CN101908294A - Method for designing high-emulation silica gel intelligent acupuncture and moxibustion teaching robot - Google Patents
Method for designing high-emulation silica gel intelligent acupuncture and moxibustion teaching robot Download PDFInfo
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Abstract
The invention belongs to the field of traditional Chinese medical science teaching, in particular to a method for designing a high-emulation silica gel intelligent acupuncture and moxibustion teaching robot for traditional Chinese medical science acupuncture and moxibustion teaching. The high-emulation silica gel intelligent acupuncture and moxibustion teaching robot is characterized by comprising a high-emulation silica gel human body and a human body acupuncture point emulating mechanism, wherein the high-emulation silica gel human body is in proportion to the structure of a human body; a human body muscle and skin emulating mechanism and the human body acupuncture point emulating mechanism are arranged in the high-emulation silica gel human body; the human body acupuncture point emulating mechanism comprises acupuncture point sensing units, an address circuit, a switching circuit, a processing unit and an output unit; acupuncture points of the high-emulation silica gel human body are provided with the acupuncture point sensing units; the acupuncture point sensing units are distributed at the corresponding acupuncture points of the high-emulation silica gel human body; the acupuncture point sensing units of the human body acupuncture point emulating mechanism are subjected to emulating acupuncture and moxibustion; and the output unit of the human body acupuncture point emulating mechanism is used for outputting response information. The invention provides the high-emulation silica gel intelligent acupuncture and moxibustion teaching robot which has repeated study, convenient use, simple structure and low production cost and can be used as a training tool of traditional Chinese medical science intelligent acupuncture and moxibustion teaching and test and assess the skill level of an acupuncture and moxibustion learning student.
Description
Technical field
The invention belongs to the tcm teaching field, especially for the method for designing of the high-emulation silica gel intelligent acupuncture and moxibustion teaching robot of Chinese medicine acupuncture teaching.
Background technology
" interior warp " also has more argumentation to the acupuncture points on the human body theory, is loaded with the title at acupuncture point commonly used about 160, and be more detailed to the specific acupoint theoretical explanation, and comparatively detailed to the acupuncture manipulation argumentation, acupoint selection adjunct acupuncture points aspect has proposed many concrete grammars.Its content comprises parts such as channels and collaterals, acupuncture points on the human body, acupuncture-moxibustion therapy method, clinical treatment, acupuncture teaching.
Though the acupuncture medicine that spread several thousand grows a lot, but because condition restriction such as traditional acupuncture teaching aid, pattern, its promotion rate is slower, follow human body acupuncture teaching model for many years, though occurred unlike material acupuncture model in recent years in form, but all do not jump out material model pattern and form of teachings such as the copper and hard plastic of tradition, in field research, not have theory and combining truly to put into practice.Enter the acupuncture practice stage so work as the student, feel is experienced in the practice that applies acupuncture alternately on the person.Because shortage initial stage practice bears the character of much blindness, the gimmick of mistake and acupuncture point identification, causes very big misery usually for student's body and mind, and occurs because great malpractices such as wrong acupuncture sequelae.So the traditional acupuncture teaching method is turned out real qualified acupuncture practitioner, need to drop into high expense and a lot of year, and qualification rate is very low.
The study acupuncture be except learning the theory of traditional Chinese medical science, also will learn to repair pin, gets cun, holds pin, composes oneself, the withdraw of the needle, have a fainting spell during acupuncture treatment.Repairing pin, getting cun, holding pin, composing oneself, the withdraw of the needle, getting in having a fainting spell during acupuncture treatment cun or find the acupuncture point excellent for closing.
As acupuncture points on the human body shangyang acupoint commonly used (sh ā ngy á ng, LI1) well cave:
[location] in hand forefinger oar side, other 0.1 cun apart from the nail angle;
[curing mainly] be dentalgia 1., face illness such as abscess of throat; 2. pyreticosis, heat symptom-complex, acute diseases such as stupor;
0.1 cun of [skill and technique] shallow puncture, or pricking method is hemorrhage;
[dissection] has the finger and the dynamic and static network of vein of the palm back of the body; Be furnished with nervi digitales volares proprii, the finger dorsal part nerve of nervus radialis from median nerve;
[remarks] join the Shaoshang, philtrum is controlled pyreticosis, stupor; Cooperate paddy, Shaoshang to control abscess of throat.
Three caves (S ā nji ā n, LI3) defeated cave:
[location] is little clenches fist, at forefinger oar side, recess behind the 2nd metacarpophalangeal joints;
[curing mainly] be dentalgia 1., face illness such as abscess of throat; 2. abdominal distension, stomachache, borborygmus, intestines internal organs disease such as have loose bowels;
0.3-0.5 cun of [skill and technique] straight thrust;
[dissection] has the 1st dorsal interosseous muscles, and deep layer is the adductor pollicis cross-peen; Dorsal venous rete of hand (cephalic vein its beginning portion) is arranged, and the fingers and palms side has intrinsic artery; Be furnished with radial nerve,superficial;
[remarks] join Qiangu, Jingming is controlled the order shoot; Join yangsi (Jing-River Point,LI 5) and control pharynx of larynx numbness as stalk; Join that Tianshu, Zusanli control that abdomen is full, borborygmus, hole let out.
Therefore when recognizing that by the four methods of diagnosis disease really is, 1. dentalgia, face illness such as abscess of throat; 2. pyreticosis, heat symptom-complex, acute diseases such as stupor in the time of need treating by acupuncture, be looked in hand forefinger oar side, and other 0.1 cun acupuncture apart from the nail angle is just in the shangyang acupoint acupuncture.Equally, recognize that by the four methods of diagnosis disease fruit is, 1. dentalgia, face illness such as abscess of throat; 2. abdominal distension, stomachache, borborygmus, intestines internal organs disease such as have loose bowels.In the time of need treating by acupuncture, clench fist little, in forefinger oar side, three of recess cave acupuncture behind the 2nd metacarpophalangeal joints.Therefore, accurately understand pathology, determining and finding the acupuncture point accurately is the key for the treatment of.
It is by after the theories of learning that the acupuncture point is held in existing study acupuncture and support, understand the Position Approximate at acupuncture point by the acupuncture model, and will different patients accurately be looked for the pathology acupuncture point, a large amount of practices finally becomes qualified acupuncture traditional Chinese physician as above-mentioned needs, this has just increased faculty load, and acupuncturist troop is cultivated considerable restraint.
Summary of the invention
But the purpose of this invention is to provide a kind of repetition learning, easy to use, the rehearsal instrument that can be used as traditional Chinese medical science intelligent acupuncture and moxibustion teaching, and the method for designing that can test and assess the high-emulation silica gel intelligent acupuncture and moxibustion teaching robot of study acupuncture student level of skill; And it is simple in structure, and production cost is low.
The object of the present invention is achieved like this, the method for designing of high-emulation silica gel intelligent acupuncture and moxibustion teaching robot, it is characterized in that: it comprises: high-emulation silica gel human body and simulated humanbody acupuncture point mechanism, the structure of high-emulation silica gel human body and human body is proportional, and the high-emulation silica gel human body has simulated humanbody muscle, skin and simulated humanbody acupuncture point mechanism; Simulated humanbody acupuncture point mechanism comprises: acupuncture point sensing unit, address circuit, on-off circuit, processing unit and output unit, there is the acupuncture point sensing unit position, acupuncture point at the high-emulation silica gel human body, the acupuncture point sensing unit is distributed in the position, corresponding acupuncture point of high-emulation silica gel human body, to the acupuncture point sensing unit emulation acupuncture of simulated humanbody acupuncture point mechanism, the output unit of simulated humanbody acupuncture point mechanism output response message.
The output unit of described simulated humanbody acupuncture point mechanism is voice output circuit or display or computing machine, and each acupuncture point sensing unit is represented an acupuncture point name, and the acupuncture point name is stored in the memory; When correct, can tell emulation acupuncture personnel with convenient emulation acupuncture at any time.
There is the acupuncture point sensor in described simulated humanbody acupuncture point mechanism, and when acupoint, sensor output signal is given processing unit, and processing unit control display shows the acupuncture point title; Or processing unit control voice system is quoted the acupuncture point title; Or the processing unit control computation unit, computing unit provides the acupuncture point relevant information.
Described simulated humanbody muscle is that polyurethane, skin are silica gel materials.
Described acupuncture point sensor is a conductive rubber switch, during by the acupuncture needle acupuncture and conductive rubber switch connect, the switching value signal that the generation acupuncture puts in place is to handling the unit, provide output information by processing unit control output unit again, show three-dimensional dimension information as voice or light indication or graphoscope.
Described acupuncture point sensor is the multi-position switch that the multilayer conductive rubber layer constitutes.
Advantage of the present invention is: owing to adopt the high-emulation silica gel human body to constitute body of the present invention, the acupuncture point mechanism that simulated humanbody muscle, skin are arranged in the high-emulation silica gel human body, the acupuncture point of simulated humanbody acupuncture point mechanism is distributed in the correspondence position of high-emulation silica gel human body, the existence at simulated humanbody acupuncture point and function, when acupuncture point emulation acupuncture to simulated humanbody acupuncture point mechanism, the acupuncture point sensing unit of simulated humanbody acupuncture point mechanism goes out signal with perception, signal is through being sent to processing unit, by providing output information after the processing unit processes.Because each acupuncture point sensing unit is distributed in the correspondence position of high-emulation silica gel human body respectively, as the well cave in hand forefinger oar side, other 0.1 cun apart from the nail angle.Three cave (S ā nji ā n, LI3) be positioned at forefinger oar side, recess behind the 2nd metacarpophalangeal joints, when the learner learns acupoint like this, the high-emulation silica gel human body of facing is as true man's muscle, skin and physiology perception, can get very little and other method to the exercise acupuncture point repeatedly, reach accurate degree freely.
Description of drawings
The invention will be further described below in conjunction with the embodiment accompanying drawing:
Fig. 1 is the embodiment emulated robot body synoptic diagram that provides for the present invention is described;
Fig. 2 is the circuit diagram that constitutes the output unit form of simulated humanbody acupuncture point mechanism with the voice output circuit;
Fig. 3 is the circuit diagram that constitutes the output unit form of simulated humanbody acupuncture point mechanism with display;
Fig. 4 becomes the circuit diagram of the output unit form of simulated humanbody acupuncture point mechanism with calculation mechanism.
Among the figure: 1, high-emulation silica gel human body; 2, simulated humanbody acupuncture point mechanism; 201, acupuncture point sensing unit; 202, address circuit; 203, on-off circuit; 204, processing unit; 205, voice output circuit; 206, memory; 207, display; 208, computing machine.
Embodiment
Embodiment 1:
As shown in Figure 1, the method for designing of high-emulation silica gel intelligent acupuncture and moxibustion teaching robot is, comprise: high-emulation silica gel human body 1 and simulated humanbody acupuncture point mechanism 2, high-emulation silica gel human body 1 is proportional with the structure of human body, and high-emulation silica gel human body 1 has simulated humanbody muscle, skin and simulated humanbody acupuncture point mechanism 2.
Simulated humanbody acupuncture point mechanism 2 comprises acupuncture point sensing unit 201, processing unit 204 and output unit, each acupuncture point sensing unit 201 is connected electrically in respectively on the processing unit interface, be electrically connected with output unit by the processing unit delivery outlet, the signal variation of any one acupuncture point sensing unit 201 is sent to processing unit 204, after processing unit 204 processing, the output unit that is electrically connected by the processing unit delivery outlet provides output information.
Acupuncture point sensing unit 201 can be a conductive rubber, also can be photoelectric sensor or pressure transducer.
When the acupuncture point sensing unit is photoelectric sensor, the acupuncture needle that uses is hand-held lip pencil aciculiform " photoelectric sensor ", thrust model silica gel muscle acupuncture points on the human body (example " Zhongfu "), the luminous immediately and automatic speech prompting of its acupuncture points on the human body, but title, acupuncture point code, the acupuncture point meridian in broadcast content final election cave, voice suggestion is replied student's acupuncture and is thrust acupuncture point correctness information, but its system architecture relative complex has many reports in the known patent.When being pressure transducer, the acupuncture point sensing unit lacks feel during acupuncture.
When acupuncture point sensing unit 201 was conductive rubber, circuit structure was simple, with common acupuncture needle can or other metal needle acupuncture needle, and good hand touch, fidelity height.
Embodiment 2:
Simulated humanbody acupuncture point mechanism 2 comprises: acupuncture point sensing unit 201, address circuit 202, on-off circuit 203, processing unit 204 and output unit, there is acupuncture point sensing unit 201 position, acupuncture point at high-emulation silica gel human body 1, just acupuncture point sensing unit 201 is distributed in the position, corresponding acupuncture point of high-emulation silica gel human body 1, to the acupuncture point sensing unit 201 emulation acupuncture of simulated humanbody acupuncture point mechanism 2, the output unit of simulated humanbody acupuncture point mechanism 2 output response message.Acupuncture point sensing unit 201 is conductive rubber acupuncture point sensors, and is the multilayer conductive rubber layer.It can work as the acupoint mistake, or the degree of depth is when incorrect, and robot can voice suggestion, and students' union makes correction according to the voice suggestion of robot.The position of electrode is according to the position and the degree of depth setting of human acupoint in the conductive rubber.
Emulated robot has simulated humanbody muscle and skin, its general higher silica gel and polyurethane material of fidelity that adopt, there is conductive rubber acupuncture point sensor at the place at the simulated humanbody acupuncture point, when acupoint, the acupuncture needle of metal is with after the electrode of conductive rubber acupuncture point sensor contacts, circuit turn-on outputs signal to processing unit, and processing unit control display shows the acupuncture point title; Or processing unit control voice system is quoted the acupuncture point title; Or the processing unit control computation unit, computing unit provides the acupuncture point relevant information.
The output unit of simulated humanbody acupuncture point mechanism 2 can be a voice output circuit 205, also can be display 207, also can be that computing machine 208 or other can be expressed the alternate manner of emulation acupuncture status information.Each acupuncture point sensing unit 201 is represented an acupuncture point name, and the acupuncture point name is stored in the memory 206.When correct, can tell emulation acupuncture personnel with convenient emulation acupuncture at any time.
Fig. 2 has provided a circuit that constitutes the output unit form of simulated humanbody acupuncture point mechanism 2 with voice output circuit 205.Acupuncture point sensing unit 201 is distributed in the position, corresponding acupuncture point of high-emulation silica gel human body 1, surplus the acupuncture point that is generally used for acupuncture has 300, each acupuncture point sensing unit all outputs to the input end of an electronic switch 203, its output terminal is to the input end of handling circuit 204, electronic switch 203 optional 4-16 select 1 electronic switch, also can select for use 3-8 to select 1,4-16 selects 1 can select any one connection in 16 passages by four addresses, the acupuncture point sensing unit of gating has any variation, and treatment circuit 204 all can detect.Treatment circuit 204 is when detecting emulation acupuncture signal, by choosing the voice segments output acupuncture point title and the information of memory 206 corresponding address.Because an acupuncture point surplus having 300 is individual surplus corresponding acupuncture point sensing unit 201 also can set 300, has 9 with regard to the address that requires electronic switch 203,9 addresses can be provided by 9 I/O of treatment circuit 204.The voice segments of memory 206 corresponding address is also provided by the I/O of treatment circuit 204, and memory 206 adopts the serial address memories, and when flash that can plug-in 1M-128M, the flash of plug-in 1M, voice length can reach 40 seconds.
Fig. 3 has provided a circuit that constitutes the output unit form of simulated humanbody acupuncture point mechanism 2 with display 207.The circuit of Fig. 3 connects with Fig. 2 basic identical, just the output window that whether puts in place as the emulation acupuncture point by a matrix LED or LCD.The memory space of Fig. 3 does not need the big of Fig. 2, needs only two bytes by Chinese character of region-position code storage.
Fig. 4 is a kind of senior learning machine.The output unit computing machine of its simulated humanbody acupuncture point mechanism 2.The circuit requirement output terminal of this structure carries out interface with computing machine and is connected, and realizes high-emulation silica gel human body 1 and computing machine 208 interactions.As in computing machine 208, providing different cases in advance.
The acupuncture point sensor can adopt conductive rubber switch among the present invention, during by the acupuncture needle acupuncture and conductive rubber switch connect, the switching value signal that the generation acupuncture puts in place is to handling the unit, provide output information by processing unit control output unit again, as voice or light indication or graphoscope demonstration three-dimensional information.Constitute a position switch for perceived depth information conductive rubber switch when the acupuncture adopts the multilayer conductive rubber layer, can not only allow acupuncture learner support hold the position of acupuncture like this, also can support the gesture of holding acupuncture.
In addition, processing unit of the present invention can also can adopt arm processor by 51 Series chip.Constitute complicated network system by arm processor and FPGA.
As with following information storage in computing machine, teacher is by selecting pathology, by student's emulation exercise, correctness all can carry out interaction.Reach the purpose of the overall understanding and the grasp science of acupuncture and moxibustion.
The meridian of Hand-YANG MING network
(1) running course of channel
The large intesting channel of Hand-Yangming along the forefinger radial border, goes out between first and second metacarpal bone, enters between two muscle (extensor pollicis longus muscle tendon and musculus extensor brevis pollicis tendon) from arising from forefinger oar side, along forearm oar side, enter the elbow outside, through front, the upper arm outside, last shoulder is gone into supraclavicular fossa, and the network lung belongs to large intestine.Supraclavicular fossa portion offshoot: on walk neck, by cheek, enter down gums, unroll to upper lip, intersect at philtrum, left arteries and veins to the right, right arteries and veins terminates in offside nose other (Yingxiang) left.
" Ling Shu Miraculous Pivot or Divine Axis passages through which vital energy circulates ": the large instestine meridian of Hand-YANG MING, arise from the end of forefinger, follow the finger Shanglian, go out between connected valleys two bones, on go among two muscle, follow the arm Shanglian, it is outer honest and clean to go into elbow, honest and clean before last Er is outer, on to take on ， Chu Yu bone before honest and clean, go up in the meeting for the spinous process of the seventh cervical vertebra, be lowered to supraclavicular fossa, the network lung, intake of food in the morning and vomitting in the evening belongs to large intestine.Its person: from the supraclavicular fossa upper hind neck, pass through cheek, go in the lower tooth; Also go out to hold under the arm mouth, hand over philtrum---right, a right left side, a left side, on hold the nostril under the arm.
(2) main diseases is waited
Stomachache, borborygmus, have loose bowels, constipation, dysentery, abscess of throat, tooth disease, thin nasal discharge or hemorrhage and herbal classic is followed capable position pain, heat is swollen or disease such as cold.
(3) channels follows row and sick time the thereof
" Ling Shu Miraculous Pivot or Divine Axis passages through which vital energy circulates ": the collateral of meridian of Hand-YANG MING, name is said Pianli.Remove three cun of wrists, do not walk lunar, its other person, on follow arm, Cheng Jian Yu goes up the inclined to one side tooth of bent cheek; Its other person, pleasant closing in assembled channels.Its disease: real, then dental caries are deaf; Void, then tooth cold numbness every.The institute of getting is not yet.
(4) cure mainly summary
The herbal classic acupuncture points on the human body cures mainly other diseases at women's head-ornaments face illness, pyreticosis, skin disease, enterogastritis, mental diseases etc. and running course of channel position.
Two, the bright acupuncture points on the human body of hand sun
(1) acupuncture points on the human body commonly used
1. Shangyang (sh ā ngy á ng, LI1) well cave
[location] in hand forefinger oar side, other 0.1 cun apart from the nail angle;
[curing mainly] be dentalgia 1., face illness such as abscess of throat; 2. pyreticosis, heat symptom-complex, acute diseases such as stupor;
0.1 cun of [skill and technique] shallow puncture, or pricking method is hemorrhage;
[dissection] has the finger and the dynamic and static network of vein of the palm back of the body; Be furnished with nervi digitales volares proprii, the finger dorsal part nerve of nervus radialis from median nerve;
[remarks] join the Shaoshang, philtrum is controlled pyreticosis, stupor; Cooperate paddy, Shaoshang to control abscess of throat.
2. three (S ā nji ā n, LI3) defeated caves
[location] is little clenches fist, at forefinger oar side, recess behind the 2nd metacarpophalangeal joints;
[curing mainly] be dentalgia 1., face illness such as abscess of throat; 2. abdominal distension, stomachache, borborygmus, intestines internal organs disease such as have loose bowels;
0.3-0.5 cun of [skill and technique] straight thrust;
[dissection] has the 1st dorsal interosseous muscles, and deep layer is the adductor pollicis cross-peen; Dorsal venous rete of hand (cephalic vein its beginning portion) is arranged, and the fingers and palms side has intrinsic artery; Be furnished with radial nerve,superficial;
[remarks] join Qiangu, Jingming is controlled the order shoot; Join yangsi (Jing-River Point,LI 5) and control pharynx of larynx numbness as stalk; Join that Tianshu, Zusanli control that abdomen is full, borborygmus, hole let out.
3. connected valleys (H é g ǔ, LI4) source points
[location] is at the back of the hand, between the 1st, 2 metacarpal bones, when the midpoint of the 2nd metacarpal bone oar side; Easy acupoint selection: with thumb finger joint style band on the other hand, being placed on the finger web edge between another hand thumb, the forefinger, is the cave under thumbtip;
[curing mainly] 1. has a headache, red eye, swell pain, nosebleed epistaxis, dentalgia, facial paralysis, women's head-ornaments face illness such as deafness; 2. exogenous disease such as fever with chilliness, pyreticosis is lossless or hidrosis; 3. through closing gyneco-obstetric diseases such as bradytoia;
0.5 1 l cun of [skill and technique] straight thrusts;
[dissection] between first and second metacarpal bone, in first dorsal interosseous muscles, deep layer has caput tra; Dorsal venous rete of hand is arranged, be the portion of rising of cephalic vein, the proper radial artery of acupuncture points on the human body nearside is worn to the palm part from the back of the hand; Be furnished with the palm dorsal part nerve of radial nerve,superficial, there is the nervi digitales volares proprii of median nerve in the deep;
[remarks] are joined the sun and are controlled headache; Join to dash very much and control red eye, swell pain; Join Yingxiang and control the nose disease; Join the Shaoshang and control abscess of throat; Joining Sanyinjiao controls through closing bradytoia; Join dicang cheek car control the eye crooked." refreshing Ying Jing ": the unsuitable pin of pregnant woman.
4. (Y á ngx ī is LI5) through the cave for yangsi (Jing-River Point,LI 5)
[location] is in wrist back of the body band oar side, when the hand thumb is tilted upward, in the depression between musculus extensor brevis pollicis tendon and the extensor pollicis longus muscle tendon;
[curing mainly] be the wrist pain 1.; 2. headache, red eye, swell pain, deafness, dentalgia, face illness such as abscess of throat;
0.5-0.8 cun of [skill and technique] straight thrust;
[dissection] is between thumb weak point, extensor hallucis longus tendon; The dorsal carpal branch that cephalic vein, radial artery are arranged; Be furnished with radial nerve,superficial;
[remarks] cooperate paddy to control headache; Join Yang Chi, Yanggu is controlled carpal arthritis; Join two, Yanggu and control toothache, larynx numbness, red eye, swell pain.
5. Pianli (Pi ā nl ì, LI6) luo-connecting point
[location] bends elbow, on yangsi (Jing-River Point,LI 5) and Quchi line, and 3 cun places on the rasceta;
[curing mainly] be tinnitus, nosebleed epistaxis, laryngalgia 1.; 2. arm is ached; 3. belly turgor; 4. oedema;
0.5-0.8 cun is thrusted straightly or stabbed diagonally to [skill and technique];
[dissection] is at distal radius, between extensor carpi radialis muscle tendon and the long abductor muscle of thumb tendon; Cephalic vein is arranged; Palmar is nervous cutaneus antebrachii lateralis and radial nerve,superficial, and dorsal part is cutaneous nerve of forearm,dorsal and forearm PIN;
[remarks] are joined Taiyuan and are controlled sore-throat; Arm pain is controlled in the pond of writing music for a song; Join Shousanli, Nei Guan controls preceding brachial neuralgia.
Shousanli (Sh ǒ us ā nl ǐ, LI10)
[location] in forearm back side oar side, on yangsi (Jing-River Point,LI 5) and Quchi line, and the following 2 cun places of elbow band;
[curing mainly] 1. arm is unable, upper limbs is unsuccessful; 2. stomachache is suffered from diarrhoea; 3. dentalgia, cheek swell;
L-1.5 cun of [skill and technique] straight thrust;
[dissection] muscle, neural same honest and clean cave down, blood vessel is the branch of arteria radialis recurrens;
[remarks] write music for a song, and to control upper limbs unsuccessful in the pond; Join Zusanli and control stomachache, abdominal distension, diarrhoea; Join Zhongzhu, Quchi is controlled abscess of throat.
7. (Q ū ch í LI11) closes the cave to Quchi
[location] bent elbow and met at right angles, at elbow band outboard end and condylus lateralis humeri line mid point;
[curing mainly] 1. arm numbness pain, upper limbs is unsuccessful; 2. pyreticosis; 3. hypertension; 4. demented; 5. stomachache is vomited and diarrhoea; 6. abscess of throat, dentalgia, conjunctival congestion with ophthalmalgia; 7. urticaria, eczema, scrofula;
0.8 1 1.2 cun of [skill and technique] straight thrusts;
[dissection] musculus extensor carpi radialis longus initial part, brachioradialis scratch side; The branch that arteria radialis recurrens is arranged; Be furnished with cutaneous nerve of forearm,dorsal, inboard deep layer is the nervus radialis trunk;
[remarks] match sea, Zusanli is controlled urticaria; Joining Shousanli, to control upper limbs unsuccessful; Join too dash, big vertebra controls hypertension.Test the research report factually,, experimental appendicitis is had sure therapeutic action with strong stimulation gimmick acupuncture " Quchi " and " appendix " cave.
In fact, the output unit of simulated humanbody acupuncture point mechanism 2 can be finished following function with computing machine:
1. can gather the manipulation of acupuncture in real time, and show, reflect the various parameter actual numerical values of acupoint in real time with voice error correction guidance and spectrum.When department of acupuncture and moxibustion student acupoint mistake, or the degree of depth is when incorrect, and robot can voice suggestion, and students can be made correction according to the voice suggestion of robot.
2. data is intelligent handles: acupoint can be gathered by this system and the gimmick parameters is carried out intellectual analysis, comprising: put forward size slotting, twisted, nosing force in acupoint, the gimmick; Propose slotting speed, displacement; Twisted angular velocity; The angle of waving; And the hierarchical operations that can show compound gimmick.
3. database function: the present invention can store a large amount of acupoint numerical value and gimmick waveform and related data thereof, to form expert's manipulation of acupuncture database or teacher's manipulation of acupuncture database, can check constantly, and can carry out real-time contrast with learner's operation, the learner can in time adjust the gimmick of oneself, make every effort to accomplish the gimmick basically identical with acupuncture expert (teacher), thereby reach best results of learning.
4. examination function: the present invention can be equipped with examination, scoring function, because the concrete numerical value of parameters to the manipulation of acupuncture does not still have unified standard at present, therefore, the teacher can be with expert's gimmick input system before the class, as student's tutorial and standard, points-scoring system can be marked according to this standard.
Need to prove that above-mentioned example indication has provided a partly explanation for purpose of the present invention is described.Reach acupuncture point emulation acupuncture to simulated humanbody acupuncture point mechanism, the output unit output response message and the high-emulation silica gel human body 1 usefulness polyurethane material of simulated humanbody acupuncture point mechanism are made simulated humanbody muscle, are done skin with silica gel, to increase feel is one of purpose of the present invention, and the acupuncture point sensor is a conductive rubber or to adopt the multilayer conductive rubber layer to reduce cost with simplified structure be two of the object of the invention.
The part that does not have among the present invention to describe in detail belongs to those skilled in the art and need not that creative work is easy to make, and does not belong to inventive point and also can find in known open source information, so be not described in detail.
Claims (6)
1. the method for designing of high-emulation silica gel intelligent acupuncture and moxibustion teaching robot, it is characterized in that: it comprises: high-emulation silica gel human body (1) and simulated humanbody acupuncture point mechanism (2), high-emulation silica gel human body (1) is proportional with the structure of human body, and high-emulation silica gel human body (1) has simulated humanbody muscle, skin and simulated humanbody acupuncture point mechanism (2); Simulated humanbody acupuncture point mechanism (2) comprising: acupuncture point sensing unit (201), address circuit (202), on-off circuit (203), processing unit (204) and output unit, in the position, acupuncture point of high-emulation silica gel human body (1) acupuncture point sensing unit (201) is arranged, acupuncture point sensing unit (201) is distributed in the position, corresponding acupuncture point of high-emulation silica gel human body (1), to acupuncture point sensing unit (201) the emulation acupuncture of simulated humanbody acupuncture point mechanism (2), the output unit of simulated humanbody acupuncture point mechanism (2) output response message.
2. the method for designing of high-emulation silica gel intelligent acupuncture and moxibustion teaching robot according to claim 1, it is characterized in that: the output unit of described simulated humanbody acupuncture point mechanism (2) is voice output circuit (205), display (207) or computing machine (208); Each acupuncture point sensing unit (201) is represented an acupuncture point name, and the acupuncture point name is stored in the memory (206); When correct, can tell emulation acupuncture personnel with convenient emulation acupuncture at any time.
3. the method for designing of high-emulation silica gel intelligent acupuncture and moxibustion teaching robot according to claim 1, it is characterized in that: there is the acupuncture point sensor in described simulated humanbody acupuncture point mechanism (2), when acupoint, sensor output signal is given processing unit, and processing unit control display shows the acupuncture point title; Or processing unit control voice system is quoted the acupuncture point title; Or the processing unit control computation unit, computing unit provides the acupuncture point relevant information.
4. the method for designing of high-emulation silica gel intelligent acupuncture and moxibustion teaching robot according to claim 1, it is characterized in that: described simulated humanbody muscle is that polyurethane, skin are silica gel materials.
5. the method for designing of high-emulation silica gel intelligent acupuncture and moxibustion teaching robot according to claim 3, it is characterized in that: described acupuncture point sensor is a conductive rubber switch, during by the acupuncture needle acupuncture and conductive rubber switch connect, the switching value signal that the generation acupuncture puts in place is to handling the unit, provide output information by processing unit control output unit again, show three-dimensional dimension information as voice or light indication or graphoscope.
6. the method for designing of high-emulation silica gel intelligent acupuncture and moxibustion teaching robot according to claim 3 is characterized in that: described acupuncture point sensor is the multi-position switch that the multilayer conductive rubber layer constitutes.
Priority Applications (1)
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| CN102435429A (en) * | 2011-10-11 | 2012-05-02 | 四川大学华西医院 | Purpose of biological glue cushion and detection device used for detecting sharpness of needle head of puncture needle |
| CN102592492A (en) * | 2011-01-12 | 2012-07-18 | 王文远 | Balance acupuncturology simulator |
| WO2012109824A1 (en) * | 2011-02-15 | 2012-08-23 | Han Muchun | Voice chart board for health preserving of traditional chinese medicine |
| CN103426352A (en) * | 2013-07-26 | 2013-12-04 | 高颖 | Multifunctional acupuncture three-dimensional teaching model and teaching system thereof |
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| CN105832527A (en) * | 2016-03-15 | 2016-08-10 | 宁德师范学院 | Acupuncture point location method |
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| WO2012109824A1 (en) * | 2011-02-15 | 2012-08-23 | Han Muchun | Voice chart board for health preserving of traditional chinese medicine |
| CN102435429A (en) * | 2011-10-11 | 2012-05-02 | 四川大学华西医院 | Purpose of biological glue cushion and detection device used for detecting sharpness of needle head of puncture needle |
| US10902746B2 (en) | 2012-10-30 | 2021-01-26 | Truinject Corp. | System for cosmetic and therapeutic training |
| US11403964B2 (en) | 2012-10-30 | 2022-08-02 | Truinject Corp. | System for cosmetic and therapeutic training |
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| CN107331267A (en) * | 2017-07-14 | 2017-11-07 | 西南大学 | A kind of human body fixing acupuncture points model |
| CN108098795A (en) * | 2018-01-26 | 2018-06-01 | 宋九成 | Intelligent machine people's acupuncture and moxibustion instrument |
| CN108098795B (en) * | 2018-01-26 | 2023-05-09 | 深圳市人民医院 | Intelligent robot acupuncture instrument |
| CN110827597A (en) * | 2018-08-14 | 2020-02-21 | 广州中国科学院先进技术研究所 | Acupuncture teaching method, system, platform and storage medium based on anthropomorphic dummy |
| CN108986620B (en) * | 2018-08-30 | 2019-09-27 | 首都医科大学附属北京中医医院 | A kind of acupuncture point location model of acupuncture |
| CN108986620A (en) * | 2018-08-30 | 2018-12-11 | 北京中医药大学东方医院 | A kind of acupuncture point location model of acupuncture |
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