CN120000476A - A multifunctional physical therapy chair for human lower limb joint injuries - Google Patents

Abstract

The invention relates to a multifunctional physical treatment chair for human lower limb joint injury, belongs to the technical field of medical appliances, and aims to solve the problems of non-ideal effect, single function and the like in the existing rehabilitation of lower limb joint injury. The therapeutic chair provides personalized and diversified therapeutic regimens for patients based on low amplitude high frequency vibration (LMHFV), functional Electrical Stimulation (FES) and kinetic stimulation (ES) integrated techniques. The intelligent seat comprises a seat and support system, a LMHFV, FES, ES module, a monitoring and intelligent control system and a safety protection device. LMHFV loads promote blood circulation and relieve pain, FES improves muscle function, and ES module power-assisted restores joint mobility by simulating physiological activity. The monitoring system feeds back signals to the terminal, and the treatment effect is improved through accurate regulation and control function parameters. The invention adopts an integrated technology, has the advantages of good treatment effect, simple and convenient operation, safety, comfort and the like, can help a patient recover the movement function, improves the recovery efficiency, and is suitable for the treatment of various lower limb joint injury diseases.

Description

Multifunctional physical treatment chair for human lower limb joint injury

Technical Field

The invention belongs to the technical field of medical equipment, and particularly relates to a multifunctional physical treatment chair for human lower limb joint injury. The treatment chair is based on low-amplitude high-frequency vibration (LMHFV), functional Electric Stimulation (FES) and motion stimulation (ES) integrated technology, is innovative physical treatment equipment, and is used for providing personalized and diversified treatment schemes in rehabilitation treatment of lower limb joint injury. By combining mechanical stimulation, electrical stimulation and motor stimulation, the method helps patients improve joint mobility, lighten muscular atrophy and promote functional recovery of lower limb joints and related muscles.

Background

With the changes of life style and the increase of aging population in modern society, the injury of human lower limb joints (such as ankle sprain and the like) and degenerative diseases (such as knee arthritis and the like) have become important problems affecting the daily life and health of people. The injury of the joints of the lower limbs not only causes inconvenient movement of patients, but also often accompanies symptoms such as pain, muscular atrophy, limited joint movement and the like, and seriously influences the life quality of the patients. Currently, most of the commonly used treatment methods are drug treatment and surgical intervention, but these methods often have side effects and have limited curative effects.

In recent years, the application of LMHFV, FES and ES techniques in the field of physiotherapy is gradually maturing. LMHFV by applying vibration of a certain amplitude to human skeletal muscle tissue, the lower limb joint and surrounding soft tissues are stimulated, the local blood circulation is improved, the joint flexibility is improved, the pain is relieved and the tissue repair is promoted. FES technology stimulates nerves and muscles through low frequency pulsed current, enhancing muscle strength, improving muscle function, promoting nerve repair. ES technology helps patients to restore or maintain normal motor ability by simulating the physiological activity behavior of healthy humans. Although these techniques have found some application in clinic, there is still a lack of integrated therapeutic devices incorporating three techniques. The treatment chair designed by the invention is based on the summary of clinical practice, innovation of structure and technology, and can be used for treating the lower limb joint injury more efficiently by combining the advantages of multiple technologies.

At present, most of commonly used physical treatment equipment in clinic has single function and lacks comprehensive treatment capability. These devices have certain limitations in terms of therapeutic effect, convenience of operation, and indication range. Therefore, the physical treatment equipment integrating the LMHFV, FES and ES technologies is developed, so that discomfort caused by the damage of the joints of the lower limbs can be relieved more effectively, the rehabilitation effect is improved, and the physical treatment equipment becomes a technical challenge to be solved.

The invention aims to solve the defects in the prior art and provides a physical treatment chair for human lower limb joint injury, which integrates LMHFV, FES and ES technologies. The device can simultaneously apply various technologies (including, but not limited to LMHFV, FES, ES and ADL weight-bearing technologies and the like) in the treatment process, remarkably improves the curative effect, and is suitable for patients with various lower limb joint injuries or degenerative diseases through simple operation and high safety.

Disclosure of Invention

The invention aims to solve the comprehensive problems that the rehabilitation effect of the lower limb joint injury is not ideal, and the treatment mode cannot synchronously solve pain and functional recovery, and provides a physical treatment chair for the human lower limb joint injury integrating LMHFV, FES and ES technologies. The treatment chair can cooperatively regulate and control the comprehensive application of various treatment modes through the main control end, and provides a more comprehensive and effective personalized rehabilitation treatment scheme aiming at different requirements of patients with lower limb joint injury.

The invention is realized by the following technical scheme;

a multifunctional physical therapy chair for the injury of joints of lower limbs of human body comprises a chair and support system, a LMHFV module, an FES module, an ES module, a monitoring and intelligent control system and a safety protection device;

The seat and the supporting system are the main body of the treatment chair and are mainly used for bearing ES, LMHFV, FES modules, a monitoring and intelligent control system, a safety protection device and a patient. The chair design conforms to ergonomic principles and provides adequate comfort and support for the patient during treatment. The chair surface and the back adopt breathable materials, so that the comfort of a patient is improved. The design of the seat and the supporting system supports various adjustment modes so as to adapt to patients with different body types and treatment requirements;

The LMHFV module generates low-amplitude high-frequency vibration waves through electromagnetic driving and acts on the lower limb joint area of the patient. The vibration wave energy is effective in promoting blood circulation, relieving muscular tension, relieving pain and improving joint flexibility. LMHFV of the module can stimulate the metabolic activities of muscles and joints to further promote rehabilitation;

The FES device adopts a preset program, stimulates the muscles and nerves of lower limbs by using pulse current with specific frequency, simulates normal autonomous movement, and can strengthen muscle strength and improve muscle function and joint stability. The FES module is provided with a plurality of electrode patches which are in direct contact with human skin, and the related muscle groups are activated by current to help a patient recover the exercise capacity, prevent muscular atrophy and maintain the normal activity of muscles;

The ES device simulates normal motion through an electromechanical drive system, helps the patient to train the joint mobility, and enhances muscle coordination. The ES module is used in combination with the FES module, and the personalized exercise scheme is implemented by combining the leg supporting device and the exercise control system, so that the patient is helped to recover exercise capacity step by step. In the active movement mode, the patient can autonomously perform joint movement, the device provides proper auxiliary force, the patient is helped to complete movement, and the movement capacity of joints and muscles is gradually enhanced;

the monitoring and intelligent control system can collect physiological data such as myoelectric signals, joint angles, muscle tension and the like of a patient in real time through the sensor, and a Central Processing Unit (CPU) automatically adjusts functional parameters such as low-amplitude high-frequency vibration, functional electrical stimulation, strength, frequency, duration and the like of the motion stimulation according to the physiological data. Medical staff can easily adjust the treatment mode and the treatment parameters through touch screens or voice control. The control system is provided with an intelligent algorithm, can perform deep learning according to individual data of patients, can cope with various emergency situations in real time, and can customize a personalized treatment scheme for each patient to optimize the treatment process;

The safety protection device is provided with multiple safety protection mechanisms, so that the patient is ensured not to be affected by any adverse reaction in the whole treatment process.

In the above technical solution, the LMHFV module includes an electromagnetic driver, a vibration controller, a vibration platform, sensors (angle sensor (gyroscope, accelerometer), force sensor, pressure sensor, and temperature sensor), and a heat sink. The electromagnetic driver is a core component of the LMHFV module and is arranged in the vibration platform to convert electric energy into mechanical energy and generate specific low-amplitude high-frequency vibration waves, and the electromagnetic driver is in direct contact with the sole of a human body through the vibration platform and is transmitted to joints of lower limbs, so that the effects of improving blood circulation, relieving joint pain, relaxing muscles, promoting joint mobility and the like are achieved. The vibration controller adjusts the vibration frequency, amplitude and time according to the set program to meet the treatment requirement, and adjusts parameters in real time through the monitoring system. The sensors monitor the physiological feedback of the patient, ensure individuation and safety of the treatment and optimize the treatment effect. To prevent the accumulation of heat of the vibration device, the heat dissipation system dissipates heat in time to prevent the equipment from overheating.

In the above technical solution, the FES module includes an electrical stimulation generator, an electrode patch, a current controller, and sensors (a surface myoelectricity (EMG) sensor and a skin electrical impedance sensor). The electric stimulation generator adjusts working parameters through the current controller and generates electric signals, the electric signals are transmitted to the electrode patches through the lead wires and the connecting interfaces, the electrode patches contained in the FES module are distributed over the lower limb muscle groups so as to stimulate muscles or nerves, and the contraction, the relaxation or the improvement of nerve functions of the muscles are promoted.

In the above technical solution, the ES module includes a hydraulic joint Qu Shenqi, an ADL weight-holding device, a motion simulator, sensors (biofeedback sensors (for monitoring blood oxygen, blood pressure, and heart rate), angle sensors (gyroscopes, accelerometers), force sensors, and pressure sensors), and a motion controller. The ES module realizes the adjustable joint movement range through an electro-hydraulic driving device and the like, and the movement speed, the force and the range of the device can be set and adjusted according to the actual requirements of patients. The joint flexion and extension device regulates the flow of hydraulic oil through the hydraulic pump and the electromagnetic valve, thereby controlling the flexion and extension actions of the joint. The sensor such as gyroscope transmits the signal to the control port, and the control port recognizes the signal and controls the current to accurately regulate and control the solenoid valve switch and the liquid flow, thereby ensuring the accuracy and stability of the joint movement. The ADL weight bearing device is used for simulating the conventional load of the patient in daily life, and the system adopts worm and gear transmission and is combined with the hydraulic joint flexor, so that stable movement support is provided together, and the autonomous movement capacity of the patient is improved.

In the above technical solution, the monitoring and intelligent control system includes a processor, a vibration controller, a current controller, a motion controller, and sensors (surface myoelectricity (EMG) sensor, skin electrical impedance sensor, biofeedback sensor (oximeter, sphygmomanometer, heart rate detector), angle sensor (gyroscope, accelerometer), force sensor, pressure sensor, and temperature sensor). The monitoring and intelligent control system integrates various sensors to monitor the physiological parameters of the patient such as joint activity, muscle contraction intensity, heart rate, blood pressure and the like in real time and feeds back the obtained data to the CPU, and the treatment scheme is automatically adjusted to ensure the treatment modes such as electrical stimulation, motion stimulation and the like so as to adapt to the requirements of the patient. The intelligent adjusting system can automatically adjust working parameters of each module in the treatment chair according to the real-time data, and meanwhile, a personalized treatment scheme is provided.

In the above technical scheme, the safety protection device is provided with multiple safety protection mechanisms including an overload protection mechanism, an overheat protection mechanism, a real-time physiological monitoring protection mechanism and an emergency stop button. The safety protection device ensures that the patient cannot be excessively stimulated or accidentally injured in the treatment process through multiple safety protection mechanisms, and when an emergency (such as discomfort or equipment failure of the patient) is met, the system can automatically start an emergency stop mode to stop all treatment operations rapidly. Meanwhile, an emergency button is arranged on the equipment, and if a patient feels uncomfortable or dangerous during treatment, the operation of the equipment can be stopped immediately if a safety protection mechanism fails to work.

The invention has the advantages of providing personalized, efficient, accurate, safe and comfortable treatment experience, helping patients recover exercise functions and daily life capacity, improving rehabilitation efficiency and realizing automatic treatment through intelligent control.

The LMHFV module, the FES module and the ES module are all in modularized design, and the designed leg extension shell, the hydraulic joint telescopic device, the ADL weight holder and the like are simple in structure, convenient to process and install, low in cost and convenient for large-scale mass production, and the application materials are mainly plastic materials.

The LMHFV, FES, ES and other technologies used by the invention have proved to have good rehabilitation effect on joint injuries. According to the invention, through the combination of the hydraulic joint flexion and extension device and the ADL weight holder and the real-time monitoring of the sensor, the flexion and extension actions of the joint and the simulation of daily activity loads can be accurately controlled. The sensor collects the motion data of the patient in real time and provides accurate feedback, the control system adjusts treatment parameters in time, and the motion intensity, amplitude and speed are dynamically adjusted according to the physiological state and treatment requirement of the patient, so that highly personalized treatment is realized. The intelligent algorithm of the control system and the real-time data feedback of the sensor can ensure that the treatment process meets the specific requirements of each patient and the optimal rehabilitation effect is achieved.

The invention collects real-time data in the treatment process of the patient through the detection and intelligent control system, adjusts the exercise load in real time according to the feedback data and performs deep learning, and deals with various emergency situations in real time, thereby avoiding excessive or insufficient exercise and excessive exercise fatigue or injury of the patient, and achieving customized treatment in a real sense.

Drawings

Fig. 1 is a schematic perspective view of a multifunctional physical treatment chair for human lower limb joint injury.

Fig. 2 is a side view of a three-dimensional structure of the multifunctional physical therapy chair for the injury of the joints of the lower limbs of the human body.

Fig. 3 is a schematic perspective view of a low-amplitude high-frequency vibration (LMHFV) module according to the present invention.

Fig. 4 is a schematic perspective view of a functional electro-stimulation (FES) module according to the present invention.

Fig. 5 is a schematic perspective view of a motion stimulation (ES) module according to the present invention.

Fig. 6 is a schematic perspective view of a seat and support system according to the present invention.

Wherein;

1, a step of; a seat and support system, 101; a backrest, 102; a seat cushion 103, a armrest 104, a weight support system support for a daily movement (ADL) 105, a seat support 106, a seat lifting support (down) 107, a seat lifting hand wheel 108, a seat lifting support (up), 2, a Functional Electrical Stimulation (FES) module 201, an electrode patch 202, a wire 203, a thigh support plate (up), 204, an electrical stimulation generator 205, a locking strap 206, a current controller 207, a thigh support plate (down), 208, a calf support plate (up), 209, a sensor (surface myoelectricity (EMG) sensor and skin electrical impedance sensor), 210, a calf support plate (down), 3, a low amplitude high frequency vibration (LMHFV) module 301, an electromagnetic drive 302, a vibration controller 303, an angle sensor 304, a vibration platform 305, a sensor (up), a temperature sensor (down), a temperature sensor (in) and a pressure sensor), 306, a six degree of freedom hydraulic press 308, a vibration support 309, a vibration platform, 310, a thigh support plate (down), a thigh jack, a frame, a jack, a frame, a leg, a frame, a leg, a frame, a stand support, a stand support, and a stand, and a leg, and a support, and a stand, and a device, and stand and stand by stand and stand and stand, 409, stepper motor base 410, lead screw slot cover 411, slider 412, lead screw, 413, lead screw slot, 414, lower leg telescoping hand wheel, 415 flexor hydraulic cylinder, 416, angle sensor, 417, motion controller, 5, safety protection device, 501, scram button, 6, monitoring and intelligent control system, 601, central Processing Unit (CPU),

Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.

Detailed Description

In order to make the person skilled in the art better understand the solution of the present invention, the following describes the solution of the present invention with reference to specific embodiments.

A multifunctional physical therapy chair for the injury of joints of lower limbs of human body comprises a seat and support system 1, a low-amplitude high-frequency vibration (LMHFV) module 3, a Functional Electric Stimulation (FES) module 2, a motion stimulation (ES) module 4, a monitoring and intelligent control system 6 and a safety protection device 5;

The 1 seat and support system comprises a 101 backrest, a 102 cushion, 103 armrests, a 104ADL weight holder support, a 105 seat support, a 106 seat lifting support (lower), a 107 seat lifting hand wheel and a 108 seat lifting support (upper), wherein the 1 seat and support system is used as a main body of a treatment chair and is mainly used for supporting the body of a patient and providing mounting support of a treatment module, the 104ADL weight holder support, the 105 seat support, the 106 seat lifting support (lower), the 107 seat lifting hand wheel and the 108 seat lifting support (upper) are all made of stainless steel materials, an angle-adjustable structure is arranged between the 101 backrest and the 102 cushion, the adjustable angle range is 30-120 degrees, and the adjustable angle can be adjusted to different sitting posture angles according to the needs of the patient so as to provide comfortable support, and the design accords with the human engineering design, adopts a high-elasticity memory foam material, provides comfortable sitting feeling and better fitting feeling, and has ventilation effect; the 104ADL weight holder support is mainly used for bearing an ADL weight holder, the 103 armrests are arranged on two sides of a seat, are connected with a 102 cushion by adopting a ratchet mechanism, have adjustable height and angle, provide good support for elbows and help patients to sit down or stand up, provide support for the patients, the 105 seat support is connected with a 106 seat lifting support (down), provide stable support for the 106 seat lifting support (down) and the parts above, ensure the stability of the seat structure, the 108 seat lifting support (up) and the 106 seat lifting support (down) are matched with a 107 seat lifting hand wheel for use, the vertical heights of the seats are adjusted by a rack-and-pinion mechanism so as to adapt to patients with different sizes, the lifting heights of the seats are allowed to be manually adjusted by patients or nursing staff, and ensures that the seat stably runs in the lifting process without deflection.

The 3LMHFV module comprises a 301 electromagnetic driver, a 302 vibration controller, a 304 vibration platform, 305 sensors (an angle sensor, a force sensor (upper), a temperature sensor (middle) and a pressure sensor (lower)), a 306 radiator, 307 six-degree-of-freedom hydraulic devices, 308 vibration brackets, 309 vibration platform lifting hydraulic cylinders, 310 vibration platform lifting hydraulic cylinders (upper) and 311 vibration platform lifting hydraulic cylinders (lower), wherein the LMHFV controller sends out instructions, the 301 electromagnetic driver converts electric energy into mechanical energy to generate low-amplitude high-frequency vibration waves, the vibration platform is in direct contact with the lower limb of a patient and transmits vibration, the 306 radiator uses copper radiating fins to release heat energy generated by vibration, and the 305 sensors comprise the angle sensor, the force sensor, the pressure sensor and the temperature sensor and monitor physiological signals in the treatment process in real time.

The 2FES module comprises a 201 electrode patch, a 202 lead, a 203 thigh support plate (upper), a 204 electric stimulation generator, a 205 locking bandage, a 206 current controller, a 207 thigh support plate (lower), a 208 calf support plate (upper), a 209 sensor (surface myoelectricity (EMG) sensor and skin electrical impedance sensor) and a 210 calf support plate (lower), wherein the 204 electric stimulation generator generates low-intensity pulsating current with specific frequency according to a command sent by the 206 current controller, the low-intensity pulsating current flows to the 201 electrode patch through the 202 lead, the 201 electrode patch directly contacts skin adhered to a fixed acupoint of a lower limb of a patient so as to stimulate related muscle groups, and the 209 sensor comprises the surface myoelectricity (EMG) sensor and the skin electrical impedance sensor and is used for monitoring muscle contraction intensity and skin resistance change.

The 4ES module comprises a hydraulic joint flexor (403 flexor hydraulic cylinder, 415 flexor hydraulic cylinder), a daily activity capacity (ADL) weight holder (407 gear, 408 stepper motor, 409 stepper motor base, 410 screw groove cover plate, 411 sliding block, 412 screw, 413 screw groove), a motion simulator (401 thigh telescopic hand wheel, 402 thigh bone (up), 404 thigh bone (down), 405 calf bone (up), 406 calf bone (down), 414 calf telescopic hand wheel), a sensor (biofeedback sensor (used for monitoring blood oxygen, blood pressure and heart rate), 416 angle sensor (gyroscope, accelerometer)) and 417 motion controller, wherein the hydraulic joint flexor controls the flow of hydraulic oil through a hydraulic pump and an electromagnetic valve, so that the 403 flexor hydraulic cylinder is ejected out from the 415 flexor hydraulic cylinder, thereby controlling the motion simulator to flex, the ADL weight holder drives the 407 gear to rotate through the 408 stepper motor, the 412 screw is in worm transmission with the 407 gear, thereby driving the sliding block 411 to simulate the movement of the life capacity worm wheel, and the sensor is used for monitoring the daily activity capacity of the patient to move back and forth, and the daily activity state of the daily activity capacity is used for monitoring the real-time regulation of the parameters of the daily activity.

The 6 monitoring and intelligent control system comprises a 601 Central Processing Unit (CPU), a 302 vibration controller, a 206 current controller, a 417 motion controller and sensors (a surface myoelectricity (EMG) sensor, a skin electrical impedance sensor, a biofeedback sensor (an oximeter, a sphygmomanometer and a heart rate detector), an angle sensor (a gyroscope and an accelerometer), a force sensor, a pressure sensor and a temperature sensor), wherein the 601CPU regulates and controls signals received by the 302 vibration controller, the 206 current controller and the 417 motion controller according to physiological data of a sensor collected by the sensors in real time, and adjusts and generates a personalized treatment scheme;

The 5 safety protection device comprises an overload protection mechanism, an overheat protection mechanism, a real-time physiological monitoring protection mechanism and a 501 scram button, so that patients are ensured not to be excessively stimulated or accidentally injured in the treatment process.

The 3LMHFV module, the 2FES module and the 4ES module are in modularized design, so that the processing, the installation and the maintenance are convenient.

And 6, the monitoring and intelligent control system performs deep learning on individual data of the patient through an intelligent algorithm, responds to emergency in real time, adjusts a treatment scheme, provides a personalized treatment scheme and optimizes the treatment effect.

The use of the present invention requires a simple series of preparation by the operator before the treatment can begin to ensure patient safety and comfort. First, the operator gently lifts the 103 armrests and adjusts the seat height by 107 seat lifting hand wheels, allowing the patient to sit down or stand easily. Then, the operator can adjust 101 the angle of the backrest according to the needs and comfort level of the patient, and the backrest can be freely adjusted between 30-120 degrees, so as to ensure that the back of the patient is optimally supported. When the patient sits on the treatment chair, the operator adjusts the length of the leg framework according to the length of the lower limb of the patient through the 401 thigh telescopic handwheel and the 414 calf telescopic handwheel, and the leg framework comprises a 402 thigh framework (upper), a 404 thigh framework (lower), a 405 calf framework (upper) and a 406 calf framework (lower). After the adjustment, the legs of the patient are firmly fixed on the treatment chair by using 205 locking straps, so that the legs of the patient are fully supported, particularly the damaged parts of the joints of the lower limbs can be properly unfolded and fixed, and the injury caused by unnecessary activities is avoided. If the FES module is needed for treatment, an operator needs to accurately paste the electrode patch on the fixed acupoint of the lower limb of the patient, so that good current conduction is ensured. After all preparation work is completed, the operator selects the corresponding treatment function through the control panel and sets the initial treatment parameters. The treatment chair provides a plurality of treatment function modules, such as LMHFV, FES, ES and the like, and an operator can flexibly select the treatment chair according to the specific conditions of a patient. During the treatment, the operator does not need frequent intervention, and only needs to ensure the safety of the patient. The treatment chair 601CPU would monitor the patient's physiological data in real time and dynamically adjust 302 the signals received by the vibration controller, 206 current controller and 417 motion controller via the sensors. Meanwhile, the intelligent algorithm can perform deep learning according to individual data of the patient, and adjust the treatment scheme in real time to cope with emergency, so that the treatment effect is optimized, and a personalized treatment scheme is provided for the patient. After the treatment process is finished, an operator can rapidly close all treatment functions through a control panel or an emergency stop button, so that the safety and effectiveness of treatment are ensured, and a patient can leave the treatment chair comfortably. The whole use process is simple and easy to implement, ensures the comfort and safety of patients during treatment, and simultaneously improves the treatment effect to the greatest extent.

On the basis of the above discussion, it is necessary to supplement that, since the materials of the thigh telescopic housing (up), the thigh telescopic housing (down), the shank telescopic housing (up), the shank telescopic housing (down), the shank telescopic frame (up), the thigh telescopic frame (down), the thigh telescopic frame (up) and the like are thin, in order to provide the bearing capacity of the higher extension frame, it is recommended to use a high-strength material as the manufacturing raw material.

Spatially relative terms, such as "upper," "middle," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation. The device may be otherwise positioned (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.

The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.

Claims (9)

1. A multifunctional physical therapy chair for lower limb joint injuries, characterized in that it includes a seat and support system, a low amplitude high frequency vibration (LMHFV) module, a functional electrical stimulation (FES) module, a motion stimulation (ES) module, a monitoring and intelligent control system and a safety protection device; The seat and support system are used to support the human body, provide a comfortable treatment experience for the human body, and carry the LMHFV module, FES module, ES module, monitoring and intelligent control system and safety protection device; The LMHFV module is used to generate LMHFV to stimulate the metabolic activities of the muscles and articular cartilage in the joint area of the patient's lower limbs, which is reflected in promoting blood circulation, relieving muscle tension, alleviating joint pain and improving joint flexibility. The FES module is used to generate low-intensity pulse current to stimulate the patient's lower limb muscles and nerves, simulate normal autonomous movement, enhance muscle strength, improve joint stability, activate muscle groups, and help restore movement ability; The ES module is used to support the patient's lower limbs and simulate normal physiological joint movements, thereby helping the patient to perform joint mobility training and helping to enhance muscle coordination. The monitoring and intelligent control system is used to collect the patient's physiological data in real time, conduct deep learning through intelligent algorithms, optimize the treatment process and automatically adjust the functional parameters of each module to provide personalized treatment plans; The safety protection device is used to ensure the safety of the patient during the treatment process. 2. A multifunctional physical therapy chair for lower limb joint injuries according to claim 1, characterized in that: the LMHFV module includes an electromagnetic driver, a vibration controller, a vibration platform, sensors (angle sensor, force sensor (upper), temperature sensor (middle) and pressure sensor (lower)), a radiator, a six-degree-of-freedom hydraulic press, a vibration bracket, a vibration platform lifting hydraulic cylinder, a vibration platform lifting hydraulic column (upper) and a vibration platform lifting hydraulic column (lower); the LMHFV controller issues an instruction, and the electromagnetic driver converts electrical energy into mechanical energy to generate low-amplitude and high-frequency vibration waves, which directly contact and transmit vibrations to the patient's lower limbs through the vibration platform; the radiator uses a copper heat sink to release the heat energy generated by vibration; the sensors include angle sensors, force sensors, pressure sensors and temperature sensors to monitor physiological signals during the treatment process in real time. 3. A multifunctional physical therapy chair for lower limb joint injuries according to claim 1, characterized in that: the FES module includes electrode patches, wires, a thigh support plate (upper), an electrical stimulation generator, a locking strap, a current controller, a thigh support plate (lower), a calf support plate (upper), sensors (surface electromyography (EMG) sensor and skin electrical impedance sensor), and a calf support plate (lower); the electrical stimulation generator generates a low-intensity pulsating current of a specific frequency according to the instructions issued by the current controller, and flows to the electrode patches via the wires; the electrode patches directly contact the skin pasted on the fixed acupuncture points of the patient's lower limbs to stimulate the relevant muscle groups; the sensors include a surface electromyography (EMG) sensor and a skin electrical impedance sensor, which are used to monitor muscle contraction intensity and skin resistance changes. 4. A multifunctional physical therapy chair for lower limb joint injuries according to claim 1, characterized in that: the ES module includes a hydraulic joint flexor and extender (flexor and extender hydraulic column, flexor and extender hydraulic cylinder), a daily activities (ADL) weight holder (gear, stepper motor, stepper motor base, screw slot cover, slider, screw, screw slot), a motion simulator (thigh extension and retraction handwheel, thigh frame (upper), thigh frame (lower), calf frame (upper), calf frame (lower), calf extension and retraction handwheel), a sensor (biofeedback sensor (for monitoring blood oxygen, blood pressure and heart rate), an angle sensor (gyroscope, accelerometer)) and a motion controller, the hydraulic joint flexor and extender controls the flow of hydraulic oil through a hydraulic pump and a solenoid valve, so that the flexor and extender hydraulic column is ejected from the flexor and extender hydraulic cylinder, thereby controlling the flexion and extension action of the motion simulator; the ADL weight holder drives the gear to rotate through a stepper motor, and the screw and the gear are driven by a worm gear, thereby driving the slider to perform a forward and backward linear movement simulating the load of daily physiological activities; the sensor is used to monitor the patient's motion state and adjust the functional parameters in real time. 5. A multifunctional physical therapy chair for lower limb joint injuries according to claim 1, characterized in that: the monitoring and intelligent control system includes a central processing unit (CPU), a vibration controller, a current controller, a motion controller and sensors (surface electromyography (EMG) sensor, skin electrical impedance sensor, biofeedback sensor (oximeter, sphygmomanometer, heart rate monitor), angle sensor (gyroscope, accelerometer), force sensor, pressure sensor and temperature sensor), and the CPU collects the patient's physiological data in real time according to the sensor to regulate the signals received by the vibration controller, current controller and motion controller, and adjust and generate personalized treatment plans. 6. A multifunctional physical therapy chair for lower limb joint injuries according to claim 1, characterized in that the safety protection device includes an overload protection mechanism, an overheating protection mechanism, a real-time physiological monitoring protection mechanism and an emergency stop button to ensure that the patient will not be over-stimulated or accidentally injured during treatment. 7. A multifunctional physical therapy chair for lower limb joint injuries according to claim 1, characterized in that: the seat and support system include a backrest, a cushion, an armrest, an ADL weight holder bracket, a seat bracket, a seat lifting bracket (lower), a seat lifting handwheel, and a seat lifting bracket (upper); the seat and support system serve as the main body of the treatment chair, and are mainly used to support the patient's body and provide installation support for the treatment module; wherein the ADL weight holder bracket, the seat bracket, the seat lifting bracket (lower), the seat lifting handwheel, and the seat lifting bracket (upper) are all made of stainless steel; an adjustable angle structure is provided between the backrest and the cushion; the adjustable angle range is 30 to 120°, and it can be adjusted to different sitting angles according to the patient's needs to provide comfortable support; and the design conforms to ergonomic design and adopts high elasticity The memory foam material provides a comfortable sitting feeling and a better fit, and is breathable to eliminate the feeling of stuffiness; the ADL weight holder bracket is mainly used to carry the ADL weight holder; the armrests are arranged on both sides of the seat, and are connected to the seat cushion with a ratchet mechanism, with adjustable height and angle, providing good support for the elbows and providing support for the patient when sitting or standing up; the seat bracket is connected to the seat lifting bracket (lower) to provide stable support for the seat lifting bracket (lower) and the above components, ensuring the stability of the seat structure; the seat lifting bracket (upper) and the seat lifting bracket (lower) are used in conjunction with the seat lifting handwheel to adjust the vertical height of the seat through a rack and pinion mechanism to accommodate patients of different body sizes, allowing patients or caregivers to manually adjust the lifting height of the seat, and ensuring that the seat runs smoothly without deviation during the lifting process. 8. A multifunctional physical therapy chair for lower limb joint injuries according to claim 1, characterized in that the LMHFV module, FES module and ES module are modularly designed to facilitate processing, installation and maintenance. 9. A multifunctional physical therapy chair for lower limb joint injuries according to claim 1, characterized in that: the monitoring and intelligent control system uses intelligent algorithms to conduct in-depth learning of the patient's individual data, respond to emergencies in real time, adjust and provide personalized treatment plans, and optimize the treatment effect.