7/12/23, 10:50 AM
`
`CN115645737A - Automatic positioning device for abdominal treatment and positioning method thereof - Google Patents
`
`
`
`CN115645737A
`
`
`
`Automatic positioning device for abdominal treatment and positioning method theraaf
`
`Abstract
`
`
`telominalt i
`nin
`
`The iny
`relates to an automatic posith
`nethod thereat wherein the autorsatio positioning device cornorises an axial riction module, a
`
`matic
`circular raotion medi
`¥ metion module and a racial motion module, the a
`
`positioning device is coriposed of the
`mation modules, the treatment handle is cla
`
`
`Gevice and thenis camveyed to 4 designated target paint for treatmentin a designated posture
`t area can be
` moticn
`
`through
`cceperative operation ot
`
`user through background operation, the treatment handle is moved to the nor-positian of the
`
`
`of @ transi
`ission device by the
`designated target point through the conveyi
`
`rent of the area is completed after the autor
`
`
`at care
`personnel only need te put the trea
`
`malic positioning treatm ess)
`
`and the medical care personnel can treat
`racre patients in ane-to-riore wawthe treatment tire can
`
`be accurately controfled, the treatment target saint can be accurately positioned. the error of manual
`operation is reduced, and the
`treatment effect is better
`
`
`
`images (94m
`
`
`
`
`
`
`
`
`
`
`Worldwide applications
`
` cn
`
`Application CN202211199645.3A4 avents OD
`2022-03-29
`
`Glaims (9)
`
`
`
`External links: £:
`
`
` move, and ih
`
`evicg for abdariinal trea
`
`
`YAR autorniatic pos
`module (c} and
`meant, character’
`cineluding azial motion module (a), aire
`Jian motion rodute (b), rotary mation
`
`
`
`G6} in radial rv
`
`
`motion mediite (cd), install treatraent handle (1
`ation module (d}, radial motion m
`sduie (d} passes through the drive mechanism drive treatment handie (106)
`end at roteny motion module (fo) is installed co radial motion mk 2 (ch, rotary motion modu c) passe
`nism: drive radiat
`
`
`
`
`an module (a) retary motion, and retary motion macdule (c) is installed an the arc mation track of ciroular motion medule (b), circular
`ration module ¢
`Dd} passes through the
`
`drive mechan
`drive
`
`
` installed to the
`utar motion :
` ry motion
`
`¢) trcves on the arc motion track, the top at axial
`n module (a}
`
`
`axial motion riodule (aj passes through the drive mechanismdrive ciroular motion
`nodule (yy moves inthe axial
`
`
`2. Arte
`inthe
` SINAC Bo
`ial movement module (a) c
`ent according to claim f, chars’ ning device for abdominal t
`
`
`
`ent guide raiis 404
`
`tC
`
`
` ing bhocks {anid) a
` nieces
`(105), the axial mover
`
`
`cnent guide rai
`and the tops
`he axial moversent sliding blocks CH
`
`with the circumferential moverent module (b}.
`
`‘(
`
`
`2, characterized in
`that:
`the clroular ¢
`sn madule (b} oarnprises a
`o. An automatic pasitioning device for abdarninal tes
`
`
`
`
`
`twe ands of the circular meticr: guide
`ral (10243 is o
`}and & ciroular motion s
`rail (192
`Gg ttock (1925), the cirou
`n guide
`
`notion skoing block (10t4), the ciroular motion stidi blook CHD
`
`
`
`
`are fixed to the top of the axt
`8 riovadly connected ta the cirqular motiongsdide rail (1
`
`4 transmission mechanism, 4
`the cuter side «
`ircutar motion 3
`
`
`
`ry motion ri
`ng block (7025) is fixedly connected with the ra
`
`4. Ar au
`
`3, charact
`in that: the rotary motion module (¢} carmprises
`Q device for abdominal treatment according ta clair
`rected with t
`
`
`and th
`fixed on ihe cuter side of the circular motion sii
`
`rotationally os:
`g olock (10253
`ry shed (1G)
`
`
`rnodule (by through a transmission mechanisrn
`
`
`
`ciroutar motion
`
`4, characterized j
`wr
`ca for abcominal regiment accordi
`
`ating shell (1033) is characterized in that 4
`
`
`Fae
`ide af the bottorn of rotating shell (1
`arranged an the other sie
`sarid ranging sens
`
`
`rotatin
`2 botiom cfthe ra
`
`
`
` 6. The automatic positioning device far at treatment according ta claim 1
`
`
`
`ng pert (4043) is used for fixing the treatment
`handle 106}
`
`
`“with the rotary movement medute (c} through a
`
`
`
`
`
`e transi
`7 The autornatic pa
`iding to old
`on assembly carnprises 4 radlai ration moto
`
`
` we rowary
`
`on module
`
`
`
`
`
`(1947) and 8 radial
`n gear (1942), the racial metion motor (1044) is instaitad in t
`(c}, the ouiput end of the radiat motion i
`#
`Sb} meshed with th
`
`transmission conmection with the radial motion gear (G42), a radial gear (1083
`: cadial enotion gear (1042)is vertically arranged on the outer armaft
`
`https://patents.google.com/patent/CN 115645737A/en?0q=CN115645737A
`
`1/8
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`7/12/23, 10:50 AM
`CN115645737A - Automatic positioning device for abdominal treatment and positioning method thereof - Google Patents
`ing part (1943), anc the handle fixing part (1043) is in
`motion module (c}
`
`¢ radial enotion gear C1042) and t radial gear (Ue
`
`
`
` od for pos:
`
`
`
`ies ona sickbed, an autarnatic pesitionk
`
`
`PALS To a cers pol
`ty
`
`a2, tha laser indicator assists @ user io move, the navel is aligned with t
`
`ning an automatic posit:
`
`
`
`
` izes the following ste:, character!
`
`ed on ihe abdemen of th
`
`
`wand an automatic pa
`
`
`iioning
`
`
`indicator, arc the au
`
`vatic positioning
`
`
`
`WISE MOVES TO
`
`
`
`at point (Xn, zn;
`
`
`
`sensor and @ second distance measuring sensorUpload distance data Li AndLbo;
`
`
`and i the two are
`34, detecting distance data Ly And i» i the two ere equal, executing the next st
`
`25, then, moving radially continucusiy
`
`
`, | then therapeutic
`
`
`
`
`energy is release!
`
`
`
`
`
`
`the treatmentis finisted er not, if se, retur
`ice to the part, and if mot, repeating the steps from S2 to 86 until?
`
`
`
`
`And 86, jiuiciging whether
`
`
`
`
`
`
` otations
`
`
`¢ ng to olsies 8, wherein in shes S32, thening an aucomatic positioning cevice for an module angle is
`
`
`
`
`3 the radial motion distance.
`the ciecukar mation cb
`
`
`the rotation angle required oy t
`tor by Galo
`
`
`Description
`
`Automatic positioning device
`hinieal
`
` iekd
`
`
`
`dominal
`
`
`
`treaunent a:
`
`ning me
`
`
`
`dt therect
`
`edical instrume:
`
`
`ie Invention relates ta the technical fi
`
`raat,
`
`3, in particular te an autem
`
`
`
`ning device for abdominal treatment and a pasitioning methed
`
`Backoround
`
`
`12 abdominal tre:
`@, and a treatenent head of the treatrient hancte is aimed at a treatment
`
`
` ciation tr
`nt and
`
`eedi= treatment, scar renair treatment, tame
` for treatm:
`
`
`
`be
`
`
`
`fone time, and one medical care personnal cay
`wot treat 6 Bh
`a esimerit 4
`beloment is farce,
`the clinical oper
`efor s
`
`
`
`
`
`
`
`
`same tir
`rs need to treat the skin
`¢ effect varies from
`
`
`ingle treatment time: in acidition, some
`= the treatri
`person te i
`of
`of the abdominal r ron by the treatment
`ton the
`
`“|
`$ to performprecise traatme:
`head of the treatment handle pen
`
`hus the treatment
`abdarninal sk
`
`
`
`area of a user
`
` Disclosure
`
`ent invention is te
`
`
`
`motion raadule and
`radial
`
`Honing device for belly treatrnent, includes axial motion mndule, circular motion madile, re
`the uty mode! provides an automatic
`
`ive mechs
`motion modu
`stalf the
`dresiment hand
`
`n the racial motion moduie, the racial motion module pa
`
`
` od %
`
`
`modus is instal
`
`
`2 MNOVESs ONL
`ine conve anismdrive the rotary ric
` FROST IOs
`
`
`arc mation track, the top ah the axial mation
`through
`
`
`raction modu
`@ axial motion medule passes through the drive mechanism drive the circular mation module moves in the axial.
`
`
`
`= axial Movement Guide railis previded with twa
`rai
`ide
`:
`atid
`: axial movement medute includes an axial rnovement
`
`
`ulde ralis, the
`
`ads at
`
` of the two axial maverne: des
`_ the axial movernent
`
`
`
`ected on the axial
`
`
`ofroular moverrent module,
`
` all arid a ctr
`ion sliding bhack,
`tri the abave + fea cleoutar action ou
`
`
`2
`
`
`siructure, two ef
`
`re fixed! ai the ton of the axial motion slicing black
`circutar motion ali
`¥ the cireula
`block is movably connected te the
`
`
`
`
`
`
`
`an module,
`of the ciroular motion
`3
`
`ding look is tizediy connected wv
`clroular motion guide
`rail
`Vs trans
`the rotary
`lon mechanism, and the outers'
`
`
`
`
`tr the abave scheme, the rotary motion mac
`iprises a rotary shell, the rotary shell is fired an th
`is rotetably conmected with the clroular motion medute through a transrnission mechanism.
`
`
`
`
`
`siding black, and the rotary shell
`
`detiom conosite
`
`Furthermere, rotatin
`using's Be
`sec with th
`
`
`
`
`istarice measuring senscr, laser
`
`
`notion re
`ng partt
`the trearment hance through a clamping ¢
`
`
`
`partis inte
`tection with the ratary motion
`High a tranernission assembly,
`
`
`
`
`
`rotary me Vqearis yer
`
`
`
` handle fixi
`on the
`outer arn of the handle fixing part, and t
`
`meshing motion of the radial motion gear and the radial gear.
`
`
`Amethod of positioning ac automatic positioning device Fors
`
`
`
`ominal 4
`
`
`atmant, COmMoriss
`
`https://patents.google.com/patent/CN 115645737A/en?0q=CN115645737A
`
`2/8
`
`

`

`CN115645737A - Automatic positioning device for abdominal treatment and positioning method thereof - Google Patents
`7/12/23, 10:50 AM
`nec on the abdomen af
`ona sickbed, an automatic positions
`ern is placed andfixed on the =
`c pesitioning
`
`
`
`31S la A zera point
`
`
`
`ticator assists 6 user to move, the navel is aligned with the laser indicator and the automatic positioning device raves to a target point On, en)
`
`
`asuring se
`
`$3, Uploading distance data L by the
`first distance rm
`a
`
`rand the second distanc
`sory And ib
`
`84, detecting distance data Ly And bo Whether the
`
`twa are equal or not, FF so, executing the next step, and if not, repeating tt
`
`
`8&, then, moving radially cortinucushr:tis . 1 then therapeutic enerayis released, and finally a radial retraction movernent: fis ,
`
`
`
`And S6, judging whether the tr
`
`treatmert is finished.
`
`
`
`oircular motion
`arigte
`Mion
`rotation”
`in step S3, as a preferred rnethod
`rotational motion madule angle is directly convertedinte the rotation angle re
`
` 2
` mared with the oricr art, the invention nas the bene
`al effects that: ih
`
`ning device is composed of motion modules, after the treatrnent handle is
`
`
`
`
`
`
`the restment handle is conveyed to 4 designated target polit in a designated posture through the cooperative ooaration of the motion modules
`c by the device,
`
`automatic posit
`
`
`
`ant handle te the nan-positian
`tor treatment, a treatment area can de
`selected by 4 user through background cperation,
`ning device moves the tre:
`ming
`of the designated target point through the conveying of the transmission device, and the blocked treatment of the area is completed after the automatic posith
`
`
`
`
`
`ta the i
`
`
`ainent, $a
`
`device ts started to work. Medical aare personnel anly need %
`reatment handle
`yandle fizing part for subsequ
`
`© treatment
`nel can treat mere
`nd the medical o
` treatment time can be accurate
`
`
`
`that the workicad of doctors is reduced,
`
`
`
`
`an one by ore: the
`feat it
`TeOL
`hedter,
`he treatment
`
`
`
`et point can be aacurately positioned, the error of rranual operation is reduced, ar
`
`Drawings
`
` ompanying drawings
`The disclasure of the present inver
`is Hustrated with reference ta the
`
` nthe drawings,tke referenspurposes of ustration and not of of the traits of the invention
`
`
`
`matic re
` asentation of ihe present invention in clinical treatment:
`
`
`
` view of the overall structure of the present invention;
`
`FIG. 3 is a schematic view of the axial motion module of the
`
`
`
`oresent inven
`
`
`
`FIG,
`
`‘amof the circu
`n module of the
`
`FS. §
`d view of the rotational motion medite and
`radiat motion
`
`
`
`
`
`mac view of the vartiog! half-section of FEG. 2 alongthe central
`
`
`
`Ged view af section | of FIG. &
`
`FIG. &
`
`
`
`
`
`FIG. Bis a flaw chart of an automatic positioning method cf the present invention;
`
`
`
`
`. 9is a schematic diagram of a mathematical model for selfteveling in accordance with the practice of the present inven
`
`
`ofthe mathe
`ratical model of fig. 9.
`
`troular motion module: c-a rotauonal move:
`ence numbersin the fr
`Tautomauc
`sositticning
`me
`a
`a-sr
`
`
`
` {motion module: ba
`ent module, Gs
`
`1 T4-an axial mavemen
`Hey TOE
`
`
`
`motor, 1022-ciroular
`
`
`r fixing nlook; 101%-arc guide
`
`H25-cirqular motion
`i switeh, 1034-6 rotary mation motor, 108
`
`
` sensor, 1G
`
`Sorotating case cover, 103laser painter: 104t-a
`Sd-a first ranging sensor. 1935-4
`
`
`
` reais ry
`handle sec
`ron motor 1942-a radial movement
`srotlers, TO45racial movement limi switch; 1042 t-radiat gear;
`ting mersber,
`
`
`104:
`
`
`2-a radial movement guide; 1U433-radial mavemernt touches the arm.
`
`Detailed Description
`
`in
`tto make the technica means, the
`it purposes andthe etfects o
`
`
`
`
`deserved in detail with referer
`i
`aki view
`
`
`a schematic
`vention relates.
`
`
`imedes and imo
`t of the inven
`scription and the accompanying drawings are merely itustes
`3 aspects of the
`
`
`
`nd should not be construred as aif of the aresant invention or as limitations orlimitations on the technical aspects of
`sent invention.
`
`
`satution of the present
`
` oO Pho 7, ara omatic positioning device
`for at
`ing}t
`aN
`Quiomanc positioning device tT is
`
`4 table.
`may be moved te the abdominal position cf the us
`the user fles on 4 treatment cauich or
`
`
`
`ernert module ¢ and 4 radial movernert
`
`
`© pesitioning
`ice 1 comprises an axial movement 1
`to a, a circular movement rnodule b, a rotation rv
`redu
`
`tial overs:
`
`redu
`ina trearment fh
`wlule d drives the reatment
`handle 106 to move int
`in the radial rroverr
`106 is installed!
`
`
`
`
` nm through 4 transm
`
`
`
`verment module d is installed atthe a
`2 6, the rotation
`radial cir
`hanism, the radial
`
`ing end of the rat
`
`
`
`radial movement module d to rotate
`
`movement module ¢
`185
`nf, the cotatic
`
`
`
`
`
`
`
`
`
`
`ent raodule 6 drives the rakation movernent module ¢ ta racve on the aie riovemert track
`troular mover
`chroulas ciovernent module
`b,
`
`
`
`
`
`tule b
`sion mechanism, two sides of the circular movement
`instatled :
`= top of the axiat movement modulea, and the axial movement
`
` a ar an enechanisn:. module6to move in the axial direct
`
`
`
`
`
`
`
`m throught th
`
`
`https://patents.google.com/patent/CN 115645737A/en?0q=CN115645737A
`
`3/8
`
`

`

`CN115645737A - Automatic positioning device for abdominal treatment and Positioning method thereof - Google Patents
`7/12/23, 10:50 AM
`eeiment fandie 106 can be a racio trequ
` ;
`
`inst
` nan ultraviolet disi
`ment, a thenmai maato, a theri
`
`
` val Hitting deviee, ar Soke o
`
`can be common mounting and fhxirg modes such as clamping, screws or duckles.
`
`
`The automatic oosith
`amt handle 106 is clar
`
`
`
`ning device 7 is composed of 4 motion modules, atiar the tre:
`ant handle 106 is conveyed to
`wed by the device, the tres
` erative operation of the 4 mat
`signated targeh point in a designated past
`
`
`
`
`ure through the oa
`on eodules for treatment, a treatment area can be selected by a user
`
`
`nt is not located
`by
`the a
`atic
`positioning device
`
`ugh bbac*karound aperation, the treatment handle 1065 is moved ta the position where the designated target
`{ihe block treatenant of the area is completed after the autorr
`
`tr the abave scheme, the axial
`riavemeri
`3
`Da includes ari ¢
`touide cai O'S
`axial novernent quide
`cal TOTS ts
`
`
`
`
`ovided with two p
`end p
` atlel raits, the
`ts
`quite rail connecting piece
`
`
`aby.The axial revi
`ng
`stock Ob|is connected with the axish miovi
`TOS, so tha: the stability af the devicei
`
`
`
`guide rall 1045in a siding waythrough a transmissian mechanism, and the tap of the
`ial moving slide block 1014 is fixedly connected with the circular moving module
`mg 6 theough ar
`de radi flaing block 1078.
`
`
`
`notion cocdule a, a transrnission mec
`crew TOE? and 6
`‘ed inetudes an exial motion motor ta lha
`
`As apreferatle scheme, in the a
`
`
`
`axial motion motor 1671 is installed at one end of the axial mm
`it end af the axial motion a
`mn quick
`through @ motor
`fixing ofock TCT, ane
`
`motion sider P14,
`the fead ser
`v the fead sorew 1042
`utuaddy matched to
`
`
`
`
`sonnected with a beading bt
`F079,
`
`
`
`
`
`
`3 fixed at the ather end of
`
` 3 further installed on one side of the axial
`dan axisf Hot
`switch
`
`sehr
`,acas1a
`: axial motion sii
`
`
`1014 frorn overtimit sliding underthe driving of the trans’
`
`
`
`
` tas 4 plate with gulleys mounted ontop cf an
`mechaniism. The axial motion slide 1014 may be
`nplemente
`< belowthe piate that stide in grooves in the axial motion
`
` inner side of
`guide TG18 An arcshaped guide rail fing block
`HOS for fixing the clreular ration module b is welded te
`plate bady af the axial motion slide TOT 4,
`of
`
`axial movernent module a is as follow:
`
` warking prooess oO
`ne avial rection motor 1047 converts the rotation torque into the axial imear motion of the axial
`
`tintion slide block 1014 th
`
`
`1
`ac screw 1073, and th
`gh the matchiria of the nut 1642 and
`= axial motion slide block 1014 ties the circular motion quite raif 1024
`
`
`
` practice, the zere paint of the axial
`
`
`
`
`24 to move axially tagether
`quide
`aged guide 1;
`“% 1048 and camies the circul
`Through the are
`
`
`
`fring bho!
` is determinedframthe zara point.
`
`al IG1S, and the running distan:
`movement is determined by a micreswitch fixed on the axial mavement guide
`
`
`yn module b os
`
`In the above scheme, the circuls
`
`
`$a circular motion guide rail 1024 and 3 circular motion slid ig block 1025, the circular m:
`
`xed at the top of the axial mationsliding black 1014, anda ciroular motion limit swrieh
`TOES is of an arc structure, two ends of the ciraular cotion guide ral 1624 are |
`
`elrcular motion slidiria
`bicc*
`1025
`anc ayaid
`oulde rail 1024 to firait the mecti
`i
`1024 is arrariged at the bottem side of one end of the circular 7
`2 outer side of the
`
`eds
`cular mg
`1024through4
`
`
`
`Vthe ci
`guide re
`
`
`
`
`
`
`ation sliding block 3925 is fixedly connected with the ratary motion module «.
`
`
`transrnissicrnmechanism used in the circular motion r
`
`tule 6 comorises a circular metic
`imotor 1327, a circular motion gear 1022 and a ciroula
`
`
`
`
`
`
`
`
`tar moto:
`slider 1025 through 4 meu
`“ator 702"
`eclon the cirouiar motion
`4 $e
`. wherein the c
`
`
`dat the outout
`
`
`
`circular motion moter 1024, and the cire
`riG23 rn
`
`tien guide rad tO24.
`ular are
`: Circular motion
`22 is arranged outside
`
`
`
` m meator 13:
`cris tixed cn a
`d with a circuler motion gear 1022, the
`
`ait 1024 of the autornatt
`
`
`is determined Fron
`
`ara point.
`
`
`eof the cirqular motion slider 1025
`inthe a
`neludes a rotation. 4
`
`
`
`rected with the
`
`
`
`af module o, 4 transmis:
`
`
`
`
`
`
`rewar motion slider 1025 thro!ugh &Ri
`ted in a rotati
`housing 1O33 and ts fixed wit
`9 1633, Buh ae outpur end of the re
`
` ng a drving axis
`motion moduie 6, and the circular motion rioduie 6 rotates
`moter 1O34 under the driving of the +r
`
`TO3t,
`
`
`
`
`bonom fs provided with a secand rare
`1034, the cther sic
`ra firs: ranging 3
`One side of the bohomof the vote
`
`
`the middie of t 2 botiom is provided with a laser indicator 1027, and detection paths of the first ranging senser 1934, the second ranging sensor 1G8 and the laser
`
`
`indicator 1037 areall vertically downward. The first ranging
`sensor 1924 anc the secondranging senser 1035 are used for rangi
`G, Measuringthe distarice position of
`
`
`bof ihe user Z
`
`
`the orobe ta the skin of the abdorien, and the probe of the laser pr
`faser rays ta locate
`
`
`follows: a m7
`
`
`the
`Tre working process of the retary motion made <is a
`ar connecting black TG32is fixed cn the rotating shaft of the rotating motion meter 1934,
`
`
`connecting blockis tied on the circular motion =
`er 1925, sa that the relative rotating metior of the rotating motion moter 1937 and the ciroular motion stider 1025 is
`
`
`Lance
`
`Ce Messe
` oF 1034 and 2 seoaridd ¢
`
`The rotational
`
`
`Wg TOSS, and a first dist
`
`
`loyeMment magion Ht is[Steed maurited ina cotational ticonal ha
`
`rmounted in th
`
`using 1932 and th
`
`musing cover 1036, The retation
`en enclosed by 3
`TOS5, and a laser pointe:
`furt
`
`
`
`9g 1033, and the components mounted
` the tre
`sed for
`nt handle 16 throu
`
`
`lec
`avity, and the handle fodee part 1943 is in transmissionce
`18 transmission assembly.
`
`
`
`
`Vanda racial ciotion gear
`seribly corr
`
`
`2, the output
`of the radial motion m
`radiai motion qear
`
`
`Tat is vertically arranged on the cuter armof t
`8 the rotation motion racdule
`
`cin the racial direction through the meshing mat
`
` same, a radial move
`
`As a prefersite sch
`
`
`s disposed at a battc
`arm TO
`of the
`jog part 1043, and a radial raovernent roller 1044 is mounted or the rote
`
`
`
`
`
`https://patents.google.com/patent/CN 115645737A/en?0q=CN115645737A
`
`4/8
`
`

`

`7/12/23, 10:50 AM
`CN115645737A - Automatic positioning device for abdominal treatment and positioning method thereof - Google Patents
`
`
` ed at tha botiom of the
`
`ng
`NE switch 1046 ¢
`movement refler 1044 ray side ori
`radia! movement guide slot 19432 io perform a guiding
`function. A racial movement
`
`A,
`nayemernt
`2 radial ragveme»nt
` imit swite!
`
`
`
`
`Hert, the radial r
`11045 is touched by
`2 hand
`ting case cover 1626, and whe
`g part TG4S maves ta the ma
`
`
`
`
`18 radisi mover
` ant motor 1041 is provided with a racial movement gear 1042, and through the
`
`
`dec in the radial
`pack 134
`
`¢ radial snovernent roller 144is g ayement guide graave 10432, sc
`
`
`ing the racial movement
`
`
`
`lies down,
`installed on a stoxbed, and after a user
`
`
`
`
`laser.
`and the automatic positioning device t through the navet to det
`8 Zero pC!
`
`
`
`Additionally,
`8-105 or te the rotational housing 1033. The 4 motion modules are then
`controlled to rove by an
`
`
`The axial motion module a realizes the switching of the axial! treatment area; the circular raction module 5 reatizes the switching of the circumferential
`alge
`reatment area; the retary motion module e i
`5
`the veaimerct
`handie 106 to be verticai to the section diresation of |
` easing $e
`t
`SO
`# dlectrade treatment tiead af
`
`teated: the radial motion module d reatizes the un-and-dewn tansrnission «
`f the treetmer
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`itoring Gevine 1 does ¢
`i auLaMS|
`ands of ar operator ar
`3 for subs
`
`
`edical care
`nby reed ta put
`4
`
`
`
`
`
`
`
`of doctors is reduced, anc the medical care personnel can treet more than one treaimant; the treatment tire oan be accurately controlied, the treatrrent target pcint can
`
`
`
`aisrid mrronit
`be accurately positioned, the error af man
`web operation is reduced, and the treatment
`stis better, throught back
`iq, data returned by the ranging se
`
`
`
`nis mere off
`is quickly read and proce:
`the trestment time is
`
`
`
`~axis and mult-directian synchronous operation is achieved, the treatment
`
`
` de eri
`ad wih 6 ricroswite
`g moter or a serve motor asn be adopted to
`s when #
`
`
`
`
`
`
`“i positioning is carried out
`automatic
`
`
`
`Referring ta fig. § ta 10, 4 positioning method of an autermatic positioning device for abdominal treatment inclites the following steps:
`
`s3,
`4 userfies
`i of the user, and an automatic oosition : omen
`
`
`device returns tO a zero paint,
` laser indica
`
` a sickbed, an aistomatic positioning system is placed and fixed ont
`
`> Sickbed and oc
`
`er to move, the navel is aligned with the
`
`
` indicator and
`
`
`
`
`
`arnatic pasttioning device moves te 4 target point (Xn, zn}
`
`
`
`t point nis A, the coordinate of the center A cf the treatment point is as follows:
`
`
`
`G distance data b by the first distance measuring sensor
`
`$3, uple
`
` ion distance and a racial metien distanc
`
`
`nrough calculation;
`
`
`
` tihe gee distance mass.
`
`nm motion angie, a circular
`
`
`
`raugh the m
`
` 43 of rotary motion, circular motion and
`
` sreain, the a
`redial motion:
`
` with that the handle is vertical te the tangential direction of the treatment point is restized th
`
`
`rotation arigie & of the rotational movernernt modu
`
`
`
`—_— L,
` = arctan
`
`
`
`
`
`1 Of clroular motion module
`
`https://patents.google.com/patent/CN 115645737A/en?0q=CN115645737A
`
`5/8
`
`

`

`7/12/23, 10:50 AM
`
`CN115645737A - Automatic positioning device for abdominal treatment and positioning method thereof - Google Patents
`
`
`
`a
`
`
`
`drives the handie ta descend by a di
`
`co/angte of the three ri tudes required ta rs
`
`&
`1G racial mothermodute
`inte
`srouler moti
`mation angle required by the motor the motion length BC arc length and the de
`
`
`converted into the r
`ation angie required by the motor through the transmission ratio (the motion distance of the rotation unit angle} cf the goar and the rack, and the
`
`of ihe
`motion precision is provided fer automatic positioning. Implernenting distance cata i, A
`are aquai, so that the and face ot the elactrode om
`
`
`
`vreetment handle 106 is paralfat to the t
` treatment point, 3
`gent plane of the abdom urate oesitioning treatmentiscarried cut.
`
`
`
`
`
`Beosuse the treatrient ares is 3 cambered surface, the xyr axes of the axis
`ued for resiaving
`ting ces
`the conventional multi-axis robot, and the conventional multi-axis robot can be mal
`
`raaiment
`n between the treatment area ot the user and the probe clectrode af
` ithms: (1) therelative position rela
`
`
`
`larof a sata area for the
`MAG device o6n be obtainedthrough
`
`simple sensor device; (2) compared with the prior art, the
`
`
`
`
`
`arm is an inaccessible areal; ) compared with the prior art, the prablem
`wing circumference range of the mechanical
`
`
`
`that the muitiaais robot in the prior art with the
`same size hes a small treatment range is saly
`stance data k , And bo And if set, exe {step and if 1
`
`34, detecti
`
`
`
`
`g the ste
`
`
`Gitar, through L 4 And Lo» The mation step te:
`Since
`anvonly be roughly calculated, after
`
`
`data is wt nthe required error range is
`
`
`
`difference value of the ranging
`corfirmed, and then the next actian is carried out.
`
`
`in, after the
`35, then, moving radially continuausly: | is a radical of an alechel , 1, then therapeutic energyis released, and finallyradial retraction moversent fis , -T) wher
`
`
`
`
`
`he purpase of
`handle ang the treatment point tangential direction are adjusted to be vertical, the ra
`Hiai motion module takes the handle descending distance: bis . -
`orig of whe ae Larget pout.
`
`
`
`
`backspacingis to make the rotating shaft of the rotary motion raedule on the
`track of circular motion, so as te facilitate
`
`
`
`e aliborriat
`treatment is finished or not
`dging whether ts toning device to the part and if not, repeating the ste
`
`s finished.
`
`the motionisi
`
`
`herthe
`
`
`
`iu
`And &6,
`
`
`treatmes
`
` ring sensor from the pivat
`
`
`exis o
`LANCE MNOS
`em, the carter of the O-are track is bg The fenoth of th
`
`
`
`
`nee betweer the nwo distance measuring 5
`G distance mess
`
` sensor, Ly The measured vaiue of the seco
`o sensor, K the of
`
`
`
`
`
`face of the distance m
`of the handle and the end
`
`ring sensor, A, the
`ter target paint of the treatment poi
`
`i
`nele of the ain
`a axis alter C, the
` niersection pein
`
`
`cclampsAnd (Ch ara
`
`
`Reoause the radian of the human abdome
`Ve elactre
`L And Lo The difference value aft
`ensure that the handle e!
`2 can be carr
` ntetely attached ta the skin cf the abdomen during trestment, thereby achieving better treatment affect. The three motion
`alg
`ims cari be synchronsusiy performed, so that the motion time is shortened,
`the treatrnent atfici
`i
`
`
`
`Manet
`Ho should be noted thas
`cumertt, telgtional arms suoh as first ar
`one entity or action
`
`
`
`
`aut necessarlly requiring or implying any actual such relationshis or order between suchentities ar actions. Also, the terms “camprises, "carmprising,’ or any
`
`
`
`
`her variation
`
`
`read, are imendedto cover 6 norrexc
`ned, ar
`sion, such (het 6 grocess, me
`or apparatus that comprises a fist of elersents dces not
`
`
` : elarr
`nat disclas
`
`to such process, method, article, ar apparatus
`include only those elemen
`de other elements
`not expressly listed or inherent
`
`
`
`se stitled in the ai
`
`
`ions anc
`
`
`ood that the
`The above-mentioned ambodirnents,
`dvaniages of the gresent invention are durther Geseribed in detail, ft should be und
`
`
`
`
`
`
`above-+
`bodimerts are only specific
`2 Of the pre
`fivention, and are nat intended ta limit the scape of the ;
`nt invention, and any
`
`
`atent substitutions, improvements and the tike made within the spi
`
` invention $ tand principle of the o
`
`
`
`
`
`Wherein, in the positioni:
`std
`
`
`
`
`https://patents.google.com/patent/CN 115645737A/en?0q=CN115645737A
`
`6/8
`
`

`

`7/12/23, 10:50 AM
`
`CN115645737A - Automatic positioning device for abdominal treatment and positioning method thereof - Google Patents
`
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`Application
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`Filing date
`
`2022-99-29
`
`Title
`
`2 for abdominal treatment
`
`
`hod theresf
`
`of
`
`x
`
`s
`
`ok
`
`Applications Claiming Priority (1)
`
`Application
`Filing date
` ZUE2AD-29
`
`Legal Evants
`
`Date
`
`2023-01-34
`
`Code
`
`PROT
`
`Title
`
`Publication
`
`posit! nh
`
`q device for abdarninal treatment and positioning methad thereof
`
`https://patents.google.com/patent/CN 115645737A/en?0q=CN115645737A
`
`Description
`
`718
`
`

`

`7/12/23, 10:50 AM
`
`CN115645737A - Automatic positioning device for abdominal treatment and positioning method thereof - Google Patents
`
`2023-01-34
`
`2023-02-47
`
`2023-02-47
`
`PHOT
`
`SEOt
`
`SEG
`
`Publication
`
`Entry inte force of request for substantive examination
`
`Entry iste force of request for substantive axarsination
`
`Abe.
`
`Py
`Tans
`my
`
`
`https://patents.google.com/patent/CN 115645737A/en?0q=CN115645737A
`
`8/8
`
`

`

`(12) AAAS Fl is (10) RigAwHS CN 115645737 A
`
`
`(43) Rist A 2023. 01. 31
`
`(21) BBS 202211199645.3
`
`(22) FIBA 2022.09.29
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`

`

`CN 115645737 A
`
`1/2 Ti
`
`
`
`
`
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`
`
`
`
`
`1.RH AAY IT AY oooe iI RIE 7s 2 Td ee BR (a) . [A Ae
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`
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`
`
`
`
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`
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`
`
`
`2. AR CABERL TAS ATB a Y