CN104523420B - A kind of online diagnosing and treating apparatus - Google Patents
A kind of online diagnosing and treating apparatus Download PDFInfo
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- CN104523420B CN104523420B CN201510036835.7A CN201510036835A CN104523420B CN 104523420 B CN104523420 B CN 104523420B CN 201510036835 A CN201510036835 A CN 201510036835A CN 104523420 B CN104523420 B CN 104523420B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
- A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
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- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
Embodiments provide a kind of online diagnosing and treating apparatus, belong to physical therapy device field, including: display, controller, teleprocessing unit, mechanical hand and position feedback photographic head, described display is connected with described controller, described controller is connected with described teleprocessing unit, and described mechanical hand and described position feedback photographic head are all connected with described teleprocessing unit.It is an object of the invention to provide a kind of online diagnosing and treating apparatus and control method thereof, effectively to reduce the waiting time needed for human body acceptance treatment.
Description
Technical field
The present invention relates to physical therapy device field, in particular to the online diagnosing and treating apparatus of one.
Background technology
The most increasing human body selects the mode of acupoint massage to treat, such as, suffer from the patient of scapulohumeral periarthritis, Ke Yitong
Cross massage shoulder and the acupoint therapy such as paddy, Houxi, chien cheng, Jianjing, Tian Zong, Quchi, more such as suffer from the patient of gastric abscess, can
With by massage Pishu, bl, shen shu, big vertebra, Jianjing, bl, tan shu, shou san li, Nei Guan, Wai Guan, He Gu, the middle part of gastric cavity, Zhangmen,
The acupoint therapys such as Qihai, Shenque, Tianshu, tsu san li, sp 6, Tai Chong, Neiting, sp 9, gb 34.
At present human body needs specialist hospital to receive the massage treatment of medical practitioner, but, human body the registering of hospital, wait
Examine etc. and to expend the too much time in link, make the disease of human body can not get in time and treat, see a doctor for human body and bring inconvenience.
Summary of the invention
It is an object of the invention to provide a kind of online diagnosing and treating apparatus and control method thereof, accept to control with effectively reduction human body
Waiting time needed for treatment.
First aspect, a kind of online diagnosing and treating apparatus that the embodiment of the present invention provides, be applied to teletherapy system, described
Line diagnosing and treating apparatus includes that actuation means and massaging device, described actuation means include display, controller and multiple acupuncture point sensing
Device, the acupuncture point one_to_one corresponding that described acupuncture point sensor is different from human body；Described massaging device includes that photographic head, skeleton are fed back in position
Photographic head, teleprocessing unit and mechanical hand；
Described controller is for receiving the image information of the human body that described position feedback photographic head sends, described image information
Include the positional information at each acupuncture point of described human body；
The image information of the described human body that described display is received for display；
Described acupuncture point sensor acts on the force value on the sensor of acupuncture point for gathering, and sends to described controller；
Described controller is additionally operable to receive motion action instruction, by the described motion action instruction received and described action
The force value operating targeted acupuncture point sends to described teleprocessing unit, so that described teleprocessing unit controls described mechanical hand
The position at the acupuncture point determined for the image shot according to described skeleton photographic head performs moving in the instruction of described motion action
Operate, wherein, the instruction of described motion action include motion action for the acupuncture point positional information of described human body.
In conjunction with first aspect, the embodiment of the present invention additionally provide first aspect the first may embodiment, wherein,
Described actuation means also includes multiple diagnostic sensor, anthropometric dummy and virtual reality glove, described anthropometric dummy
Being provided with the acupuncture point labelling point corresponding with human acupoint and diagnosis part mark point, each described acupuncture point sensor is arranged on described
At the labelling point of acupuncture point, each described diagnostic sensor is arranged at described diagnosis part mark point, and each acupuncture point labelling point is corresponding
One acupuncture point sensor, the corresponding diagnostic sensor of each diagnosis part mark point；
Described acupuncture point sensor is specifically for the pressure on the described acupuncture point labelling point that gathered by described acupuncture point sensor
Value sends to described controller；Described virtual reality glove is for gathering the action message of human hands, by described action message
Be converted to motion action instruction send to described controller；
Described diagnostic sensor pressure on the described diagnosis part mark point that described diagnostic sensor is gathered
Value sends to described controller；
Described controller is additionally operable to receive diagnostic operation instruction, by the described diagnostic operation instruction received and described diagnosis
The force value at the diagnosis position that operational order is targeted sends to described massaging device, and wherein, the instruction of described diagnostic operation includes
Motion action for the diagnosis site location information of described human body.
Second aspect, a kind of online diagnosing and treating apparatus that the embodiment of the present invention provides, be applied to teletherapy system, described
Line diagnosing and treating apparatus includes that actuation means and massaging device, described massaging device include teleprocessing unit, mechanical hand and position feedback
Photographic head；
Described position feedback photographic head is used for shooting human body image information, and described image information includes each of described human body
The positional information at individual acupuncture point；
Described teleprocessing unit is for the described human body image information by acquired described position feedback photographic head shooting
Send to described actuation means；
Described teleprocessing unit, is additionally operable to receive motion action instruction and the described motion action that described actuation means sends
The force value at targeted acupuncture point, described motion action instruction include motion action for described human body acupuncture point position letter
Breath, controls the action of described mechanical hand according to the control instruction received；
Described massaging device also includes skeleton photographic head and human body fixator；
Described human body fixator is used for fixing described human body；
The image information of the skeleton of the human body that described skeleton photographic head is fixed on human body fixator for shooting, sends
To described teleprocessing unit；
Described teleprocessing unit is additionally operable to set up position coordinates system, in described position coordinates system for described skeleton image information
The position one_to_one corresponding of skeleton diverse location coordinate and human skeleton, close according to the ad-hoc location ratio at each acupuncture point with skeleton
System finds out the diverse location coordinate that Different Acupoint is corresponding in the coordinate system of position, according to described motion action for described human body
The positional information at acupuncture point, find described motion action for the position coordinates at acupuncture point of described human body, control described machinery
Hands move to described in the position of the human body corresponding to position coordinates found, control described mechanical hand to described human body according to being connect
The described acupuncture point found is massaged by the described force value received；
Described teleprocessing unit is additionally operable to each position dispensing position coordinate into described human body, instructs according to diagnostic operation
For the diagnosis site location information of described human body, find the instruction of described diagnostic operation for the diagnosis position of described human body
Positional information, control described mechanical hand move to described in find human body diagnosis position the human body corresponding to position coordinates
Position, control described mechanical hand and described human body found described according to the force value of the diagnostic sensor collection that received
Diagnosis position is massaged.
In conjunction with the first possible embodiment of second aspect, the embodiment of the present invention additionally provides the second of second aspect
Possible embodiment, wherein, described mechanical hand is provided with pressure transducer；
Described pressure transducer, for gathering the pressure information between described mechanical hand and human body, is input to described long-range place
Reason device；
Described teleprocessing unit be additionally operable to obtain described motion action that described pressure transducer gathers for described people
The pressure information at the acupuncture point of body, it is judged that whether described pressure information is equal to the force value received by described teleprocessing unit, if
No, adjust described mechanical hand by surging, until described motion action for the pressure information etc. at acupuncture point of described human body
In the force value received by described teleprocessing unit；
Described control described mechanical hand to described human body according to the described force value received to the described acupuncture point found
Massage, including: control the acupuncture point found described in the pressing of described mechanical hand, the pulse information at the acupuncture point found described in acquisition.
The third aspect, the embodiment of the present invention additionally provides a kind of online diagnosis and treatment method, is applied to teletherapy system, described
Teletherapy system include actuation means and massaging device, described actuation means include signal receiver, display, controller and
Multiple acupuncture points sensor, the acupuncture point one_to_one corresponding that described acupuncture point sensor is different from human body, described method includes:
Described signal receiver receives the image information of the human body that described massaging device sends, and described image information includes
The positional information at each acupuncture point of described human body；
Described display shows received image information；
Described acupuncture point sensor acquisition acts on the force value on the sensor of acupuncture point, sends to described controller；
Described controller receives motion action instruction, by the described motion action instruction received and described motion action institute
For the force value at acupuncture point send to described massaging device, wherein, the instruction of described motion action include motion action for
The acupuncture point positional information of described human body.
In conjunction with the third aspect, the embodiment of the present invention additionally provide the third aspect the first may embodiment, wherein,
Described actuation means also includes multiple diagnostic sensor, anthropometric dummy and virtual reality glove, described anthropometric dummy
Being provided with the acupuncture point labelling point corresponding with human acupoint and diagnosis part mark point, each described acupuncture point sensor is arranged on described
At the labelling point of acupuncture point, each described diagnostic sensor is arranged at described diagnosis part mark point, and each acupuncture point labelling point is corresponding
One acupuncture point sensor, the corresponding diagnostic sensor of each diagnosis part mark point；
Described acupuncture point sensor acquisition acts on the force value on the sensor of acupuncture point, sends extremely described controller, including:
Force value on the described acupuncture point labelling point that described acupuncture point sensor is gathered by described acupuncture point sensor sends extremely
Described push controller；
Described virtual reality glove gathers the action message of human hands, described action message is converted to motion action and refers to
Order sends to described controller；
Described method also includes:
The force value on described diagnosis part mark point that described diagnostic sensor is gathered by described diagnostic sensor is sent out
Deliver to described controller；
Described controller receives diagnostic operation instruction, the described diagnostic operation received instruction and described diagnostic operation is referred to
The force value making targeted diagnosis position sends to described massaging device, and wherein, the instruction of described diagnostic operation includes that action is grasped
Make for the diagnosis site location information of described human body.
Fourth aspect, the embodiment of the present invention additionally provides a kind of online diagnosis and treatment method, is applied to teletherapy system, described
Teletherapy system includes that actuation means and massaging device, described massaging device include that teleprocessing unit, mechanical hand and position are anti-
Feedback photographic head, described method includes:
Described position feedback photographic head shooting human body image information, described image information includes each cave of described human body
The positional information of position；
The image information of acquired described position feedback photographic head shooting is sent to described behaviour by described teleprocessing unit
Control device；
Motion action instruction and described motion action that the described teleprocessing unit described actuation means of reception sends are targeted
The force value at acupuncture point, the instruction of described motion action include motion action for the positional information at acupuncture point of described human body, root
The action of described mechanical hand is controlled according to the described control instruction received.
In conjunction with fourth aspect, the embodiment of the present invention additionally provides the first possible embodiment of fourth aspect, wherein, institute
State massaging device and also include that skeleton photographic head and human body fixator, described method also include:
Described human body fixator fixes described human body；
The image information of the skeleton of the human body that the shooting of described skeleton photographic head is fixed on human body fixator, sends to institute
State teleprocessing unit；
Described teleprocessing unit is that described skeleton image information sets up position coordinates system, the skeleton in described position coordinates system
Diverse location coordinate and the position one_to_one corresponding of human skeleton, find out according to the ad-hoc location proportionate relationship at each acupuncture point with skeleton
The diverse location coordinate that Different Acupoint is corresponding in the coordinate system of position, according to described motion action for the acupuncture point of described human body
Positional information, find described motion action for the position coordinates at acupuncture point of described human body, control described mechanical hand and move
The position of the human body corresponding to position coordinates found described in, controls described mechanical hand to described human body according to the institute received
State force value the described acupuncture point found is massaged；
Described teleprocessing unit is each position dispensing position coordinate of described human body, according to diagnostic operation instruction for
The diagnosis site location information of described human body, find described diagnostic operation instruction for described human body diagnosis position position
Information, control described mechanical hand move to described in the portion of the human body corresponding to position coordinates at the diagnosis position of human body that finds
Position, controls described mechanical hand and looks for according to the described force value of the described diagnostic sensor collection received described human body to described
To diagnosis position massage.
In conjunction with the first possible embodiment of fourth aspect, the embodiment of the present invention additionally provides the second of fourth aspect
Possible embodiment, wherein, described mechanical hand is provided with pressure transducer, and described method also includes:
Described pressure transducer gathers the pressure information between described mechanical hand and human body, is input to described teleprocessing
Device；
Described teleprocessing unit obtains the pressure information that described pressure transducer gathers, it is judged that whether described pressure information is etc.
In the force value received by described teleprocessing unit, if it is not, adjust described mechanical hand by surging, until again obtaining
Described pressure information is equal to the force value received by described teleprocessing unit；
Described control described mechanical hand to described human body according to the described force value received to the described acupuncture point found
Massage, including: control the acupuncture point found described in the pressing of described mechanical hand, the pulse information at the acupuncture point found described in acquisition.
The embodiment of the present invention is observed described position feedback photographic head by described display and is caught the parts of body of human body
With the position relationship of described mechanical hand, control described mechanical hand by described controller and move to the portion to be massaged of described human body
Position.Compared with prior art, the embodiment of the present invention, by being arranged on the display in face of doctor and controller, first finds human body to treat
The position of massage, then control position to be massaged described in manipulator massage by controller, human body, without going to see a doctor, reduces
Human body is because of the waiting time needed for factors such as arranging in numerical order, wait to see the doctor.
Further, the embodiment of the present invention shoots the skeleton of human body by skeleton photographic head, then by the way of determining cave with bone
The acupuncture point finding human body is distributed, and by the force value of described acupuncture point sensor acquisition, makes described mechanical hand sense with described acupuncture point
The acupuncture point of the size pressing human body of the force value that device gathers.
Other features and advantages of the present invention will illustrate in description subsequently, and, partly become aobvious from description
And be clear to, or understand by implementing the embodiment of the present invention.The purpose of the present invention and other advantages can be by the explanations write
Structure specifically noted in book, claims and accompanying drawing realizes and obtains.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only some enforcements of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtains according to these accompanying drawings
Obtain other accompanying drawing.Shown in accompanying drawing, above and other purpose, feature and the advantage of the present invention will become apparent from.All
The part that reference instruction identical in accompanying drawing is identical, the most deliberately draws accompanying drawing by actual size equal proportion scaling, and emphasis exists
In the purport illustrating the present invention.
Fig. 1 shows the structured flowchart of the embodiment of a kind of online diagnosing and treating apparatus that the embodiment of the present invention provides；
Fig. 2 shows the structured flowchart of the embodiment of the another kind of online diagnosing and treating apparatus that the embodiment of the present invention provides；
Fig. 3 shows the structured flowchart of the embodiment of the another kind of online diagnosing and treating apparatus that the embodiment of the present invention provides；
Fig. 4 shows the structured flowchart of the embodiment of the another kind of online diagnosing and treating apparatus that the embodiment of the present invention provides；
Fig. 5 shows the structure chart of the support frame of a kind of online diagnosing and treating apparatus that the embodiment of the present invention provides；
Fig. 6 shows the method flow diagram of a kind of online diagnosis and treatment method that the embodiment of the present invention provides；
Fig. 7 shows the method flow diagram of the another kind of online diagnosis and treatment method that the embodiment of the present invention provides.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
The most increasing human body selects the mode of acupoint massage to treat, such as, suffer from the patient of scapulohumeral periarthritis, Ke Yitong
Cross massage shoulder and the acupoint therapy such as paddy, Houxi, chien cheng, Jianjing, Tian Zong, Quchi, more such as suffer from the patient of gastric abscess, can
With by massage Pishu, bl, shen shu, big vertebra, Jianjing, bl, tan shu, shou san li, Nei Guan, Wai Guan, He Gu, the middle part of gastric cavity, Zhangmen,
The acupoint therapys such as Qihai, Shenque, Tianshu, tsu san li, sp 6, Tai Chong, Neiting, sp 9, gb 34.
At present human body needs specialist hospital to receive the massage treatment of medical practitioner, but, human body the registering of hospital, wait
Examine etc. and to expend the too much time in link, make the disease of human body can not get in time and treat, see a doctor for human body and bring inconvenience.
Therefore, embodiments provide a kind of online diagnosing and treating apparatus and control method thereof, connect with effectively reduction human body
By treating required waiting time.
A kind of online diagnosing and treating apparatus as shown in Figure 1, is applied to teletherapy system, and described teletherapy system includes behaviour
Control device 105 and massaging device 106, described actuation means 105 includes signal receiver 101, display 102, controller 103 and
Multiple acupuncture points sensor 104, the acupuncture point one_to_one corresponding that described acupuncture point sensor 104 is different from human body；
Described signal receiver 101 is for receiving the image information of the human body that described massaging device 106 sends, described image
Information includes the positional information at each acupuncture point of described human body；
The image information that described display 102 is received for display；
Described acupuncture point sensor 104 acts on the force value on acupuncture point sensor 104 for gathering, and sends to described control
Device 103；
Described controller 103 is used for receiving motion action instruction, the described motion action received is instructed and described dynamic
The force value operating targeted acupuncture point sends to described massaging device 106, and wherein, the instruction of described motion action includes moving
Operate for the acupuncture point positional information of described human body.
One mechanical hand can be set in described massage machine, described mechanical hand according to described controller send described dynamic
Operate instruction action.
The embodiment of the present invention is in specific implementation process, and described massaging device 106 has the mould of shooting human body image information
Block, wherein, described image information includes the positional information at each acupuncture point of described human body；Have and move according to motion action instruction
Module that is dynamic and that press, such as mechanical hand；There is the module of fixing human, such as massage couch.
When actually used, the image information of described human body that described signal receiver will receive, for described human body
One acupuncture point sensor of each position distribution of the human body in image information.Doctor, according to the image of patient, by described control
Device 103 controls described mechanical hand and moves at the acupuncture point of human body, presses according to the dynamics of the force value of described acupuncture point sensor acquisition
Rub the acupuncture point of human body.
It addition, the embodiment of the present invention is in use, described actuation means also includes anthropometric dummy and virtual reality glove, institute
Stating anthropometric dummy and be provided with the acupuncture point labelling point corresponding with human acupoint, each described acupuncture point sensor is arranged on described acupuncture point mark
At note point, the corresponding acupuncture point sensor of each acupuncture point labelling point；
Described acupuncture point sensor is specifically for the pressure on the described acupuncture point labelling point that gathered by described acupuncture point sensor
Value sends to described controller；
Described action message, for gathering the action message of human hands, is converted to action behaviour by described virtual reality glove
Make instruction to send to described controller.
Described anthropometric dummy is arranged in face of doctor, when doctor presses the acupuncture point sensor in described anthropometric dummy, on band
Described virtual reality glove, gathers the hand motion of doctor by described virtual reality glove, then by described mechanical hand reduction doctor
Raw hand motion, massages the position of human body with certain massage manipulation and massage force.It addition, the embodiment of the present invention is described
Actuation means also includes that multiple diagnostic sensor, each described diagnostic sensor are arranged at described diagnosis part mark point, often
The corresponding diagnostic sensor of individual diagnosis part mark point；
Described diagnostic sensor pressure on the described diagnosis part mark point that described diagnostic sensor is gathered
Value sends to described controller；
Described controller is additionally operable to receive diagnostic operation instruction, by the described diagnostic operation instruction received and described diagnosis
The force value at the diagnosis position that operational order is targeted sends to described massaging device, and wherein, the instruction of described diagnostic operation includes
Motion action for the diagnosis site location information of described human body.
In the embodiment of the present invention, described diagnosis position can be the portion at the position of the human body that doctor often diagnoses, such as internal organs
Position etc..
A kind of online diagnosing and treating apparatus, is applied to teletherapy system as shown in Figure 2, and described teletherapy system includes manipulation
Device 204 and massaging device 205, described massaging device 205 includes teleprocessing unit 201, mechanical hand 203 and position feedback shooting
202；
Described position feedback photographic head 202 is used for shooting human body image information, and described image information includes described human body
The positional information at each acupuncture point；
Described teleprocessing unit 201 is for the described human figure shot by acquired described position feedback photographic head 202
As information sends to described actuation means；
Described teleprocessing unit 201, is additionally operable to receive motion action instruction and the described action that described actuation means sends
Operate the force value at targeted acupuncture point, the instruction of described motion action include motion action for the position at acupuncture point of described human body
Confidence ceases, and controls the action of described mechanical hand according to the described control instruction received.
It addition, in the embodiment of the present invention, described massaging device also includes skeleton photographic head and human body fixator；
Described human body fixator is used for fixing described human body；
The image information of the skeleton of the human body that described skeleton photographic head is fixed on human body fixator for shooting, sends
To described teleprocessing unit；
Described teleprocessing unit is additionally operable to set up position coordinates system, in described position coordinates system for described skeleton image information
The position one_to_one corresponding of skeleton diverse location coordinate and human skeleton, close according to the ad-hoc location ratio at each acupuncture point with skeleton
System finds out the diverse location coordinate that Different Acupoint is corresponding in the coordinate system of position, according to described motion action for described human body
The positional information at acupuncture point, find described motion action for the position coordinates at acupuncture point of described human body, control described machinery
Hands move to described in the position of the human body corresponding to position coordinates found, control described mechanical hand to described human body according to being connect
The described acupuncture point found is massaged by the described force value received.
Described mechanical hand is provided with pressure transducer；
Described pressure transducer, for gathering the pressure information between described mechanical hand and human body, is input to described long-range place
Reason device；
Described teleprocessing unit be additionally operable to obtain described motion action that described pressure transducer gathers for described people
The pressure information at the acupuncture point of body, it is judged that whether described pressure information is equal to the force value received by described teleprocessing unit, if
No, adjust described mechanical hand by surging, until described motion action for the pressure information etc. at acupuncture point of described human body
In the force value received by described teleprocessing unit.In use, the actuation means that the embodiment of the present invention is provided is used for carrying
For action manipulation instruction, described actuation means can have signal receiving module, for receiving the letter that described massaging device sends
Number；Display module, for showing the image information of the described massaging device shooting received, the force value induction installation at acupuncture point,
For gather doctor by surging and pressing position, and send described to the most described dress of massaging by surging value and pressing position
Put.
It addition, described teleprocessing unit is additionally operable to each position dispensing position coordinate into described human body, according to diagnosis behaviour
Instruct for the diagnosis site location information of described human body, find the instruction of described diagnostic operation for the examining of described human body
The positional information at disconnected position, control described mechanical hand move to described in corresponding to the position coordinates at the diagnosis position of human body that finds
The position of human body, control the described pressure that described human body is gathered by described mechanical hand according to the described diagnostic sensor received
The described diagnosis position found is massaged by value.
Described control described mechanical hand to described human body according to the described force value received to the described acupuncture point found
Massage, including: control the acupuncture point found described in the pressing of described mechanical hand, the pulse information at the acupuncture point found described in acquisition.
A kind of online diagnosing and treating apparatus as shown in Figure 3, including display 302, controller 303, teleprocessing unit 301, machine
Tool hands 304 and position feedback photographic head 305, described display 302 is connected with described controller 303, described controller 303 and institute
State teleprocessing unit 301 to connect, described mechanical hand 304 and described position feedback photographic head 305 all with described teleprocessing unit 301
Connecting, described display 302 is for showing the image information of the human body of described position feedback photographic head 305 shooting, described control
Device 303 to described teleprocessing unit 301 and then controls the action of described mechanical hand 304 and for connecing for sending control instruction
Receiving the data that described teleprocessing unit 301 sends, described position feedback photographic head 305 is for shooting each position of human body, institute
State teleprocessing unit 301 for collecting the image information of described position feedback photographic head 305 shooting, receiving described controller 303
The instruction sent and the action controlling described mechanical hand 304.
In the embodiment of the present invention, described controller 303 and described teleprocessing unit 301 may each be have data operation,
The integrated chip of the functions such as storage, process, it is preferable that described controller 303 passes through wireless network with described teleprocessing unit 301
Connect, naturally it is also possible to connect by the way of finite element network, do not limit at this.
Embodiment of the present invention mode in use may is that human body lies flat on the bed, described position feedback photographic head 305
Shooting the image of human body and shown by described display 302, doctor, by described display 302 Real Time Observation human body, passes through
Described controller 303 controls the top that described mechanical hand 304 moves to the position to be massaged of human body, then controls described mechanical hand
304 with position to be massaged described in certain decrease speed and distance pressing.
Therefore, compared with prior art, the embodiment of the present invention is by being arranged on the display in face of doctor and controller, first
Finding the position that human body is to be massaged, then control position to be massaged described in manipulator massage by controller, human body is without to doctor
Institute goes to a doctor, and reduces human body because of the waiting time needed for factors such as arranging in numerical order, wait to see the doctor.
Fig. 4 shows the structured flowchart of the embodiment of the another kind of online diagnosing and treating apparatus that the embodiment of the present invention provides, including:
Teleprocessing unit 401, display 402, controller 403, mechanical hand 404, position feedback photographic head 405, pressure transducer 406,
Acupuncture point sensor 407, skeleton photographic head the 408, first mike the 409, first speaker 410, second microphone 411 and second are raised
Sound device 412, described first mike 409, described display 402, described acupuncture point sensor 407 and described first speaker 410
All it is connected with described controller 403, described second microphone 411, pressure transducer 406, mechanical hand 404, position feedback shooting
405, skeleton photographic head 408 and the second speaker 412 are all connected with described teleprocessing unit 401, described teleprocessing unit 401
It is connected with described controller 403.
Described pressure transducer 406 is arranged on described mechanical hand 404, and in the embodiment of the present invention, described mechanical hand 404 is permissible
Being the robotic arm of simulated humanbody arm, described pressure transducer 406 is provided with multiple, at each finger tip of described mechanical hand 404
Arranging a pressure transducer 406, described pressure transducer 406 is for gathering the pressure between described mechanical hand 404 and human body
Information, is input to described teleprocessing unit 401.
Preferably, the described acupuncture point sensor of the embodiment of the present invention is arranged in image, the dimension scale of described image with
Human body standard size is consistent with ratio, is provided with acupuncture point meridian line in described image, is marked out at the acupuncture point often need to massaged, and
The acupuncture point marked is installed described acupuncture point sensor 407, each acupuncture point arranges an acupuncture point sensor 407, institute
Stating the acupuncture point one_to_one corresponding that acupuncture point sensor 407 is different from human body, described teleprocessing unit 401 internal memory contains described acupuncture point sensing
Device 407 and the corresponding relation of human acupoint.
Described controller the 403, first mike 409, display 402, acupuncture point sensor the 407, first speaker 410 are installed
The office of doctor, described teleprocessing unit 401, described pressure transducer 406, described mechanical hand 404, described position feedback are taken the photograph
As 405, described skeleton photographic head 408, described second microphone 411 and described second speaker 212 are arranged in human body man
Or the place such as the service station of residential quarter, as it is shown in figure 5, the embodiment of the present invention also includes that support frame 505, described human body are fixed
Device is arranged in support frame 505, and human body fixator described in the embodiment of the present invention is massage couch 501, described carriage
Being also equipped with main control platform 504 on frame 505, described main control platform 504 is positioned at the surface of described massage couch 501, described master control
Platform 504 can move above described massage couch 501, described position feedback photographic head 506 and described skeleton photographic head 508
And described mechanical hand 507 is installed in described main control platform 504, described main control platform 504 is also equipped with teleprocessing
Device, described position feedback photographic head 506 and described skeleton photographic head 508 and described mechanical hand 507 all with described teleprocessing
Device connects, it addition, be also equipped with second microphone 502 and the second speaker 503, described second wheat in described support frame 505
Gram wind 502 and the second speaker 503 are all connected with described teleprocessing unit.
Therefore, when specifically used, human body lies on described massage couch 501, and doctor moves described control platform, makes described
Skeleton photographic head 508 moves at optimum photographing position, and described skeleton photographic head 508 shoots the image of the skeleton joint point of human body
Information also sends to described teleprocessing unit, and described teleprocessing unit connecting framework articulare constructs human skeleton model, described
Teleprocessing unit is that position coordinates system set up by described human skeleton model, the skeleton diverse location coordinate in described position coordinates system
With the position one_to_one corresponding of human skeleton, further according to each acupuncture point in certain specific proportional positions of skeleton, for example with
Locating acupoint by bone-length, or claim locating acupoints bybnone-length, i.e. measure the whole body size in each portion, length with joint for outstanding feature, and press according to its size
Ratio is converted as the standard determining cave, for the main acupuncture point allocation position coordinate of human body.In the embodiment of the present invention, described skeleton is taken the photograph
As 508 can be Kinect pickup camera, naturally it is also possible to be X-ray photographic head or other can shoot the shooting of human skeleton
Head.
Certain acupuncture point of the shoulder of doctor's human body to be massaged, such as Quchi acupoint, doctor is arranged on institute with the pressing of certain dynamics
Stating the acupuncture point sensor of the Quchi acupoint of image, the acupuncture point sensor acquisition force value of the Quchi acupoint of described image transmission are to the most described
Teleprocessing unit, described teleprocessing unit closes with the one_to_one corresponding of human acupoint according to the described acupuncture point sensor of storage inside
System, finds the acupuncture point corresponding to the sensor of acupuncture point collecting force value, is labeled as being pressed acupuncture point, in described position coordinates system
In, find the position coordinates at described acupuncture point, control described mechanical hand move to described in be pressed acupuncture point corresponding position coordinates institute right
The position of the human body answered, presses this position.
Preferably, control described mechanical hand at described teleprocessing unit to move and sit to described position corresponding to acupuncture point that be pressed
During the position of the human body corresponding to mark, the image information of shooting is sent to doctor by described position feedback photographic head, and doctor observes
The position of described mechanical hand is the most accurate, if it is not, then send control instruction to described teleprocessing unit, control by described controller
Make described mechanical hand and move to more accurate position.
Raise it addition, the embodiment of the present invention can also be passed through the first mike, second microphone, the first speaker and second
Sound device realizes the interaction of doctor and human body, by with described position feedback photographic head with the use of reaching in Chinese traditional treatment
Prestige, Wen Hewen.Be conducive to the information according to Human feed back to change and press surging and pressing position.
It addition, be provided with pressure transducer on described mechanical hand, it is preferable that described pressure transducer is arranged on described machinery
At the finger tip of hands, described pressure transducer gather described mechanical hand pressing human acupoint by surging, described teleprocessing unit
Internal memory contains preset pressure value, and described preset pressure value is the maximum dynamics that human acupoint is pressed, and described teleprocessing unit is sentenced
Disconnected described mechanical hand pressing human acupoint by surging whether more than described preset pressure value, if so, reduce described mechanical hand
By surging, until described mechanical hand pressing human acupoint by surging less than described preset pressure value.
It addition, the embodiment of the present invention also includes that sole massage machine, described sole massage machine are arranged on described massage couch
On, described sole massage machine is connected by described slide rail with described massage couch, and described support frame is provided with driving means,
Described teleprocessing unit is connected with described driving means, and described driving means makes described sole massage machine on described massage couch
Sliding, human body lies on a bed, and doctor sends control instruction to described teleprocessing unit, described teleprocessing by described controller
Device makes the sole laminating of described sole massage machine and human body, the sole of massage human body by controlling described driving means.
Furthermore, in the embodiment of the present invention, also including virtual reality glove, described virtual reality glove is with described controller even
Connecing, described virtual reality glove is for gathering the action message of human hands；Described robot arm is additionally operable to according to described virtual existing
The human hands action message simulated humanbody hand motion that real glove are gathered, therefore, in the embodiment of the present invention, described mechanical hand
Can be with the keeping strokes of described virtual reality glove, the massage manipulation of reduction doctor.
Furthermore, the embodiment of the present invention can also to the condition-inference of patient, by the first mike, second microphone,
One speaker, the second speaker and position feedback photographic head realize the communication with patient, reach state of an illness inquiry and observe the state of an illness
Purpose, it is achieved the prestige in the traditional Chinese medical science, Wen Hewen, doctor moves described mechanical hand to the pain portion of patient by described controller again
Position, presses to judge the disease event of patient, such as, by above-mentioned prestige, Wen Hewen, diagnosis goes out the abdominal part of patient
Pain, doctor controls mechanical hand by described controller and moves to the abdominal part of patient, by with different dynamics pressing abdominal paries
Diverse location determines position and the state of an illness of the concrete pain of patient.
Furthermore, the embodiment of the present invention can also realize cutting in " hope, hear, hear, cut " of tcm diagnosis, i.e. feels the pulse, doctor
Control mechanical hand and move at the acupuncture point of patient, by the pressure transducer of described mechanical hand gather that the pulse at acupuncture point causes right
The force value that described pressure transducer produces, according to the change of the force value that the described pulse gathered in certain time causes, obtains
Take the pulse condition of patient, thus understand the disease of patient, reach diagnostic purpose.When specifically used, with the pulse collection at wrist
As a example by, be provided with pressure transducer at the finger tip of described mechanical hand, can control three fingers of described mechanical hand placed side by side in
Patients wrist position, the described pressure transducer at finger tip catches cunkou pulse and divides the pulse-phase situation of cun,guan,chi three, catches and suffer from
The concrete data message such as the depth of three arteries and veins of person, speed, F & R, sends actuation means by these data messages, passes through
Display is presented on doctor at the moment.
Therefore, a kind of diagnosing and treating apparatus and the control method thereof online that the embodiment of the present invention provides so that many rheumatism patients
Body or many need the human body that massage is treated, and not be used in large hospital and queue up, and provide conveniently for handicapped human body,
Effectively reduce the time that human body is spent when waiting treatment.It is capable of from massaging point, power by described mechanical hand
With accurately putting in place of the treatment means of the various aspects such as pressing maneuver, simulate the therapeutic process of doctor；It addition, the embodiment of the present invention carries
The online diagnosing and treating apparatus of confession and control method thereof, can be not only used for massage, it is also possible to is used in acupuncture and cupping jar, plaster etc.
Multiple Chinese traditional treatment means, arrange corresponding treatment procedure in advance in described teleprocessing unit, doctor only need the most affected just
Treatment action can be completed.
Fig. 6 shows the method flow diagram of a kind of online diagnosis and treatment method that the embodiment of the present invention provides, and is applied to remotely control
Treatment system, described teletherapy system includes that actuation means and massaging device, described actuation means include signal receiver, display
Device, controller and multiple acupuncture points sensor, the acupuncture point one_to_one corresponding that described acupuncture point sensor is different from human body, described method bag
Include:
S61: described signal receiver receives the image information of the human body that described massaging device sends, in described image information
Positional information including each acupuncture point of described human body；
S62: described display shows received image information；
S63: described acupuncture point sensor acquisition acts on the force value on the sensor of acupuncture point, sends to described controller；
S64: described controller receives motion action instruction, by the described motion action instruction received and described action behaviour
The force value making targeted acupuncture point sends to described massaging device, and wherein, the instruction of described motion action includes motion action
For the acupuncture point positional information of described human body.
It addition, described actuation means also includes that anthropometric dummy and virtual reality glove, described anthropometric dummy are provided with and human body
The acupuncture point labelling point that acupuncture point is corresponding, each described acupuncture point sensor is arranged at the labelling point of described acupuncture point, each acupuncture point labelling
The corresponding acupuncture point sensor of point；
Described acupuncture point sensor acquisition acts on the force value on the sensor of acupuncture point, sends extremely described controller, including:
Force value on the described acupuncture point labelling point that described acupuncture point sensor is gathered by described acupuncture point sensor sends extremely
Described push controller；
Described virtual reality glove gathers the action message of human hands, described action message is converted to motion action and refers to
Order sends to described controller.
Fig. 7 shows the method flow diagram of the another kind of online diagnosis and treatment method that the embodiment of the present invention provides, and is applied to remotely
Treatment system, described teletherapy system includes that actuation means and massaging device, described massaging device include teleprocessing unit, machine
Tool hands and position feedback photographic head, described method includes:
S71: described position feedback photographic head shooting human body image information, described image information includes each of described human body
The positional information at individual acupuncture point；
The image information of acquired described position feedback photographic head shooting is sent to institute by S72: described teleprocessing unit
State actuation means；
S73: described teleprocessing unit receives motion action instruction and the described motion action institute that described actuation means sends
For the force value at acupuncture point, the instruction of described motion action include motion action for the position letter at acupuncture point of described human body
Breath, controls the action of described mechanical hand according to the described control instruction received.
It addition, described massaging device also includes that skeleton photographic head and human body fixator, described method also include:
Described human body fixator fixes described human body；
The image information of the skeleton of the human body that the shooting of described skeleton photographic head is fixed on human body fixator, sends to institute
State teleprocessing unit；
Described teleprocessing unit is that described skeleton image information sets up position coordinates system, the skeleton in described position coordinates system
Diverse location coordinate and the position one_to_one corresponding of human skeleton, find out according to the ad-hoc location proportionate relationship at each acupuncture point with skeleton
The diverse location coordinate that Different Acupoint is corresponding in the coordinate system of position, according to described motion action for the acupuncture point of described human body
Positional information, find described motion action for the position coordinates at acupuncture point of described human body, control described mechanical hand and move
The position of the human body corresponding to position coordinates found described in, controls described mechanical hand to described human body according to the institute received
State force value the described acupuncture point found is massaged.
Furthermore, described mechanical hand is provided with pressure transducer, and described method also includes:
Described pressure transducer gathers the pressure information between described mechanical hand and human body, is input to described teleprocessing
Device；
Described teleprocessing unit obtains the pressure information that described pressure transducer gathers, it is judged that whether described pressure information is etc.
In the force value received by described teleprocessing unit, if it is not, adjust described mechanical hand by surging, until again obtaining
Described pressure information is equal to the force value received by described teleprocessing unit.
The embodiment of the described method shown in Fig. 6 with Fig. 7 of the embodiment of the present invention is identical with the embodiment of described device,
This repeats no more.
It addition, flow chart and block diagram in accompanying drawing show the system of multiple embodiments, method and meter according to the present invention
Architectural framework in the cards, function and the operation of calculation machine program product.In this, each square frame in flow chart or block diagram
A module, program segment or a part for code can be represented, a part for described module, program segment or code comprise one or
The executable instruction of multiple logic functions for realizing regulation.It should also be noted that some as replace realization in, square frame
Middle marked function can also occur to be different from the order marked in accompanying drawing.Such as, two continuous print square frames are actually
Can be basic, perform capablely, they can also perform sometimes in the opposite order, and this is depending on involved function.Also to note
The combination of the square frame in meaning, each square frame in block diagram and/or flow chart and block diagram and/or flow chart, can be with holding
Function or the special hardware based system of action that professional etiquette is fixed realize, or can use specialized hardware and computer instruction
Combination realize.
The computer program carrying out a kind of information interacting method that the embodiment of the present invention is provided, including storing journey
The computer-readable recording medium of sequence code, the instruction that described program code includes can be used for performing institute in previous methods embodiment
The method stated, implements and can be found in embodiment of the method, does not repeats them here.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, the system of foregoing description,
The specific works process of device and unit, is referred to the corresponding process in preceding method embodiment, does not repeats them here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, permissible
Realize by another way.Device embodiment described above is only schematically, such as, and the division of described unit,
Being only a kind of logic function to divide, actual can have other dividing mode when realizing, and the most such as, multiple unit or assembly can
To combine or to be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown or beg for
The coupling each other of opinion or direct-coupling or communication connection can be indirect by some communication interfaces, device or unit
Coupling or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
If described function realizes with the form of SFU software functional unit, during as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.
And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
It should be noted that in this article, the relational terms of such as first and second or the like is used merely to a reality
Body or operation separate with another entity or operating space, and deposit between not necessarily requiring or imply these entities or operating
Relation or order in any this reality.And, term " includes ", " comprising " or its any other variant are intended to
Comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that those are wanted
Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the case of there is no more restriction, statement " including ... " key element limited, however not excluded that
Including process, method, article or the equipment of described key element there is also other identical element.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention, it is not limited to this, any
Those familiar with the art, in the technical scope that the invention discloses, can readily occur in change or replace, should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (4)
1. an online diagnosing and treating apparatus, it is characterised in that be applied to teletherapy system, described online diagnosing and treating apparatus includes manipulation
Device and massaging device, described actuation means includes display, controller and multiple acupuncture points sensor, described acupuncture point sensor with
The acupuncture point one_to_one corresponding that human body is different；Described massaging device include position feedback photographic head, skeleton photographic head, teleprocessing unit and
Mechanical hand；
Described controller, for receiving the image information of the human body that described position feedback photographic head sends, wraps in described image information
Include the positional information at each acupuncture point of described human body；
The image information of the described human body that described display is received for display；
Described acupuncture point sensor acts on the force value on the sensor of acupuncture point for gathering, and sends to described controller；
Described controller is additionally operable to receive motion action instruction, by the described motion action instruction received and described motion action
The force value at targeted acupuncture point sends to described teleprocessing unit so that described teleprocessing unit control described mechanical hand for
Image according to the shooting of described skeleton photographic head and action behaviour that the position at acupuncture point that determines performs in the instruction of described motion action
Make, wherein, the instruction of described motion action include motion action for the acupuncture point positional information of described human body.
Online diagnosing and treating apparatus the most according to claim 1, it is characterised in that described actuation means also includes that multiple diagnosis passes
Sensor, anthropometric dummy and virtual reality glove, described anthropometric dummy is provided with the acupuncture point labelling point corresponding with human acupoint and examines
Disconnected part mark point, each described acupuncture point sensor is arranged at the labelling point of described acupuncture point, and each described diagnostic sensor is installed
At described diagnosis part mark point, the corresponding acupuncture point sensor of each acupuncture point labelling point, each diagnosis part mark point pair
Answer a diagnostic sensor；
Described acupuncture point sensor is sent out specifically for the force value on the described acupuncture point labelling point that gathered by described acupuncture point sensor
Deliver to described controller；Described action message, for gathering the action message of human hands, is changed by described virtual reality glove
Send to described controller for motion action instruction；
Described diagnostic sensor force value on the described diagnosis part mark point gathered by described diagnostic sensor is sent out
Deliver to described controller；
Described controller is additionally operable to receive diagnostic operation instruction, by the described diagnostic operation instruction received and described diagnostic operation
The force value instructing targeted diagnosis position sends to described massaging device, and wherein, the instruction of described diagnostic operation includes action
Operate for the diagnosis site location information of described human body.
3. an online diagnosing and treating apparatus, it is characterised in that be applied to teletherapy system, described online diagnosing and treating apparatus includes manipulation
Device and massaging device, described massaging device includes teleprocessing unit, mechanical hand and position feedback photographic head；
Described position feedback photographic head is used for shooting human body image information, and described image information includes each cave of described human body
The positional information of position；
Described teleprocessing unit is for sending the described human body image information of acquired described position feedback photographic head shooting
To described actuation means；
Described teleprocessing unit, is additionally operable to receive motion action instruction and the described motion action institute pin that described actuation means sends
To the force value at acupuncture point, the instruction of described motion action include motion action for the positional information at acupuncture point of described human body,
The action of described mechanical hand is controlled according to the control instruction received；
Described massaging device also includes skeleton photographic head and human body fixator；
Described human body fixator is used for fixing described human body；
The image information of the skeleton of the human body that described skeleton photographic head is fixed on human body fixator for shooting, sends to institute
State teleprocessing unit；
Described teleprocessing unit is additionally operable to set up position coordinates system, the bone in described position coordinates system for described skeleton image information
Frame diverse location coordinate and the position one_to_one corresponding of human skeleton, look for according to the ad-hoc location proportionate relationship at each acupuncture point with skeleton
Go out the diverse location coordinate that Different Acupoint is corresponding in the coordinate system of position, according to described motion action for the cave of described human body
The positional information of position, find described motion action for the position coordinates at acupuncture point of described human body, control described mechanical hand and move
The position of the human body corresponding to position coordinates found described in moving, controls described mechanical hand to described human body according to being received
The described acupuncture point found is massaged by described force value；
Described teleprocessing unit is additionally operable to each position dispensing position coordinate into described human body, according to diagnostic operation instruction for
The diagnosis site location information of described human body, find the instruction of described diagnostic operation for the position at diagnosis position of described human body
Confidence ceases, control described mechanical hand move to described in the portion of the human body corresponding to position coordinates at the diagnosis position of human body that finds
Position, control described mechanical hand to described human body according to the force value of the diagnostic sensor collection received to the described diagnosis found
Position is massaged.
Online diagnosing and treating apparatus the most according to claim 3, it is characterised in that described mechanical hand is provided with pressure transducer；
Described pressure transducer, for gathering the pressure information between described mechanical hand and human body, is input to described teleprocessing
Device；
Described teleprocessing unit be additionally operable to obtain described motion action that described pressure transducer gathers for described human body
The pressure information at acupuncture point, it is judged that whether described pressure information is equal to the force value received by described teleprocessing unit, if it is not, adjust
Whole described mechanical hand by surging, until described motion action for the pressure information at acupuncture point of described human body equal to described
Force value received by teleprocessing unit；
The described acupuncture point found is carried out by the described described mechanical hand that controls by described human body according to the described force value received
Massage, including: control the acupuncture point found described in the pressing of described mechanical hand, the pulse information at the acupuncture point found described in acquisition.
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| CN104856650A (en) * | 2015-05-09 | 2015-08-26 | 深圳市前海安测信息技术有限公司 | Patient-end remote auxiliary diagnosis and treatment equipment and remote auxiliary diagnosis and treatment method |
| CN104881572A (en) * | 2015-05-09 | 2015-09-02 | 深圳市前海安测信息技术有限公司 | Remote auxiliary diagnosis and treatment system based on network hospital and remote auxiliary diagnosis and treatment method |
| CN104800068B (en) * | 2015-05-22 | 2018-03-23 | 京东方科技集团股份有限公司 | For remotely determining the device and system at acupuncture point |
| CN105615927A (en) * | 2015-12-30 | 2016-06-01 | 南阳医学高等专科学校 | Pathologic sampling and preserving device |
| CN105662806B (en) * | 2016-04-05 | 2018-03-27 | 重庆易控科技有限责任公司 | A kind of monitoring formula massager and its massage instruction system |
| CN106448314A (en) * | 2016-08-31 | 2017-02-22 | 南京意斯伽生态科技有限公司 | Traditional Chinese medicinal acupuncture and moxibustion simulation training system based on virtual reality technology |
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| CN106850854A (en) * | 2017-03-24 | 2017-06-13 | 南通大学 | Medical intelligence pressing monitoring system based on ZigBee technology |
| CN106821699A (en) * | 2017-03-24 | 2017-06-13 | 南通大学 | Medical intelligent press device |
| CN107247886A (en) * | 2017-07-18 | 2017-10-13 | 重庆锦垚生物科技有限公司 | A kind of remote rehabilitation system based on internet |
| KR102073139B1 (en) * | 2017-08-17 | 2020-02-04 | 웅진코웨이 주식회사 | A massage chair that can perform blood spot massage |
| CN109497944A (en) * | 2017-09-14 | 2019-03-22 | 张鸿 | Remote medical detection system Internet-based |
| CN109885156A (en) * | 2018-04-19 | 2019-06-14 | 上海源胜文化传播有限公司 | A kind of virtual reality interaction systems and interactive approach |
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| CN109243601A (en) * | 2018-08-23 | 2019-01-18 | 郑州云海信息技术有限公司 | A kind of online diagnosis and therapy system based on cloud computing |
| CN111192655B (en) * | 2019-12-28 | 2023-08-08 | 杭州好育信息科技有限公司 | Online medical method and system, electronic equipment and computer storage medium |
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