CN101243977B - Method and system for detecting three-freedom parallel moving manipulator backshupoints impedance - Google Patents
Method and system for detecting three-freedom parallel moving manipulator backshupoints impedance Download PDFInfo
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Abstract
The invention relates to a back shu points impedance-detect method of three-dimensional translation manipulator, comprising the following steps: (1) self-calibrating the coordinates of back shu points; (2) counting the Y shaft coordinate, the left X shaft coordinate and the right X shaft coordinate of the back shu points according to the distribution of the back shu points and the above self-calibrated parameters; (3) scanning the impedance: moving the three-dimensional translation manipulator to make the projective centers of the sounding electrode on the left and right back shu points in X shaft plane and Y shaft plane to light on the coordinates, and then exporting the pumping signal for detecting the impedance and at last inquiring the corresponding impedance according to the Y shaft coordinates of the back shu points. The invention also adopts a system for achieving the back shu points impedance-detect method of three-dimensional translation manipulator. The invention provides a back shu points impedance-detect method of three-dimensional translation manipulator and the system, which can be achieved by the self-calibration, exact location and reliable detecting structure.
Description
Technical field
The present invention relates to a kind of method and system of human body back shu points impedance detection.
Background technology
The traditional medicine theory of channels and collaterals thinks that the qi of zang-fu viscera infusion in the acupuncture points on the human body of back of the body waist, is called " back shu points " (back Shu point), is called " Yu cave " again.Six dirty six internal organs respectively have a back shu points, totally 12.Back shu points all is positioned on back of the body waist bladder meridian the 1st side line, and promptly posterior midline is other opens 1.5 cun, be arranged above and below according to the height of internal organs position substantially, and respectively titled with the name of internal organs.Title and position according to the concrete acupuncture point of GB12346-90 are as follows:
Fei shu Feishu (BL13), at the back, under the 3rd spinous process of thoracic vertebra, the side is opened 1.5 cun.
Bl 14 Jueyinshu (BL14), at the back, under the 4th spinous process of thoracic vertebra, the side is opened 1.5 cun.
Hsinshu (acupoint) Xinshu (BL15), at the back, under the 5th spinous process of thoracic vertebra, the side is opened 1.5 cun.
Tu shu Dushu (BL16), at the back, under the 6th spinous process of thoracic vertebra, the side is opened 1.5 cun.
Ke shu Geshu (BL17), at the back, under the 7th spinous process of thoracic vertebra, the side is opened 1.5 cun.
Bl Ganshu (BLI8), at the back, under the 9th spinous process of thoracic vertebra, the side is opened 1.5 cun.
Tan shu Danshu (BL19), at the back, under the 10th spinous process of thoracic vertebra, the side is opened 1.5 cun.
Pishu Pishu (BL20), at the back, under the 11st spinous process of thoracic vertebra, the side is opened 1.5 cun.
Bl weishu (BL21), at the back, under the 12nd spinous process of thoracic vertebra, the side is opened 1.5 cun.
San chiao shu Sanjiaoshu (BL22), at waist, under the 1st spinous process of lumbar vertebra, the side is opened 1.5 cun.
Shen shu Shenshu (BL23), at waist, under the 2nd spinous process of lumbar vertebra, the side is opened 1.5 cun.
Chi hai shu Qihaishu (BL24), at waist, under the 3rd spinous process of lumbar vertebra, the side is opened 1.5 cun.
The Large Intestine Shu Dachangshu (BL25), at waist, under the 4th spinous process of lumbar vertebra, the side is opened 1.5 cun.
Bl 26 Guanyuanshu (BL26), at waist, under the 5th spinous process of lumbar vertebra, the side is opened 1.5 cun.
Hsiao chang shu xinochaogshu (BL27), in sacrum portion, when other 1.5 cun of median sacral crest, flat first posterior sacral foramina.
Pang kuang shu Pangguangshu (BL28) when other 1.5 cun of median sacral crest, puts down second posterior sacral foramina in sacrum portion.
Modern study is thought, the very contiguous dorsal root of back shu points, and the regularity of distribution and spinal nerves sections characteristic distributions are roughly coincide, and the body surface reaction zone of viscera disease often is place, corresponding acupuncture point.Theory of channels and collaterals think back shu points be the vital organs of the human body through the gas infusion part of coming in and going out, not only specific the contact arranged on the physiology, and closely related with the pathology of internal organs with internal organs.When internal organs generation disease, often reaction to some extent on back shu points.When the clinical discovery internal organs have disease, often positive reaction district, reflecting point and reactant can appear at corresponding back shu points place.Have or not reacting phenomenons such as protuberance, depression, loose and skin colour change, temperature anomaly, impedance variation by subcutaneous tissue that detect to observe the back shu points place, can be used for examining corresponding internal organs disease.
Because there is error in phenomenons such as sensitivity, tenderness, tuberosity, depression, petechia, pimple with subjective judgment, and are not easy to objectify, detects the back shu points impedance variation and relatively easily obtain objective data.Manually detect impedance yet rely on, thereby exist location angle, pressure inaccurate and that detection probe is used to be difficult to the unified objective and standardization that has influence on data.
Summary of the invention
The deficiency of, testing result poor reliability inaccurate for manual detection, the location of the method that overcomes existing human body back shu points impedance detection the invention provides a kind of by mechanical hand detection automatically, accurate positioning, three-freedom parallel moving manipulator backshupoints impedance detection method and system that the inspection structural reliability is strong.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of three-freedom parallel moving manipulator backshupoints impedance detection method, described impedance detection method may further comprise the steps:
(1), the self calibration process of back shu points coordinate: set up unified rectangular coordinate system at human body back, determine X-axis, Y-axis and Z axle, and definite Three Degree Of Freedom translation robot coordinate is (0,0,0) is initial point, according to State Standard of the People's Republic of China GB 12346-90, medial border of scapula is 3 horizontal cun to posterior midline, utilize light projector to determine the lateral separation of lower back, promptly determine the posterior midline position through the cave, spine of scapula position, the left and right sides, the inferior angle of scapula coordinate, 12 ribs and erector spinae outer rim position of intersecting point, the flat second sacral vertebra medium position of two crista iliaca peak link position and two posterior superior iliac spines; Definite again back center line X-axis coordinate that is as the criterion with the exploring electrode center, the left side spine of scapula X-axis coordinate that is as the criterion with the exploring electrode center, the right side spine of scapula X-axis coordinate that is as the criterion with the exploring electrode center, the third dorsal vertebra spinous process that is as the criterion with the exploring electrode center is a FEIYU acupoint Y-axis coordinate, the flat seventh dorsal vertebra spinous process of inferior angle of scapula line that is as the criterion with the exploring electrode center is a ke shu Y-axis coordinate, the twelfth rib and the erector spinae outer rim intersection point that are as the criterion with the exploring electrode center are the Y-axis coordinate of first lumbar vertebra level, the Y-axis coordinate at the Y-axis coordinate of the flat fourth lumbar vertebra spinous process of two crista iliaca peak lines that is as the criterion with the exploring electrode center and the flat second sacral vertebra of the two posterior superior iliac spines middle part that is as the criterion with the exploring electrode center;
(2), according to the distribution situation of each back shu points of human body and above-mentioned self calibration parameter, calculate the Y-axis coordinate of each back shu points of human body, the X-axis coordinate of left side back shu points and the X-axis coordinate of right side back shu points;
(3) impedance scan process: mobile Three Degree Of Freedom translation mechanical hand, make exploring electrode be positioned at the coordinate place in the projection centre of X, Y-axis plane upper left side back shu points, the Z axle of mobile again Three Degree Of Freedom translation mechanical hand, make the output of force transducer reach setting value, promptly exploring electrode acts on human body back with the pressure of setting; Output impedance detects pumping signal, and the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode carry out rectilinear motion, synchronous recording impedance signal and Y-axis coordinate with constant speed along other position of opening 1.5 cun, human body median line left side; It is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle; When the Y-axis coordinate arrives Y
19The time, disconnect the impedance detection pumping signal, stop to write down impedance and Y-axis coordinate;
The Z axle of elevating mechanism hands is to coordinate zero point again, mobile thereupon Three Degree Of Freedom translation mechanical hand, make the projection centre of exploring electrode right side back shu points on X, Y-axis plane be positioned at the coordinate place, output impedance detects pumping signal, the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode other position of opening 1.5 cun carry out rectilinear motion and synchronous recording impedance signal and Y-axis coordinate with constant speed along human body median line right side, it is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle in the same moving process; Y-axis coordinate arrival Y when exploring electrode
19The time, disconnect the impedance detection pumping signal, stop to write down impedance and Y-axis coordinate, and mobile Three Degree Of Freedom translation mechanical hand is to zero point, so far impedance detection finishes;
Y-axis coordinate according to the acupuncture point of back shu points inquires corresponding impedance.
As preferred a kind of scheme: described step (1) comprising:
(1.1), set up unified coordinate system: the human body back of the body crouches on examinating couch, and the direction that shoulder extends is an X-axis, and wherein right-hand side is a positive direction, and left-hand side is a negative direction; Human spine's direction is a Y-axis, and wherein the lower limb side is a positive direction, and a side is a negative direction; The Z axle is perpendicular to X and Y-axis, and wherein the human body face direction is a positive direction, and the back is a negative direction;
Three Degree Of Freedom translation robot coordinate is that (0,0,0) is initial point under the initial situation, and this moment, the mechanical hand X-axis was in the leftmost side of stroke, and the mechanical hand Y-axis is in the front side of stroke, and mechanical hand Z axle is in the stroke top side;
(1.2), according to the X and Y coordinates of human body surface witness marker determining section back shu points:
Back shu points is positioned at the posterior midline side and opens 1.5 cun; According to State Standard of the People's Republic of China GB12346-90, medial border of scapula is 3 horizontal cun to posterior midline;
(1.2.1), determine the posterior midline position:
Make the testee back of the body crouch and detecting on the bed, both hands are attached to the health both sides naturally; When two handss fall in the body both sides, the flat third dorsal vertebra spinous process of two spine of scapula lines, the flat seventh dorsal vertebra spinous process of two inferior angle of scapula lines; Twelfth rib and erector spinae outer rim intersection point, quite first lumbar vertebra level; The flat second lumbar vertebra spinous process of two season rib lower edge lines; The flat fourth lumbar vertebra spinous process of two crista iliaca peak lines; The flat second sacral vertebra of two posterior superior iliac spines middle part; Carry out following location according to these position references: make light projector launch cross light, mobile manipulator coincide vertical line and the human body back center line in the cross light; If vertical line in the cross light and testee center line be angle slightly, the position of fine setting testee makes the vertical line in its center line and the cross light coincide; Record X-axis coordinate at this moment is X '
Center
(1.2.2) determine spine of scapula position, the left and right sides:
As mentioned above, medial border of scapula is 3 horizontal cun to posterior midline, so medial border of scapula promptly is the back shu points horizontal level to half position of posterior midline; The flat third dorsal vertebra spinous process of two spine of scapula lines, i.e. FEIYU acupoint is as measuring starting point;
Along directions X and Y direction mobile manipulator, make the horizontal line in the cross light pass the left side spine of scapula, vertical line in the cross light and left medial border of scapula are tangent; Record X-axis coordinate at this moment is X '
3L, the Y-axis coordinate is Y '
3
Along the directions X mobile manipulator, make vertical line and right medial border of scapula in the cross light tangent; Record X-axis coordinate at this moment is X '
3R
(1.2.3), determine the inferior angle of scapula coordinate:
The horizontal level that the flat seventh dorsal vertebra spinous process of inferior angle of scapula line is a ke shu;
Along Y direction mobile manipulator, make horizontal line and scapula lower edge in the cross light tangent; Record Y-axis coordinate at this moment is Y '
7
(1.2.4), determine twelfth rib and erector spinae outer rim position of intersecting point, quite first lumbar vertebra level;
Along Y direction mobile manipulator, make the horizontal line in the cross light pass left and right sides twelfth rib and erector spinae outer rim intersection point; Record Y-axis coordinate at this moment is Y '
13
(1.2.5), determine two crista iliaca peak link position, the flat fourth lumbar vertebra spinous process of this line;
Along Y direction mobile manipulator, the horizontal line in the cross light is overlapped with two crista iliaca peak lines, record Y-axis coordinate at this moment is Y '
16
(1.2.6), determine the flat second sacral vertebra medium position of two posterior superior iliac spines;
Along Y direction mobile manipulator, the horizontal line in the cross light is overlapped with two posterior superior iliac spine lines, record Y-axis coordinate at this moment is Y '
19
Set light projector center and exploring electrode center and exist coordinate poor, the coordinate difference on the directions X is Δ X, and the coordinate difference on the Y direction is Δ Y;
Therefore the back center line X-axis coordinate that is as the criterion with the exploring electrode center is X
Center=X '
Center+ Δ X;
The left side spine of scapula X-axis coordinate that is as the criterion with the exploring electrode center is X
3L=X '
3L+ Δ X, right side spine of scapula X-axis coordinate is X
3R=X '
3R+ Δ X;
The third dorsal vertebra spinous process that is as the criterion with the exploring electrode center is that FEIYU acupoint Y-axis coordinate is Y
3=Y '
3+ Δ Y, the flat seventh dorsal vertebra spinous process of inferior angle of scapula line are ke shu Y-axis coordinate coordinate Y
7=Y '
7+ Δ Y, twelfth rib and erector spinae outer rim intersection point, suitable first lumbar vertebra level, the Y-axis coordinate is Y
13=Y '
13+ Δ Y; The flat fourth lumbar vertebra spinous process of two crista iliaca peak lines, the Y-axis coordinate is Y
16=Y '
16+ Δ Y; The flat second sacral vertebra of two posterior superior iliac spines middle part, the Y-axis coordinate is Y
19=Y '
19+ Δ Y;
(1.3), calculate the geometric coordinate of each back shu points:
Be that FEIYU acupoint Y-axis coordinate is Y according to the known third dorsal vertebra spinous process of body surface witness marker from the above mentioned
3, the flat seventh dorsal vertebra spinous process of inferior angle of scapula line is ke shu Y-axis coordinate Y
7, twelfth rib and erector spinae outer rim intersection point, suitable first lumbar vertebra level, the Y-axis coordinate is Y
13The flat fourth lumbar vertebra spinous process of two crista iliaca peak lines, the Y-axis coordinate is Y
16The flat second sacral vertebra of two posterior superior iliac spines middle part, the Y-axis coordinate is Y
19
The Y-axis coordinate of back shu points is thus:
The Y-axis coordinate of fei shu is Y
3
The Y-axis coordinate of bl 14 is Y
4=Y
3+ (Y
7-Y
3)/4;
The Y-axis coordinate of Hsinshu (acupoint) is Y
5=Y
3+ 2* (Y
7-Y
3)/4;
The Y-axis coordinate of tu shu is Y
6=Y
3+ 3* (Y
7-Y
3)/4;
The Y-axis coordinate of ke shu is Y
7
The Y-axis coordinate of bl is Y
9=Y
7+ 2* (Y
13-Y
7)/6;
The Y-axis coordinate of tan shu is Y
10=Y
7+ 3* (Y
13-Y
7)/6;
The Y-axis coordinate of Pishu is Y
11=Y
7+ 4* (Y
13-Y
7)/6;
The Y-axis coordinate of bl is Y
12=Y
7+ 5* (Y
13-Y
7)/6;
The Y-axis coordinate of san chiao shu is Y
13
The Y-axis coordinate of shen shu is Y
14=Y
13+ (Y
16-Y
13)/3;
The Y-axis coordinate of chi hai shu is Y
15=Y
13+ 2* (Y
16-Y
13)/3;
The Y-axis coordinate of the Large Intestine Shu is Y
16
The Y-axis coordinate of bl 26 is Y
17=Y
16+ (Y
19-Y
16)/3;
The Y-axis coordinate of hsiao chang shu is Y
18=Y
16+ 2* (Y
19-Y
16)/3;
The Y-axis coordinate of pang kuang shu is Y
19
The X-axis coordinate of left side back shu points is (X
Center+ X
3L)/2, the X-axis coordinate of right side back shu points is (X
Center+ X
3R)/2.
As preferred another kind of scheme: in the described step (1.2),, avoid shift in position in the testing process with rubber-like the bandage fixedly buttocks and the shank of testee.
A kind of three-freedom parallel moving manipulator backshupoints impedance detection system, described system comprises mechanical hand X-axis, mechanical hand Y-axis, mechanical hand Z axle, light projector, force transducer, exploring electrode, reference electrode, drive motors and computer; Mechanical hand X-axis, mechanical hand Y-axis and mechanical hand Z axle are connected with drive motors, described pick off, exploring electrode, reference electrode, drive motors are connected with computer, set gradually force transducer and light projector on the mechanical hand Z axle, exploring electrode is housed on the force transducer; Described computer comprises: the coordinate setting module of mechanical hand, be used for the self calibration process of back shu points coordinate, and the linear ratio relation between the rectilinear motion distance that it brings according to motor every rotation unit angle and this unit angular movement carries out coordinate setting; The impedance scan measurement module, be used for mobile Three Degree Of Freedom translation mechanical hand, make exploring electrode be positioned at the coordinate place in the projection centre of X, Y-axis plane upper left side back shu points, the Z axle of mobile again Three Degree Of Freedom translation mechanical hand, make the output of force transducer reach setting value, promptly exploring electrode acts on human body back with the pressure of setting; Output impedance detects pumping signal, and the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode carry out rectilinear motion, synchronous recording impedance signal and Y-axis coordinate with constant speed along other position of opening 1.5 cun, human body median line left side; It is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle; When the Y-axis coordinate arrives Y
19The time, disconnect the impedance detection pumping signal, stop to write down impedance and Y-axis coordinate;
The Z axle of elevating mechanism hands is to coordinate zero point again, mobile thereupon Three Degree Of Freedom translation mechanical hand, make the projection centre of exploring electrode right side back shu points on X, Y-axis plane be positioned at the coordinate place, output impedance detects pumping signal, the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode other position of opening 1.5 cun carry out rectilinear motion and synchronous recording impedance signal and Y-axis coordinate with constant speed along human body median line right side, it is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle in the same moving process; Y-axis coordinate arrival Y when exploring electrode
19The time, disconnect the impedance detection pumping signal, stop to write down impedance and Y-axis coordinate, and mobile Three Degree Of Freedom translation mechanical hand is to zero point, so far impedance detection finishes;
Y-axis coordinate according to the acupuncture point of back shu points inquires corresponding impedance.
Further, the part that described exploring electrode contacts with human body is made by conductor, and the part that exploring electrode contacts with human body is circular-arc; Reference electrode is made by conductor.
Further again, described light projector is for projecting the projector of cross high brightness beam to human body surface.
Beneficial effect of the present invention mainly shows: back shu points is distributed in side, human body back center line both sides and opens on 1.5 cun the straight line, along the center line left-right symmetric.Three Degree Of Freedom translation mechanical hand drives exploring electrode along this straight line uniform motion, and in motor process, rise and fall to regulate the mechanical hand height according to human body surface, make exploring electrode keep constant at the active force of human body surface, thus obtained human body back shu points impedance data obtains under constant gaging pressure, has stronger objectivity.
Description of drawings
Accompanying drawing 1 is a structural principle block diagram of the present invention.
Accompanying drawing 2 is back shu points and body surface witness marker sketch map.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
Embodiment 1
With reference to Fig. 1, Fig. 2, a kind of three-freedom parallel moving manipulator backshupoints impedance detection method, described impedance detection method may further comprise the steps:
(1), the self calibration process of back shu points coordinate: set up unified rectangular coordinate system at human body back, determine X-axis, Y-axis and Z axle, and definite Three Degree Of Freedom translation robot coordinate is (0,0,0) is initial point, according to State Standard of the People's Republic of China GB 12346-90, medial border of scapula is 3 horizontal cun to posterior midline, utilize light projector to determine the lateral separation of lower back, promptly determine the posterior midline position through the cave, spine of scapula position, the left and right sides (left spine of scapula 8 among Fig. 2), inferior angle of scapula (left side inferior angle of scapula 9 among Fig. 2) coordinate, 12 ribs (left side twelfth rib 10 among Fig. 2) and erector spinae outer rim position of intersecting point, two crista iliaca peaks (left side crista iliaca peak 11 among Fig. 2) link position and the flat second sacral vertebra medium position of two posterior superior iliac spines (left side posterior superior iliac spine 12 among Fig. 2); Definite again back center line X-axis coordinate that is as the criterion with the exploring electrode center, the left side spine of scapula X-axis coordinate that is as the criterion with the exploring electrode center, the right side spine of scapula X-axis coordinate that is as the criterion with the exploring electrode center, the third dorsal vertebra spinous process that is as the criterion with the exploring electrode center is a FEIYU acupoint Y-axis coordinate, the flat seventh dorsal vertebra spinous process of inferior angle of scapula line that is as the criterion with the exploring electrode center is a ke shu Y-axis coordinate, the twelfth rib and the erector spinae outer rim intersection point that are as the criterion with the exploring electrode center are the Y-axis coordinate of first lumbar vertebra level, the Y-axis coordinate at the Y-axis coordinate of the flat fourth lumbar vertebra spinous process of two crista iliaca peak lines that is as the criterion with the exploring electrode center and the flat second sacral vertebra of the two posterior superior iliac spines middle part that is as the criterion with the exploring electrode center;
(2), according to the distribution situation of each back shu points of human body and above-mentioned self calibration parameter, calculate the Y-axis coordinate of each back shu points of human body, the X-axis coordinate of left side back shu points and the X-axis coordinate of right side back shu points;
(3) impedance scan process: mobile Three Degree Of Freedom translation mechanical hand, make exploring electrode be positioned at the coordinate place in the projection centre of X, Y-axis plane upper left side back shu points, the Z axle of mobile again Three Degree Of Freedom translation mechanical hand, make the output of force transducer reach setting value, promptly exploring electrode acts on human body back with the pressure of setting; Output impedance detects pumping signal, and the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode carry out rectilinear motion, synchronous recording impedance signal and Y-axis coordinate with constant speed along other position of opening 1.5 cun, human body median line left side; It is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle; When the Y-axis coordinate arrives Y
19The time, disconnect the impedance detection pumping signal, stop to write down impedance and Y-axis coordinate;
The Z axle of elevating mechanism hands is to coordinate zero point again, mobile thereupon Three Degree Of Freedom translation mechanical hand, make the projection centre of exploring electrode right side back shu points on X, Y-axis plane be positioned at the coordinate place, output impedance detects pumping signal, the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode other position of opening 1.5 cun carry out rectilinear motion and synchronous recording impedance signal and Y-axis coordinate with constant speed along human body median line right side, it is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle in the same moving process; Y-axis coordinate arrival Y when exploring electrode
19The time, disconnect the impedance detection pumping signal, stop to write down impedance and Y-axis coordinate, and mobile Three Degree Of Freedom translation mechanical hand is to zero point, so far impedance detection finishes;
Y-axis coordinate according to the acupuncture point of back shu points inquires corresponding impedance.
Described step (1) comprising: (1.1), set up unified coordinate system: the human body back of the body crouches on examinating couch, and the direction that shoulder extends is an X-axis, and wherein right-hand side is a positive direction, and left-hand side is a negative direction; Human spine's direction is a Y-axis, and wherein the lower limb side is a positive direction, and a side is a negative direction; The Z axle is perpendicular to X and Y-axis, and wherein the human body face direction is a positive direction, and the back is a negative direction;
Three Degree Of Freedom translation robot coordinate is that (0,0,0) is initial point under the initial situation, and this moment, the mechanical hand X-axis was in the leftmost side of stroke, and the mechanical hand Y-axis is in the front side of stroke, and mechanical hand Z axle is in the stroke top side;
(1.2), according to the X and Y coordinates of human body surface witness marker determining section back shu points:
Back shu points is positioned at the posterior midline side and opens 1.5 cun; According to State Standard of the People's Republic of China GB12346-90, medial border of scapula is 3 horizontal cun to posterior midline;
(1.2.1), determine the posterior midline position:
Make the testee back of the body crouch and detecting on the bed, both hands are attached to the health both sides naturally; When two handss fall in the body both sides, the flat third dorsal vertebra spinous process of two spine of scapula lines, the flat seventh dorsal vertebra spinous process of two inferior angle of scapula lines; Twelfth rib and erector spinae outer rim intersection point, quite first lumbar vertebra level; The flat second lumbar vertebra spinous process of two season rib lower edge lines; The flat fourth lumbar vertebra spinous process of two crista iliaca peak lines; The flat second sacral vertebra of two posterior superior iliac spines middle part; Can carry out following location according to these position references: make light projector launch cross light, mobile manipulator coincide vertical line and the human body back center line in the cross light; If vertical line in the cross light and testee center line be angle slightly, the position of fine setting testee makes the vertical line in its center line and the cross light coincide; Record X-axis coordinate at this moment is X '
Center
(1.2.2) determine spine of scapula position, the left and right sides:
As mentioned above, medial border of scapula is 3 horizontal cun to posterior midline, so medial border of scapula promptly is the back shu points horizontal level to half position of posterior midline; The flat third dorsal vertebra spinous process of two spine of scapula lines, i.e. FEIYU acupoint is as measuring starting point;
Along XY direction mobile manipulator, make the horizontal line in the cross light pass the left side spine of scapula, vertical line in the cross light and left medial border of scapula are tangent; Record X-axis coordinate at this moment is X '
3L, the Y-axis coordinate is Y '
3
Along the directions X mobile manipulator, make vertical line and right medial border of scapula in the cross light tangent; Record X-axis coordinate at this moment is X '
3R
(1.2.3), determine the inferior angle of scapula coordinate:
The horizontal level that the flat seventh dorsal vertebra spinous process of inferior angle of scapula line is a ke shu;
Along Y direction mobile manipulator, make horizontal line and scapula lower edge in the cross light tangent; Record Y-axis coordinate at this moment is Y '
7
(1.2.4), determine twelfth rib and erector spinae outer rim position of intersecting point, quite first lumbar vertebra level;
Along Y direction mobile manipulator, make the horizontal line in the cross light pass left and right sides twelfth rib and erector spinae outer rim intersection point; Record Y-axis coordinate at this moment is Y '
13
(1.2.5), determine two crista iliaca peak link position, the flat fourth lumbar vertebra spinous process of this line;
Along Y direction mobile manipulator, the horizontal line in the cross light is overlapped with two crista iliaca peak lines, record Y-axis coordinate at this moment is Y '
16
(1.2.6), determine the flat second sacral vertebra medium position of two posterior superior iliac spines;
Along Y direction mobile manipulator, the horizontal line in the cross light is overlapped with two posterior superior iliac spine lines, record Y-axis coordinate at this moment is Y '
19
Set light projector center and exploring electrode center and exist coordinate poor, the coordinate difference on the directions X is Δ X, and the coordinate difference on the Y direction is Δ Y;
Therefore the back center line X-axis coordinate that is as the criterion with the exploring electrode center is X
Center=X '
Center+ Δ X;
The left side spine of scapula X-axis coordinate that is as the criterion with the exploring electrode center is X
3L=X '
3L+ Δ X, right side spine of scapula X-axis coordinate is X
3R=X '
3R+ Δ X;
The third dorsal vertebra spinous process that is as the criterion with the exploring electrode center is that FEIYU acupoint Y-axis coordinate is Y
3=Y '
3+ Δ Y, the flat seventh dorsal vertebra spinous process of inferior angle of scapula line are ke shu Y-axis coordinate coordinate Y
7=Y '
7+ Δ Y, twelfth rib and erector spinae outer rim intersection point, suitable first lumbar vertebra level, the Y-axis coordinate is Y
13=Y '
13+ Δ Y; The flat fourth lumbar vertebra spinous process of two crista iliaca peak lines, the Y-axis coordinate is Y
16=Y '
16+ Δ Y; The flat second sacral vertebra of two posterior superior iliac spines middle part, the Y-axis coordinate is Y
19=Y '
19+ Δ Y;
(1.3), calculate the geometric coordinate of each back shu points:
Be that FEIYU acupoint Y-axis coordinate is Y according to the known third dorsal vertebra spinous process of body surface witness marker from the above mentioned
3, the flat seventh dorsal vertebra spinous process of inferior angle of scapula line is ke shu Y-axis coordinate Y
7, twelfth rib and erector spinae outer rim intersection point, suitable first lumbar vertebra level, the Y-axis coordinate is Y
13The flat fourth lumbar vertebra spinous process of two crista iliaca peak lines, the Y-axis coordinate is Y
16The flat second sacral vertebra of two posterior superior iliac spines middle part, the Y-axis coordinate is Y
19
The Y-axis coordinate of back shu points is thus:
The Y-axis coordinate of fei shu is Y
3
The Y-axis coordinate of bl 14 is Y
4=Y
3+ (Y
7-Y
3)/4;
The Y-axis coordinate of Hsinshu (acupoint) is Y
5=Y
3+ 2* (Y
7-Y
3)/4;
The Y-axis coordinate of tu shu is Y
6=Y
3+ 3* (Y
7-Y
3)/4;
The Y-axis coordinate of ke shu is Y
7
The Y-axis coordinate of bl is Y
9=Y
7+ 2* (Y
13-Y
7)/6;
The Y-axis coordinate of tan shu is Y
10=Y
7+ 3* (Y
13-Y
7)/6;
The Y-axis coordinate of Pishu is Y
11=Y
7+ 4* (Y
13-Y
7)/6;
The Y-axis coordinate of bl is Y
12=Y
7+ 5* (Y
13-Y
7)/6;
The Y-axis coordinate of san chiao shu is Y
13
The Y-axis coordinate of shen shu is Y
14=Y
13+ (Y
16-Y
13)/3;
The Y-axis coordinate of chi hai shu is Y
15=Y
13+ 2* (Y
16-Y
13)/3;
The Y-axis coordinate of the Large Intestine Shu is Y
16
The Y-axis coordinate of bl 26 is Y
17=Y
16+ (Y
19-Y
16)/3;
The Y-axis coordinate of hsiao chang shu is Y
18=Y
16+ 2* (Y
19-Y
16)/3;
The Y-axis coordinate of pang kuang shu is Y
19
The X-axis coordinate of left side back shu points is (X
Center+ X
3L)/2, the X-axis coordinate of right side back shu points is (X
Center+ X
3R)/2.
In the described step (1.2), use rubber-like the bandage fixedly buttocks and the shank of testee, avoid shift in position in the testing process.
With reference to Fig. 1, Fig. 2, a kind of three-freedom parallel moving manipulator backshupoints impedance detection system, described system comprises mechanical hand X-axis, mechanical hand Y-axis, mechanical hand Z axle, light projector, force transducer, exploring electrode, reference electrode, drive motors and computer; Mechanical hand X-axis, mechanical hand Y-axis and mechanical hand Z axle are connected with drive motors, described pick off, exploring electrode, reference electrode, drive motors are connected with computer, set gradually force transducer and light projector on the mechanical hand Z axle, exploring electrode is housed on the force transducer; Described computer comprises: the coordinate setting module of mechanical hand, be used for the self calibration process of back shu points coordinate, and the linear ratio relation between the rectilinear motion distance of bringing according to motor every rotation unit angle and this unit angular movement carries out coordinate setting; The impedance scan measurement module, be used for mobile Three Degree Of Freedom translation mechanical hand, make exploring electrode be positioned at the coordinate place in the projection centre of X, Y-axis plane upper left side back shu points, the Z axle of mobile again Three Degree Of Freedom translation mechanical hand, make the output of force transducer reach setting value, promptly exploring electrode acts on human body back with the pressure of setting; Output impedance detects pumping signal, and the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode carry out rectilinear motion, synchronous recording impedance signal and Y-axis coordinate with constant speed along other position of opening 1.5 cun, human body median line left side; It is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle; Y-axis coordinate time when Y-axis coordinate arrival pang kuang shu disconnects the impedance detection pumping signal, stops to write down impedance and Y-axis coordinate;
The Z axle of elevating mechanism hands is to coordinate zero point again, mobile thereupon Three Degree Of Freedom translation mechanical hand, make the projection centre of exploring electrode right side back shu points on X, Y-axis plane be positioned at the coordinate place, output impedance detects pumping signal, the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode other position of opening 1.5 cun carry out rectilinear motion and synchronous recording impedance signal and Y-axis coordinate with constant speed along human body median line right side, it is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle in the same moving process; When the Y-axis coordinate of exploring electrode arrives the Y-axis coordinate time of pang kuang shu, disconnect the impedance detection pumping signal, stop to write down impedance and Y-axis coordinate, and mobile Three Degree Of Freedom translation mechanical hand is to zero point, so far impedance detection finishes; Y-axis coordinate according to the acupuncture point of back shu points inquires corresponding impedance.
The impedance detection system of present embodiment comprises mechanical hand Z axle 3, force transducer 4, light projector 5, exploring electrode 6 and human body 7, mechanical hand X-axis 2 and 1 vertical connection of mechanical hand Y-axis, mechanical hand Z axle 3 and 2 vertical connections of mechanical hand Y-axis.Force transducer 4, light projector 5, exploring electrode 6 link to each other with mechanical hand Z axle 3.
Three-freedom parallel moving manipulator backshupoints impedance detection system comprises mechanical hand X-axis, mechanical hand Y-axis, mechanical hand Z axle, light projector, force transducer, exploring electrode, reference electrode, drive motors and motion control card, computer.
Mechanical hand X-axis, mechanical hand Y-axis are vertical mutually with mechanical hand Z axle, orthogonal thereto connection.
The mechanical hand X-axis can be selected the rectilinear motion unit 060G005ZX12JNM0500GD of Hollysys's motor technology company limited for use, motor is equipped with in its inside, drive exploring electrode along the human body horizontal motion, just be used to seek other position of opening 1.5 cun, human body center line both sides.
The mechanical hand Y-axis can be selected the rectilinear motion unit 060G005ZX12JNM1000GD of Hollysys's motor technology company limited for use, motor is equipped with in its inside, driving exploring electrode moves along human spine's direction, just when the mechanical hand X-axis had navigated to that human body center line both sides are other opens 1.5 cun position, Y-axis drove exploring electrode and moves along urinary bladder channel first side line.
Mechanical hand Z axle can be selected the rectilinear motion unit 060G005ZX12JNM0500GD of Hollysys's motor technology company limited for use, motor is equipped with in its inside, driving exploring electrode moves along the direction of vertical and human body back, just when exploring electrode when urinary bladder channel first side line moves, mechanical hand Z axle moves up and down according to the pressure of detected exploring electrode to human body, makes exploring electrode keep constant to the pressure of human body.
Light projector adopts the small-sized cross laser graticule instrument LS612 II of Lai Sai photoelectricity technology corporation, Ltd., it projects cross high brightness beam to human body surface, when certain witness marker of criss-cross cross point and human body surface overlapped, record coordinate at this moment can be assisted the position of computer system location human body back shu points.
Force transducer adopts the differential transformation displacement transducer of the direct current LVDT 0244-00000 of Trans-Tek company, and range is 2.54 centimetres.Exploring electrode is installed on the gauge head of displacement transducer, and insulate with gauge head.Spring is equipped with in differential transformation displacement transducer gauge head inside, because in the spring force scope, the stressed displacement that is proportional to spring of gauge head, so the output of displacement transducer is proportional to the exploring electrode that connects on gauge head and the gauge head.Mechanical hand Z axle moves up and down according to the output of displacement transducer, makes the output of displacement transducer keep constant, also is that exploring electrode is kept constant to the pressure of human body.Can be for the ease of displacement transducer successfully along with human body surface rise and fall, displacement transducer installation and Z axle be an angle slightly.
The part that exploring electrode contacts with human body is made by conductor, and in order to make motion smoothing and the minimizing stimulation to human body, the part that exploring electrode contacts with human body is circular-arc.
Reference electrode is attached to the position in the human body surface such as the centre of the palm, and is bigger with the human body contact area, and the part that contacts with human body is a conductor.Human body can be equivalent to a resistance, and reference electrode and exploring electrode constitute two pins of human body resistance, measure voltage and electric current between two electrodes, can obtain two interelectrode human body impedances.
Motor-driven and motion control card are connected with mechanical hand X-axis, mechanical hand Y-axis, mechanical hand Z axle and computer, it accept computer signal controlling machinery hands X-axis, mechanical hand Y-axis, mechanical hand Z axle motion and give computer with feedback of status.Motor-driven and motion control card are made up of three motor drivers and motion control card, three motor drivers are distinguished driving device hands X-axis, mechanical hand Y-axis and mechanical hand Z axles, all select the two-phase hybrid stepping motor subdivision driver SH-20403 of Hollysys's motor technology company limited for use.Motion control card adopts the pci interface 6030 full-digital servos/stepping motor control card of Hollysys's motor technology company limited, is inserted on the pci card groove of computer.The coordinate setting of Three Degree Of Freedom translation mechanical hand is finished according to the proportionate relationship between the rectilinear motion distance of motor per unit movement angle and therefore generation, also can finish by external displacement transducer.
Claims (6)
1. three-freedom parallel moving manipulator backshupoints impedance detection method, it is characterized in that: described impedance detection method may further comprise the steps:
(1), the self calibration process of back shu points coordinate: set up unified rectangular coordinate system at human body back, determine X-axis, Y-axis and Z axle, and definite Three Degree Of Freedom translation robot coordinate is (0,0,0) is initial point, according to State Standard of the People's Republic of China GB 12346-90, medial border of scapula is 3 horizontal cun to posterior midline, utilize light projector to determine the lateral separation of lower back, promptly determine the posterior midline position through the cave, spine of scapula position, the left and right sides, the inferior angle of scapula coordinate, 12 ribs and erector spinae outer rim position of intersecting point, the flat second sacral vertebra medium position of two crista iliaca peak link position and two posterior superior iliac spines; Definite again back center line X-axis coordinate that is as the criterion with the exploring electrode center, the left side spine of scapula X-axis coordinate that is as the criterion with the exploring electrode center, the right side spine of scapula X-axis coordinate that is as the criterion with the exploring electrode center, the third dorsal vertebra spinous process that is as the criterion with the exploring electrode center is a FEIYU acupoint Y-axis coordinate, the flat seventh dorsal vertebra spinous process of inferior angle of scapula line that is as the criterion with the exploring electrode center is a ke shu Y-axis coordinate, the twelfth rib and the erector spinae outer rim intersection point that are as the criterion with the exploring electrode center are the Y-axis coordinate of first lumbar vertebra level, the Y-axis coordinate at the Y-axis coordinate of the flat fourth lumbar vertebra spinous process of two crista iliaca peak lines that is as the criterion with the exploring electrode center and the flat second sacral vertebra of the two posterior superior iliac spines middle part that is as the criterion with the exploring electrode center;
(2), according to the distribution situation of each back shu points of human body and above-mentioned self calibration parameter, calculate the Y-axis coordinate of each back shu points of human body, the X-axis coordinate of left side back shu points and the X-axis coordinate of right side back shu points;
(3), impedance scan process: mobile Three Degree Of Freedom translation mechanical hand, make exploring electrode be positioned at the coordinate place in the projection centre of X, Y-axis plane upper left side back shu points, the Z axle of mobile again Three Degree Of Freedom translation mechanical hand, make the output of force transducer reach setting value, promptly exploring electrode acts on human body back with the pressure of setting; Output impedance detects pumping signal, and the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode carry out rectilinear motion, synchronous recording impedance signal and Y-axis coordinate with constant speed along other position of opening 1.5 cun, human body median line left side; It is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle; Y-axis coordinate time when Y-axis coordinate arrival pang kuang shu disconnects the impedance detection pumping signal, stops to write down impedance and Y-axis coordinate;
The Z axle of elevating mechanism hands is to coordinate zero point again, mobile thereupon Three Degree Of Freedom translation mechanical hand, make the projection centre of exploring electrode right side back shu points on X, Y-axis plane be positioned at the coordinate place, output impedance detects pumping signal, the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode other position of opening 1.5 cun carry out rectilinear motion and synchronous recording impedance signal and Y-axis coordinate with constant speed along human body median line right side, it is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle in the same moving process; When the Y-axis coordinate of exploring electrode arrives the Y-axis coordinate time of pang kuang shu, disconnect the impedance detection pumping signal, stop to write down impedance and Y-axis coordinate, and mobile Three Degree Of Freedom translation mechanical hand is to zero point, so far impedance detection finishes;
Y-axis coordinate according to the acupuncture point of back shu points inquires corresponding impedance.
2. three-freedom parallel moving manipulator backshupoints impedance detection method as claimed in claim 1 is characterized in that: described step (1) comprising:
(1.1), set up unified coordinate system: the human body back of the body crouches on examinating couch, and the direction that shoulder extends is an X-axis, and wherein right-hand side is a positive direction, and left-hand side is a negative direction; Human spine's direction is a Y-axis, and wherein the lower limb side is a positive direction, and a side is a negative direction; The Z axle is perpendicular to X and Y-axis, and wherein the human body face direction is a positive direction, and the back is a negative direction;
Three Degree Of Freedom translation robot coordinate is that (0,0,0) is initial point under the initial situation, and this moment, the mechanical hand X-axis was in the leftmost side of stroke, and the mechanical hand Y-axis is in the front side of stroke, and mechanical hand Z axle is in the stroke top side;
(1.2), according to the X and Y coordinates of human body surface witness marker determining section back shu points:
Back shu points is positioned at the posterior midline side and opens 1.5 cun; According to State Standard of the People's Republic of China GB12346-90, medial border of scapula is 3 horizontal cun to posterior midline;
(1.2.1), determine the posterior midline position:
Make the testee back of the body crouch and detecting on the bed, both hands are attached to the health both sides naturally; When two handss fall in the body both sides, the flat third dorsal vertebra spinous process of two spine of scapula lines, the flat seventh dorsal vertebra spinous process of two inferior angle of scapula lines; Twelfth rib and erector spinae outer rim intersection point, quite first lumbar vertebra level; The flat second lumbar vertebra spinous process of two season rib lower edge lines; The flat fourth lumbar vertebra spinous process of two crista iliaca peak lines; The flat second sacral vertebra of two posterior superior iliac spines middle part; Carry out following location according to these position references: make light projector launch cross light, mobile manipulator coincide vertical line and the human body back center line in the cross light; If vertical line in the cross light and testee center line be angle slightly, the position of fine setting testee makes the vertical line in its center line and the cross light coincide; Record X-axis coordinate at this moment is X '
Center
(1.2.2) determine spine of scapula position, the left and right sides:
As mentioned above, medial border of scapula is 3 horizontal cun to posterior midline, so medial border of scapula promptly is the back shu points horizontal level to half position of posterior midline; The flat third dorsal vertebra spinous process of two spine of scapula lines, i.e. FEIYU acupoint is as measuring starting point;
Along directions X and Y direction mobile manipulator, make the horizontal line in the cross light pass the left side spine of scapula, vertical line in the cross light and left medial border of scapula are tangent; Record X-axis coordinate at this moment is X '
3L, the Y-axis coordinate is Y '
3
Along the directions X mobile manipulator, make vertical line and right medial border of scapula in the cross light tangent; Record X-axis coordinate at this moment is X '
3R
(1.2.3), determine the inferior angle of scapula coordinate:
The horizontal level that the flat seventh dorsal vertebra spinous process of inferior angle of scapula line is a ke shu;
Along Y direction mobile manipulator, make horizontal line and scapula lower edge in the cross light tangent; Record Y-axis coordinate at this moment is Y '
7
(1.2.4), determine twelfth rib and erector spinae outer rim position of intersecting point, quite first lumbar vertebra level;
Along Y direction mobile manipulator, make the horizontal line in the cross light pass left and right sides twelfth rib and erector spinae outer rim intersection point; Record Y-axis coordinate at this moment is Y '
13
(1.2.5), determine two crista iliaca peak link position, the flat fourth lumbar vertebra spinous process of this line;
Along Y direction mobile manipulator, the horizontal line in the cross light is overlapped with two crista iliaca peak lines, record Y-axis coordinate at this moment is Y '
16
(1.2.6), determine the flat second sacral vertebra medium position of two posterior superior iliac spines;
Along Y direction mobile manipulator, the horizontal line in the cross light is overlapped with two posterior superior iliac spine lines, record Y-axis coordinate at this moment is Y '
19
Set light projector center and exploring electrode center and exist coordinate poor, the coordinate difference on the directions X is Δ X, and the coordinate difference on the Y direction is Δ Y;
Therefore the back center line X-axis coordinate that is as the criterion with the exploring electrode center is X
Center=X '
Center+ Δ X;
The left side spine of scapula X-axis coordinate that is as the criterion with the exploring electrode center is X
3L=X '
3L+ Δ X, right side spine of scapula X-axis coordinate is X
3R=X '
3R+ Δ X;
The third dorsal vertebra spinous process that is as the criterion with the exploring electrode center is that FEIYU acupoint Y-axis coordinate is Y
3=Y '
3+ Δ Y, the flat seventh dorsal vertebra spinous process of inferior angle of scapula line are ke shu Y-axis coordinate coordinate Y
7=Y '
7+ Δ Y, twelfth rib and erector spinae outer rim intersection point, suitable first lumbar vertebra level, the Y-axis coordinate is Y
13=Y '
13+ Δ Y; The flat fourth lumbar vertebra spinous process of two ilium Xiao peak lines, the Y-axis coordinate is Y
16=Y '
16+ Δ Y; The flat second sacral vertebra of two posterior superior iliac spines middle part, the Y-axis coordinate is Y
19=Y '
19+ Δ Y;
(1.3), calculate the geometric coordinate of each back shu points:
Be that FEIYU acupoint Y-axis coordinate is Y according to the known third dorsal vertebra spinous process of body surface witness marker from the above mentioned
3, the flat seventh dorsal vertebra spinous process of inferior angle of scapula line is ke shu Y-axis coordinate Y
7, twelfth rib and erector spinae outer rim intersection point, suitable first lumbar vertebra level, the Y-axis coordinate is Y
13The flat fourth lumbar vertebra spinous process of two crista iliaca peak lines, the Y-axis coordinate is Y
16The flat second sacral vertebra of two posterior superior iliac spines middle part, the Y-axis coordinate is Y
19
The Y-axis coordinate of back shu points is thus:
The Y-axis coordinate of fei shu is Y
3
The Y-axis coordinate of bl 14 is Y
4=Y
3+ (Y
7-Y
3)/4;
The Y-axis coordinate of Hsinshu (acupoint) is Y
5=Y
3+ 2* (Y
7-Y
3)/4;
The Y-axis coordinate of tu shu is Y
6=Y
3+ 3* (Y
7-Y
3)/4;
The Y-axis coordinate of ke shu is Y
7
The Y-axis coordinate of bl is Y
9=Y
7+ 2* (Y
13-Y
7)/6;
The Y-axis coordinate of tan shu is Y
10=Y
7+ 3* (Y
13-Y
7)/6;
The Y-axis coordinate of Pishu is Y
11=Y
7+ 4* (Y
13-Y
7)/6;
The Y-axis coordinate of bl is Y
12=Y
7+ 5* (Y
13-Y
7)/6;
The Y-axis coordinate of san chiao shu is Y
13
The Y-axis coordinate of shen shu is Y
14=Y
13+ (Y
16-Y
13)/3;
The Y-axis coordinate of chi hai shu is Y
15=Y
13+ 2* (Y
16-Y
13)/3;
The Y-axis coordinate of the Large Intestine Shu is Y
16
The Y-axis coordinate of bl 26 is Y
17=Y
16+ (Y
19-Y
16)/3;
The Y-axis coordinate of hsiao chang shu is Y
18=Y
16+ 2* (Y
19-Y
16)/3;
The Y-axis coordinate of pang kuang shu is Y
19
The X-axis coordinate of left side back shu points is (X
Center+ X
3L)/2, the X-axis coordinate of right side back shu points is (X
Center+ X
3R)/2.
3. three-freedom parallel moving manipulator backshupoints impedance detection method as claimed in claim 2 is characterized in that: in the described step (1.2), use rubber-like the bandage fixedly buttocks and the shank of testee, avoid shift in position in the testing process.
4. system that realizes three-freedom parallel moving manipulator backshupoints impedance detection method as claimed in claim 1, it is characterized in that: described system comprises mechanical hand X-axis, mechanical hand Y-axis, mechanical hand Z axle, light projector, force transducer, exploring electrode, reference electrode, drive motors and computer; Mechanical hand X-axis, mechanical hand Y-axis and mechanical hand Z axle are connected with drive motors, described pick off, exploring electrode, reference electrode, drive motors are connected with computer, set gradually force transducer and light projector on the mechanical hand Z axle, exploring electrode is housed on the force transducer; Described computer comprises:
The coordinate setting module of mechanical hand is used for the self calibration process of back shu points coordinate, and the linear ratio relation between the rectilinear motion distance that it brings according to motor every rotation unit angle and this unit angular movement carries out coordinate setting;
The impedance scan measurement module, be used for mobile Three Degree Of Freedom translation mechanical hand, make exploring electrode be positioned at the coordinate place in the projection centre of X, Y-axis plane upper left side back shu points, the Z axle of mobile again Three Degree Of Freedom translation mechanical hand, make the output of force transducer reach setting value, promptly exploring electrode acts on human body back with the pressure of setting; Output impedance detects pumping signal, and the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode carry out rectilinear motion, synchronous recording impedance signal and Y-axis coordinate with constant speed along other position of opening 1.5 cun, human body median line left side; It is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle; Y-axis coordinate time when Y-axis coordinate arrival pang kuang shu disconnects the impedance detection pumping signal, stops to write down impedance and Y-axis coordinate;
The Z axle of elevating mechanism hands is to coordinate zero point again, mobile thereupon Three Degree Of Freedom translation mechanical hand, make the projection centre of exploring electrode right side back shu points on X, Y-axis plane be positioned at the coordinate place, output impedance detects pumping signal, the Y-axis of mobile simultaneously Three Degree Of Freedom translation mechanical hand makes exploring electrode other position of opening 1.5 cun carry out rectilinear motion and synchronous recording impedance signal and Y-axis coordinate with constant speed along human body median line right side, it is constraints that force transducer on the Z axle keeps constant output, uses pid control algorithm to move up and down the Z axle in the same moving process; When the Y-axis coordinate of exploring electrode arrives the Y-axis coordinate time of pang kuang shu, disconnect the impedance detection pumping signal, stop to write down impedance and Y-axis coordinate, and mobile Three Degree Of Freedom translation mechanical hand is to zero point, so far impedance detection finishes;
Y-axis coordinate according to the acupuncture point of back shu points inquires corresponding impedance.
5. the system of realization as claimed in claim 4 three-freedom parallel moving manipulator backshupoints impedance detection method as claimed in claim 1, it is characterized in that: the part that described exploring electrode contacts with human body is made by conductor, and the part that exploring electrode contacts with human body is circular-arc; Reference electrode is made by conductor.
6. as the system of claim 4 or 5 described realizations three-freedom parallel moving manipulator backshupoints impedance detection method as claimed in claim 1, it is characterized in that: described light projector is for projecting the projector of cross high brightness beam to human body surface.
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