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US-12623352-B2 - Automatic massage method

US12623352B2US 12623352 B2US12623352 B2US 12623352B2US-12623352-B2

Abstract

The invention relates to an automatic massage method and device. A massage trajectory is generated on a typical human body surface model in surface coordinates. A target human body surface model is generated by adjusting its parameters to measurement results of a surface of a patient body. The patient body is placed in a posture close to a recommended posture and its surface is measured using a three-dimensional camera. The target human body surface model is further adjusted to the measured surface of the patient body. The massage trajectory is transferred from the surface coordinates into spatial coordinates, and a motion trajectory of a massage tool is calculated in coordinates of a robotic manipulator. Next, the patient body is massaged by moving the massage tool along the motion trajectory. The massage trajectory is re-calculated continuously to correct the motion trajectory when changing the position and posture of the patient body.

Inventors

  • Denis LEDENKOV
  • Maxim GLADILOV

Assignees

  • Denis LEDENKOV
  • Maxim GLADILOV

Dates

Publication Date
20260512
Application Date
20230707

Claims (17)

  1. 1 . An automatic massage method comprising the steps of: i. generating a continuous massage trajectory on a predefined human body surface model in barycentric surface coordinates; ii. generating a target human body surface model based on inputted or measured parameters of a patient body; iii. placing the patient body in a posture close to a recommended posture; iv. measuring the surface of the patient body using a three-dimensional camera; v. adjusting a posture and spatial position of the target human body surface model to the measured surface of the patient body; vi. transferring the continuous massage trajectory from the barycentric surface coordinates of the target human body surface model into spatial coordinates; vii. calculating a continuous motion trajectory of a massage tool in coordinates of a robotic manipulator; and viii. performing massage of the patient body by moving the massage tool of the robotic manipulator along the calculated continuous motion trajectory; wherein the robotic manipulator automatically performs steps (ii)-(viii), wherein the steps of measuring the surface of the patient body using the three dimensional camera, adjusting the posture and spatial position of the target human body surface model to the measured surface of the patient body, transferring the continuous massage trajectory from the barycentric surface coordinates of the target human body surface model into the spatial coordinates, and calculating the continuous motion trajectory of the massage tool in the coordinates of the robotic manipulator are performed continuously to correct a motion of the robotic manipulator when the position and posture of the patient change; and wherein the step of generating the continuous massage trajectory on the predefined human body surface model in the barycentric surface coordinates is performed by generating a surface having triangular faces, each vertex of which corresponds to a certain point of the body for all model transformations.
  2. 2 . The method of claim 1 , wherein the parameters include height and/or chest depth.
  3. 3 . The method of claim 1 , wherein the continuous massage trajectory includes varying a force applied to the patient body.
  4. 4 . The method of claim 1 , wherein the continuous massage trajectory includes varying a speed of rotation of the massage tool.
  5. 5 . The method of claim 1 , wherein the continuous massage trajectory includes varying a speed of motion along the continuous massage trajectory.
  6. 6 . The method of claim 1 , wherein the continuous massage trajectory includes varying an orientation of the massage tool relative to a normal of the surface of the patient body.
  7. 7 . The method of claim 1 , wherein the continuous massage trajectory includes varying an acceleration of motion along the continuous massage trajectory.
  8. 8 . The method of claim 1 , wherein the continuous massage trajectory includes varying an angular acceleration of motion along the continuous massage trajectory.
  9. 9 . The method of claim 1 , wherein the three dimensional camera is a time of flight camera.
  10. 10 . The method of claim 1 , wherein the step of generating the continuous massage trajectory uses a 3D editor for setting and editing points on the model surface, for building and editing the continuous massage trajectory, and for setting massage parameters.
  11. 11 . An automatic massage method comprising the steps of: i. generating a continuous massage trajectory on a predefined human body surface model in barycentric surface coordinates; ii. generating a target human body surface model based on measured parameters of a patient body; iii measuring a surface of the patient body using a three-dimensional camera; iv. adjusting the target human body surface model based on the measured surface of the patient body; V. converting the continuous massage trajectory model from the barycentric surface coordinates on the adjusted target human body surface into spatial coordinates; vi. calculating a continuous motion trajectory of a massage tool of a massage robot in the spatial coordinates; and vii. moving the massage tool along the calculated continuous motion trajectory; wherein the massage robot automatically performs steps (ii)-(vii); wherein coordinates of the massage tool are adjusted continuously when a position or a posture of the patient body changes; and wherein the step of generating the continuous massage trajectory uses a surface having triangular faces, each vertex of which corresponds to a certain point of the patient body.
  12. 12 . The method of claim 11 , wherein the parameters include height and/or chest depth.
  13. 13 . The method of claim 11 , wherein the continuous massage trajectory includes varying any of (a) a force applied to the patient body by the massage tool, (b) a speed of rotation of the massage tool, (c) a speed of motion of the massage tool along the continuous massage trajectory, (d) an orientation of the massage tool relative to a normal of the surface of the patient body, (e) an acceleration of motion along the continuous massage trajectory, and (f) an angular acceleration of motion of the massage tool along the continuous massage trajectory.
  14. 14 . A robot for performing automatic massage, comprising: a massage tool coupled to a controller, the controller configured to i. generate a continuous massage trajectory on a predefined human body surface model in barycentric surface coordinates; ii. generate a target human body surface model based on inputted or measured parameters of a patient body; iii. measure a surface of the patient body using a three-dimensional camera; iv. adjust the target human body surface model to the measured surface of the patient body and based on the parameters; v. convert the continuous massage trajectory from the barycentric surface coordinates into spatial coordinates; vi. calculate a continuous motion trajectory of the massage tool in the spatial coordinates; and vii. move the massage tool along the calculated continuous motion trajectory; the controller configured to automatically perform (ii)-(vii), wherein a motion of the massage tool is adjusted automatically when a position and/or a posture of the patient body changes; and wherein the generating of the continuous massage trajectory includes generating a surface having triangular faces, each vertex of which corresponds to a certain point of the patient body.
  15. 15 . An automatic massage method comprising the steps of: i. generating a continuous massage trajectory on a predefined human body surface model; ii. generating a target body surface model from the predefined human body surface model based on measured parameters of a patient body; iii. measuring a surface of the patient body using a three-dimensional camera; iv. adjusting the target body surface model to the measured surface; v. calculating a continuous motion trajectory of a massage tool of a massage robot on the adjusted target body surface model; and vi. moving the massage tool along the calculated continuous motion trajectory, the massage robot automatically performing steps (ii)-(vi).
  16. 16 . The method of claim 15 , wherein the human body surface model uses a barycentric coordinate system, and wherein the calculating step uses a surface having triangular faces, each vertex of which corresponds to a certain point of the patient body.
  17. 17 . A robot for performing automatic massage, comprising: a massage tool coupled to a controller, the controller configured to i. generate a continuous massage trajectory on a predefined human body surface model; ii. generate a target body surface model from the predefined human body surface model based on measured parameters of a patient body; iii. measure a surface of the patient body using a three-dimensional camera; iv. adjust the target body surface model to the measured surface; v. calculate a continuous motion trajectory of a massage tool on the adjusted target body surface model; and vi. move the massage tool along the calculated continuous motion trajectory, the controller configured to automatically perform (ii)-(vi).

Description

FIELD OF THE INVENTION The invention relates to the field of automated physiotherapy equipment and can be used for health-improving massage operations. BACKGROUND OF THE INVENTION There are methods and devices for performing automatic massage using a robotic manipulator (see the following patent documents: US20220388168 A1, published on 8 Dec. 2022; U.S. Pat. No. 20220388165 A1, published on 8 Dec. 2022; US20220134551 A1, published on 5 May 2022; U.S. Pat. No. 11,338,443 B2, published on 27 May 2021; US20220414291 A1, published on 29 Dec. 2022; RU 2785828 C1, published on 14 Dec. 2022). More specifically, US20220134551 A1 discloses a method and device for performing automatic massage using a robotic manipulator, in which a massage plan consisting in providing trajectory retargeting is generated, an original body model is adjusted according to input data, and massage poses and an associated pressure force of the robotic manipulator are recorded in Cartesian space points. The disadvantage of the method known from US20220134551 A1 is the inability to use a single massage program which can be applied to patients with a different body geometry in different positions and, at the same time, takes into account the anatomical features of the body geometry and position of a patient. SUMMARY OF THE INVENTION The objective and technical result of the invention are to create a single massage program that can be applied to patients with a different body geometry in different positions and, at the same time, takes into account the anatomical features of the body geometry and position of a patient with high accuracy. The above-indicated objective and technical result are achieved by using an automatic massage method which comprises: generating a massage trajectory on a typical human body surface model in surface coordinates, generating a target human body surface model by adjusting (fitting) its parameters to the results of measuring a surface of a patient body, placing the patient body in a posture close to a recommended posture, measuring the surface of the patient body using a three-dimensional camera, adjusting a posture and spatial position of the target human body surface model to the measured surface of the patient body, transferring the massage trajectory from the surface coordinates of the target human body surface model into spatial coordinates, calculating a motion trajectory of a massage tool in coordinates of a robotic manipulator, and performing massage of the patient body by moving the massage tool of the robotic manipulator along the calculated motion trajectory. The steps of measuring the surface of the patient body using the three-dimensional camera, adjusting the posture and spatial position of the target human body surface model to the measured surface of the patient body, transferring the massage trajectory from the surface coordinates of the target human body surface model into the spatial coordinates, and calculating the motion trajectory of the massage tool in the coordinates of the robotic manipulator are performed continuously to correct the motion of the robotic manipulator when the position and posture of the patient change. The step of generating the massage trajectory on the typical human body surface model in the surface coordinates is performed by generating a surface having triangular faces, each vertex of which corresponds to a certain point of the body for all the model transformations. The massage trajectory is generated on the typical human body surface model in the surface coordinates by using a unified 3D human body model configured as the surface formed by the triangular faces, with each vertex corresponding to a certain point of the body for all the model transformations (body geometry parameters that affect growth, chest depth, etc., as well as posture parameters: angles of flexion of the skeleton joints). As the unified 3D human body model, for example, an SMPL model can be used (see WO 2016/207311, published on 29 Dec. 2016). The trajectory is drawn along the surface along a curve formed by the intersection of a plane formed by a straight line connecting the current and next points of the trajectory and a normal to the surface at the current point of the trajectory, while the intersection is sought using analytical geometry methods. The step of generating the target human body surface model by adjusting the parameters of the model geometry to the results of measuring the surface of the patient body is performed by creating a human body geometry model which will correspond to a set of measured human body parameters. For this, a regressor can be used, which is a trained system or a neural network, in particular, the Bodies-from-Measurements software, which allows one to determine the geometry parameters of the unified 3D human body model based on the measured parameters of the patient, such as height, chest depth, etc. The patient body is placed in the posture close to the recommen