CN104939805A - Hip curved surface measuring and normal pressurizing diagnosing and treating system - Google Patents
Hip curved surface measuring and normal pressurizing diagnosing and treating system Download PDFInfo
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Abstract
The invention provides a hip curved surface measuring and normal pressurizing diagnosing and treating system which comprises multiple hip curved surface pressure sensing devices, multiple press converting devices, multiple mechanical-electric converting devices and controllers. The hip curved surface pressure sensing devices under acting force of a hip are in vertical motion to generate displacement so as to sense normal acting force of a hip curved surface border and shape of a hip curved surface, the pressure converting devices are used for converting vertical motion of the hip curved surface pressure sensing devices into rotating motion, the mechanical-electric converting devices realize conversion from mechanical signals of rotating motion of the pressure converting devices to electric signals, each control device comprises an auxiliary control module and is used for collecting the electric signals and processing the same to acquire height values of the hip curved surface sensing devices so as to demodulate to acquire acting force applied on the hip curved surface sensing devices, combining with ultrasonic detection for diagnosis, controlling the diagnosing and treating system to apply corresponding pressure on a hip affected part of a patient and acquiring an individualized hip pressure distribution model graph so as to provide data support for subsequent treatment.
Description
Technical field
The present invention relates to medical instruments field, particularly relate to a kind of hip curved-surface automatically and to measure and normal direction is exerted pressure diagnosis and therapy system.
Background technology
Various diseases within the scope of Surgery of Chinese Medicine, as various congenital abnormal development forms the existence that the diseases such as hole fistula, skin infection disease, diabetic gangrene, anal fistula, plasma cell mastitis have hole fistula focus.Along with the operating development of doctor trained in Western medicine, difficulty and the complexity of various operation are more and more higher, and due to the expansion of operative treatment scope, the patient numbers thus accepting doctor trained in Western medicine operative treatment rises significantly; Widely use along with antibiotic again, drug-resistant bacteria get more and more, thus after corrective surgery once wound infection, be about to cause the concurrent of hole fistula.Sinus tract and fistula become clinical frequently-occurring disease, difficult disease, are also the common signs of surgery of Chinese medicine numerous disease simultaneously.Wherein, sinus tract refers to that deep tissue leads to body surface, only has collar extension and the pathologic blind pipe communicated with hollow organ without internal orifice; The pathologic pipeline that fistula refers to hollow organ or formed between body cavity and body surface.Complicated Antral Fistula refers to that the course of disease is long, sick position is dark, tube chamber pleomorphism (long and narrow, bending, deep expand coelosis, that branch is many, trend is complicated or skin ulcer swells is huge), or the hole fistula focus that the operating difficulty to be formed because of the contiguous pathological changes such as important organ and skeleton, muscle, blood vessel is high, there is cause of disease complexity, the features such as the course of disease is long, more difficult healing, easy recurrence.
The treatment of Complicated Antral Fistula class disease, doctor trained in Western medicine many opinions row hole fistula resection and suture operation, remedy measures such as incision epluchage, infection etc., it is many that above-mentioned therapy has damaged tissue, wound scope is large, repair time is long, forms the weak points such as cicatrix is large, is difficult to obtain promising result, and infect and the high and treatment bottleneck such as should not to perform the operation of operating difficulty in the face of complicated hole fistula structure, obstinate drug-resistant bacteria, clinically still lack active and effective treatment means.The history of Chinese medicine treatment Complicated Antral Fistula class disease is very long, and external treatment is the Main Means of Chinese traditional treatment Complicated Antral Fistula class disease.Traditional treatment many employings fuse therapy, incision therapy, ligating method for treating anal fistula, drag the methods such as gamma therapy, but all have weak point, as fuse therapy, Chang Yinliu is insufficient; Incision therapy damaged tissue is many, and form cicatrix large, recovery time is long, may affect local function activity more; It is longer to there is the hanging wire time in ligating method for treating anal fistula, easily produces local skin defect and omits arm, residual cavity etc., needing repeatedly stringing, increasing patient pain, extend the period for the treatment of; Drag gamma therapy as improper in clearing time, easily cause leaving over residual cavity, dysraphism or protracted course of disease; Also have false healing and recurrence possibility.
Based on the wound repair theory such as Chinese medicine " rotten de-flesh is raw ", " expelling pus and promoting granulation ", to the postoperative pus corruption of Complicated Antral Fistula only, wound chamber closes and cures to coordinate " padding cotton compression method " treatment to promote during granulation growth." padding cotton compression method " is that Cotton Gossypii or gauze are folded in bulk, with liner skin ulcer chamber, and pressure dressing, the power by pressurization makes hole fistula tube chamber, skin ulcer chamber, skin and the new meat tissue of surrounding be bonded, make the unlikely pendant of pus stay a bag pus, reach a kind of Traditional Chinese Medicine outer treating method of Promotive union object.Namely " pad cotton compression method " as a kind of traditional external treatment with Chinese medicine method has relevant record in 1617 Christian eras " in Waike Zhengzong, Orthodox Manual of External Diseases carbuncle, meat is illegal ": " carbuncle, boil on the nape opposite the mouth, large carbuncle(disease), inside and outside slough are most; interior meat adhesion person during incrustation; put in skin ulcer with soft cotton silks seven or eight layers; tighten with thin,tough silk; real number of sleeping; inside and outside meat nature adhesion a slice, as the meat of long-living one-tenth." be mainly applicable to Complicated Antral Fistula pus and go out smooth, marsupial pus phenomenon person; Hole fistula vomica is comparatively large or be positioned at person below the open sore part; Or the corruption of hole fistula pus is most, the life of new meat, and skin and muscle for the moment can not the persons of bonding.
Though pad cotton compression method have good clinical efficacy concrete operations time often rely on doctor personal experience, lack unified operation specification.As: 1. pressure size, direction and not easily quantize action time in unit are when padding cotton compression therapeutic, and the effectiveness of these factor appreciable impact the method.2., because the trend of Complicated Antral fistulous tract has pleomorphism, pad the hole fistula skin ulcer chamber of cotton compression therapeutic different parts, different shape, its effect is not quite similar.3. the size in hole fistula skin ulcer chamber, merocrine secretion's thing number, viscosity, color and luster there is no objective quantification standard, therefore judges that the time of carrying out padding cotton compression therapeutic cannot be unified.
Traditional external treatment of Chinese medicine wants further genralrlization to apply, necessary its concrete mechanism of action clear and definite, coordinates accurately effective tcm diagnosis and therapeutic equipments, could improve the clinical efficacy that " padding cotton compression method " treats Complicated Antral Fistula.
Summary of the invention
For the problems referred to above, the present invention puts forth effort on the quantitative criteria setting up the cotton compression method of pad, illustrates the cotton compression method mechanism of action of pad, and research and development are effective tcm diagnosis therapeutic instrument system accurately, to form the compressing mode of individuation, improves clinical efficacy.
The diagnosis and therapy system that hip curved-surface provided by the invention is measured, its summary of the invention comprises:
The diagnosis and therapy system that hip curved-surface is measured, comprises, multiple hip curved-surface pressure sensitive device, multiple pressure conversion device, multiple electromechanical transformation apparatus, and a control device, wherein:
Described hip curved-surface pressure sensitive device, its generation displacement that moves both vertically under the active force of buttocks, and then induce the normal force on hip curved-surface border and the form of hip curved-surface;
Described pressure conversion device, is connected with described hip curved-surface pressure sensitive device, for described moving both vertically of hip curved-surface pressure sensitive device is converted to rotary motion;
Described electromechanical transformation apparatus, is connected with described pressure conversion device, realizes the conversion of mechanical signal to the signal of telecommunication of described pressure conversion device rotary motion;
Described control device, be connected with described electromechanical transformation apparatus, each described control device comprises one from control module, go forward side by side row relax to obtain the height value of described hip curved-surface induction installation for gathering the described signal of telecommunication, thus demodulate the amount of force be applied on described hip curved-surface induction installation, obtain the pressure distribution of hip curved-surface and the form of hip curved-surface;
Described hip curved-surface pressure sensitive device, described pressure conversion device, and described electromechanical transformation apparatus one_to_one corresponding is arranged.
In the technical program, system combines computer technology and automatic technology effectively, in above-mentioned hip curved-surface pressure sensitive device, utilize spherical method to obtain the normal force of surface boundary, effectively the information of seat area undertaken processing by control device by pressure conversion device and electromechanical transformation apparatus subsequently and generate corresponding data model simultaneously, the data model obtained is that treatment provides effective foundation.
And in order to obtain hip curved-surface each curved-surface shape put and force value more accurately, be provided with multiple discrete sense node in the present invention, i.e. multiple hip curved-surface pressure sensitive device, as discrete arranges 100 sense node.
Particularly, specifically comprise based on the hip curved-surface of hydraulic principle and static friction equilibrium principle and pressure experience module and stress test module in above-mentioned hip curved-surface pressure sensitive device, and stream oriented device forms by discrete sensor, the sensor one_to_one corresponding of stream oriented device is also connected to form a hydraulic communication device by connecting copper pipe, sensor is respectively arranged with at the two ends of hydraulic communication device, the sensor at two ends is called experiences unit and reading cell, and experience between unit and reading cell and have relation one to one, in a free state, allly experience unit and be all positioned at same level.When buttocks act on experience unit time, each sensing unit experiences different stresses, reacts to experience unit at each there occurs certain displacement under freedom and pressurized state, thus, directly can obtain hip curved-surface shape; Secondly, indirectly pressure distribution can be obtained based on hydraulic principle and static friction equilibrium principle.
In order to further the pressure signal experiencing unit be amplified, experience the affixed rotatable pressure-sensitive sheet of unit to form, and sensor is arranged in a ball cavity, and friction free can be close to freely rotate, namely pressure-sensitive sheet normal vector can in a vertebral body free variation.Ball cavity is directly fixedly connected with by pole, and pole can move up and down in a fixing scope.When unit is experienced in buttocks contact, because it is free to rotate, therefore the normal direction of pressure-sensitive sheet is pointed to always with the normal direction maintenance conllinear of hip curved-surface at this point, and therefore, pressure-sensitive sheet and buttocks only have normal component at the stress of this point.
Preferably, each described pressure conversion device comprises the pole that is equipped with spring, and the rack and pinion case to be connected with described pole, wherein, when described buttocks acts on described hip curved-surface pressure sensitive device, described pole moves both vertically along the elongation of spring and compression direction under the effect of described buttocks, thus drives described tooth bar to move in vertical direction, and described moving both vertically of pole is converted into rotary motion by described gear-box under the drive of described tooth bar.
In the present embodiment, use spring principle (mechanics Hooke principle, in elastic limit, the deformation quantity of object is directly proportional with causing the external force of deformation) and spheroid acting surface, and the method such as gearbox drive accurately gives the form of hip curved-surface and the size of active force.Particularly, when buttocks acts on hip curved-surface pressure sensitive device, spring deformation under the active force of buttocks, pole is moved along the elongation of spring and the direction of compression.
Preferably, a total control module is also comprised in described control device, and with described from control module main control module one to one, wherein, described main control module is sent to described total control module for the control instruction that receives described total control module and send and the data that store from control module described in reading.
The normal direction of hip curved-surface is exerted pressure a diagnosis and therapy system, comprises, multiple hip curved-surface pressure sensitive device, multiple pressure conversion device, multiple electromechanical transformation apparatus, and control device, wherein:
Described control device comprises: control for sending controling instruction the total control module that the height value of described hip curved-surface pressure sensitive device and then control are applied to the active force on buttocks, and the described control instruction received is converted to the signal of telecommunication be sent to described electromechanical transformation apparatus from control module;
Described electromechanical transformation apparatus, is connected with described pressure conversion device and described control device respectively, and for receiving the described signal of telecommunication that described control device sends, and the mechanical signal described signal of telecommunication being converted to rotary motion is sent to described pressure walks around device;
Described pressure conversion device, be connected with described hip curved-surface pressure sensitive device and described electromechanical transformation apparatus respectively, to walk around the described mechanical signal that device sends for receiving described electromechanics, and described rotary motion corresponding for described mechanical signal being converted to moving both vertically of described hip curved-surface pressure sensitive device;
Described hip curved-surface pressure sensitive device, be connected with described pressure conversion device, be applied to the pressure of hip curved-surface by the adjustment that moves both vertically of described hip curved-surface pressure sensitive device, respond to the normal force on hip curved-surface border simultaneously and feed back to described control device;
Described hip curved-surface pressure sensitive device, described pressure conversion device, and described electromechanical transformation apparatus one_to_one corresponding is arranged.
Preferably, each described pressure conversion device comprises the pole that is equipped with spring, and the rack and pinion case to be connected with described pole, wherein, the action under the effect of described mechanical signal and described electromechanical transformation apparatus of described gear-box, the rotary motion of described gear-box is converted to moving both vertically of described pole by described tooth bar under the drive of described gear-box, thus drive described pole to move both vertically along the elongation of spring and compression direction, control the height of described hip curved-surface pressure sensitive device.
Preferably, described electromechanical transformation apparatus comprises execution module, and the driver module be connected with described execution module respectively and coding module, wherein,
Described driver module, is connected with described control device, and the signal of telecommunication for being sent by described control device is converted to execution module described in Angular displacement control and rotates;
Described coding module, is converted to the signal of telecommunication by the operation process of described execution module and feeds back to described control device.
Above-mentioned execution module comprises motor, and motor is opened loop control unit motor electric impulse signal being changed into angular displacement or displacement of the lines.When non-overload, the rotating speed of motor, the position of stopping only depending on frequency and the umber of pulse of pulse signal, and not by the impact of load change, when step actuator receives a pulse signal, it rotates a fixing angle with regard to drive stepping motor by the direction of setting, is called " step angle ", and its rotation runs step by step with fixing angle, pilot angle displacement can be carried out by control impuls number, thus reach the object of accurately location; Speed and the acceleration of electric machine rotation can be controlled simultaneously by control impuls frequency, thus reach the object of speed governing.Motor and driver form driving device for step-by-step.The performance of driving device for step-by-step, not only depends on the performance of motor self, also depends on the quality of step actuator.
Coding module and encoder, there is the photoelectric code disk of axle at center in fact, it there is the groove that annular is logical, dark, photoemission and receiving device is had to read, obtain four groups of sine wave signals and be combined into A, B, C, D, each sine wave difference 90 degree of phase contrasts (be 360 degree relative to a cycle), by C, D signals reverse, be superimposed upon A, B biphase on, can stabilization signal be strengthened; Separately often transfer out the pulse of a Z phase to represent zero reference position.
Due to the biphase difference of A, B 90 degree, by comparing A phase in front or B phase front, to differentiate the forward and reverse of encoder, by zero pulse, the zero reference position of encoder can be obtained.
The material of encoder code disc has glass, metal, plastics etc., and wherein, glass code-disc is at the very thin groove of deposition on glass, its Heat stability is good, and precision is high, and metal code disk is directly with logical and obstructed groove, non-friable; Metal code disk, because metal has certain thickness, thus precision is restricted, and its heat stability differs from an order of magnitude than glass; Plastics code-disc, comparatively economical, its cost is low, but precision, heat stability, life-span are all less better.
Logical or the dark groove that the every rotating 360 degrees of encoder provides is called resolution, also claims resolve calibration or directly claim how many lines, is generally often turning calibration 5 ~ 10000 line.
Preferably, also comprise with described from control module main control module one to one in described control device, for receiving the control instruction that described total control module sends, and being sent to corresponding described from control module with it, controlling its action.
Preferably, describedly to comprise from control module: the first signal receiving unit, signal processing unit, and memory element, wherein,
Described first signal receiving unit, for receiving the signal of telecommunication that described coding module exports, and receives the control signal of described main control module transmission;
Described signal processing unit, is connected with described first signal receiving unit, for the treatment of the described signal of telecommunication received, processes the described control signal of the described main control module transmission received simultaneously;
Described memory element, with described signal processing module unit, obtains the pressure distribution of hip curved-surface and the form of hip curved-surface for storing.
Particularly, in the present invention, the main control module of 232 interface modes and CPU ARM 32 can be adopted, and adopt 6 laminate designs, guarantee that system controls multiple motor, encoder and Hall element etc. by a control module, guarantee multiple application point on hip curved-surface, the size as 100 some place realizable forces changes simultaneously.
Preferably, described main control module comprises signal transmitting unit, secondary signal receiving element, status poll unit, wherein,
Described signal transmitting unit, for sending described control instruction to described from control module;
Described secondary signal receiving element, for receiving the control instruction of described total control module transmission and the described data from control module feedback;
Described status poll unit, for inquiring about the current state of described main control module, when described main control module is idle, then sends the instruction of inquiry height.
Preferably, described control instruction comprises: reset instruction, setting height instruction, the instruction of inquiry height, stop command, instruction of shaking hands, and enable command.
In the present invention, also comprise power set, can the quality of its performance be directly connected to the technical specification of electronic equipment and work safely and reliably.The inner key components of Switching Power Supply is operated in HF switch state, and the energy itself consumed is very low, and switch power efficiency can reach 80% ~ 90%, improves nearly one times than normal linear regulated power supply.
A kind of hip curved-surface provided by the invention is measured and normal direction is exerted pressure diagnosis and therapy system, its beneficial effect is:
(1) diagnosis aspect: used spring principle and the method such as spheroid acting surface and gearbox drive to give the form of hip curved-surface and the size of active force comparatively accurately in the present invention.On this basis, detect in conjunction with ultrasonic diagnosis, can obtain after buttocks different parts receives mechanical stress compression therapeutic and the blood perfusion situation of human local tissue is changed, for the relation between the obliteration of hole fistula and the confession of surrounding tissue blood provides the foundation of objective quantification, realize the active accurate treatment to patient; In addition, when the hip curved-surface shape obtained and boundary condition change, important measured data is provided to internal sinus fistula chamber closure for the size analyzing the stress and strain at any point place in buttocks in theory calculates, in conjunction with finite element computing, for follow-up visit research provides necessary data;
(2) treatment aspect: diagnosis and therapy system provided by the invention achieves electromechanical integration, which employs the master controller of 232 interface modes and CPU ARM 32, and adopt 6 laminate designs, guarantee system by a controller to multiple motor, encoders etc. carry out the control of time property, simultaneously, the size realizing multiple application point places realizable force on hip curved-surface changes, namely after diagnosis and therapy system provided by the invention obtains the active force of hip curved-surface all directions of patient, diagnose in conjunction with ultrasound detection again, the hip curved-surface pressure sensitive device controlling diagnosis and therapy system initiatively applies relevant pressure to patient's buttocks sufferer place, thus simulate best pressure distribution, both the individuation buttocks pressure-plotting model figure of patient can have been obtained, for successive treatment provides data supporting, precise quantification treatment can be repeated again.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Fig. 1 is that in the present invention, hip curved-surface is measured and normal direction is exerted pressure the structural representation of diagnosis and therapy system;
Fig. 2 a is buttocks naturalness regional flow perfusion figure in the present invention;
Fig. 2 b is the rear regional flow perfusion figure of buttocks pressurization in the present invention;
Fig. 3 is that in the present invention, buttocks fires state curve surface 3-D view again;
Fig. 4 is the equivalent view of buttocks naturalness curved surface in the present invention;
Fig. 5 is buttocks naturalness curved surface Gauss curvature view in the present invention;
Fig. 6 is buttocks naturalness curved surface average curvature in the present invention.
Detailed description of the invention
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below in conjunction with drawings and Examples, the present invention is specifically described.Accompanying drawing in the following describes is only some embodiments of the present invention.For those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
As a detailed description of the invention, as shown in Figure 1, the diagnosis and therapy system of hip curved-surface measurement provided by the invention, specifically comprise: multiple hip curved-surface pressure sensitive device, multiple pressure conversion device, multiple electromechanical transformation apparatus, control device, and electric device, wherein:
Electric device is that equipment must indispensable ingredient, and can the quality of its performance be directly connected to the technical specification of electronic equipment and work safely and reliably.Because the inner key components of Switching Power Supply is operated in HF switch state, the energy itself consumed is very low, switch power efficiency can reach 80% ~ 90%, improves nearly one times, on native system, thus have employed the power supply of 2 powerful 10A24V power supply safeguards systems than normal linear regulated power supply.Especially, in the present invention, the concrete form of electric device is not limited, as long as it can realize object of the present invention, be all included in content of the present invention.
Hip curved-surface pressure sensitive device, its generation displacement that moves both vertically under the active force of buttocks, and then induce the normal force on hip curved-surface border and the form of hip curved-surface.Particularly, in the present embodiment, above-mentioned hip curved-surface pressure sensitive device comprises the impression unit for induction effect power, and in order to further the pressure signal experiencing unit be amplified, experience that unit is affixed can be made up of the pressure-sensitive sheet rotated freely, and sensor is arranged in a ball cavity, friction free can be close to and freely rotates, namely pressure-sensitive sheet normal vector can in a vertebral body free variation.Ball cavity is directly fixedly connected with pole, and pole can move up and down in a fixing scope.When unit is experienced in buttocks contact, because it is free to rotate, therefore the normal direction of pressure-sensitive sheet is pointed to always with the normal direction maintenance conllinear of hip curved-surface at this point, and therefore, pressure-sensitive sheet and buttocks only have normal component at the stress of this point.When the buttocks of patient applies pressure on hip curved-surface pressure sensitive device, the pressure sensed is converted into moving both vertically of pole by this device.
Pressure conversion device, is connected with hip curved-surface pressure sensitive device, for moving both vertically of hip curved-surface pressure sensitive device is converted into rotary motion.Particularly, in the present embodiment, pressure conversion device comprises the pole that is equipped with spring, and the rack and pinion case to be connected with pole, wherein, when buttocks acts on hip curved-surface pressure sensitive device, pole moves both vertically along the elongation of spring and compression direction under the effect of buttocks, thus band carry-over bar moves in vertical direction, moving both vertically of pole is converted into rotary motion by gear-box under the drive of tooth bar.Especially, in the present invention, the device that is converted into rotary motion of moving both vertically of pole is not limited to the interaction of rack and pinion case, as long as it can realize object of the present invention, is all included in content of the present invention.
Electromechanical transformation apparatus, is connected with pressure conversion device, realizes the conversion of mechanical signal to the signal of telecommunication of pressure conversion device rotary motion.Particularly, in the present embodiment, electromechanical transformation apparatus comprises execution module, and the driver module be connected with execution module respectively and coding module, wherein, driver module is connected with control device, and the pulse control signal for being sent by control device is converted to Angular displacement control execution module and rotates.In a particular embodiment, driver module adopts the special chip of Japanese Toshiba, and itself and motor form driving device for step-by-step jointly, and one end of driver module is connected with electric supply installation, and the other end is connected with control module; Execution module is motor, motor adopts hybrid type stepping motor (HB), this motor combines the advantage of reaction equation, both permanent-magnet stepping motors, its step angle is little, exert oneself large, dynamic property is good, is the stepping motor that current performance is the highest, wherein, 4 output leads of motor are connected with driver module.Certainly, in the present invention, to execution module, the concrete form of driver module and coding module is all not construed as limiting, as long as it can realize object of the present invention, is all included in content of the present invention.
Control device, be connected with electromechanical transformation apparatus, each control device comprises one from control module, go forward side by side row relax to obtain the height value of hip curved-surface induction installation for gathering the signal of telecommunication, thus demodulate the amount of force be applied on hip curved-surface induction installation, obtain the pressure distribution of hip curved-surface and the shape of hip curved-surface.Further, in control device, also comprise a total control module, and with from control module main control module one to one, be sent to total control module for receiving control instruction that total control module sends and reading the data that store from control module.Total control module is according to the force value demodulated from control module received, detect in conjunction with ultrasonic diagnosis, can obtain after buttocks different parts receives mechanical stress compression therapeutic and the blood perfusion situation of human local tissue is changed, for the relation between the obliteration of hole fistula and surrounding tissue blood supply provides the foundation of objective quantification, realize the active accurate treatment to patient.Particularly, in the present embodiment, main control module can for have employed the main frame etc. of senior STM32 kernel, and its performance parameter is as follows: the Harvard structure with 3 level production lines, expansion instruction set, memorizer intermediate density program and data storage: the Flash of 32K byte at most, 10K time erasable after under 55 DEG C of environment data can preserve 20 annual data memorizeies: the data EEPROM that nearly 1K byte is real, 300,000 erasable RAM can be reached: nearly 2K byte clock, reset and power management, the clock control flexibly of 3.0 ~ 5.5V running voltage, 4 master clock source low-power crystal oscillator, the adjustable inner 16MHz RC of external clock input user, inner low-power consumption 128kHz RC, with the clock safe-guard system of clock supervision, power management: the clock of low-power consumption mode (wait for, enliven shutdown, shut down) peripheral hardware can be closed separately, nested interrupt controller 6 external interrupt vectors that the low-power consumption of forever opening powers on and power-off reset interrupt management interrupts with 32, maximum 37 external interrupt intervalometers, 2 16 general purpose timers, with 2+3 CAPCOM passage (IC, OC or PWM) senior control timer: 16, 4 CAPCOM passages, 3 complementary outputs, dead band is inserted and synchronous 8 basic intervalometers with 8 pre-dividers wake a timer 2 WatchDog Timer automatically up flexibly: the UART that window house dog and independent house dog communication interface export with synchronised clock, smart card, infrared IrDA, LIN interface SPI interface is up to 8Mbit/s, I2C interface is up to 400Kbit/s analog-digital converter (ADC) 10, the ADC of ± 1LSB, there are at most 10 paths, scan pattern and simulation watchdog function I/O port 48 foot packaged chip there are at most 38 I/O, comprise 16 high-selenium corn electric currents and export very strong I/O design, have very strong ability to bear development support one-wire interface module (SWIM) and debugging module (DM) to reverse irrigated current.In the present invention, due to the use of above-mentioned high performance CPU, can effectively gather various data when execution module (motor) moves up and down and data are connected with total control module and be used for date processing.Total control module comprises PC (personal computer, PC) etc., and total control module comprises control inerface unit, resultant signal transmitting element, resultant signal receiving element etc.Main control module can be main frame etc., can be handset etc. from control module.
In the present embodiment, in order to accurately obtain the form of hip curved-surface and be applied to the force value of hip curved-surface each point, system comprises multiple hip curved-surface pressure sensitive device, namely multiple discrete sense node is set, respond to the normal force of surface boundary at each position of buttocks respectively, thus realize the mutual conversion between the moving both vertically of the normal force on the hip curved-surface border that it senses and hip curved-surface pressure sensitive device.Particularly, in a kind of detailed description of the invention of the present invention, comprise 100 hip curved-surface pressure sensitive devices, i.e. 100 discrete sense node, and be arranged as the matrix of a 10*10, the ID (Identity, identify label) number that each sense node correspondence one is unique, realizes the control of total control module to each node by corresponding for each sense node No. ID by the mode set in uart.c file; Total control module sends the control instruction of corresponding No. ID to realize the control of each node simultaneously.In the present invention, concrete restriction is not done to the quantity of hip curved-surface pressure sensitive device, can correspondingly adjust according to the actual requirements in actual applications, be provided with 100 discrete pressure sensitive points in this patent to determine on early-stage Study basis, and every two induction point spacing are set to 10mm, and the oval shaped arrangements wide in narrow left and right, front and back.This setting is mainly in order to carry out for the buttocks pathological changes of clinical patients the real-time detection accurately effectively exerting pressure and can ensure ultrasonic probe.In practical operation, ensure that this patent instrument can be applicable to the patient of each bodily form, and can implement accurately effectively to measure and exert pressure treatment, need guarantee to have 65 pressure sensitive devices at least.Certainly, in order in order to be effective, use 65,70,80,90 hip curved-surface induction installation effects certainly better, these also should all be included in content of the present invention.In addition, the device of the hip curved-surface pressure sensitive more than 100, as 110,120 or manyly equally also can realize the present invention, also belongs in the scope of the invention.Certainly, in the present invention, in order to improve the efficiency of native system, hip curved-surface pressure sensitive device, pressure conversion device, and electromechanical transformation apparatus is that one_to_one corresponding is arranged, namely, if be provided with 100 hip curved-surface pressure sensitive devices in system provided by the invention, then each hip curved-surface pressure sensitive device is equipped with a pressure conversion device and an electromechanical transformation apparatus, is converted to the signal that control device can read respectively to the active force sensed in each induction installation.
As another embodiment of the invention, the normal direction of hip curved-surface provided by the invention is exerted pressure diagnosis and therapy system, similarly, comprise multiple pressure conversion device, multiple electromechanical transformation apparatus, control device, and power system, and hip curved-surface pressure sensitive device, pressure conversion device, and electromechanical transformation apparatus one_to_one corresponding is arranged.
Similar to the above embodiments, in the present embodiment, power system have employed the power supply of 2 powerful 10A24V power supply safeguards systems equally.Certainly, here, we do not limit the concrete form of electric device equally, as long as it can realize object of the present invention, are all included in content of the present invention.
Control device comprises and controls for sending controling instruction the total control module that the height value of hip curved-surface pressure sensitive device and then control are applied to the active force on buttocks, the control instruction received is converted to the signal of telecommunication be sent to electromechanical transformation apparatus from control module, and with from control module main control module one to one, for receiving the control instruction that total control module sends, and be sent to corresponding to control module with it, control its action.Particularly, in the present embodiment, according to the pressure-plotting on the hip curved-surface shape demodulated and hip curved-surface border, detect in conjunction with ultrasonic diagnosis again, obtain after buttocks different parts receives mechanical stress compression therapeutic and the blood perfusion situation of human local tissue is changed, for the relation between the obliteration of hole fistula and the confession of surrounding tissue blood provides the foundation of objective quantification, realize the active accurate treatment to patient; Meanwhile, according to the pressure-plotting got, sending controling instruction controls hip curved-surface pressure sensitive device action and changes it to patient's buttocks sufferer place applied pressure, thus simulate best pressure distribution, both the individuation buttocks pressure-plotting model figure of patient can have been obtained, for successive treatment provides data supporting, precise quantification treatment can be repeated again.In actual applications, total control module comprises PC (personal computer, PC) etc., and total control module comprises control inerface unit, resultant signal transmitting element, resultant signal receiving element etc.Main control module can for have employed the main frame etc. of senior STM32 kernel, and wherein, the performance of STM32 chip describes in upper a kind of embodiment, does not repeat at this.
As a kind of detailed description of the invention, if total control module is PC, main control module is main frame, be handset from control module, then when system needs to control the height of the pole in hip curved-surface pressure sensitive device, first PC is by RS-232 interface toward sending controling instruction in main frame, and main frame processes accordingly according to instruction type.Further, if control instruction is the instruction of inquiry height, then the height value that it inquires about by main frame at one's leisure feeds back to PC; If control instruction is other instruction, then control instruction is sent to handset by RS-485 interface by PC.Especially, in the present invention, between PC and main frame, adopt master slave communication mode, and main frame receives control instruction and the data of PC or handset transmission with interrupt mode; Also master slave communication mode is adopted between main frame and handset.
More specifically, in the present embodiment, comprise from control module: the first signal receiving unit, signal processing unit, and memory element, wherein, first signal receiving unit, for the signal of telecommunication that received code module exports, and receives the control signal of main control module transmission; Signal processing unit, is connected with the first signal receiving unit, for the treatment of the signal of telecommunication received, processes the control signal of the main control module transmission received simultaneously; Memory element, with signal processing module unit, for storing the height value of pole in sense node.
Here, the control instruction that the first signal receiving unit receives comprises: reset instruction, setting height instruction, reports height instruction, stop command, instruction of shaking hands, enable command, and feedback reset status command.Wherein: when receiving reset instruction from control module (handset), then by the use of reset () method, set-reset request flag.Meanwhile from control module, corresponding reset instruction is stored by Op_Mode method, realize responding accordingly the reset instruction stored in Op_Mode by Moter_Go () subsequently from control module, control execution module (motor) and carry out action.When receiving setting height instruction from control module (handset), then being realized by set_high () method, extracting the height value needing in control instruction to set.Meanwhile from control module, corresponding setting height instruction is stored by Op_Mode method, realize responding accordingly the setting height instruction stored in Op_Mode by Moter_Go () subsequently from control module, control execution module (motor) and carry out the height value that action moves to requirement setting.When receive from control module (handset) report height instruction time, then realize by response_high () method, by real-time from coding module reading pole height value feed back to main control module (main frame).When receiving stop command from control module (handset), then realized by emergency_stop () method, what realize from control module (handset) is out of service.Meanwhile from control module, corresponding stop command is stored by Op_Mode method, realize responding accordingly the stop command stored in Op_Mode by Moter_Go () subsequently from control module, control execution module (motor) and carry out action, out of service.When receive from control module (handset) shake hands instruction time, then realized by response_greeting () method, and result feedback of shaking hands is to main frame.When receiving enable command from control module (handset), then realized by enable_motor (); Opening or closing of execution module (motor) is controlled according to the control instruction received.When receiving feedback reset status command from control module (handset), then realized by response_resflg () method; Each is fed back to main control module (main frame) from the value of control module (handset) reset mode.Especially, in the present invention, can carry out action to execution module (motor) after receiving reset instruction from control module (handset), and real time record reset mode and is worth accordingly.Can know from above-mentioned description, when receiving the control instruction sent from total control module (PC) from control module (handset), then realize controlling accordingly execution module (motor) by Motor_Go () method, specifically comprise: reset instruction, stop command, and setting height instruction.Wherein: reset instruction, realized by Motor_Reset () method, execution module (motor) rotating is driven in the present invention by the pulse that produces with intervalometer and direction setting, whether successfully reset is detected with Hall element, and real time record reset mode.Especially, in the present invention, the rotating speed of the motor of motor is fixing, i.e. the cycle of pulse is fixing.Stop command, is realized by Stop_Motor () method, namely stops intervalometer sending pulse and carrys out drive motors.Setting height instruction, is realized by Move () method, and motor forwards the height of setting to.
Main control module comprises: the first signal receiving unit, signal processing unit, and memory element, and wherein, the first signal receiving unit, for the signal of telecommunication that received code module exports, and receives the control signal of main control module transmission; Signal processing unit, is connected with the first signal receiving unit, for the treatment of the signal of telecommunication received, processes the control signal of the main control module transmission received simultaneously; Memory element, with signal processing module unit, obtains the pressure distribution of hip curved-surface and the form of hip curved-surface for storing.Wherein:
Signal transmitting unit, for sending controling instruction extremely from control module (handset); Particularly, the instruction that signal transmitting unit sends comprises reset instruction, setting height instruction, the instruction of inquiry height, stop command, instruction of shaking hands, and enable command.Particularly, reset instruction, main control module (main frame) realizes its reset to all control modules (handset) by reset () method, specifically, main control module (main frame) sends reset instruction toward each from control module (handset), allow and allly to reset from control module (handset), send subsequently and allow from the instruction of control module (handset) feedback reset state: wait and allly all to have resetted successfully from control module (handset), then tell that total control module (PC) resets successfully; In whole reseting procedure, if there is any one to reset unsuccessfully from control module (handset), then tell that total control module (PC) resets unsuccessfully, send stop command immediately and allow and allly to stop from control module (handset) is anxious.Stop command, realize it by the method for emergency_stop () to stop the urgency from control module (handset), in this process, stop command is sent to from control module (handset) by main control module (main frame), feeds back forwarding simultaneously and completes instruction to main control module (main frame).Setting height instruction, realized by Move_To_Set_High () method, main control module (main frame) is first transmitted to the instruction of setting height from control module (handset), receive from control module (handset) and arrange accordingly according to instruction, feed back to the instruction that main control module (main frame) is provided with, main control module (main frame) feeds back to total control module (PC) more subsequently simultaneously.The instruction of inquiry height, realized by response_high () method, main control module (main frame) is each height value from control module (handset) inquired during the free time or all or at random feed back to total control module (PC).To shake hands instruction, realized by response_greeting_result () method, successful result of whether all shaking hands is issued total control module (PC).Especially, in the present invention, total control module (PC) sends out instruction of shaking hands to main control module (main frame), main control module (main frame) can feed back with all whether to shake hands from control module (handset) successfully orders, even if but main control module (main frame) feeds back is to shake hands unsuccessful order from control module (handset) with all, total control module (PC) is also left intact and does not affect the transmission of total control module (PC) other control instruction.Enable command, realized by enable_motor () method, its forward allow all from control module (handset) all the instruction of enable switch motor to from control module (handset), and feed back to total control module (PC) forwarding and complete instruction.
Secondary signal receiving element, for receiving the control signal that total control module (PC) sends and the data fed back from control module (handset), comprises the height value etc. of each sense node stored from control module.
Status poll unit, for inquiring about the current state of main control module (main frame), when main control module (main frame) is idle, then sends the instruction of inquiry height.Namely state-query module achieves the monitoring to main control module (main frame) current state, when main control module (main frame) is current do not receive total control module (PC) and send from control module (handset) instruction and data time, namely represent current and be in idle condition, then use signal transmitting unit to send corresponding height query statement to from control module (handset), inquire about the height value of the sense node stored from control module (handset).Particularly, in the present invention, the Request_Act_High () method in the Mode_Process () method in Process_PC_Message () method is adopted to realize the inquiry of the state of main control module (main frame).
Electromechanical transformation apparatus, is connected with pressure conversion device and control device respectively, and for the signal of telecommunication that receiving control device sends, and the mechanical signal converting electrical signals to rotary motion is sent to pressure walks around device.Particularly, electromechanical transformation apparatus comprises execution module, and the driver module be connected with execution module respectively and coding module, wherein, driver module is connected with control device, and the pulse control signal for being sent by control device is converted to Angular displacement control execution module and rotates.Particularly, execution module is a motor, and driver module have employed the special chip of Japanese Toshiba, and itself and motor form driving device for step-by-step jointly, and one end of driver module is connected with electric supply installation, and the other end is connected with control module; Further, motor have employed hybrid type stepping motor (HB), this motor combines the advantage of reaction equation, both permanent-magnet stepping motors, its step angle is little, exert oneself large, dynamic property is good, is the stepping motor that current performance is the highest, wherein, 4 output leads of motor are connected with driver module.
Coding module, feeds back to control device for the mechanical signal in motor operation course is converted to the signal of telecommunication.In a particular embodiment, above-mentioned coding module is an encoder, in the present invention in order to more accurately control the running of execution module (motor), the encoder of to be resolution be 600 lines adopted in the present invention, it is connected with execution module (motor), when execution module (motor) is turned left or be right-handed time, the digital electric signal that encoder is converted to is delivered to and carries out the height value that corresponding process obtains pole from control module.
Pressure conversion device, is connected with hip curved-surface pressure sensitive device and electromechanical transformation apparatus respectively, to walk around the mechanical signal that device sends, and rotary motion corresponding for mechanical signal being converted to moving both vertically of hip curved-surface pressure sensitive device for receiving electromechanics.In a particular application, each pressure conversion device comprises the pole that is equipped with spring, and the rack and pinion case to be connected with pole, wherein, gear-box action under the effect of mechanical signal and electromechanical transformation apparatus, the rotary motion of gear-box is converted to moving both vertically of pole by tooth bar under the drive of gear-box, thus drives pole to move both vertically along the elongation of spring and compression direction, controls the height of hip curved-surface pressure sensitive device.
Similarly, in order to accurately obtain the form of hip curved-surface and be applied to the force value of hip curved-surface each point, comprise multiple hip curved-surface pressure sensitive device in system in the present embodiment equally, realize the mutual conversion between the moving both vertically of the normal force on the hip curved-surface border that it senses and hip curved-surface pressure sensitive device.Particularly, in the present embodiment, comprise 100 hip curved-surface pressure sensitive devices, i.e. 100 discrete sense node, and be arranged as the matrix of a 10*10, the ID (Identity, identify label) number that each sense node correspondence one is unique, realizes the control of total control module to each node by corresponding for each sense node No. ID by the mode set in uart.c file; Total control module sends the control instruction of corresponding No. ID to realize the control of each node simultaneously.In the present invention, concrete restriction is not done to the quantity of hip curved-surface pressure sensitive device, can correspondingly adjust according to the actual requirements in actual applications, be provided with 100 discrete pressure sensitive points in this patent to determine on early-stage Study basis, and every two induction point spacing are set to 10mm, and the oval shaped arrangements wide in narrow left and right, front and back.This setting is mainly in order to carry out for the buttocks pathological changes of clinical patients the real-time detection accurately effectively exerting pressure and can ensure ultrasonic probe.In practical operation, ensure that this patent instrument can be applicable to the patient of each bodily form, and can implement accurately effectively to measure and exert pressure treatment, need guarantee to have 65 pressure sensitive devices at least.Certainly, in order in order to be effective, use 65,70,80,90 hip curved-surface induction installation effects certainly better, these also should all be included in content of the present invention.In addition, the device of the hip curved-surface pressure sensitive more than 100, as 110,120 or manyly equally also can realize the present invention, also belongs in the scope of the invention.Certainly, in the present invention, in order to improve the efficiency of native system, hip curved-surface pressure sensitive device, pressure conversion device, and electromechanical transformation apparatus is that one_to_one corresponding is arranged, namely, if be provided with 100 hip curved-surface pressure sensitive devices in system provided by the invention, then each hip curved-surface pressure sensitive device is equipped with a pressure conversion device and an electromechanical transformation apparatus.
Hip curved-surface pressure sensitive device, is connected with pressure conversion device, for realizing the mutual conversion between the moving both vertically of the normal force on the hip curved-surface border that it senses and hip curved-surface pressure sensitive device; Particularly, in the present invention, comprise 100 hip curved-surface pressure sensitive devices, i.e. 100 discrete sense node, and be arranged as the matrix of a 10*10, the ID (Identity, identify label) number that each sense node correspondence one is unique, realizes the control of total control module to each node by corresponding for each sense node No. ID by the mode set in uart.c file; Total control module sends the control instruction of corresponding No. ID to realize the control of each node.
To sum up, the present invention is in diagnosis: in measurement and applying normal pressure distribution technique, its core technology is to have used spring principle and the method such as spheroid acting surface and gearbox drive to give the form of hip curved-surface and the size of active force comparatively accurately.Detect in conjunction with ultrasonic diagnosis simultaneously, can obtain after buttocks different parts receives mechanical stress compression therapeutic and the blood perfusion situation of human local tissue is changed, for the relation between the obliteration of hole fistula and surrounding tissue blood supply provides objective quantification according to (as Fig. 2 a and Fig. 2 b).In addition, when the hip curved-surface shape obtained and boundary condition change, for the size analyzing the stress and strain at any point place in buttocks in theory calculates, important measured data is provided to internal sinus fistula chamber closure, and can in conjunction with finite element computing, for follow-up visit research provides necessary data.
The present invention is in treatment: diagnosis and therapy system provided by the invention achieves electromechanical integration, which employs the master controller of 232 interface modes and CPU ARM 32, and adopt 6 laminate designs, guarantee system by a controller to multiple motor, encoders etc. carry out the control of time property, simultaneously, the size realizing multiple application point places realizable force on hip curved-surface changes, namely after diagnosis and therapy system provided by the invention obtains the active force of hip curved-surface all directions of patient, diagnose in conjunction with ultrasound detection again, the hip curved-surface pressure sensitive device controlling diagnosis and therapy system initiatively applies relevant pressure to patient's buttocks sufferer place, thus simulate best pressure distribution, both the individuation buttocks pressure-plotting model figure of patient can have been obtained, for successive treatment provides data supporting, precise quantification treatment can be repeated again.
In addition, in date processing: its core technology is the automatic collection achieving data.The present invention, under also developed windows environment, the real-time data acquisition of friendly interface and DAP, its major function has and comprises:
(1) experimental data gathers and ACTIVE CONTROL is completed by the software system towards hardware automatically;
(2) based on experimental data, obtain hip curved-surface and normal stress distribution thereof, be curved form; The form of expression such as distribution of contours, three-dimension curved surface is provided; Based on Differential Geometry, average curvature and Gauss curvature distribution and display are realized to above-mentioned curved surface, be of value to the mechanistic analysis of experimental data;
(3) file memory function, comprises the preservation of new experimental data and calling in (as Fig. 3, Fig. 4, Fig. 5, Fig. 6) of legacy data.
Be described in detail the specific embodiment of invention above, but the present invention is not restricted to specific embodiment described above, it is just as example.To those skilled in the art, any equivalent modifications that this system is carried out and substituting also all among category of the present invention.Therefore, equalization conversion done under the spirit and scope not departing from invention and amendment, all should contain within the scope of the invention.
Claims (10)
1. a diagnosis and therapy system for hip curved-surface measurement, is characterized in that, comprise, multiple hip curved-surface pressure sensitive device, multiple pressure conversion device, multiple electromechanical transformation apparatus, and a control device, wherein:
Described hip curved-surface pressure sensitive device, its generation displacement that moves both vertically under the active force of buttocks, and then induce the normal force on hip curved-surface border and the form of hip curved-surface;
Described pressure conversion device, is connected with described hip curved-surface pressure sensitive device, for described moving both vertically of hip curved-surface pressure sensitive device is converted to rotary motion;
Described electromechanical transformation apparatus, is connected with described pressure conversion device, realizes the conversion of mechanical signal to the signal of telecommunication of described pressure conversion device rotary motion;
Described control device, be connected with described electromechanical transformation apparatus, each described control device comprises one from control module, go forward side by side row relax to obtain the height value of described hip curved-surface induction installation for gathering the described signal of telecommunication, thus demodulate the amount of force be applied on described hip curved-surface induction installation, obtain the pressure distribution of hip curved-surface and the form of hip curved-surface;
Described hip curved-surface pressure sensitive device, described pressure conversion device, and described electromechanical transformation apparatus one_to_one corresponding is arranged.
2. the diagnosis and therapy system of hip curved-surface measurement as claimed in claim 1, it is characterized in that: each described pressure conversion device comprises the pole that is equipped with spring, and the rack and pinion case to be connected with described pole, wherein, when described buttocks acts on described hip curved-surface pressure sensitive device, described pole moves both vertically along the elongation of spring and compression direction under the effect of described buttocks, thus driving described tooth bar to move in vertical direction, described moving both vertically of pole is converted into rotary motion by described gear-box under the drive of described tooth bar.
3. the diagnosis and therapy system of hip curved-surface measurement as claimed in claim 2, is characterized in that:
A total control module is also comprised in described control device, and with described from control module main control module one to one, wherein, described main control module is sent to described total control module for the control instruction that receives described total control module and send and the data that store from control module described in reading.
4. the normal direction of hip curved-surface is exerted pressure a diagnosis and therapy system, it is characterized in that, comprises, multiple hip curved-surface pressure sensitive device, multiple pressure conversion device, multiple electromechanical transformation apparatus, and control device, wherein:
Described control device comprises: control for sending controling instruction the total control module that the height value of described hip curved-surface pressure sensitive device and then control are applied to the active force on buttocks, and the described control instruction received is converted to the signal of telecommunication be sent to described electromechanical transformation apparatus from control module;
Described electromechanical transformation apparatus, is connected with described pressure conversion device and described control device respectively, and for receiving the described signal of telecommunication that described control device sends, and the mechanical signal described signal of telecommunication being converted to rotary motion is sent to described pressure walks around device;
Described pressure conversion device, be connected with described hip curved-surface pressure sensitive device and described electromechanical transformation apparatus respectively, to walk around the described mechanical signal that device sends for receiving described electromechanics, and described rotary motion corresponding for described mechanical signal being converted to moving both vertically of described hip curved-surface pressure sensitive device;
Described hip curved-surface pressure sensitive device, be connected with described pressure conversion device, be applied to the pressure of hip curved-surface by the adjustment that moves both vertically of described hip curved-surface pressure sensitive device, respond to the normal force on hip curved-surface border simultaneously and feed back to described control device;
Described hip curved-surface pressure sensitive device, described pressure conversion device, and described electromechanical transformation apparatus one_to_one corresponding is arranged.
5. the normal direction of hip curved-surface is exerted pressure diagnosis and therapy system as claimed in claim 4, it is characterized in that, each described pressure conversion device comprises the pole that is equipped with spring, and the rack and pinion case to be connected with described pole, wherein, the action under the effect of described mechanical signal and described electromechanical transformation apparatus of described gear-box, the rotary motion of described gear-box is converted to moving both vertically of described pole by described tooth bar under the drive of described gear-box, thus drive described pole to move both vertically along the elongation of spring and compression direction, control the height of described hip curved-surface pressure sensitive device.
6. the normal direction of hip curved-surface is exerted pressure diagnosis and therapy system as claimed in claim 4, it is characterized in that: described electromechanical transformation apparatus comprises execution module, and the driver module be connected with described execution module respectively and coding module, wherein,
Described driver module, is connected with described control device, and the signal of telecommunication for being sent by described control device is converted to execution module described in Angular displacement control and rotates;
Described coding module, is converted to the signal of telecommunication by the operation process of described execution module and feeds back to described control device.
7. the normal direction of hip curved-surface is exerted pressure diagnosis and therapy system as claimed in claim 4, it is characterized in that: also comprise in described control device with described from control module main control module one to one, for receiving the control instruction that described total control module sends, and be sent to corresponding described from control module with it, control its action.
8. the normal direction of hip curved-surface is exerted pressure diagnosis and therapy system as claimed in claim 7, describedly comprises from control module: the first signal receiving unit, signal processing unit, and memory element, wherein,
Described first signal receiving unit, for receiving the signal of telecommunication that described coding module exports, and receives the control signal of described main control module transmission;
Described signal processing unit, is connected with described first signal receiving unit, for the treatment of the described signal of telecommunication received, processes the described control signal of the described main control module transmission received simultaneously;
Described memory element, with described signal processing module unit, for storing the height value of pole in described sense node.
9. the normal direction of hip curved-surface is exerted pressure diagnosis and therapy system as claimed in claim 8, it is characterized in that: described main control module comprises signal transmitting unit, secondary signal receiving element, status poll unit, wherein,
Described signal transmitting unit, for sending described control instruction to described from control module;
Described secondary signal receiving element, for receiving the control instruction of described total control module transmission and the described data from control module feedback;
Described status poll unit, for inquiring about the current state of described main control module, when described main control module is idle, then sends the instruction of inquiry height.
10. the normal direction of hip curved-surface is exerted pressure diagnosis and therapy system as claimed in claim 9, and it is characterized in that, described control instruction comprises: reset instruction, setting height instruction, the instruction of inquiry height, stop command, instruction of shaking hands, and enable command.
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