WO2023010656A1 - 磁疗座椅、用于盆底磁刺激治疗的坐姿检测系统及方法 - Google Patents

磁疗座椅、用于盆底磁刺激治疗的坐姿检测系统及方法 Download PDF

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Publication number
WO2023010656A1
WO2023010656A1 PCT/CN2021/118979 CN2021118979W WO2023010656A1 WO 2023010656 A1 WO2023010656 A1 WO 2023010656A1 CN 2021118979 W CN2021118979 W CN 2021118979W WO 2023010656 A1 WO2023010656 A1 WO 2023010656A1
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Prior art keywords
airbag
sitting posture
air cushion
airbags
inflatable air
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PCT/CN2021/118979
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English (en)
French (fr)
Inventor
仇凯
高飞
王克成
孙陈林
吕现奎
张权
谢宇航
Original Assignee
南京伟思医疗科技股份有限公司
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Priority claimed from CN202110887201.8A external-priority patent/CN113647936B/zh
Priority claimed from CN202110939525.1A external-priority patent/CN113499542A/zh
Application filed by 南京伟思医疗科技股份有限公司 filed Critical 南京伟思医疗科技股份有限公司
Publication of WO2023010656A1 publication Critical patent/WO2023010656A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N2/00—Magnetotherapy
    • A61N2/02—Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets

Definitions

  • the invention relates to the technical field of magnetic stimulation equipment, in particular to a magnetic therapy seat, a sitting posture detection system and method for pelvic floor magnetic stimulation therapy.
  • Pelvic floor dysfunction is mainly a disease caused by the defect and dysfunction of the support tissue of the pelvic floor. Often refers to pelvic organ prolapse, urinary incontinence, urinary frequency, sexual function problems, and chronic pelvic pain. PFD is a common comprehensive disease among adult women. It has become one of the world's top five common chronic diseases that seriously threaten women's health after diabetes, hypertension, depression, and osteoporosis, seriously affecting the quality of life of users. The incidence rate of adult females is about 40%, but due to factors such as stigma and weak awareness of treatment, the rate of seeking medical treatment is less than 1/3. With the intensification of population aging and the full opening of the two-child policy, the incidence rate is showing an upward trend year by year.
  • pelvic floor muscle training a method for treating pelvic floor muscle disorders.
  • pelvic floor electrical stimulation a method for delivering electrical stimulation to the body.
  • pelvic floor magnetic stimulation makes up for the shortcomings of slow muscle training and the intrusion of electrical stimulation into the body. It is simple, painless, quick, can protect user privacy, and is more easily accepted by users. All major magnetic stimulation application guidelines point out that a single treatment needs to be performed at the same stimulation position with a preset frequency and intensity based on a threshold, and the preset number of pulses without falling.
  • the pressure sensors of most of the cushion-type sitting posture detection products on the market contain metal parts, such as flexible array pressure sensors, thin-film sensors, etc.
  • the high-intensity changing magnetic field generated by the instrument stimulates the pelvic floor muscles To achieve the therapeutic effect, but because the eddy current effect will cause the metal to produce a thermal effect, the metal parts will reach an unacceptable high temperature in a short time.
  • the present invention proposes a plurality of pressure airbags to form a sitting posture detection air cushion.
  • the sitting posture detection algorithm and hardware system the current sitting posture is displayed in real time, prompting the wrong sitting posture, helping the user to maintain the correct sitting posture throughout the treatment process, and ensuring the stimulation intensity , improve the therapeutic effect.
  • the purpose of the present invention is to provide a magnetic therapy seat, a sitting posture detection system and method for pelvic floor magnetic stimulation treatment, the magnetic therapy seat realizes automatic switching treatment of pelvic floor and sacral nerve, and the sitting posture detection system can quickly identify various sitting postures , and display the current sitting posture in real time, prompting the treatment user to maintain the correct sitting posture, ensuring the stimulation intensity, thereby improving the treatment effect.
  • a combined magnetic therapy chair with dual body position automatic switching including a seat cushion and a chassis, the seat cushion is a seat cushion with a backrest, and the bottom of the seat cushion is connected to Next to the frame body, a magnetic therapy coil device is arranged on the inner side of the bottom of the frame body, and the magnetic therapy coil device is installed on the top of the underframe through a bracket, and a planar four-bar mechanism is respectively installed on both sides of the underframe, each side The top of the planar four-bar mechanism is respectively hinged with the two sides of the frame body, and the first pushing device is installed on the bottom frame, and the end of the push rod of the first pushing device is connected to one side of the planar four-bar mechanism. Hinged, the underframe drives the plane four-bar mechanism to move, thereby driving the seat cushion to turn over.
  • a sitting posture detection system for pelvic floor magnetic stimulation therapy including:
  • An inflatable air cushion is composed of spaced airbags, including a main positioning airbag located in the middle and auxiliary positioning airbags arranged symmetrically around the main positioning airbag;
  • a controller controls the pressure values of the airbags of each subsection of the inflatable air cushion in real time, and prompts the user to adjust the sitting posture position according to whether the sitting posture indicating point is within the corresponding sitting posture threshold;
  • the controller includes a single-chip microcomputer, a pressure sensor connected to the single-chip microcomputer, and an inflation and deflation module, and the pressure sensor and the inflation and deflation module are connected to each sub-airbag through an air guide tube.
  • a sitting posture detection method for pelvic floor magnetic stimulation therapy including the following steps,
  • the beneficial effects of the present invention include:
  • the magnetic therapy seat treats the pelvic floor of the user in a normal state, and can realize automatic switching through the plane four-bar mechanism at the bottom of the frame body, which facilitates the treatment of the sacral nerve of the user and makes the treatment plan more diverse.
  • the seat cushion changes position for treatment, the whole operation process is easy to operate, which not only reduces the doctor's workload, but also improves the utilization rate of the magnetic therapy seat cushion.
  • the push device is used to drive the movement of the planar four-bar mechanism to realize the flipping of the seat cushion, and the chair flipping angle is guaranteed to be controlled within the range of 30 ⁇ 5 degrees to drive the human body to sit backwards, so that the treatment position of the human sacral nerve falls precisely on the magnetic therapy
  • the coil stimulation center of the coil device performs sacral nerve therapy to the user.
  • the intelligent voltage stabilization algorithm enables the inflatable air cushion to quickly adjust the air pressure of each part of the airbag when it is turned on or when the user is replaced, and maintain the optimal pressure state.
  • Each user can ensure the accuracy of sitting posture detection and better magnetic stimulation intensity when using it; based on percentage distribution
  • the advanced sitting posture detection algorithm and various sitting posture judgment thresholds based on big data clustering can judge whether the user's current sitting posture meets the treatment requirements in real time, and display the current sitting posture in real time on the display module; Adjust the color of the indicator point and the color of the indicator airbag to the correct sitting posture.
  • Fig. 1 is the schematic structural view of the magnetic therapy seat of the embodiment of the present invention when performing pelvic floor treatment
  • Fig. 2 is a structural schematic diagram of another viewing angle of Fig. 1;
  • Fig. 3 is a sectional view of Fig. 1 according to the central axis of the seat cushion
  • Fig. 4 is a structural schematic view of the magnetic therapy chair according to the embodiment of the present invention when treating the sacral nerve;
  • Fig. 5 is a structural schematic diagram of another viewing angle of Fig. 4;
  • Fig. 6 is a sectional view of Fig. 4 according to the central axis of the seat cushion
  • Fig. 7 is a schematic block diagram of a sitting posture detection system according to an embodiment of the present invention.
  • Fig. 8 is an interface diagram of an inflatable air cushion composed of various sub-airbags according to the embodiment of the present invention.
  • Fig. 9 is a schematic diagram of an inflatable air cushion composed of various airbags according to an embodiment of the present invention.
  • Fig. 10 is a working flow chart of sitting posture detection during magnetic stimulation treatment according to an embodiment of the present invention.
  • Fig. 11 is a flowchart of an intelligent voltage stabilization algorithm according to an embodiment of the present invention.
  • Fig. 12 is a flowchart of a sitting posture detection algorithm according to an embodiment of the present invention.
  • a combined magnetic therapy seat with double position automatic switching includes a seat cushion 1 and a chassis 2, the seat cushion 1 is a seat cushion with a backrest, and the two sides of the bottom of the seat cushion 1 are welded and fixedly connected
  • a magnetic therapy coil device 11 is installed on the inner side of the bottom of the frame body 14.
  • the magnetic therapy coil device 11 is installed on the top of the bottom frame 2 through a bracket, and the pelvic floor treatment is performed on the user through the magnetic therapy coil device 11. and sacral nerve therapy.
  • Plane four-bar mechanisms 21 are respectively installed on both sides of the chassis 2, and the tops of each side planar four-bar mechanisms 21 are respectively hinged with both sides of the frame body 14, and the planar four-bar mechanisms 21 drive the frame body 14 and the seat cushion 1 Move to a certain angle.
  • the first pushing device 22 is installed on the chassis 2, the push rod end of the first pushing device 22 is hinged with the side connecting rod of the plane four-bar mechanism 21, and the plane four-bar mechanism 21 is promoted by the first pushing device 22 to move , thereby driving the seat cushion 1 to turn over.
  • the first pushing device 22 can be any one of an electric push rod, an oil cylinder, and an air cylinder.
  • the first push device 22 is provided with one, and the end of the push rod of the first push device 22 is hinged in the middle of the cross bar between the plane four-bar mechanisms 21 on both sides, which is used to push the plane four-bar mechanism 21 to move, thereby driving
  • the seat cushion 1 is turned over so that the user is in a half-lying state on the seat cushion 1.
  • the planar four-bar mechanism 21 is deformed accordingly, so that the position of the user's sacral nerve is accurately located.
  • two first pushing devices 22 can also be used to push the planar four-bar mechanism 21 on both sides to move, so that the seat plate of the seat cushion 1 has a V-shaped structure, and the user's buttocks are held up so that the sacral nerve is located at the bottom. It is convenient for the magnetic therapy coil device 11 directly below to treat the sacral nerve of the user.
  • the pelvic floor of the human body is located at the center of the magnetic therapy coil device 11 for magnetic stimulation therapy on the user's pelvic floor nerves.
  • the connecting rod on one side of the planar four-bar mechanism 21 is a folding rod 24, which is generally set as a folding rod 24 on the connecting rod on the rear side of the seat cushion 1, so that the connecting rod at the front end can be raised higher and the lifting
  • the high seat cushion 1 is convenient to place the user's entire buttocks directly under the magnetic therapy coil device 11 during sacral nerve treatment, that is, it is located at the center of the magnetic therapy coil device 11, thereby achieving a good therapeutic effect.
  • the bottom four ends of the chassis 2 may be provided with feet 23 for stabilizing the entire seat cushion 1 and the supporting force of the planar four-bar mechanism 21 during sacral nerve treatment.
  • a second pusher 12 is installed on one side of the support supporting the magnetic therapy coil device 11, and the end of the seat cushion 1 is rotatably connected with a leg rest 13, and the push rod end of the second pusher 12 is connected to the
  • the leg support 13 is hinged, and is used to support the leg support 13, so that the two legs of the user placed on it are more comfortable.
  • the second pushing device 12 can be any one of an electric push rod, an oil cylinder, and an air cylinder.
  • leg grooves 15 are provided on both sides of the upper surface of the leg support 13.
  • leg grooves 15 are provided on both sides of the upper surface of the leg support 13.
  • the magnetic therapy chair performs pelvic floor treatment on the user under normal conditions, and the automatic switching can be realized through the plane four-bar mechanism 21 at the bottom of the frame body 14, which is convenient for the user to perform sacral nerve treatment and makes the treatment plan more diverse.
  • the whole operation process is easy to operate, which not only reduces the doctor's workload, but also improves the utilization rate of the magnetic therapy seat cushion.
  • the push device is used to drive the movement of the planar four-bar mechanism 21 to realize the flipping of the seat cushion, and the chair flipping angle is guaranteed to be controlled within the range of 30 ⁇ 5 degrees to drive the human body to sit backwards so that the treatment position of the human sacral nerve falls precisely on the magnetic field.
  • the coil stimulation center of the therapy coil device 11 performs sacral nerve therapy to the user.
  • an inflatable air cushion and a pressure sensor are installed on the seat cushion 1, and the pressure sensor is used to collect pressure data of the inflatable air cushion.
  • the collection end of the pressure sensor is connected to the inflatable air cushion through a pipeline, and is used for real-time collection of the pressure distribution of the user's buttocks and legs when using the seat.
  • the inflatable air cushion can detect the user's sitting posture and perform effective magnetic stimulation therapy on the pelvic floor.
  • the pressure data collected by the pressure sensor can be displayed in real time.
  • the display module is used to display the pressure data of the inflatable air cushion.
  • the display module can be a computer or other display device.
  • the computer terminal visually displays the data on the sitting posture to check whether the user's sitting posture is at the center of gravity of the human body.
  • the magnetic stimulation module will perform very effective magnetic stimulation therapy on the user's pelvic floor.
  • the inflatable air cushion When the inflatable air cushion is a strip-shaped structure, it is a raised structure from the shape of the seat plate of the cushion 1, which can be installed on the top outer surface of the cushion 1 by bonding and fixing after being tiled. And it is made of flexible film, which is made of polymer material, does not affect the magnetic field, and the inflatable air cushion is soft and comfortable when used.
  • the wall thickness of the air cells in the inflatable air cushion is very thin, and it will not tiptoe high to keep the muscles away from the stimulation source and affect the depth of stimulation.
  • the change of pressure value directly feedbacks the degree of muscle contraction, the response is fast and accurate, and the air cells are soft and comfortable when used.
  • the magnetic field passes through the sofa cushion and acts on the pelvic floor muscles of the human body to stimulate the body to achieve the purpose of treatment.
  • the magnetic field stimulates the pelvic floor muscles, causing muscle contraction, which squeezes the inflatable air cushion in the perineum, and evaluates the response of the pelvic floor muscles to different stimulation intensities through the change of the pressure value of the inflatable air cushion.
  • the inflatable air cushion When the inflatable air cushion has a planar structure, the inflatable air cushion is installed on the top outer surface of the cushion 1 by bonding and fixing after laying flat.
  • the inflatable air cushion is composed of spaced airbags, including the main positioning airbag in the middle and the auxiliary positioning airbags arranged symmetrically with the main positioning airbag as the center.
  • Each partial airbag is made of flexible film, such as thermoplastic elastic Production of body film, sandwich cloth, leather, etc.
  • the wall thickness of the airbag is very thin, and it will not stand on tiptoe to keep the muscles away from the source of magnetic stimulation, which will affect the depth of magnetic stimulation treatment.
  • the planar inflatable air cushion is used to monitor the center of gravity of the person through the sitting posture, or monitor the center of gravity and the posture of the legs of the person.
  • pelvic floor treatment through the magnetic therapy coil device 11 installed inside the seat, the user needs to open his legs so that the pelvic floor muscles can fully receive the magnetic stimulation to achieve the maximum therapeutic effect.
  • the controller processes and outputs the data, and displays and reminds the user of the leg movement through the display module.
  • Fig. 7 shows a schematic block diagram of a sitting posture detection system for pelvic floor magnetic stimulation therapy according to an embodiment of the present invention, including an inflatable air cushion, and the specific inflatable air cushion is composed of spaced airbags, including a main positioning airbag in the middle position and Auxiliary positioning airbags arranged symmetrically with the main positioning airbag as the center; the controller controls the pressure values of the airbags in each part of the inflatable air cushion in real time, and prompts the user to adjust the sitting posture position according to whether the sitting posture indication point is within the sitting posture threshold.
  • the main positioning airbag After the main positioning airbag is inflated, it can be embedded in the user's area to be treated, such as the perineal area, which is convenient for detecting muscle contraction.
  • the auxiliary positioning airbags arranged symmetrically around the main positioning airbag are used to monitor the pressure value of the user's buttocks acting on each sub-airbag. By comparing the pressure values of the symmetrical sub-airbags, it is judged whether the user's sitting posture is accurate.
  • the controller includes a single-chip microcomputer, a pressure sensor connected to the single-chip microcomputer, an inflation and deflation module, and a display module; the pressure sensor and the inflation and deflation module are connected to each sub-airbag through an air guide tube.
  • the pressure sensor is used to collect the air pressure data of each sub-airbag, and the analog data is converted into digital data by the analog-to-digital converter, and then transmitted to the single-chip microcomputer.
  • the display module is used for real-time display of the sitting posture indication point, the shape and air pressure indication of each sub-airbag, the sitting posture determination circle, and the sitting posture adjustment prompt, as shown in FIG. 8 .
  • the single-chip microcomputer of the present invention has realized but not limited to STM32, GD32.
  • Each independent sub-airbag is equipped with a set of independent pressure sensors and solenoid valves; a single sub-airbag can be equipped with a single air pump, or multiple sub-airbags can share one air pump.
  • the solenoid valve can control the initial pressure of different airbags for different scenarios.
  • the inflation and deflation module is composed of an air pump and a solenoid valve.
  • the air pump is used to execute the instruction of the single-chip microcomputer to inflate the airbag for a specified duration
  • the solenoid valve is used to execute the instruction of the single-chip microcomputer to deflate the airbag for a specified duration.
  • the communication module is used to connect the single-chip microcomputer and the display module.
  • wired or wireless modes are realized, including but not limited to STD and CAMAC bus, ISA bus, VXI bus, PCI, Compact and PXI bus, RS-232C, RS-422A, RS-485, USB, IEEE-1943, IEEE488, SCSI bus, MXI bus, etc.
  • Wireless includes but not limited to custom protocol, IEEE802.15.4 protocol, ZigBee protocol, Bluetooth protocol, LoRa and UWB communication methods.
  • the auxiliary positioning airbags include auxiliary positioning airbags located on the left and right sides of the main positioning airbag and/or auxiliary positioning airbags located on the front and rear sides of the main positioning airbag.
  • the inflatable air cushion is also equipped with an auxiliary positioning air bag for judging leg activities, and the position of the legs is adjusted according to the comparison between the pressure value of the auxiliary positioning air bag and the threshold value of the pelvic floor muscles in a sitting position.
  • the user's legs will cause the pelvic floor muscles to be raised, which will reduce the intensity of magnetic stimulation received by the target muscle group and affect the treatment effect.
  • the opening and closing distance between the legs can be adjusted according to the value of the magnetic stimulation intensity to achieve the desired effect. the therapeutic effect.
  • a bone-like support frame is provided in the positioning airbag to assist positioning.
  • the user aligns the area to be treated with the support frame to make the initial positioning more accurate, and the positioning after inflation
  • the airbag and bone-shaped support frame will enhance the user's comfort experience.
  • the inflatable air cushion is made of flexible film, such as thermoplastic elastomer film, sandwich cloth, leather and other soft materials.
  • Fig. 10 shows a sitting posture detection method for pelvic floor magnetic stimulation therapy according to an embodiment of the present invention, including the following steps:
  • the inflatable air cushion is composed of separate airbags at intervals, including a main positioning airbag for aligning the magnetic stimulation point and auxiliary positioning airbags symmetrically distributed around the main positioning airbag.
  • the inflatable air cushion also includes an auxiliary positioning air bag located at the front end of the positioning air bag for judging leg activities, and adjusts the position of the legs according to the comparison between the pressure value of the auxiliary positioning air bag and the threshold value of the pelvic floor muscles in a sitting position.
  • the user's legs will cause the pelvic floor muscles to be raised, which will reduce the intensity of magnetic stimulation received by the target muscle group and affect the treatment effect.
  • the opening and closing distance between the legs can be adjusted according to the value of the magnetic stimulation intensity to achieve the desired effect. the therapeutic effect.
  • the inflatable air cushion is composed of six sub-airbags:
  • the first sub-airbag is located at the front of the inflatable air cushion, which is used to assist the positioning of the airbag on the front side and to detect the pressure on the front of the body;
  • the second airbag is located at the rear of the inflatable air cushion, which is used to assist the positioning of the airbag on the rear side and is used to detect the pressure at the back of the body;
  • the third airbag is located on the right side of the inflatable air cushion, and it is an auxiliary positioning airbag on the right side, which is used to detect the pressure on the right side of the body;
  • the airbag of the fourth division is located on the left side of the inflatable air cushion, and it is an auxiliary positioning airbag on the left side, which is used to detect the pressure on the left side of the body;
  • the fifth airbag is located in the middle of the inflatable air cushion, and is the main positioning airbag for detecting the pressure in the middle of the body;
  • the sixth airbag is located at the front of the inflatable air cushion, which is used to detect the influence of muscle pressure on the leg muscles in the area to be treated.
  • Each subsection may consist of a single airbag, or of multiple sub-airbags.
  • the sitting posture indication point is the coordinate formed by the pressure percentage difference of the inflatable air cushion relative to the symmetrical sub-airbag. Specifically, it is the difference between the pressure percentage of the left auxiliary positioning airbag and the pressure percentage of the right auxiliary positioning airbag, and the difference between the pressure percentage of the front auxiliary positioning airbag and the pressure percentage of the rear auxiliary positioning airbag. These two differences form The coordinates of the sitting cue point.
  • the main positioning airbag is used to help the user to perform physical positioning and align the area to be treated with the magnetic stimulation point.
  • the bone-shaped support frame and the inflated airbag will make the user feel more comfortable in the current sitting posture, but when the user's other parts of the buttocks sit on the main positioning airbag, they will feel uncomfortable.
  • Fig. 12 shows the flow chart of the sitting posture detection algorithm of the embodiment of the present invention.
  • a large sample sitting posture test is performed, and a representative sitting posture test is performed according to different weights, different BMIs, different ages, different genders, and a sample size > 1000 of users.
  • the judgment thresholds for the nth sitting posture include the left auxiliary positioning airbag threshold, the right auxiliary positioning airbag threshold, the front auxiliary positioning airbag threshold, the rear auxiliary positioning airbag threshold, and the leg auxiliary positioning airbag threshold, which are respectively recorded as: Pos_Threshold_n_X_L, Pos_Threshold_n_X_R, Pos_Threshold_n_Y_L, Pos_Threshold_n_Y_R, Pos_Threshold_n_f.
  • the pressure distribution of the buttocks is symmetrical when the user sits on the inflatable air cushion, when using the pressure percentage of the right auxiliary positioning airbag minus the pressure percentage of the left auxiliary positioning airbag, it indicates whether the user's left and right sitting posture is correct; when using the front auxiliary positioning airbag
  • the pressure percentage of the positioning airbag minus the pressure percentage of the rear auxiliary positioning airbag indicates whether the user's front and rear sitting posture is correct, and the coordinates of the sitting posture indication point are obtained.
  • Pointer_X(t) (P_Pct_3(t)-P_Pct_4(t)) ⁇ 100%
  • Pointer_Y(t) (P_Pct_2(t)-P_Pct_1(t)) ⁇ 100%
  • Indicator_X(t) Pointer_X(t) ⁇ AMP_X
  • Indicator_Y(t) Pointer_Y(t) ⁇ AMP_Y
  • Typical sitting postures include but are not limited to the following:
  • Sitting position 1 the perineal area is close to the main positioning airbag of the seat, the legs are spread out, and the whole body is relaxed; it treats overactive bladder/stress urinary incontinence;
  • Sitting position 2 lying on the side, put the painful area close to the main positioning airbag, and raise the legs; treat piriformis syndrome;
  • Sitting position 3 The painful area of the coccyx is close to the main positioning airbag, and the whole body is relaxed; it treats the pain of the coccyx.
  • the air pressure of the inflatable air cushion is too low, the accuracy of the pressure sensor will be reduced, resulting in inaccurate detection of sitting posture; if the air pressure is too high, the user's buttocks will be raised too high, the intensity of magnetic stimulation will be reduced, and the therapeutic effect will be reduced. Therefore, it is necessary to control the air pressure of the inflatable air cushion at the most suitable pressure.
  • the inflatable air cushion will inevitably have deflation and deformation, resulting in a pressure value that deviates from the optimal pressure value.
  • the pelvic floor magnetic stimulation therapy equipment also includes an intelligent voltage stabilization mode in which the user has not yet sat on the inflatable air cushion, and each sub-airbag is inflated to the optimal pressure value, and the maximum The optimal pressure value is obtained according to the statistics of large sample sitting posture test.
  • Figure 11 shows the flow chart of the intelligent voltage stabilization algorithm of the embodiment of the present invention.
  • the single-chip microcomputer detects the actual pressure value of each sub-airbag, and according to the difference between the actual pressure value and the optimal pressure value, based on the intelligent
  • the voltage stabilization algorithm calculates the control signal, and controls the airbags that are not at the optimal pressure value to inflate and deflate corresponding instructions, so that each airbag in each subsection is in the optimal pressure state before the user uses it.
  • the working status variable of the inflatable air cushion is Air_Cushion_Working_Flag:
  • Air_Cushion_Working_Flag 0;
  • the working state of the inflatable air cushion is the intelligent voltage stabilization mode.
  • the optimal pressure values P_Set_i of airbags in each branch are not equal. According to representative large-sample tests (different body weights, different BMIs, different ages, different regions, different occupations, sample size>1000), the statistically optimal pressure value P_Set_i is obtained. Merit.
  • Air_Cushion_Working_Flag 3
  • the working state of the air cushion is the treatment mode at this time, the air pump and solenoid valve will not automatically inflate and deflate, and can only be used on the user's Work under instructions, and adjust the air pressure of each branch airbag according to user needs;
  • Air_Cushion_Working_Flag 1
  • intelligent voltage stabilization processing is performed:
  • the single-chip microcomputer calculates the control signal C_Air_i(t) according to the error P_error_i(t) between the current part of the airbag force value and the initial default value:
  • the calculation strategy principle is that when the absolute value of P_error_i(t) is larger, the control signal C_Air_i(t) should also be larger.
  • Specific algorithms include, but are not limited to, piecewise linear algorithms and PID algorithms.
  • the PID algorithm is as follows:
  • K p is the proportional coefficient in the PID algorithm
  • T i is the integral time constant
  • T d is the differential time constant.
  • Control_Psre(t) When Control_Psre(t) ⁇ 0, the microcontroller will send the control signal to the air pump, and the air pump will inflate the evaluation airbag at a corresponding speed according to the signal size;
  • Control_Psre(t)>0 the microcontroller sends the control signal to the solenoid valve, and the solenoid valve deflates the evaluation airbag at a corresponding speed according to the signal size;
  • the piecewise linear algorithm is as follows:
  • the piecewise linear algorithm is to make the airbag reach the optimal air pressure faster.
  • the control signal C_Air_i(t) is larger, and the air pump inflates or the solenoid valve deflates faster;
  • the control signal C_Air_i(t) is small, the air pump inflates or the electromagnetic valve deflates at a slower speed, and the control is finer.
  • the initial default values of the airbags of each branch are:
  • the pressure values of the airbags of each branch of a user at this moment are:
  • the coordinates of the sitting posture indicator point are obtained as:
  • the amplification factor of Pointer_X(t) is 20, the amplification factor of Pointer_Y(t) is 30 when it is positive, and the amplification factor of Pointer_Y(t) is 25 when it is negative.
  • the judgment thresholds for sitting posture 1 are 2 and -2.
  • the user needs to open his legs according to the voice prompt and the display module until the coordinate indicator point is green, the auxiliary positioning airbags on the legs turn blue, and the four auxiliary positioning airbags at the front, rear, left, and right all display blue. After the adjustment, the user's pressure value of each part of the air cushion at this moment:
  • a magnetic therapy coil device is integrated inside the sofa or seat. During treatment, the magnetic field passes through the sofa or seat and acts on the pelvic floor muscles of the human body to stimulate the body to achieve the purpose of treatment.
  • the magnetic field stimulates the pelvic floor muscles, causing muscle contraction.
  • the muscle contraction squeezes the main positioning air sac in the perineum.
  • the response of the pelvic floor muscles to different stimulation intensities is evaluated.
  • Kegel training or biofeedback training the muscle actively contracts, and the pressure value of the positioning airbag can be detected in real time.
  • the pressure value of the positioning airbag changes, and the pressure value or the curve formed by the pressure value is judged
  • the training effect is used to determine the recovery degree of the user's pelvic floor muscles.

Abstract

一种磁疗座椅、用于盆底磁刺激治疗的坐姿检测系统及方法，其中坐姿检测系统，包括充气气垫，所述充气气垫由相间隔的各分部气囊组成，包括位于中间位置的主定位气囊和以主定位气囊为中心对称设置的辅助定位气囊；控制器，所述控制器实时控制充气气垫各分部气囊的压力值，并根据坐姿指示点是否在对应坐姿阈值内，提示用户调整坐姿位置。

Description

磁疗座椅、用于盆底磁刺激治疗的坐姿检测系统及方法 技术领域
本发明涉及磁刺激设备技术领域，尤其涉及一种磁疗座椅、用于盆底磁刺激治疗的坐姿检测系统及方法。
背景技术
现有磁疗座垫当用户在盆底治疗后更换到骶神经治疗时，医生操作步骤比较繁琐，盆底治疗和骶神经治疗无法实现自动切换，需医生现场操作治疗设备指令及指导用户治疗调节体位来进行体位切换，因此无法实现自动联合治疗方案。基于该问题导致联合治疗方案受限，医生治疗工作较繁琐，设备整体利用效率相对较低的状况。
盆底功能障碍性疾病(PFD)主要是盆底的支持组织缺损以及功能失常从而引发的疾病。常指盆腔脏器的脱垂、尿失禁、尿频、性功能问题以及慢性盆腔痛。PFD是成年女性常见的综合疾病，已经成为继糖尿病、高血压、抑郁症、骨质疏松症后严重威胁女性健康的世界五大常见慢性疾病，严重影响了用户的生活质量。成年女性发病率约为40％，但是由于病耻感和治疗意识不强等因素，就医率不到1/3。随着人口老龄化加剧和二胎政策全面开放，发病率呈现逐年上升的趋势。
目前临床上常用的非手术盆底肌肉治疗方式：盆底肌肉训练、盆底电刺激和盆底磁刺激。其中，磁刺激弥补了肌肉训练见效慢不易坚持以及电刺激侵入体内的缺点，简单无痛、见效快、能够保护用户隐私，更容易被用户接受。各大磁刺激应用指南中均指出，单次治疗需以预设的频率、以阈值为基础而设定的强度、把预设的脉冲数一个不落的打在同一个刺激位置上。因一次治疗通常有数十分钟，临床治疗中用户因不可避免地发生臀部移动，导致刺激线圈偏离预定刺激位点，刺激强度降低，刺激总脉冲数丢失，较大地影响临床治疗效果。因为在治疗过程中，对用户进行坐姿检测，提示用户保持正确的坐姿，保持刺激强度，从而保证临床治疗效果。
市面上绝大部分的坐垫式坐姿检测产品的压力传感器都含有金属部件，如柔性阵列式压力传感器，薄膜传感器等，在磁刺激的治疗时，仪器会产生的高强度的变化磁场刺激盆底肌肉达到治疗效果，但是由于涡流效应会使得金属产生热效应，金属部件短时间内就会达到人难以接受的高温。
为解决这一问题，本发明提出了多个压力气囊组成坐姿检测气垫，通过坐姿检测算法和硬件系统，实时显示当前坐姿，提示错误坐姿，帮助用户在治疗过程中全程保持正确坐姿，保证刺激强度，提高治疗效果。
发明内容
本发明的目的在于提供一种磁疗座椅、用于盆底磁刺激治疗的坐姿检测系统及方法，磁疗座椅实现盆底和骶神经自动切换治疗，坐姿检测系统能快速识别各种坐姿，并实时显示当前坐姿，提示治疗用户保持正确坐姿，保证刺激强度，从而提高治疗效果。
为实现上述目的，本发明的技术方案如下：
本发明实施例的第一方面，提供一种双体位自动切换的联合磁疗座椅，包括座垫和底架，所述座垫为带靠背的座垫，所述座垫的底部两侧连接着框架体，所述框架体的底部内侧设有磁疗线圈装置，所述磁疗线圈装置通过支架安装于底架的顶部，所述底架的两侧分别安装有平面四杆机构，每侧所述平面四杆机构的顶部分别与框架体的两侧铰接，所述底架上安装有第一推送装置，所述第一推送装置的推送杆端部与平面四杆机构的一侧连杆铰接，所述底架通过驱动所述平面四杆机构运动，从而带动所述座垫翻转。
本发明实施例的第二方面，提供一种用于盆底磁刺激治疗的坐姿检测系统，包括：
充气气垫，所述充气气垫由相间隔的各分部气囊组成，包括位于中间位置的主定位气囊和以主定位气囊为中心对称设置的辅助定位气囊；
控制器，所述控制器实时控制充气气垫各分部气囊的压力值，并根据坐姿指示点是否在对应坐姿阈值内，提示用户调整坐姿位置；
其中，控制器包括单片机、以及与单片机相连的压力传感器、充放气模块，所述压力传感器与充放气模块经导气管连接各分部气囊。
本发明实施例的第三方面，提供一种用于盆底磁刺激治疗的坐姿检测方法，包括如下步骤，
评估模式下，计算各分部气囊压力值占充气气垫总压力值的压力百分比；
基于各分部气囊压力的百分比确定定位气囊的坐姿指示点；
根据大样本坐姿测试数据进行聚类分析，得到不同坐姿的判定阈值；
判定坐姿指示点是否在对应坐姿阈值内，并根据相对称方向的偏移量调整坐姿位置。
与现有技术相比，本发明的有益效果包括：
本磁疗座椅在正常状态下对用户进行盆底治疗，通过框架体底部的平面四杆机构能够实现自动切换，方便对用户进行骶神经治疗，使治疗方案更具多样性。座垫变换体位治疗时，整个操作过程操作简便，即降低了医生的工作量，又提高了磁疗座垫的利用率。具体是利用推送装置驱动平面四杆机构运动，实现座垫翻转，椅翻转角度保证控制在30±5度范围内带动人体后仰坐姿的情况下使得人体骶神经的治疗位置精准落在了磁疗线圈装置的线圈刺激中 心，对用户进行骶神经治疗。
智能稳压算法使得充气气垫在开机时或更换用户间隙快速调节各部分气囊气压，保持最优压力状态，每个用户在使用时都能保证坐姿检测精度和较好的磁刺激强度；基于百分比分布的坐姿检测算法和基于大数据聚类得到的多种坐姿判断阈值，可以实时判断用户当前坐姿是否符合治疗要求，并在显示模块实时显示当前坐姿；当用户坐姿不标准时，可以根据语音提示和界面指示点颜色和指示气囊颜色，调整至正确坐姿。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例。其中：
图1为本发明实施例磁疗座椅在进行盆底治疗时的结构示意图；
图2为图1另一视角的结构示意图；
图3为图1按座垫中心轴线的剖开图；
图4为本发明实施例磁疗座椅在进行骶神经治疗时的结构示意图；
图5为图4另一视角的结构示意图；
图6为图4按座垫中心轴线的剖开图；
图7为本发明实施例坐姿检测系统原理框图；
图8为本发明实施例各分部气囊组成充气气垫界面图；
图9为本发明实施例各分部气囊组成充气气垫示意图；
图10为本发明实施例磁刺激治疗过程中坐姿检测的工作流程图；
图11为本发明实施例智能稳压算法流程图；
图12为本发明实施例坐姿检测算法流程图。
图中标号：1-座垫；11-磁疗线圈装置；12-第二推送装置；13-腿托；14-框架体；15-腿槽；2-底架；21-平面四杆机构；22-第一推送装置；23-地脚；24-折杆。
具体实施方式
下面结合附图和实施例对本发明的技术方案做进一步的详细说明。
如图1-6所示，一种双体位自动切换的联合磁疗座椅，包括座垫1和底架2，座垫1为带靠背的座垫，座垫1的底部两侧焊接固定连接着框架体14，框架体14的底部内侧设有安装有磁疗线圈装置11，磁疗线圈装置11通过支架安装于底架2的顶部，通过该磁疗线圈装置11对用户分别进行盆底治疗和骶神经治疗。
在底架2的两侧分别安装有平面四杆机构21，每侧平面四杆机构21的顶部分别与框架 体14的两侧铰接，通过平面四杆机构21来带动框架体14以及座垫1运动到一定的角度。并且在底架2上安装有第一推送装置22，第一推送装置22的推送杆端部与平面四杆机构21的一侧连杆铰接，通过第一推送装置22推动平面四杆机构21运动，从而带动所述座垫1翻转。该第一推送装置22可以为电动推杆、油缸、气缸中的任意一种。
具体的，第一推送装置22设有一个，第一推送装置22的推送杆端部与两侧平面四杆机构21之间的横杆中间铰接，用于推送平面四杆机构21运动，从而带动所述座垫1翻转，使用户在座垫1上呈半躺状态，通过控制第一推送装置22的推送行程距离，使平面四杆机构21发生相应的形变，使用户的骶神经位置精准位于磁疗线圈装置11的中心。当然也可以采用两个第一推送装置22，分别推动两侧的平面四杆机构21运动，使座垫1的坐板呈V型结构，将用户的臀部托起，使骶神经位于最下面，便于正下方的磁疗线圈装置11对用户进行骶神经治疗。
而且，座垫1在未翻转状态，用户坐在上面时，其人体盆底位置位于所述磁疗线圈装置11的中心，用于对用户的盆底神经进行磁刺激治疗。
在上述方案中，平面四杆机构21的一侧连杆为折杆24，一般在座垫1后侧的连杆上设置为折杆24，这样可以让前端的连杆翘的更高，抬高座垫1，方便在骶神经治疗时能将用户整个臀部处于磁疗线圈装置11的正下方，也就是位于磁疗线圈装置11的中心位置，起到良好的治疗效果。
在上述方案中，可以在底架2的底部四端安装有地脚23，用于稳定整个座垫1以及稳定在骶神经治疗时平面四杆机构21的支撑力。
参阅图1至图3，当座垫1处于正常状态时，用户进行盆底治疗。参阅图4至图6，当通过第一推送装置22推送平面四杆机构21运动时，使座垫1处于V型状态，此时座垫1翻转角度保证控制在30±5度范围内，用户进行骶神经治疗。
在上述实施例的基础上，支撑磁疗线圈装置11的支架一侧安装有第二推送装置12，座垫1的端部转动连接有腿托13，第二推送装置12的推送杆端部与腿托13铰接，用于将腿托13托起来，使用户放在上面的两条腿更加舒服。在实施时，第二推送装置12可以为电动推杆、油缸、气缸中的任意一种。
作为一种优选的方案，在腿托13的上表面两侧开设有腿槽15，当用户的腿放在腿槽15内后，更加有利于托起，不会出现摆动，舒适度更高。有效改善治疗坐姿重心位置进而减少身体支撑力，持久治疗，无明显不适，提升用户治疗的体验感。
本磁疗座椅在正常状态下对用户进行盆底治疗，通过框架体14底部的平面四杆机构21 能够实现自动切换，方便用户进行骶神经治疗，使治疗方案更具多样性。磁疗座椅变换体位治疗时，整个操作过程操作简便，即降低了医生的工作量，又提高了磁疗座垫的利用率。具体是利用推送装置驱动平面四杆机构21运动，实现座垫翻转，椅翻转角度保证控制在30±5度范围内带动人体后仰坐姿的情况下使得人体骶神经的治疗位置精准落在了磁疗线圈装置11的线圈刺激中心，对用户进行骶神经治疗。
在上述实施例的基础上，在座垫1上安装有充气气垫和压力传感器，压力传感器用于采集充气气垫的压力数据。压力传感器的采集端通过管路与充气气垫连接，用于实时采集用户在使用本座椅时的臀部及腿部压力分布。通过充气气垫可以检测用户的坐姿以及对盆底进行有效的磁刺激治疗，通过配置相应的显示模块和控制器，可以实时显示压力传感器所采集到的压力数据。显示模块用于显示充气气垫的压力数据，显示模块可以为电脑或者其他显示设备，电脑端对数据进行坐姿视觉展示，查看用户此时的坐姿是否处于人体重心。当用户的坐姿处于重心点时，通过磁刺激模块将对用户的盆底进行很有效的磁刺激治疗。
当充气气垫为长条状结构时，从坐垫1的座板外形上呈凸起状结构，可采用平铺后粘结固定方式，安装在坐垫1的顶部外表面。且采用柔性膜制成，柔性膜材质为聚合物材质，不影响磁场，且使用时充气气垫柔软舒适。
通过本方案，在盆底治疗时，可以实现体外检测，无需侵入，临床操作更便捷，且无感染风险。充气气垫中气囊泡的壁厚很薄，不会踮高使肌肉远离刺激源，影响刺激深度，压力值变化直接反馈肌肉收缩程度，响应快且精准，且使用时气囊泡柔软舒适。治疗时，磁场穿过沙发坐垫作用于人体盆底肌位置进行刺激，达到治疗的目的。在治疗过程中，磁场刺激盆底肌，会引起肌肉收缩，肌肉收缩挤压会阴处的充气气垫，通过充气气垫的压力值变化，评估盆底肌受到不同刺激强度的响应。
当充气气垫为平面状结构时，所述充气气垫采用平铺后粘结固定方式，安装在坐垫1的顶部外表面。充气气垫由相间隔的各分部气囊组成，包括位于中间位置的主定位气囊和以主定位气囊为中心对称设置的辅助定位气囊，每个分部气囊均采用柔性膜制成，比如采用热塑性弹性体膜、夹网布、皮革等制作。气囊壁厚很薄，不会踮高使肌肉远离磁刺激源，影响磁刺激治疗深度。
通过该平面状的充气气垫，用于通过坐姿来监测人的重心，或可监测人的重心及腿部姿势。通过座椅内部安装的磁疗线圈装置11在进行盆底治疗时，用户需要张开双腿，使盆底肌充分接受磁刺激，达到最大的治疗效果。当用户夹腿时，辅助定位气囊的压力骤增，控制器处理并输出数据，通过显示模块显示并提醒用户腿部动作。
图7示出了本发明实施例用于盆底磁刺激治疗的坐姿检测系统的原理框图，包括充气气垫，具体充气气垫由相间隔的各分部气囊组成，包括位于中间位置的主定位气囊和以主定位气囊为中心对称设置的辅助定位气囊；控制器，所述控制器实时控制充气气垫各分部气囊的压力值，并根据坐姿指示点是否在坐姿阈值内，提示用户调整坐姿位置。
主定位气囊充气鼓起后可嵌入用户待治疗区域，如会阴区，便于检测肌肉收缩。以主定位气囊为中心对称设置的辅助定位气囊用于监测用户臀部作用于各分部气囊的压力值，通过相对称分部气囊压力值的比对，判定用户坐姿是否准确。
具体的，控制器包括单片机、以及与单片机相连的压力传感器、充放气模块、显示模块；压力传感器与充放气模块经导气管连接各分部气囊。压力传感器用于采集各分部气囊的气压数据，经模数转换器将模拟数据转换成数字数据，传递给单片机。显示模块用于实时显示坐姿指示点、各分部气囊形状及气压指示、坐姿判定圆圈、以及坐姿调整提示，如图8所示。
本发明的单片机已实现但不限于STM32、GD32。
每个独立的分部气囊均设有一套独立的压力传感器及电磁阀；单个分部气囊可配备单个气泵，或多个分部气囊共用一个气泵。电磁阀能针对不同场景控制不同分部气囊的初始压力。
充放气模块由气泵和电磁阀组成，气泵用于执行单片机向指定气囊充气时长的指令，电磁阀用于执行单片机对指定气囊放气时长的指令。
通信模块用于连接单片机和显示模块，目前实现了有线或无线模式，其中有限包括但不限于STD和CAMAC总线、ISA总线、VXI总线、PCI、Compact及PXI总线、RS-232C、RS-422A、RS-485、USB、IEEE-1943、IEEE488、SCSI总线、MXI总线等，无线包括但不限于自定义协议、IEEE802.15.4协议、ZigBee协议、蓝牙协议、LoRa以及UWB通信等方式。
具体的，辅助定位气囊包括位于主定位气囊左侧和右侧的辅助定位气囊和/或位于主定位气囊前侧和后侧的辅助定位气囊。
充气气垫上还设有用于判定腿部活动的辅助定位气囊，根据此辅助定位气囊的压力值与坐姿盆底肌肉的阈值的对比，调整腿部位置。治疗过程中，用户并腿会导致盆底肌肉被垫高，使得目标肌群接收到的磁刺激强度降低，影响治疗效果，可根据磁刺激强度值调整两腿之间的开合距离，达到理想的治疗效果。
作为本发明的一实施例，为进一步辅助用户物理定位，定位气囊内设有辅助定位的仿骨形支撑骨架，用户将待治疗区域对准支撑骨架，使初步定位更准确，且充气后的定位气囊和骨形支撑骨架会增强用户的舒适体验感。
充气气垫采用柔性膜制成，如热塑性弹性体膜、夹网布、皮革等软性材质。
图10示出了本发明实施例用于盆底磁刺激治疗的坐姿检测方法，包括如下步骤：
评估模式下，计算各分部气囊压力值占充气气垫总压力值的压力百分比；
基于各分部气囊压力的百分比确定定位气囊的坐姿指示点；
根据大样本坐姿测试数据进行聚类分析，得到不同坐姿的判定阈值；
判定坐姿指示点是否在对应坐姿阈值内，并根据相对称方向的偏移量调整坐姿位置。
其中，充气气垫由各相间隔的分部气囊组成，包括用于对准磁刺激点位的主定位气囊和对称分布在主定位气囊周围的辅助定位气囊。
作为本发明的优选方案，充气气垫还包括位于定位气囊前端用于判定腿部活动的辅助定位气囊，根据此辅助定位气囊的压力值与坐姿盆底肌肉的阈值的对比，调整腿部位置。治疗过程中，用户并腿会导致盆底肌肉被垫高，使得目标肌群接收到的磁刺激强度降低，影响治疗效果，可根据磁刺激强度值调整两腿之间的开合距离，达到理想的治疗效果。
作为本发明的一实施例，如图8-9所示，充气气垫由六个分部气囊组成：
第一分部气囊位于充气气垫前部，为前侧辅助定位气囊，用于检测身体前部压力；
第二分部气囊位于充气气垫后部，为后侧辅助定位气囊，用于检测身体后部压力；
第三分部气囊位于充气气垫右部，为右侧辅助定位气囊，用于检测身体右部压力；
第四分部气囊位于充气气垫左部，为左侧辅助定位气囊，用于检测身体左部压力；
第五分部气囊位于充气气垫中部，为主定位气囊，用于检测身体中部压力；
第六分部气囊位于充气气垫最前部，用于检测腿部肌肉压力对待治疗区域肌肉压力的影响。
每个分部可以由单个气囊组成，或者由多个子气囊组成。
坐姿指示点为充气气垫相对称分部气囊的压力百分比差值所形成的坐标。具体为左侧辅助定位气囊的压力百分比与右侧辅助定位气囊的压力百分比的差值，前侧辅助定位气囊的压力百分比与后侧辅助定位气囊的压力百分比的差值，这两个差值形成坐姿指示点的坐标。
其中主定位气囊用于帮助用户进行物理定位，将待治疗区域对准磁刺激点位。当用户会阴部位坐在主定位气囊上时，骨形支撑骨架和充气状态的气囊会让用户觉得当前坐姿比较舒适，而当用户臀部其他部分坐在主定位气囊上时，会觉得不舒适。
图12示出了本发明实施例坐姿检测算法的流程图，首先进行大样本坐姿测试，根据用户的不同体重，不同BMI，不同年龄，不同性别、样本量>1000进行有代表性的坐姿测试，记录P_Pct_i，进行聚类分析，得到不同坐姿的判定阈值。
记第n种坐姿的判定阈值包括左侧辅助定位气囊阈值、右侧辅助定位气囊阈值、前侧辅 助定位气囊阈值、后侧辅助定位气囊阈值、腿部辅助定位气囊阈值，分别记为：Pos_Threshold_n_X_L、Pos_Threshold_n_X_R、Pos_Threshold_n_Y_L、Pos_Threshold_n_Y_R、Pos_Threshold_n_f。
当进行用户坐姿检测时，计算出当前时刻充气气垫的总压力值，为六个分部气囊压力值的总和：
Figure PCTCN2021118979-appb-000001
根据充气气垫的总压力值，计算出各分部气囊压力的百分比：
P_Pct_i(t)＝P_i(t)/P_Whole_i(t)
由于用户坐在充气气垫上时，臀部的压力分布具有对称性，当使用右侧辅助定位气囊的压力百分比减去左侧辅助定位气囊的压力百分比，指示用户左右坐姿是否正确；当使用前侧辅助定位气囊的压力百分比减去后侧辅助定位气囊的压力百分比，指示用户前后坐姿是否正确，得出坐姿指示点的坐标，具体表达式为：
Pointer_X(t)＝(P_Pct_3(t)-P_Pct_4(t))·100％
Pointer_Y(t)＝(P_Pct_2(t)-P_Pct_1(t))·100％
为了更好地在显示模块显示坐姿指示点，需要对上述坐标进行适当地放大，放大系数分别为AMP_X和AMP_Y，则使用坐姿指示点(Indicator_X，Indicator_Y)的表达式如下：
Indicator_X(t)＝Pointer_X(t)·AMP_X
Indicator_Y(t)＝Pointer_Y(t)·AMP_Y
典型坐姿包括但不限于以下情况：
坐姿1：会阴区紧贴座椅主定位气囊，双腿展开，全身放松；治疗膀胱过度活跃/压力性尿失禁；
坐姿2：侧卧位将疼痛区域紧贴主定位气囊，双腿垫高；治疗梨状肌综合征；
坐姿3：尾骨疼痛区域紧贴主定位气囊，全身放松；治疗尾骨疼痛。
以某种坐姿为例：
当Pos_Threshold_n_X_L≤Indicator_X(t)≤Pos_Threshold_n_X_R且Pos_Threshold_n_Y_L≤Indicator_Y(t)≤Pos_Threshold_n_Y_R时，判定坐姿正确，显示模块中的坐标指示点为绿色，前后左右四个辅助定位气囊均为蓝色。
当Indicator_X(t)<Pos_Threshold_n_X_L时，坐标指示点变为红色，位置偏左，左侧辅助定位气囊颜色从蓝色变为红色。用户需向右侧调整坐姿，直至坐标指示点为绿色，前后左右 四个辅助定位气囊均为蓝色。
当Indicator_X(t)>Pos_Threshold_n_X_R时，坐标指示点变为红色，位置偏右，右侧辅助定位气囊颜色从蓝色变为红色。用户需向左侧调整坐姿，直至坐标指示点为绿色，前后左右四个辅助定位气囊均为蓝色。
当Indicator_Y(t)<Pos_Threshold_n_Y_L时，坐标指示点变为红色，位置偏前，前侧辅助定位气囊颜色从蓝色变为红色。用户需向后侧调整坐姿，直至坐标指示点为绿色，前后左右四个辅助定位气囊均为蓝色。
当Indicator_Y(t)>Pos_Threshold_n_Y_R时，坐标指示点变为红色，位置偏后，后侧辅助定位气囊颜色从蓝色变为红色。用户需向前侧调整坐姿，直至坐标指示点为绿色，前后左右四个辅助定位气囊均为蓝色。
当P_Pct_6(t)≤Pos_Threshold_n_f时，坐标指示点变为绿色，用户开腿，坐姿正确，腿部辅助定位气囊颜色为蓝色。
当P_Pct_6(t)>Pos_Threshold_n_f时，坐标指示点变为红色，用户并腿，腿部辅助定位气囊颜色从蓝色变为红色。用户需张开腿部，直至坐标指示点为绿色，腿部辅助定位气囊变为蓝色。
作为本发明的另一实施例，充气气垫的气压过低会导致压力传感器精度降低，从而坐姿检测不准确；气压过高会导致用户臀部被垫起过高，磁刺激强度降低，降低治疗效果。因此，需要将充气气垫的气压控制在最合适的压力。
同时，由于长时间的使用和不同体重用户的使用，会使得充气气垫不可避免地存在跑气和变形地情况，导致压力值偏离最优压力值。
为解决上述问题，在评估模式之前，盆底磁刺激治疗设备还包括用户尚未坐在充气气垫上的智能稳压模式，各分部气囊充气至最优压力值，且每个分部气囊的最优压力值根据大样本坐姿测试统计得到。
图11示出了本发明实施例智能稳压算法的流程图，在智能稳压模式下，单片机检测各分部气囊的实际压力值，根据实际压力值与最优压力值的差值，基于智能稳压算法计算控制信号，控制不处于最优压力值的气囊进行对应指令的充放气，使得每次用户在使用前各分部气囊均处于最优压力状态。
相应的，充气气垫的工作状态标值变量为Air_Cushion_Working_Flag：
使用前，充气气垫为不工作状态，使用开关为关闭状态，记为：Air_Cushion_Working_Flag＝0；
各分部气囊为未充气状态，各分部气囊压力值，记为：P_i(t)＝0(I＝1,2,3,4,5,6)；
按下使用开关，充气气垫变为工作状态，且无人坐在充气气垫上，记为：Air_Cushion_Working_Flag＝1；
此时，充气气垫的工作状态为智能稳压模式，单片机控制气泵和电磁阀对各部分气囊进行智能充放气，各分部气囊充气至最优压力值，即初始压力默认值，记为；P_i(t)＝P_Set_i(I＝1,2,3,4,5,6)。
各分部气囊的最优压力值P_Set_i并不相等，根据有代表性的大样本测试(不同体重，不同BMI，不同年龄，不同地区，不同职业，样本量>1000)，得到统计意义上的最优值。
当使用开关为开启状态，且用户坐在充气气垫上进行治疗，记为：Air_Cushion_Working_Flag＝3，此时气垫的工作状态为治疗模式，气泵和电磁阀不会自动充放气，只能在用户的指令下工作，根据用户需求调节各分部气囊的气压；
当刚开机或者更换用户时，气垫上无人的压力，此时Air_Cushion_Working_Flag＝1，进行智能稳压处理：
设各分部气囊当前压力值与初始默认值的误差为：P_error_i(t)＝P_i(t)-P_Set_i
当P_error_i(t)<0,气泵工作，对目标分部气囊进行充气；
当P_error_i(t)>0,电磁阀工作，对目标分部气囊进行放气；
当P_error_i(t)＝0,气泵和电磁阀均不工作；
为了快速、稳定地控制各分部气囊处于最优气压状态，单片机根据当前各部分气囊力值与初始默认值的误差P_error_i(t)计算出控制信号C_Air_i(t):
C_Air_i(t)＝f(P_error_i(t))；
计算地策略原则是，当P_error_i(t)的绝对值越大，则控制信号C_Air_i(t)也应该越大。具体的算法包括但不限于分段线性算法，PID算法。
作为本发明的一优选实施例，PID算法如下：
Figure PCTCN2021118979-appb-000002
K p、T i、T d的取值将较大地影响气囊稳压的速度和效果。K p为PID算法中的比例系数，T i为积分时间常数，T d为微分时间常数。首先确定K p、合适的K p加快稳压的速度；再确定T i、可消除稳压的误差；最后确定T d，可反应误差变化速度。
当Control_Psre(t)<0,单片机将控制信号发送给气泵，气泵根据信号大小对评估气囊进 行相应速度的充气；
当Control_Psre(t)>0,单片机将控制信号发送给电磁阀，电磁阀根据信号大小对评估气囊进行相应速度的放气；
当Control_Psre(t)＝0,单片机不给气泵或电磁阀发送控制信号。
作为本发明的另一优选实施例，分段线性算法如下：
Figure PCTCN2021118979-appb-000003
分段线性算法是为了更快让气囊到达最优气压，当分部气囊i的误差P_error_i(t)较大时，控制信号C_Air_i(t)较大，气泵充气或者电磁阀放气的速度较快；当分部气囊i的误差P_error_i(t)较小时，控制信号C_Air_i(t)较小，气泵充气或者电磁阀放气的速度较慢，控制得较精细。当P_error_i(t)在(0,Threshold_Pos_1]范围内，乘以较小的系数K 1得到C_Air_i(t)，相应地，当P_error_i(t)在(Threshold_Pos_j-1,Threshold_Pos_j]范围内，乘以较大的系数K j得到C_Air_i(t)。具体Threshold_Pos_j、K j的取值通常使用工程试凑法确定，在实验中测试调优和不断优化，直至得到最优取值。
以坐姿1为例，智能稳压模式下，各分部气囊的初始默认值为：
P_Set_1＝300；
P_Set_2＝300；
P_Set_3＝300；
P_Set_4＝300；
P_Set_5＝600；
P_Set_6＝400；
评估模式下，某用户此时刻各分部气囊的压力值为：
P_1(t)＝984；
P_2(t)＝960；
P_3(t)＝1140；
P_4(t)＝1170；
P_5(t)＝1220；
P_6(t)＝800；
则此刻各分部气囊的百分比值为：
P_1(t)＝15.68％；
P_2(t)＝15.30％；
P_3(t)＝18.17％；
P_4(t)＝18.65％；
P_5(t)＝19.45％；
P_6(t)＝12.75％；
根据右侧辅助定位气囊的压力百分比减去左侧辅助定位气囊的压力百分比，前侧辅助定位气囊的压力百分比减去后侧辅助定位气囊的压力百分比，得出坐姿指示点的坐标为：
Pointer_X(t)＝-0.48％；
Pointer_Y(t)＝-0.38％；
Pointer_X(t)的放大系数为20，Pointer_Y(t)为正时放大系数为30，Pointer_Y(t)为负时放大系数为25。坐姿1的判定阈值为2与-2。
此时，若Pos_Threshold_n_X_L≤Indicator_X(t)≤Pos_Threshold_n_X_R且Pos_Threshold_n_Y_L≤Indicator_Y(t)≤Pos_Threshold_n_Y_R，则前后左右四个辅助定位气囊均显示蓝色。但P_6(t)>Pos_Threshold_n_f，坐标指示点变为红色，用户并腿，腿部辅助定位气囊颜色从蓝色变为红色。
用户需根据语音提示及显示模块张开双腿，直至坐标指示点为绿色，腿部辅助定位气囊变为蓝色，前后左右四个辅助定位气囊都显示蓝色。调整结束后，该用户此时刻各部分气垫的压力值：
P_1(t)＝890；
P_2(t)＝841；
P_3(t)＝1240；
P_4(t)＝1105；
P_5(t)＝1401；
P_6(t)＝502；
此时刻各部分气垫的百分比值：
P_1(t)＝14.89％；
P_2(t)＝14.07％；
P_3(t)＝20.74％；
P_4(t)＝18.48％；
P_5(t)＝23.43％；
P_6(t)＝8.40％；
Pointer_X(t)＝2.26％；
Pointer_Y(t)＝-0.82％；
再次判定，若Pos_Threshold_n_X_L≤Indicator_X(t)≤Pos_Threshold_n_X_R且Pos_Threshold_n_Y_L≤Indicator_Y(t)≤Pos_Threshold_n_Y_R以及P_6(t)≤Pos_Threshold_n_f，坐标指示点为绿色，前后左右四个辅助定位气囊和腿部辅助定位气囊均显示蓝色，则表示用户坐姿正确。
根据上述步骤流程循环判定，调整坐姿。
本发明一应用场景为盆底磁治疗，在沙发或座椅内部集成磁疗线圈装置，治疗时，磁场穿过沙发或座椅，作用于人体盆底肌位置进行刺激，达到治疗的目的。
在治疗过程中，磁场刺激盆底肌，会引起肌肉收缩，肌肉收缩挤压会阴处的主定位气囊，通过主定位气囊的压力值变化，评估盆底肌受到不同刺激强度的响应。
本发明另一应用场景为Kegel训练或生物反馈训练：肌肉主动收缩，可实时检测定位气囊的压力值，用户主动收缩肌肉，定位气囊压力值发生变化，通过压力值或由压力值形成的曲线判断训练效果，判定用户盆底肌康复程度。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明,所应理解的是，以上所述仅为本发明的具体实施方式，并不用于限定本发明保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应含在本发明的保护范围之内。

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  1. 一种双体位自动切换的联合磁疗座椅，包括座垫和底架，所述座垫为带靠背的座垫，所述座垫的底部两侧连接着框架体，其特征在于，所述框架体的底部内侧设有磁疗线圈装置，所述磁疗线圈装置通过支架安装于底架的顶部，所述底架的两侧分别安装有平面四杆机构，每侧所述平面四杆机构的顶部分别与框架体的两侧铰接，所述底架上安装有第一推送装置，所述第一推送装置的推送杆端部与平面四杆机构的一侧连杆铰接，所述底架通过驱动所述平面四杆机构运动，从而带动所述座垫翻转。
  2. 根据权利要求1所述的磁疗座椅，其特征在于，所述第一推送装置设有一个，所述第一推送装置的推送杆端部与两侧所述平面四杆机构之间的横杆中间铰接，用于推送所述平面四杆机构运动，从而带动所述座垫翻转，使用户在座垫上呈半躺状态，且使用户的骶神经位置位于所述磁疗线圈装置的中心。
  3. 根据权利要求1所述的联合磁疗座椅，其特征在于，所述座垫在未翻转状态，用户坐在上面时，其人体盆底位置位于所述磁疗线圈装置的中心。
  4. 根据权利要求1所述的联合磁疗座椅，其特征在于，支撑所述磁疗线圈装置的支架一侧安装有第二推送装置，所述座垫的端部转动连接有腿托，所述第二推送装置的推送杆端部与腿托铰接。
  5. 根据权利要求4所述的联合磁疗座椅，其特征在于，所述腿托的上表面两侧开设有腿槽。
  6. 根据权利要求1所述的联合磁疗座椅，其特征在于，所述底架的底部四端安装有地脚。
  7. 根据权利要求1所述的联合磁疗座椅，其特征在于，所述平面四杆机构的一侧连杆为折杆。
  8. 根据权利要求1所述的联合磁疗座椅，其特征在于，所述座垫的座板上安装有充气气垫和压力传感器，所述压力传感器用于采集充气气垫的压力数据。
  9. 根据权利要求8所述的联合磁疗座椅，其特征在于，所述充气气垫为长条状结构，且采用柔性膜制成。
  10. 根据权利要求8所述的磁疗座椅，其特征在于，所述充气气垫为平面状结构，所述充气气垫由相间隔的各分部气囊组成，包括位于中间位置的主定位气囊和以主定位气囊为中心对称设置的辅助定位气囊，每个分部气囊均采用柔性膜制成。
  11. 一种用于盆底磁刺激治疗的坐姿检测系统，其特征在于，包括：
    充气气垫，所述充气气垫由相间隔的各分部气囊组成，包括位于中间位置的主定位气囊 和以主定位气囊为中心对称设置的辅助定位气囊；
    控制器，所述控制器实时控制充气气垫各分部气囊的压力值，并根据坐姿指示点是否在对应坐姿阈值内，提示用户调整坐姿位置；
    其中，控制器包括单片机、以及与单片机相连的压力传感器和充放气模块，所述压力传感器与充放气模块经导气管连接各分部气囊。
  12. 根据权利要求11所述的检测系统，其特征在于，所述充放气模块由气泵和电磁阀组成，气泵用于执行单片机向指定气囊充气时长的指令，电磁阀用于执行单片机对指定气囊放气时长的指令。
  13. 根据权利要求11所述的检测系统，其特征在于，所述辅助定位气囊包括位于主定位气囊左侧和右侧的辅助定位气囊和/或位于主定位气囊前侧和后侧的辅助定位气囊。
  14. 根据权利要求13所述的检测系统，其特征在于，所述充气气垫上还设有用于判定腿部活动的辅助定位气囊，根据此辅助定位气囊的压力值与坐姿盆底肌肉的阈值的对比，调整腿部位置。
  15. 根据权利要求13或14所述的检测系统，其特征在于，每个所述分部气囊由单个或多个子气囊组成。
  16. 根据权利要求11所述的检测系统，其特征在于，还包括与单片机相连的显示模块；所述显示模块用于实时显示坐姿指示点、各分部气囊形状及气压指示、以及坐姿调整提示。
  17. 根据权利要求11所述的检测系统，其特征在于，所述主定位气囊内设有用于辅助定位的仿骨形支撑骨架。
  18. 根据权利要求11所述的检测系统，其特征在于，所述充气气垫采用柔性膜制成。
  19. 一种根据权利要求11至18任一所述的用于盆底磁刺激治疗的坐姿检测系统的坐姿检测方法，其特征在于，
    评估模式下，计算各分部气囊压力值占充气气垫总压力值的压力百分比；
    基于各分部气囊压力的百分比确定定位气囊的坐姿指示点；
    根据大样本坐姿测试数据进行聚类分析，得到不同坐姿的判定阈值；
    判定坐姿指示点是否在对应坐姿阈值内，并根据相对称方向的偏移量调整坐姿位置。
  20. 根据权利要求19所述的方法，其特征在于，所述充气气垫由各相间隔的分部气囊组成，包括用于对准磁刺激点位的主定位气囊和对称分布在主定位气囊周围的辅助定位气囊。
  21. 根据权利要求20所述的方法，其特征在于，所述坐姿指示点为充气气垫相对称分部气囊的压力百分比差值所形成的坐标。
  22. 根据权利要求19或20所述的方法，其特征在于，所述充气气垫还包括：
    位于主定位气囊前端用于判定腿部活动的辅助定位气囊，根据此辅助定位气囊的压力值与坐姿盆底肌肉的阈值的对比，调整腿部位置。
  23. 根据权利要求19所述的方法，其特征在于，所述评估模式为用户坐在充气气垫上的模式，在评估模式之前，还包括用户尚未坐在充气气垫上的智能稳压模式；
    在智能稳压模式下，各分部气囊充气至最优压力值，且每个分部气囊的最优压力值根据大样本坐姿测试统计得到。
  24. 根据权利要求23所述的方法，其特征在于，在智能稳压模式下，检测各分部气囊的实际压力值，根据实际压力值与最优压力值的差值，基于智能稳压算法计算控制信号，控制不处于最优压力值的分部气囊进行对应指令的充放气。
PCT/CN2021/118979 2021-08-03 2021-09-17 磁疗座椅、用于盆底磁刺激治疗的坐姿检测系统及方法 WO2023010656A1 (zh)

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