CN-122006157-A - Ultrasonic physiotherapy instrument control device and ultrasonic physiotherapy instrument

CN122006157ACN 122006157 ACN122006157 ACN 122006157ACN-122006157-A

Abstract

The application discloses a control device of an ultrasonic physiotherapy instrument and the ultrasonic physiotherapy instrument, and relates to the technical field of physiotherapy devices. And (3) processing point cloud data of space geometric information, thermal imaging data of body surface temperature information and three heterologous data of medical images of image information, and carrying out mapping processing to obtain fusion information so as to construct three-dimensional information reflecting individual anatomy and victory state of a patient. And determining a preset physiotherapy path based on the fusion information and the corresponding constraint conditions, and determining the current physiotherapy path in real time through the preset physiotherapy target area and the current fusion information, so that stable and effective energy output can be given to a patient during each physiotherapy. The path parameters of the current physiotherapy path are adjusted to obtain an adjusted current physiotherapy path, fusion data of the current physiotherapy path are obtained through mapping according to information corresponding to the individual physiological states of each patient, artificial subjective experience is abandoned, and the current physiotherapy path is focused on deep lesions through multi-mode data, so that accuracy is improved.

Inventors

HE YONGZHENG
WANG CHAO
YANG DENGHUI
Xin Huanling
CAI JINWEI

Assignees

河南省智慧康养设备产业研究院

Dates

Publication Date: 20260512
Application Date: 20260313

Claims (10)

1. A control device for an ultrasonic physiotherapy apparatus, comprising: the first acquisition module is used for acquiring space geometric information, body surface temperature information and image information of the region to be treated by physiotherapy, and mapping to obtain fusion information; the first determining module is used for determining a preset physiotherapy path based on the fusion information and the corresponding constraint conditions; The second determining module is used for identifying the body surface temperature information in a preset physiotherapy path to obtain a preset physiotherapy target area, and determining the current physiotherapy path according to the preset physiotherapy target area and the fusion information; and the first adjusting module is used for adjusting the path parameters of the current physiotherapy path to obtain the adjusted current physiotherapy path so that the execution part executes the control processing of the current time.
2. The control device of an ultrasonic physiotherapy apparatus according to claim 1, wherein the first acquisition module comprises: The first generation module is used for scanning the region to be physiotherapeutic in a three-dimensional scanning mode to generate three-dimensional point cloud information so as to form a physiotherapy reference coordinate system, wherein the three-dimensional point cloud information comprises a bone tissue structure of the region to be physiotherapeutic and a sensitive region corresponding to a key risk anatomical structure; the second generation module is used for generating a temperature data thermodynamic diagram through scanning a preset area corresponding to the area to be subjected to physiotherapy through the infrared thermal imager and attaching the temperature data thermodynamic diagram to a position corresponding to the three-dimensional point cloud information; the first extraction module is used for extracting characteristic information from the attached three-dimensional point cloud information and the image information by adopting an iterative closest point algorithm so as to iteratively output a rotation matrix; the first transformation module is used for transforming the image information into the physiotherapy reference coordinate system according to the rotation matrix so as to obtain the fusion information.
3. The control device of an ultrasonic physiotherapy apparatus according to claim 2, wherein the first determination module comprises: the first output module is used for calling the pre-training model in advance and inputting the image information of the fusion information so as to output a key point coordinate set; the third determining module is used for determining theoretical coordinate information of the target acupoint by utilizing the key point coordinate set based on the bone level dimension division method so as to determine an initial acupoint candidate list; the first correction processing module is used for correcting the preset target point coordinates according to the initial acupoint candidate list and the body surface temperature information of the fusion information so as to obtain corrected target point coordinates; And the fourth determining module is used for determining the preset physiotherapy path according to the target point coordinates and the constraint conditions.
4. The control device of an ultrasonic physiotherapy apparatus according to claim 3, wherein the fourth determination module comprises: the first acquisition module is used for acquiring a sensitive area corresponding to the fusion information; A fifth determining module, configured to determine a first straight line path from an entrance of a physiotherapy head of the ultrasonic physiotherapy apparatus to the target point coordinate; A first module, configured to, in a case of intersecting the sensitive area in the first straight path, take the intersecting area as a risk area; a sixth determining module, configured to determine, with the risk area as a center, a first preset area that is distant from the risk area as an obstacle avoidance constraint area; a seventh determining module, configured to determine depth information of the coordinates of the entrance and the target point; and an eighth determining module, configured to determine the preset physiotherapy path according to a relationship between the obstacle avoidance constraint area and the risk area, and a relationship between the depth information and the depth constraint information.
5. The control device of an ultrasonic physiotherapy apparatus according to claim 4, wherein the second determination module comprises: the second extraction module is used for extracting potential physiotherapy target areas corresponding to the body surface temperature information higher than preset body surface temperature information; the first screening module is used for screening out potential physiotherapy target areas corresponding to the unobstructed sound beam paths from the entrance to the sound beam paths of the ultrasonic waves corresponding to the potential physiotherapy target areas, so that the potential physiotherapy target areas are used as first target physiotherapy target areas; And the second screening module is used for screening a second target physiotherapy target area which is at a preset distance from the sensitive area from the first target physiotherapy target area, and taking the second target physiotherapy target area as a preset physiotherapy target area.
6. The control device of an ultrasonic physiotherapy apparatus according to claim 5, wherein the second determination module comprises: The third generation module is used for generating ultrasonic sound field distribution according to different preset distances between the preset physiotherapy target area and the sensitive area; A ninth determining module, configured to determine, in the ultrasonic sound field distribution, a target electrode plate distance according to the position information, the depth information, and the relative position information of the sensing region of the preset physiotherapy target region; A tenth determining module, configured to reversely calculate a surface acoustic intensity according to the depth information and the tissue average attenuation coefficient, so as to determine an achieved output power; And an eleventh determining module, configured to determine a current physiotherapy path according to the shape of the preset physiotherapy target area, the target electrode plate spacing, and the output power.
7. The control device of an ultrasonic physiotherapy apparatus according to claim 1, wherein the first adjustment module comprises: the first receiving module is used for receiving the adjustment instruction through the interactive interface; the second adjusting module is used for adjusting the path parameters of the current physiotherapy path according to the adjusting instruction to obtain an adjusted current physiotherapy path; wherein the adjustment instruction is one of at least one of the following: Instructions for rotating, zooming and sectioning the fusion information; Instructions for adjusting a target physiotherapy target zone range of the current physiotherapy path; And instructions for adjusting the energy intensity of the target physiotherapy target zone of the current physiotherapy path.
8. The control device of an ultrasonic physiotherapy apparatus according to claim 1, further comprising, after the first adjustment module: And the return module is used for taking the adjusted current physiotherapy path as a new preset physiotherapy path, and returning to the body surface temperature information for identification processing to obtain a preset physiotherapy target area so as to perform next physiotherapy processing, and ending physiotherapy control when the physiotherapy duration reaches the preset duration.
9. The control device of an ultrasonic physiotherapy apparatus according to claim 8, further comprising: The second acquisition module is used for acquiring the fusion information after physiotherapy; the first analysis module is used for carrying out quantitative analysis according to fusion information before physiotherapy and fusion information after physiotherapy so as to determine information change indexes; And the fourth generation module is used for generating an evaluation report according to the information change index.
10. The ultrasonic physiotherapy instrument is characterized by comprising a controller, an execution part and a physiotherapy head, wherein the execution part is a mechanical arm, and the physiotherapy head comprises a perception module which is connected with the controller; the controller comprising the control device of the ultrasonic physiotherapy instrument according to any one of claims 1 to 9.

Description

Ultrasonic physiotherapy instrument control device and ultrasonic physiotherapy instrument Technical Field The application relates to the technical field of physiotherapy devices, in particular to a control device of an ultrasonic physiotherapy instrument and the ultrasonic physiotherapy instrument. Background The traditional manually-operated ultrasonic physiotherapy instrument consists of a main machine and a movable physiotherapy head, is completely dependent on the artificial subjective experience of a physiotherapy engineer, has dispersed physiotherapy energy and poor focusing accuracy on deep focus by naked eye observation and hand feeling on the position, angle and distance of physiotherapy, adopts a traditional blind operation mode, and simultaneously has rough dosage of fixed power and time of the physiotherapy instrument, does not set parameters aiming at the individual physiological state of a patient, and reduces physiotherapy effect. Further, highly depending on patient complaints and subjective judgment of physiotherapy operators, patients with partial hypoesthesia or unclear expression may be at risk of overheating burn, reducing safety. Therefore, how to achieve accurate physiotherapy and safety guarantee for each patient per se is a need for a person skilled in the art to solve. Disclosure of Invention The application aims to provide a control device of an ultrasonic physiotherapy instrument and the ultrasonic physiotherapy instrument, so as to solve the problems of poor physiotherapy effect, poor accuracy for deep focus and reduced safety of the conventional physiotherapy instrument. In order to solve the above technical problems, the present application provides a control device of an ultrasonic physiotherapy apparatus, including: the first acquisition module is used for acquiring space geometric information, body surface temperature information and image information of the region to be treated by physiotherapy, and mapping to obtain fusion information; the first determining module is used for determining a preset physiotherapy path based on the fusion information and the corresponding constraint conditions; The second determining module is used for identifying the body surface temperature information in a preset physiotherapy path to obtain a preset physiotherapy target area, and determining the current physiotherapy path according to the preset physiotherapy target area and the fusion information; and the first adjusting module is used for adjusting the path parameters of the current physiotherapy path to obtain the adjusted current physiotherapy path so that the execution part executes the control processing of the current time. In one aspect, the first acquisition module includes: The first generation module is used for scanning the region to be physiotherapeutic in a three-dimensional scanning mode to generate three-dimensional point cloud information so as to form a physiotherapy reference coordinate system, wherein the three-dimensional point cloud information comprises a bone tissue structure of the region to be physiotherapeutic and a sensitive region corresponding to a key risk anatomical structure; the second generation module is used for generating a temperature data thermodynamic diagram through scanning a preset area corresponding to the area to be subjected to physiotherapy through the infrared thermal imager and attaching the temperature data thermodynamic diagram to a position corresponding to the three-dimensional point cloud information; the first extraction module is used for extracting characteristic information from the attached three-dimensional point cloud information and the image information by adopting an iterative closest point algorithm so as to iteratively output a rotation matrix; the first transformation module is used for transforming the image information into the physiotherapy reference coordinate system according to the rotation matrix so as to obtain the fusion information. In another aspect, the first determination module includes: the first output module is used for calling the pre-training model in advance and inputting the image information of the fusion information so as to output a key point coordinate set; the third determining module is used for determining theoretical coordinate information of the target acupoint by utilizing the key point coordinate set based on the bone level dimension division method so as to determine an initial acupoint candidate list; the first correction processing module is used for correcting the preset target point coordinates according to the initial acupoint candidate list and the body surface temperature information of the fusion information so as to obtain corrected target point coordinates; And the fourth determining module is used for determining the preset physiotherapy path according to the target point coordinates and the constraint conditions. In another aspect, the fourth determination module includes: the