CN119632812A - A multi-chamber airbag air wave pressure therapy device combined with muscle strength training - Google Patents
A multi-chamber airbag air wave pressure therapy device combined with muscle strength training Download PDFInfo
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Abstract
本发明涉及血液泵技术领域，提供了一种结合肌力训练的多腔气囊空气波压力治疗设备，所述多腔气囊空气波压力治疗设备包括气泵、以及至少两条供应气管、气囊模块、调节模块、传导和分配模块、反馈模块、以及智能控制模块，所述气囊模块包裹在所需治疗位置并通过至少两条供应管道与外部的气泵连接，所述调节模块用于调整所述气囊模块之间通断，所述传导和分配模块对通向相邻的所述气囊模块中的增压气体进行传导和分配，所述反馈模块采集所述气囊模块的操作数据，所述智能控制模块基于所述操作数据对肌力训练过程进行分析形成分析结果，并触发对所述传导和分配模块的调控。
The present invention relates to the technical field of blood pumps, and provides a multi-chamber airbag air wave pressure therapy device combined with muscle strength training, wherein the multi-chamber airbag air wave pressure therapy device comprises an air pump, at least two supply air pipes, an airbag module, an adjustment module, a conduction and distribution module, a feedback module, and an intelligent control module. The airbag module is wrapped in a desired treatment position and connected to an external air pump through at least two supply pipes. The adjustment module is used to adjust the on-off between the airbag modules. The conduction and distribution module conducts and distributes the pressurized gas to adjacent airbag modules. The feedback module collects operating data of the airbag module. The intelligent control module analyzes the muscle strength training process based on the operating data to form an analysis result, and triggers regulation of the conduction and distribution module.
Description
Technical Field
The invention relates to the technical field of blood pumps, in particular to multi-cavity air bag air wave pressure treatment equipment combining muscle strength training.
Background
Currently, muscle strength training is often required by physical exercise or with specialized equipment. However, for some patients with muscle weakness of lower limbs caused by disease or trauma, the conventional muscle training method has a certain limitation.
The device is tempered to finger that paralyzed patient used as disclosed in chinese patent CN215136602U links to each other with the airwave massage appearance through the gasbag cover and forms massage device to massage for patient's palm and finger, promote hand blood circulation, help patient's hand muscle strength to resume, but lack the accurate control to the airwave massage in a certain region, lead to training effect decline, simultaneously, also can't adjust according to different patient's individualized demands, lead to the defect that self-adaptation ability is poor.
The invention is designed for solving the problems that the training self-adaptation capability is poor, the partition management cannot be realized, the training strength and the area cannot be adjusted, the intelligent degree is low, the adjustment of lower limbs, ankle and ankle cannot be realized, the transmission and the reutilization of gas cannot be realized among all air bags, the comfort and the concealment are poor and the like.
Disclosure of Invention
The invention aims at providing multi-cavity air bag air wave pressure treatment equipment combined with muscle strength training aiming at the defects existing at present.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
The multi-cavity air wave pressure treatment device combined with muscle strength training comprises an air pump, at least two air supply pipes, an air bag module, an adjusting module, a conduction and distribution module, a feedback module and an intelligent control module, wherein the air bag module is wrapped at a required treatment position and is connected with the external air pump through at least two supply pipes, the adjusting module is used for adjusting the on-off state between the air bag modules, the conduction and distribution module conducts and distributes pressurized air led into the adjacent air bag modules, the feedback module collects operation data of the air bag modules, and the intelligent control module analyzes the muscle strength training process based on the operation data to form an analysis result and triggers the regulation and control of the conduction and distribution module;
The air bag module comprises a supporting unit and an air bag unit, the supporting unit supports the air bag unit, the air bag unit is hidden in the supporting unit and is arranged on the contact end face of the supporting unit and the treatment position required by a patient, the air bag unit comprises an inflation interface, a main inflation channel and at least two independent air bags, the inflation interface is connected with the main inflation channel so as to conduct pressurized gas into the main inflation channel, the at least two independent air bags are symmetrically arranged on two sides of the main inflation channel to form independent training independent areas, an operation fin is arranged between the at least two independent air bags and the main inflation channel, and the adjustment module is hidden in the operation fin and performs on-off control on the training independent areas.
Optionally, the adjusting module comprises an adjusting unit and an indicating unit, the adjusting unit is used for conducting on-off control on the training independent area, and the indicating unit is used for indicating the current on-off state of the adjusting unit;
the adjusting unit comprises an adjusting pipeline, a miniature adjusting valve and an operation control button, wherein one end of the adjusting pipeline is connected with the air bag and is internally communicated with the air bag, the other end of the adjusting pipeline is connected with the main inflation channel, and the miniature adjusting valve is arranged on the adjusting channel and is used for controlling the on-off of the adjusting channel;
The miniature regulating valve is electrically connected with the operation control button, and the operation end face of the operation control button is arranged on the end face of the operation fin so as to be controlled by a user or medical staff.
Optionally, the conducting and distributing module comprises a distributing unit for distributing compressed gas between adjacent training independent areas and a conducting unit for conducting compressed gas between adjacent training independent areas;
The air bag is characterized in that the conducting unit comprises a conducting pipeline and an electronic control valve, two ends of the conducting channel are respectively connected with the adjacent air bags and are internally communicated, and the electronic control valve is arranged in the conducting channel and is used for controlling the on-off of the conducting channel.
Optionally, the feedback module includes a feedback unit and a data transmission unit, the feedback unit collects operation data of at least two air bags, and the data transmission unit feeds back the feedback unit to the intelligent control module;
The feedback unit comprises a sensing acquisition component and a memory, wherein the sensing acquisition component is used for acquiring operation data of at least two air bags, and the memory is used for storing the operation data acquired by the sensing acquisition component;
wherein the operation data includes an inflation state, a pressure value, and an inflation degree of at least two airbags.
Optionally, the intelligent control module acquires the operation data, and calculates a regulation index Alocal (t) of an ith area of the muscle strength training process at a time t according to the following formula:
Optionally, the supporting unit includes a supporting band, an adhesive band, and at least three positioning holes provided on the supporting band, the adhesive band is respectively provided on an edge of one side of the supporting band and a body of the supporting band, the supporting band is wrapped around a desired treatment position and is wrapped and fixed by the adhesive band, and at least three positioning holes are provided for placing knees, heels and ankles;
The distance between the edge of one side of the supporting belt and the adhesive belt arranged on the supporting belt body is adjusted according to the treatment position required by the user.
Optionally, the distribution unit includes a distributor and a controller, the distributor obtains the regulation and control data of the intelligent control module, and transmits the regulation and control data to the controller, and the controller is electrically connected with the electronic control valve and performs on-off control on the electronic control valve based on the control data of the distributor.
Optionally, the indicating unit includes an indicating lamp and a placement seat, the placement seat is provided with a placement hole, the placement seat is nested on the upper end face of the operation control button, and the indicating lamp is hidden on the upper end face of the placement seat;
The indicator lamp is electrically connected with the operation control button, and different indication colors are displayed based on the on-off condition of the operation control button.
Optionally, the sensing collection subassembly includes gamma pressure sensor, flow sensor and flexible pressure sensor, flexible pressure sensor is attached in the periphery of two at least gasbags to gather the inflation degree data of two at least gasbags, gamma pressure sensor gathers the inside real-time pressure value of two at least gasbags, flow sensor detects the gas flow who flows through the gasbag.
Optionally, the data transmission unit includes a transmitter and a communicator, the communicator establishes a communication transmission channel between the regulation module and the feedback unit, and the transmitter transmits the operation data of at least two air bags acquired by the feedback unit to the regulation module through the established communication transmission channel.
The beneficial effects obtained by the invention are as follows:
1. through the mutual cooperation of the independent training area design of the air bag module and the dynamic on-off control of the adjusting module, the equipment can realize partition management and partition training aiming at different areas, and the whole equipment is guaranteed to have the advantages of strong training self-adaption capability and controllable training area.
2. Through the mutual cooperation of the hidden structure of the adjusting module and the real-time data acquisition capability of the feedback module, the equipment can realize the design of concealment and comfort when keeping powerful functions, and the whole equipment is ensured to be used and experienced well and is convenient for daily operation.
3. Through the mutual cooperation of the multicavity overall arrangement of gasbag module and the gas transmission function of conduction and distribution module for equipment can realize gaseous transmission and reuse between the gasbag, guarantees that whole equipment has the advantage of high-efficient utilization of resources, reduction energy consumption.
4. Through the mutual cooperation of the controllable on-off function of the adjusting module and the real-time monitoring function of the feedback module, the equipment can dynamically adjust the training strength and the regional strength, and the whole equipment is ensured to have the advantages of accurate regulation and control and flexible adaptation to different training requirements.
5. Through the mutual cooperation of the sensing acquisition capacity of the feedback module and the analysis and regulation capacity of the intelligent control module, the equipment can evaluate the state of the air bag in real time and accurately control the regulation module and the transmission and distribution module, and the whole equipment is guaranteed to have the advantages of high intelligence and high response speed.
6. Through the mutual cooperation of the multicavity gasbag arrangement of gasbag module and intelligent control module's parameter adjustment function for equipment can effectively adjust pressure distribution and gesture of low limbs, ankle and ankle, guarantees that whole equipment possesses comprehensive adaptability and high-efficient correction ability's advantage.
7. Through the mutual cooperation of gasbag module, regulating module, conduction and distribution module, feedback module and intelligent control module, the equipment can realize subregion management, dynamic regulation and control, gaseous high-efficient utilization, real-time feedback, intelligent control and comfortable disguise to solve the problem that subregion control ability is poor, intelligent level is low, the wasting of resources is serious and travelling comfort and disguise are not enough that exists in traditional equipment, for the user provides high-efficient, intelligent, accurate correction and training experience.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate like parts in the different views.
Fig. 1 is a schematic block diagram of the overall structure of the present invention.
Fig. 2 is a block schematic diagram of an airbag module of the present invention.
Fig. 3 is a block schematic diagram of the conditioning module of the present invention.
Fig. 4 is a block schematic diagram of a feedback module and an intelligent control module according to the present invention.
FIG. 5 is a schematic view showing the distribution of air bags in different areas of the support belt according to the present invention.
Fig. 6 is an enlarged schematic view of the portion a in fig. 5.
FIG. 7 is a schematic view of a side of the support belt of the present invention in a semi-expanded state.
Fig. 8is a schematic top view of the other side of the support belt half-deployment of the present invention.
Fig. 9 is a schematic structural view of a support tape winding and binding scenario of the present invention.
Fig. 10 is a schematic partial cross-sectional view of four balloons in the ith region of the present invention.
Fig. 11 is a schematic top view of the limiting unit of the present invention.
Fig. 12 is a schematic view, partially in section, of a foot orthotic module according to the present invention.
Fig. 13 is a schematic view of an application scenario of the airbag module and the leg portion of the present invention.
Fig. 14 is a schematic view of an application scenario of the airbag module and the hand wall of the present invention.
The reference numerals are that 1, a supporting belt, 2, a main inflation channel, 3, a positioning hole, 4, an air bag, 5, a conducting pipeline, 6, an electronic control valve, 7, an adjusting pipeline, 8, a miniature adjusting valve, 9, an operating fin, 10, a connecting seat, 11, an adhesive belt, 12, a second hidden cavity, 13, an expanding cavity, 14, a first hidden cavity, 15, a first inflator pump, 16, a first air bag, 17, an electronic pressure release valve, 18, an electronic control valve, 19, a second air bag, 20, a connecting buckle, 21, an air pump, 22 and a fixing seat.
Detailed Description
The following embodiments will further illustrate the related art content of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
According to the first embodiment, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12 and fig. 13, the present embodiment provides a multi-cavity air bag 4 air wave pressure treatment apparatus combined with muscle training, the multi-cavity air bag 4 air wave pressure treatment apparatus includes an air pump 21 and at least two supply air pipes, the multi-cavity air bag 4 air wave pressure treatment apparatus further includes an air bag 4 module, a regulating module, a conducting and distributing module, a feedback module and an intelligent control module, the air bag 4 module is wrapped at a desired treatment position and is connected with the external air pump 21 through at least two supply pipes, the regulating module is used for regulating the on-off between the air bag 4 modules, the conducting and distributing module conducts and distributes pressurized air to adjacent air bag 4 modules, the feedback module collects operation data of the air bag 4 module, and the intelligent control module analyzes the muscle training process based on the operation data to form analysis results, and triggers the conducting and distributing module;
the multi-cavity air bag 4 air wave pressure treatment equipment further comprises a central processing unit, the central processing unit is respectively in control connection with the air pump 21, the air bag 4 module, the adjusting module, the conducting and distributing module, the feedback module and the intelligent control module, centralized control is carried out on the air pump 21, the air bag 4 module, the adjusting module, the conducting and distributing module, the feedback module and the intelligent control module based on the central processing unit, control data of the central processing unit are stored on a cloud server, and accuracy and high efficiency of treatment and muscle strength training of the whole equipment are improved.
In this embodiment, the central processing unit may be hidden on the air bag 4 module and connected to the external air pump 21 through a control line.
The air bag 4 module comprises a supporting unit and an air bag 4 unit, the supporting unit supports the air bag 4 unit, the air bag 4 unit is hidden in the supporting unit and is arranged on the contact end face of the supporting unit and a treatment position required by a patient, the air bag 4 unit comprises an inflation interface, a main inflation channel 2 and at least two independent air bags 4, the inflation interface is connected with the main inflation channel 2 so as to conduct pressurized gas into the main inflation channel 2, the at least two independent air bags 4 are symmetrically arranged on two sides of the main inflation channel 2 to form independent training independent areas, an operation fin 9 is arranged between the at least two independent air bags 4 and the main inflation channel 2, and the adjustment module is hidden in the operation fin 9 and performs on-off control on the training independent areas.
Optionally, the supporting unit includes a supporting band 1, an adhesive band 11, and at least three positioning holes 3 formed on the supporting band 1, the adhesive band 11 is respectively disposed on one side edge of the supporting band 1 and the body of the supporting band 1, the supporting band 1 is wrapped around a desired treatment position and is wrapped and fixed by the adhesive band 11, and at least three positioning holes 3 are provided for placing a knee, a heel and an ankle.
The distance between the adhesive tape 11 disposed on the body of the support tape 1 and one side edge of the support tape 1 is adjusted according to the size of the treatment position required by the user.
As shown in fig. 14, in the unfolded state of the support band 1, the support band 1 is wrapped around the legs or arms of the user and is wrapped around the desired treatment position during use by the user.
In this embodiment, when used for leg treatment, the adaptive air bag 4 module is selected, that is, the adaptive support belt 1 is selected according to the leg circumference of the user, so as to obtain the optimal muscle strength training effect.
The setting of the positioning holes 3 is set relatively to the positions of the knees, heels and ankles after binding, so that the user flexibly rotates the joints and the training needs of different muscle groups are improved, and the use comfort and convenience of the user are improved.
In this embodiment, when the wall surface of the supporting band 1 for the treatment arm is not provided with the positioning hole 3, as shown in fig. 14.
Optionally, the adjusting module comprises an adjusting unit and an indicating unit, the adjusting unit is used for conducting on-off control on the training independent area, and the indicating unit is used for indicating the current on-off state of the adjusting unit;
The adjusting unit comprises an adjusting pipeline 7, a miniature adjusting valve 8 and an operation control button, wherein one end of the adjusting pipeline 7 is connected with the air bag 4 and is internally communicated with the air bag, the other end of the adjusting pipeline 7 is connected with the main inflation channel 2, and the miniature adjusting valve 8 is arranged on the adjusting channel and is used for controlling the on-off of the adjusting channel;
the micro regulating valve 8 is electrically connected with the operation control button, and an operation end face of the operation control button is arranged on an end face of the operation fin 9, so that a user or a medical staff can operate the micro regulating valve.
Optionally, the indicating unit includes an indicating lamp and a placement seat, the placement seat is provided with a placement hole, the placement seat is nested on the upper end face of the operation control button, and the indicating lamp is hidden on the upper end face of the placement seat;
The indicator lamp is electrically connected with the operation control button, and different indication colors are displayed based on the on-off condition of the operation control button.
In this embodiment, when the user or the medical staff needs to treat the muscle group in a certain area, the manipulation adjustment button is triggered to enable the air bag 4 around the required treatment position to be communicated with the main inflation channel 2, so that air is pumped into the air bag 4 corresponding to the required treatment position, and the muscle force of the treatment position is treated and assisted trained.
Through the mutual cooperation of the independent training area design of the air bag 4 module and the dynamic on-off control of the adjusting module, the equipment can realize partition management and partition training aiming at different areas, and the whole equipment is guaranteed to have the advantages of strong training self-adaption capability and controllable training area.
As shown in fig. 5, at least two air bags 4 are symmetrically arranged at two sides of the main inflation channel 2, and are communicated with the main inflation channel 2 under the control of the control buttons, so that muscle strength training and auxiliary treatment are realized.
Meanwhile, in the present embodiment, the sectional shape of the airbag 4 includes, but is not limited to, a square, a rectangle, a triangle, and a circle.
In addition, the air bag 4 is inflated and expanded after receiving the pressurized air of the main inflation channel 2, so as to press the desired treatment position or the desired muscle training position.
In this embodiment, the main body of the supporting strap 1 is provided with a number of expansion chambers 13 corresponding to the number of the air bags 4, and the space of the expansion chambers 13 is adapted to the maximum expansion amount of the air bags 4, so that the supporting strap 1 is not broken and damaged in the process of expanding the air bags 4.
Through the mutual cooperation of the hidden structure of the adjusting module and the real-time data acquisition capability of the feedback module, the equipment can realize the design of concealment and comfort when keeping powerful functions, and the whole equipment is ensured to be used and experienced well and is convenient for daily operation.
Optionally, the conducting and distributing module comprises a distributing unit for distributing compressed gas between adjacent training independent areas and a conducting unit for conducting compressed gas between adjacent training independent areas;
the conducting unit comprises a conducting pipeline 5 and an electronic control valve 6, two ends of the conducting channel are respectively connected with the adjacent air bags 4 and are communicated with the inside of the air bags, and the electronic control valve 6 is arranged in the conducting channel and is used for controlling the on-off of the conducting channel.
Optionally, the distributing unit includes a distributor and a controller, the distributor obtains the regulation and control data of the intelligent control module, and transmits the regulation and control data to the controller, and the controller is electrically connected with the electronic control valve 6 and performs on-off control on the electronic control valve 6 based on the control data of the distributor.
Through the mutual cooperation of the multicavity layout of the air bag 4 modules and the gas transmission function of the conduction and distribution modules, the equipment can realize the transmission and the reutilization of gas between the air bags 4, and the whole equipment is ensured to have the advantages of high-efficiency resource utilization and energy consumption reduction.
Optionally, the feedback module includes a feedback unit and a data transmission unit, the feedback unit collects operation data of at least two air bags 4, and the data transmission unit feeds back the feedback unit to the intelligent control module.
The feedback unit comprises a sensing acquisition component and a memory, wherein the sensing acquisition component is used for acquiring operation data of at least two air bags 4, and the memory is used for storing the operation data acquired by the sensing acquisition component.
Wherein the operation data includes the inflation state, the pressure value, and the degree of inflation of at least two airbags 4.
Optionally, the sensing collection component includes a γ pressure sensor, a flow sensor, and a flexible pressure sensor, where the flexible pressure sensor is attached to the periphery of the at least two air bags 4 to collect expansion degree data of the at least two air bags 4, the γ pressure sensor collects real-time pressure values inside the at least two air bags 4, and the flow sensor detects the flow of gas flowing through the air bags 4.
In the present embodiment, the flow rate of the compressed gas is monitored by the flow sensor, and the expansion speed is calculated in conjunction with the change in volume of the balloon 4.
Specifically, the expansion speed is determined according to the following steps:
s1, acquiring flow data:
Detecting in real time, by means of a flow sensor, the flow Q (t) of gas entering the airbag at time t from the main inflation channel:
The flow Q (t) is the volume of gas entering the air bag in unit time, the unit is L/s, and the value of the flow Q (t) is acquired by the flow sensor. In this embodiment, the flow sensor is disposed in the regulator conduit and collects or measures the flow of gas from the main inflation channel into the bladder.
S2, determining the maximum volume of the air bag:
at system initialization, the maximum inflation volume V max of the balloon is acquired, typically preset by the system.
S3, calculating the expansion speed of the air bag:
In this embodiment, the air bag expansion speed at time t may be calculated by bringing the gas flow Q (t) detected by the flow sensor and entering the air bag from the main inflation channel at time t and the preset V max into a formula.
Optionally, the data transmission unit includes a transmitter and a communicator, the communicator establishes a communication transmission channel between the regulation module and the feedback unit, and the transmitter transmits the operation data of at least two air bags acquired by the feedback unit to the regulation module through the established communication transmission channel.
Through the mutual cooperation of the controllable on-off function of the adjusting module and the real-time monitoring function of the feedback module, the equipment can dynamically adjust the training strength and the regional strength, and the whole equipment is ensured to have the advantages of accurate regulation and control and flexible adaptation to different training requirements.
Optionally, the intelligent control module obtains the operation data, and calculates a regulation index a local (t) of the ith area of the muscle strength training process at the time t according to the following formula:
Wherein the inflation degree V i (t) of the air bag i at the time t is determined according to the following steps:
;
Where V current,i (t) is the current volume of balloon i, V max,i is the maximum inflation volume of balloon i, and its value is the intrinsic parameter of balloon j, and its value is determined by the parameters of balloon i.
In addition, the gas flow rate Q i (t ') flowing into the balloon i at time t' is acquired or recorded by the flow sensor, and then the current volume V current,i (t) of the balloon i is calculated by accumulation:
;
Where V initial,i is the initial volume of the balloon, typically zero in the initial state, and the gas flow Q i (t ') into the balloon i at time t ', the integral term of the above equation is the sum of the gas volumes Q i (t ') dt ' flowing into each time to obtain the volume flowing into the balloon i at time t '.
Wherein the degree of inflation V j (t) of the balloon j at time t is calculated according to the following equation:
;
Where V current,j (t) is the current volume of balloon j, V max,j is the maximum inflation volume of balloon j, its value is the intrinsic parameter of balloon j, and its value is determined by the parameters of balloon j.
In addition, the gas flow rate Q j (t ') flowing into the balloon j at time t' is acquired or recorded by the flow sensor, and then the current volume V current,i (t) of the balloon j is calculated by accumulation:
。
Where V initial,i is the initial volume of the bladder, typically zero in the initial state, and the gas flow Q j (t ') into bladder i at time t ' is the integral term of the above equation that sums up the gas volumes Q j (t ') dt ' flowing into each time to obtain the volume flowing into bladder j at time t '.
And triggering the regulation of the conduction and distribution module if the regulation index A local (t) of the ith area at the moment t exceeds a monitoring threshold Athresh set by a system.
If the regulation index A local (t) of the ith area at the time t is lower than the monitoring threshold Athresh set by the system, the current state is in accordance with the system requirement.
In this embodiment, different modes correspond to different monitoring thresholds Athresh set by the system, and in this embodiment, the monitoring thresholds set by the system are set by an administrator or the system according to actual situations, which are technical means well known to those skilled in the art, so in this embodiment, a detailed description is omitted.
Through the mutual cooperation of the sensing acquisition capacity of the feedback module and the analysis and regulation capacity of the intelligent control module, the equipment can evaluate the state of the air bag in real time and accurately control the regulation module and the transmission and distribution module, and the whole equipment is guaranteed to have the advantages of high intelligence and high response speed.
In this embodiment, a monitoring threshold Athresh set by the system corresponding to different modes is provided, specifically:
1) Mild recovery mode (postoperative recovery or relaxation treatment), monitor threshold Athresh =10 set by the system;
wherein, in this mode, the regulatory index allows for a certain deviation without the need to frequently trigger regulation.
2) Blood circulation improvement mode (promoting blood reflux, lymphatic circulation), monitor threshold Athresh =25 set by the system.
In the mode, the regulation index allows medium deviation, and the air bag expansion speed and pressure fluctuation are ensured to be uniform.
Is suitable for medium-strength circulation promotion requirements.
3) Muscle strength training mode (muscle strength training or exercise rehabilitation), monitor threshold Athresh =15 set by the system;
In this mode, a high precision of expansion regulation is required, and a small deviation triggers the regulation action. Helping to maintain uniform training load and strength.
4) High intensity exercise rehabilitation mode (for high intensity exercise rehabilitation or deep muscle stimulation, and the inflation speed and pressure of the air bag need to be precisely controlled), and a monitoring threshold Athresh =5 is set by the system.
Wherein, in this mode, the tolerance to the regulatory index is minimal, and any minor deviation may affect the therapeutic effect. The method is suitable for the mode with strict requirements and frequent dynamic adjustment.
5) Equalization relief mode (equalization requirements for inflation status and speed are general for daily relaxation or long term relief therapy, but excessive deviation needs to be prevented), monitor threshold Athresh =30 set by the system.
In this mode, a larger deviation of the regulatory index is allowed to reduce frequent regulatory actions, which is suitable for long duration, lower intensity treatments.
As shown in fig. 5, a plurality of areas, for example, an area B, an area C, and an area D in the drawing are provided on the support plate.
When α=0, ignoring the effect of the expansion difference, it is applicable to scenes where the expansion difference is small or where there is no need to pay attention to the expansion difference.
When α=1, the linear influence expansion difference is suitable for the expansion difference processing of general equalization.
When the alpha-2 is affected by the nonlinear amplification expansion difference, the method is suitable for scenes in which the expansion difference is obvious or the expansion state equilibrium is important to pay attention to.
In this embodiment, an example of the value of the expansion difference adjustment coefficient α is provided, specifically:
1) In a scene with a small difference in expansion (basically consistent balloon expansion, small influence of expansion difference on the system, such as postoperative light rehabilitation), the adjustment requirement is low, and α=0.5.
2) In a scenario where the expansion difference is significant and an equilibrium of the expansion state is required (for rehabilitation training, some balloons are not expanded or are expanded excessively, affecting the uniformity of treatment), α=1.5.
3) In a scene where the inflation difference is great and an important adjustment is required (for muscle training, the inflation difference is great, for example, some airbags are inflated far below a target value), α=2.0.
In summary, the expansion difference adjustment coefficient α needs to be set according to the actual situation and input from the man-machine interface, which is a technical means well known to those skilled in the art, so in this embodiment, no further description is given.
In addition, when the influence of the expansion speed difference is ignored, the method is suitable for a scene with uniform expansion speed or small expansion speed requirement on system adjustment, and the weighting factor beta=0 of the expansion speed difference.
When the influence of the expansion speed difference is fully amplified, the method is suitable for scenes with obvious expansion speed difference or needing to mainly adjust uneven speed, and the weighting factor beta=1 of the expansion speed difference.
In this embodiment, a weighting factor β for the expansion speed difference is provided, specifically:
1) In a scenario where the inflation rate is uniform and the difference in rate has less impact on the therapeutic effect (the inflation rate of the balloon in the system is substantially uniform and the difference in rate does not significantly affect the therapeutic effect, e.g. uniform pressure relaxation for the foundation), then β=0.1.
2) In a scenario where the expansion speed difference is significant and the speed needs to be preferentially adjusted (for blood circulation improvement or lymphatic drainage, the expansion speed difference is significant and dynamic speed adjustment is required to ensure smooth pressure fluctuation), β=0.8.
3) The expansion rate is extremely uneven, and the therapeutic effect is affected (for muscle relaxation or postoperative rehabilitation, the expansion rate of some air bags is too slow, and the overall fluctuation rhythm is destroyed), then beta=1.0.
In summary, the weighting factor β of the expansion speed difference needs to be set according to the actual situation and input from the man-machine interface, which is a technical means well known to those skilled in the art, so in this embodiment, no further description is given.
The plurality of air bags in one region form progressive fluctuation along a set direction by sequentially dynamically expanding and contracting. The fluctuation of the air bag can show forward vision and somatosensory effect. The fluctuation design not only can promote muscle training and pressure balance, but also can effectively improve blood circulation and strengthen muscle endurance, and is a multifunctional and efficient rehabilitation therapy mode.
In this embodiment, the inflation amount of the air bags in one area is toggled within a safety range, that is, the inflation degree and the inflation speed are dynamically adjusted, so that the plurality of air bags in one area gradually fluctuate along a set direction, and specifically, in a certain area, the plurality of air bags sequentially expand and contract (up and down fluctuation) according to a preset direction and sequence. This dynamic expansion change visually creates a forward-propagating wave feel.
By sequentially inflating and deflating, the air bag simulates the wave-like forward propulsion effect. Such fluctuations can provide continuous pressure and stimulation to the muscles, thereby achieving an effective muscle strength training goal.
The region is particularly suitable for situations where it is desirable to simulate a propulsive force or sequential stimulus, such as improving blood circulation, muscle relaxation, or rehabilitation training, when the region is in a mode corresponding to a sense of fluctuation.
In this embodiment, the balloons are inflated sequentially in a set order (e.g., left to right or bottom to top). Simultaneously, the inflated air bag starts to gradually contract, so that a dynamic waveform propelling effect is formed.
The inflation amounts of the different airbags dynamically change with time, but at any one time, only part of the waveform is in a high-inflation state, and the rest of the airbags are in a low-inflation state.
The wave motion process is continuous in time and space by adjusting the inflation speed, the starting time and the duration of the air bag, so that a flowing wave sense is formed.
The specific process of the fluctuation mode comprises the following steps:
s11, initial fluctuation:
the first group of balloons begins to inflate first to a target inflation rate (e.g., 80%) and is maintained for a period of time.
The second group of air bags begins to expand after a certain delay to form a wave head.
S12, wave transmission:
When the first group of air bags begins to collapse, the second group of air bags is in a maximum inflated state, and the third group of air bags begins to expand.
The sequentially delivered inflation and deflation allow the undulations to progress in an orderly fashion until the entire area is covered.
S13, loop feedback:
When the fluctuation reaches the end of the area, it may be chosen to:
one-way propagation mode-the wave motion resets to the start point and starts again.
Back and forth propagation mode, wave back propagation, forming reciprocating wave.
In the present embodiment, assuming that one region is provided with M airbags, the fluctuation propagates along time t and space x (airbag number), and the state value V (b, t) of the b-th airbag in one region:
。
Where V min,Vmax is the minimum and maximum inflation amounts (e.g., 0% and 100% inflation rates) of the air bags, f is the frequency of the waves, the time propagation rate of the control waveform, k is the wave number, the space propagation rate of the control waves, and φ is the phase offset, describing the time difference of the waves between each air bag.
Wherein, for different treatment modes or treatment requirements, different fluctuation frequencies are corresponding, in particular:
Mild rehabilitation, which is suitable for low-frequency fluctuation (0.1-0.5 Hz), the air bag is slowly inflated, and the patient feels comfortable.
The blood circulation is improved, the medium frequency fluctuation (0.5-1.0 Hz) is suitable, and the blood flow and the lymphatic circulation are promoted.
Muscle strength training is suitable for high-frequency fluctuation (1.0-2.0 Hz), rapid alternate expansion and rapid muscle response stimulation.
In this embodiment, the wave number k is related to the number M of air bags, and k=2pi/λ is generally set, where the wavelength λ represents the number of air bags covered by one complete waveform.
For example, if m=10 airbags, the wavelength covers λ=5 airbags, k=2pi/5.
In addition, for the phase offset phi in combination with the wave number k and frequency f, the time delay for locating adjacent balloons is:;
the time delay Δt is set by the system or the user according to the actual situation, and is input or set from the man-machine interface, which is a technical means known to those skilled in the art, so in this embodiment, it is not described in detail.
For example, if the delay time of adjacent balloons is Δt=0.1 s and the frequency f=1.0 Hz, then Φ=2pi f×Δt=2pi Δ1 μm and 0.1= 0.628rad.
In this embodiment, a fixed phase offset Φ may be set for different treatment modes, specifically:
synchronous mode, phi=0, all balloons are inflated simultaneously.
The flow pattern was phi=2pi/M, and the wave was continuously propagated between the balloons.
Delay mode phi >2 pi/M, wave propagation is slower.
Specifically, an example value is phi=0, which is appropriate for synchronous expansion modes, such as uniform pressure therapy.
Phi = pi/6-suitable flow pattern, wave motion propagates continuously.
Phi = pi/3-suitable delay mode, the fluctuations continue stepwise.
The intelligent control module acquires a regulation index A local (t) of an ith area in the muscle strength training process at a moment t, and calculates an airflow distribution quantity Q i (t) of an ith air bag at the moment t according to the following formula:
;
Wherein A local (t) is an adjustment index of the ith region, which indicates the degree of difference of the airbags in the region, Q total (t) is a total air flow (unit: L/min) set by the system, which indicates the total air quantity transferred in all the regions, G is the number of divided regions in the support band, and generally speaking, G regions are divided in the support band, and N airbags exist in each region.
Wherein, by introducing the proportional relation of the local adjustment index A local (t) and the total air flow Q total (t) into a formula, the distribution of the air can be ensured to be dynamically adjusted according to the requirements of each area. And the air flow is reasonably distributed according to the expansion requirement and the pressure state of the air bags in the area, so that the excessive or insufficient inflation of some air bags is avoided.
The intelligent control module determines the inflation time t inflate (i, t) of the ith air bag at the time t, transmits the inflation time t inflate (i, t) of the ith air bag at the time t to the distribution unit, and triggers the distribution unit to control the ith area.
The i-th airbag inflation time t inflate (i, t) at time t is calculated according to the following equation:
;
Where V max is a target expansion degree, typically 100%, V i (t) is an expansion degree of the ith balloon at time t, C inflate is an expansion rate control factor, and the expansion rate is adjusted such that the smaller C inflate is, the longer the expansion time is, and the slower the expansion rate is.
If the inflation of a certain balloon is insufficient (i.e. V i (t) is low), the inflation time (t inflate) is increased to ensure that the inflation of the balloon reaches the target. The expansion control is adjusted by C inflate according to the difference in expansion in the region, so as to avoid too fast or too slow expansion.
The intelligent control module determines the pressure P i (t) of the ith air bag at the moment t in the i areas, wherein the pressure P i (t) of the ith air bag at the moment t is calculated according to the following formula:
;
Wherein P target is a target pressure value, which is usually a standard pressure set by a system, P max is a maximum allowable pressure of an air bag system, P j (t) is a pressure value of an air bag j adjacent to the air bag i at a time t, and the value is acquired by a gamma pressure sensor arranged in the air bag i.
In this embodiment, the pressure balance control adjusts the air flow by calculating the pressure difference between adjacent airbags. If the pressure difference is large, the pressure of one air bag is regulated by increasing the air flow or reducing the air flow, so that the pressure of all the air bags in the area is balanced.
Wherein the target pressure P target is an ideal value, corresponding to a fixed set known value, the system achieves the target pressure by adjusting the gas flow and expansion rate.
After the intelligent control module determines the regulation and control data, the regulation and control data are transmitted to the distribution unit, and the distribution unit is triggered to control the air bags of a certain area so as to maintain the action of the air bags of the area, so that muscle strength training and auxiliary treatment of the area are realized.
Through the mutual cooperation of the multicavity gasbag arrangement of gasbag module and intelligent control module's parameter adjustment function for equipment can effectively adjust pressure distribution and gesture of low limbs, ankle and ankle, guarantees that whole equipment possesses comprehensive adaptability and high-efficient correction ability's advantage.
Through the mutual cooperation of gasbag module, regulating module, conduction and distribution module, feedback module and intelligent control module, the equipment can realize subregion management, dynamic regulation and control, gaseous high-efficient utilization, real-time feedback, intelligent control and comfortable disguise to solve the problem that subregion control ability is poor, intelligent level is low, the wasting of resources is serious and travelling comfort and disguise are not enough that exists in traditional equipment, for the user provides high-efficient, intelligent, accurate correction and training experience.
Second embodiment this embodiment should be understood to include all of the features of any one of the previous embodiments and be further modified in accordance with the teachings of fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 and 13, and in that the multi-chamber air bag airwave pressure therapy apparatus further includes a foot orthotic module that corrects a user's foot and is removably coupled to the support module;
Through the cooperation of the detachable connection structure of the foot correction module and the support module, the correction module can be quickly installed or detached according to the use requirement, the flexibility and adaptability of the whole equipment are guaranteed, and the correction module is suitable for different correction requirements.
The foot correction module comprises a limit unit, a monitoring unit and an evaluation unit, wherein the monitoring unit is used for collecting pressure distribution data of the foot, the evaluation unit is used for evaluating the foot according to the pressure distribution data of the foot collected by the monitoring unit to form an evaluation result, and the limit unit is used for adjusting the foot according to the evaluation result.
The foot correction module is in control connection with the central processing unit, the central processing unit is used for carrying out centralized control on the foot correction module, and control data of the central processing unit are stored in a cloud server so as to improve the accuracy and reliability of foot correction.
The foot correction module further comprises a connecting unit, the connecting unit is used for detachably connecting the limiting unit with the supporting module, the connecting unit comprises a connecting plate, a connecting seat 10 and a connecting buckle 20 arranged on the connecting plate, one end of the connecting plate is connected with the monitoring unit, the other side of the connecting plate faces away from one side of the monitoring unit, the connecting port is arranged at the edge of one end of the connecting plate away from the monitoring unit, the connecting seat 10 is arranged on the supporting module (arranged on the outer wall of the supporting belt 1) and the connecting port and the connecting seat 10 are mutually matched and can be detachably connected.
The monitoring unit comprises a pressure monitoring component, an inclination monitoring component and a data buffer, wherein the pressure monitoring component is used for collecting pressure distribution data of the foot, the inclination monitoring component is used for collecting inclination angle and dynamic displacement data of the captured sole of the foot, and the data buffer is used for storing the data collected by the pressure monitoring component and the inclination monitoring component.
Through the mutual matching of the dynamic regulation and control capability of the foot correction module and the bearing capability of the support module, the force application strength can be dynamically adjusted in the correction process, uneven force can be dispersed and absorbed, and the comfort and pressure balance of the whole equipment in the use process are ensured.
The pressure monitoring component comprises a fixing seat and at least two lambda pressure sensors, wherein the fixing seat is used for respectively supporting the at least lambda pressure sensors, the at least two lambda pressure sensors are used for collecting pressure sizes and distribution of points of a contact surface of a sole of a foot, the at least two lambda pressure sensors are arranged on the contact end face of the fixing seat 22 and the foot and collect the pressure sizes and distribution of the points of the sole and the contact surface, and the pressure sizes and the distribution of the points of the contact surface.
In this embodiment, the key points of the plantar contact area, such as the heel, forefoot, big toe, small toe, etc., are typically covered by an even distribution. The sensor is capable of acquiring real-time pressure values and generating a two-dimensional pressure distribution.
Specifically, the measuring step of the pressure monitoring member includes:
S21, initializing, namely ensuring that the fixed seat 22 is fully contacted with the sole, arranging the sensors at the key points of the sole, covering the contact area, calibrating the initial pressure value of each sensor to be zero, ensuring accurate acquired data, starting pressure acquisition, and starting a real-time monitoring mode.
S22, real-time pressure acquisition:
Each pressure sensor records the real-time pressure magnitude P i (t) (unit: pa or kPa) at the plantar contact point. Wherein the sampling frequency is typically set to 50Hz or higher to capture plantar dynamic pressure changes.
All sensors work simultaneously, and the collected pressure values P i (t) of each point are integrated into a two-dimensional matrix according to a grid form:
;
In the formula, m and n are respectively the grid division line number and the grid division line number of the sole region covered by the fixing seat, and each element P i,j (t) represents the pressure value at the ith row and the jth column at the moment t.
The inclination monitoring component comprises an inertial sensor and a placing seat, wherein the inertial sensor captures the inclination angle of the sole of the foot, the placing seat is prevented from being placed by the inertial sensor, and the placing seat is hidden and arranged on the fixing seat.
In this embodiment, the inertial sensor is fixed to the central or critical area of the foot contact area (e.g., the plantar midpoint or ankle support location). Wherein, the tilt monitoring component is embedded in the inside of the fixed seat to avoid damaging or being disturbed by the outside in the moving process.
Specifically, the measuring step of the inclination monitoring member includes:
s31, initializing:
The system is started and the sensor is initialized, and the zero point value of the inertial sensor is calibrated (such as 0 acceleration at rest and 0 angular velocity).
S32, real-time data acquisition:
Acquiring acceleration data:
linear acceleration of the sole of the foot on X, Y and Z axes is collected in real time.
And acquiring angular velocity data, namely acquiring the angular velocities of the sole around X, Y and Z axes in real time.
S33, data processing:
1) And calculating the inclination angle of the sole of the foot by fusing acceleration data and gyroscope data.
;
Where θ x is the left-right inclination angle, θ y is the front-back inclination angle, a x is the linear acceleration of the sole in the X-axis direction, a y is the linear acceleration of the sole in the Y-axis direction, and a z is the linear acceleration of the sole in the Z-axis direction.
2) Dynamic displacement calculation:
Calculating displacement according to acceleration integral:
;
where Δx (t) is the displacement of the foot in the X-axis direction during time t, v x (t) is the velocity of the foot in the X-axis direction during time t, a x (t) is the acceleration of the foot in the X-axis direction during time t, t is the current time, and t' is the intermediate time variable in the integration process.
3) And (3) attitude calculation:
Calculating the rotation angle through gyroscope data integration:
;
Wherein, the inclination angle of the sole of the theta x (t) around the X axis at the moment t is the angular velocity of the sole around the X at the moment t', and t is the current moment.
S34, outputting a result:
Outputting a real-time inclination angle theta x and theta y;
outputting the rotation angles omega x, omega y and omega z of the sole;
The dynamic displacements Δx, Δy, Δz are output.
The evaluation unit acquires the acquired pressure values P i (t) of each point, integrates the pressure values into a two-dimensional matrix according to a grid form, outputs real-time inclination angles theta x and theta y, output plantar rotation angles omega x and omega y and omega z and output dynamic displacement delta x and delta y and delta z, and calculates a correction index C (t) according to the following formula:
;
Where P i,j (t) is the pressure value at point i and point j at time t. P (t) is the average pressure value of the plantar contact surface, calculated according to the following formula:
;
Where m is the number of rows of the grid, n is the number of columns of the grid, and |P i,j (t) -' P (t) | is the deviation of the pressure value at the i and j point from the average pressure value, reflecting the uneven pressure distribution.
When the correction index C (t) exceeds a correction monitoring threshold C thresh set by the system, the current state deviation of the sole is larger, the tolerance range of the system is exceeded, a limiting unit is triggered, and the correction action is executed.
When the correction index C (t) is smaller than or equal to a correction monitoring threshold C thresh set by the system, the current state of the sole is in a tolerance range, the current state is maintained, the monitoring is continued, and the correction is not triggered.
The correction monitoring threshold C thresh set by the system is set by the system or the manager/medical staff according to the actual situation, which is a technical means well known to those skilled in the art, and those skilled in the art can query the related technical manual to obtain the technology, so that the description is omitted in this embodiment.
The limiting unit comprises a left correcting member and a right correcting member, the left correcting member and the right correcting member are symmetrically arranged on the fixing seat 22, the fixing seat 22 is provided with a first hiding cavity 14 and a second hiding cavity 12 for the left correcting member and the right correcting member, the left correcting member corrects the left side of the sole, and the right correcting member corrects the right side of the foot.
The left correcting component comprises a first air bag 16, a first air inflation pipeline, a first air inflation pump 2115 and an electronic pressure release valve 17, one end of the first air inflation pipeline is connected with the first air bag 16 and is internally communicated with the first air inflation pump 2115, the other end of the first air inflation pipeline is connected with the first air inflation pump 2115 to form an air inflation part, the air inflation part is hidden and arranged in the first hidden cavity 14, the electronic pressure release valve 17 is arranged on the first air bag 16, and the air in the first air bag 16 is released into the external environment based on the control of a central processing unit.
The right correcting component comprises a second air bag 19, a second air inflation pipeline, a second air inflation pump 21 and an electronic control valve 18, one end of the second air inflation pipeline is connected with the second air bag 19 and is internally communicated with the second air inflation pump 21, the other end of the second air inflation pipeline is connected with the second air inflation pump 21 to form an air inflation part, the air inflation part is hidden and arranged in the second hidden cavity 12, the electronic control valve 18 is arranged on the second air bag 19, and the air in the second air bag 19 is released into the external environment based on the control of a central processing unit.
The evaluation unit acquires the correction index C (t) and a correction monitor threshold C thresh set by the system, and calculates a foot left side pressure average value 'P left (t) and a right side pressure average value' P right (t) according to the following formula:
;
Where m left,nleft is the number of rows and columns in the left region, m right,nright is the number of rows and columns in the right region, Is the sum of the pressure values of all the sensor points in the left area,Is the sum of the pressure values of all the sensor points in the right area.
If the average value 'P left (t) of the left side pressure of the foot is larger than the average value' P right (t) of the right side pressure, the right side correction is triggered, otherwise, the left side correction is triggered.
Tilt angle θ x (t) >0 indicates that the sole is tilted to the right, triggering left correction, and θ x (t) <0 indicates that the sole is tilted to the left, triggering right correction.
The evaluation unit combines the pressure distribution difference and the inclination angle to determine the final correction direction.
The central processing unit selects to trigger the left correction component or the right correction component according to the evaluation result:
1) Left correction:
The first inflator is activated to inflate the first airbag through the first inflation conduit.
And controlling the electronic pressure release valve to release gas gradually, so as to avoid overcorrection.
2) Right correction:
the second inflator is activated to inflate the second airbag through the second inflation conduit.
The electronic control valve is controlled to release gas gradually, so that stable adjustment is ensured.
In addition, the evaluation unit also calculates the left-corrected and right-corrected inflation amounts V correction (t) according to the following equation:
;
Where k is the charge adjustment factor, which is related to system performance and correction rate, and |C (t) -C thresh | is the intensity that indicates the correction need.
Wherein, the value range of the air charge quantity adjusting coefficient k is [1.0,2.0].
The value trend is as follows:
a low sensitivity scene (e.g., relaxed mode) is chosen with a smaller k, ensuring a slow and steady corrective action.
A highly sensitive scene (e.g., motion correction mode) selects a larger k to quickly compensate for the pose imbalance.
In this embodiment, a value example is provided, and specific:
1) Relaxed mode (corrective action is mainly comfort, no fast adjustment is required), then k=0.3;
Wherein, the gasbag is slowly inflated under the light mode, is fit for slight adjustment, avoids patient's discomfort.
2) And in the daily gait correction mode (in the gait correction process, proper and rapid adjustment is needed to keep stable posture), k=1.0, wherein in the daily gait correction mode, the inflation speed is moderate, and the device is suitable for conventional posture adjustment.
3) And in the movement mode (in the severe movement process, the gesture is required to be quickly corrected to prevent further deterioration of the gesture), k=1.8, wherein in the movement mode, the gesture is quickly inflated, and the gesture is timely adjusted to ensure the stability.
4) In the high-precision correction mode (in the rehabilitation process, very accurate slow adjustment is needed to prevent excessive correction), k=0.1, wherein the small inflation amount in the high-precision correction mode is suitable for accurate rehabilitation adjustment.
The central processing unit acquires the correction data calculated by the evaluation unit, and corrects the left correction member and the right correction member in the limiting unit according to the correction data, so that the user obtains a better correction effect.
In this embodiment, the correction data includes a correction direction and a correction inflation amount.
Specifically, when the limiting unit is in the inflation stage, the target air bag is inflated with the gas with the volume of V correction (t). Meanwhile, the central processing unit monitors the feedback of the pressure sensor, and ensures that the target pressure is uniformly distributed.
When the limiting unit is in the pressure release stage, excessive gas is gradually released through the electronic pressure release valve or the control valve, so that the system is kept stable.
The correction process is a closed-loop control, and the evaluation unit dynamically adjusts the speed of inflation or pressure release according to the pressure distribution and the inclination angle fed back by the sensor.
The stop condition corrected by the limiting unit is set as follows:
when C (t) is less than or equal to C thresh or |θx (t) | < epsilon (small inclination angle), the correction process is finished.
Through the cooperation of the correction function of the foot correction module and the stable support function of the support module, the foot correction module can maintain the stability of the whole equipment while providing accurate correction, and the reliability and the safety of the whole equipment in the correction process are ensured.
Through the mutual cooperation of the sensing monitoring function of the foot correction module and the mechanical optimization design of the support module, the equipment can monitor the stress condition of the sole in real time and dynamically adjust the correction force, so that the whole equipment is ensured to have accuracy and high efficiency.
Through the cooperation of the correcting function of the foot correcting module and the protecting function of the supporting module, the device plays a role in protecting feet in the correcting process, excessive correction or secondary injury is prevented, and the whole device is ensured to have ergonomic and safety protection performance during treatment.
Through the mutual cooperation of different functional characteristics (correction, stability, flexibility, protection and the like) of the correction module and the support module, the device can play a role in correction, monitoring, support, protection and other dimensions simultaneously, has the advantages of reliability, flexibility, comfort, accuracy, safety and the like, and provides a comprehensive solution for foot treatment.
The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention, so that all equivalent technical changes made by applying the description of the present invention and the accompanying drawings are included in the scope of the present invention, and in addition, elements in the present invention can be updated as the technology develops.
Claims (10)
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