA3 interface of the microcontroller U3 through the RS485 interface and the resistor R20, and the RE interface and the DE interface of the low-power transceiver U4 are connected to the micro-controller through the RS485 interface and the resistor R21
  • the PB9 interface of the low-power transceiver U3, the D end of the low-power transceiver U4 is connected to the PA2 interface of the microcontroller U3 through the RS485 interface and the resistor R22, and the Vcc interface of the low-power transceiver U4 is connected to the 5V output
  • the A terminal of the low-power transceiver U4 is connected to the cathode of the diode D3, the anode of the diode D3 is grounded, and the B terminal of the low-power transceiver U4 Connect the cathode of the diode D2 and the anode of the diode D2 to ground.
  • the A terminal of the low-power transceiver U4 is connected in series with the fuse F3 and the resistor R24, and then connected to the 5V output terminal of the power circuit.
  • the B terminal of the low-power transceiver U4 is connected in series. Connect the fuse F4 and the resistance R25 to the ground, and connect the resistance R40 between the fuse F3 and the fuse F4.
  • This part of the circuit is mainly used for communication between MCU and host computer, and with the help of RS485 performance, low power consumption communication is realized.
  • the sampling circuit includes an operational amplifier U7, a capacitor C13, a capacitor C11, a capacitor C15, a capacitor C23, a capacitor C14, a capacitor C29, a resistor R19, a resistor R23, a resistor R28, a resistor R29, a resistor R26, and a resistor R27.
  • the IN1+ end of the operational amplifier U7 is connected to one end of resistors R19 and R29, the other end of resistor R19 is grounded, the other end of resistor R29 is connected to the ground after connecting capacitor C11, and the other end of resistor R29 is connected to input 3 of force sensor P2 ,
  • the IN1- end of the operational amplifier U7 is connected to one end of the resistor R23 and the resistor R28 respectively, the other end of the resistor R23 is connected to the OUT1 end and the IN2+ end of the operational amplifier U7, the other end of the resistor R28 is connected to the capacitor C23 in series and then grounded, the other end of the resistor R28 One end is connected to the input terminal 1 of the force sensor P2.
  • the force sensor is powered by the 15V output terminal of the power circuit.
  • the VCC terminal of the operational amplifier U7 is connected to the 15V output terminal of the power circuit and grounded through the capacitor C13.
  • the IN2- terminal of the operational amplifier U7 is connected to the resistor respectively One end of R26 and resistor R27, the other end of resistor R26 is connected to one end of resistor R37, the other end of resistor R37 is grounded through capacitors C14 and C19 connected in parallel, the other end of resistor R27 is grounded, and the other end of resistor R37 is also connected to a microcontroller
  • This part of the circuit is the core circuit of the feedback force acquisition, which is used to convert the force signal collected by the force sensor through the conversion of the sampling circuit and send it to the main control circuit for its analysis and processing.
  • the coil drive circuit includes a capacitor CX1, a MOS tube Q5, a diode D4, a diode D5, an inductor L2, a resistor R35, a resistor R34, a resistor R30, and a photocoupler U6.
  • the input of the photocoupler U6 is connected to the micro
  • the PA6 port of the controller U3 and the output of the photocoupler U6 are respectively connected to one end of the resistor R34 and the resistor R30.
  • the other end of the resistor R34 is connected to the negative electrode of the diode D4 and one end of the inductor L2 and the power supply circuit.
  • the anode of the diode D4 and the inductor L2 Connect the other end to the D end of the MOS transistor Q5 and one end of the capacitor CX1. Connect the S end of the MOS transistor Q5 to the other end of the capacitor CX1 and then connect one end of the resistor R31 and the anode of the diode D5, and the diode D5
  • the negative electrode and the other end of the resistor R31 are connected to the other end of the resistor R30, and one end of the resistor R31 is grounded.
  • This part of the circuit mainly executes the instructions issued by the main control circuit, which is used to control the power part of the treatment gun, including the working frequency, strength and number of hits.
  • FIG 7 it is the circuit schematic diagram of the display circuit. Through the connection with the main control circuit, the required data is displayed, thereby realizing the real-time inspection function on the spot, especially the comparison of the applied force and the feedback force. Show work.
  • the main control circuit obtains data through communication with the host computer, and analyzes the data; when force is applied to the force sensor, the MCU uses the sampling circuit to determine whether the feedback force triggers the work and the trigger work. Parameters, and display the magnitude of the force on the digital tube.
  • the host computer When working, the host computer sends data to the MCU. After data analysis, the MCU obtains the operating frequency, the number of hits, and the strength of the hit, and sends out a PWM signal to drive the coil drive circuit to work, and the coil generates a magnetic field to drive the internal mechanical work to produce a therapeutic effect.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un procédé de commande de la force de frappe d'un pistolet de thérapie pulsée, qui est caractérisé en ce qu'il comprend les étapes suivantes : lors de l'étalonnage initial, la force de frappe d'une première sortie effective d'une extrémité de pistolet de thérapie est qualifiée de valeur standard sur un ordinateur supérieur, de sorte que, lorsque la valeur standard est entrée dans l'ordinateur supérieur, l'extrémité du pistolet de thérapie pulsée délivre une force de frappe correspondante ; pendant une thérapie ultérieure, la valeur standard est d'abord entrée dans un microcontrôleur à l'aide de l'ordinateur supérieur, puis le microcontrôleur amène l'extrémité du pistolet de thérapie à exécuter une frappe ; un capteur de force au niveau de l'extrémité arrière de l'extrémité du pistolet de thérapie recueille la force de frappe de l'extrémité du pistolet et retransmet celle-ci au microcontrôleur ; et le microcontrôleur compare la force de frappe à des valeurs standard correspondantes et, en fonction des données de comparaison, le microcontrôleur détermine si chaque valeur standard est correcte et si un réétalonnage est nécessaire. Ce procédé de commande de la force de frappe d'un pistolet de thérapie pulsée a pour avantages d'être simple et pratique à utiliser, de présenter une vitesse de réglage rapide, une grande efficacité de traitement et de permettre des économies à la fois de temps et d'énergie.
PCT/CN2019/111973 2019-10-18 2019-10-18 Procédé de commande de la force de frappe d'un pistolet de thérapie pulsée WO2021072751A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/111973 WO2021072751A1 (fr) 2019-10-18 2019-10-18 Procédé de commande de la force de frappe d'un pistolet de thérapie pulsée
CN201980022840.9A CN111918629B (zh) 2019-10-18 2019-10-18 一种脉冲治疗枪击打力度的控制方法

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Application Number Priority Date Filing Date Title
PCT/CN2019/111973 WO2021072751A1 (fr) 2019-10-18 2019-10-18 Procédé de commande de la force de frappe d'un pistolet de thérapie pulsée

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Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6539328B1 (en) * 1999-04-30 2003-03-25 Sigma Instruments, Inc. Device and process for measurement and treatment of spinal mobility
CN2664651Y (zh) * 2003-10-24 2004-12-22 胡柱根 一种按摩椅／垫的电机电枢电压负反馈式控制装置
US20090043231A1 (en) * 2007-08-08 2009-02-12 Muthu Murugan Electromagnetic device, method and apparatus for selective application to vertebrates
CN101442943A (zh) * 2004-11-08 2009-05-27 莫里斯·皮肖塔诺 包括存储治疗方案的治疗装置及相关方法
CN103431985A (zh) * 2013-09-07 2013-12-11 刘庆 一种智能按摩装置
CN107019627A (zh) * 2016-07-05 2017-08-08 安徽瑞德医疗设备制造有限公司 脊柱脉冲治疗仪及其使用方法
CN107561875A (zh) * 2017-09-06 2018-01-09 上海华力微电子有限公司 一种套刻误差量测和问题评估的方法
CN108670782A (zh) * 2018-05-04 2018-10-19 郑州飞龙医疗设备有限公司 一种脉冲智能治疗枪
CN109009978A (zh) * 2018-09-17 2018-12-18 郑州飞龙医疗设备有限公司 一种关节软组织疼痛的诊断治疗装置
US10314762B1 (en) * 2018-11-12 2019-06-11 Hyper Ice, Inc. Battery-powered percussive massage device with pressure sensor
CN109998896A (zh) * 2019-04-28 2019-07-12 郑州飞龙医疗设备有限公司 脊柱治疗枪的控制电路
CN110141486A (zh) * 2019-06-21 2019-08-20 东方嘉南（北京）科技有限公司 一种改进的电磁式脉冲波治疗仪

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6539328B1 (en) * 1999-04-30 2003-03-25 Sigma Instruments, Inc. Device and process for measurement and treatment of spinal mobility
CN2664651Y (zh) * 2003-10-24 2004-12-22 胡柱根 一种按摩椅／垫的电机电枢电压负反馈式控制装置
CN101442943A (zh) * 2004-11-08 2009-05-27 莫里斯·皮肖塔诺 包括存储治疗方案的治疗装置及相关方法
US20090043231A1 (en) * 2007-08-08 2009-02-12 Muthu Murugan Electromagnetic device, method and apparatus for selective application to vertebrates
CN103431985A (zh) * 2013-09-07 2013-12-11 刘庆 一种智能按摩装置
CN107019627A (zh) * 2016-07-05 2017-08-08 安徽瑞德医疗设备制造有限公司 脊柱脉冲治疗仪及其使用方法
CN107561875A (zh) * 2017-09-06 2018-01-09 上海华力微电子有限公司 一种套刻误差量测和问题评估的方法
CN108670782A (zh) * 2018-05-04 2018-10-19 郑州飞龙医疗设备有限公司 一种脉冲智能治疗枪
CN109009978A (zh) * 2018-09-17 2018-12-18 郑州飞龙医疗设备有限公司 一种关节软组织疼痛的诊断治疗装置
US10314762B1 (en) * 2018-11-12 2019-06-11 Hyper Ice, Inc. Battery-powered percussive massage device with pressure sensor
CN109998896A (zh) * 2019-04-28 2019-07-12 郑州飞龙医疗设备有限公司 脊柱治疗枪的控制电路
CN110141486A (zh) * 2019-06-21 2019-08-20 东方嘉南（北京）科技有限公司 一种改进的电磁式脉冲波治疗仪

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