CN105877999B - A kind of search automatically has demarcated acupuncture point device - Google Patents
A kind of search automatically has demarcated acupuncture point device Download PDFInfo
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- CN105877999B CN105877999B CN201610386649.0A CN201610386649A CN105877999B CN 105877999 B CN105877999 B CN 105877999B CN 201610386649 A CN201610386649 A CN 201610386649A CN 105877999 B CN105877999 B CN 105877999B
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- mechanical arm
- control assembly
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- image recognition
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10052—Images from lightfield camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
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- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Finger-Pressure Massage (AREA)
Abstract
The present invention is that a kind of search automatically has demarcated acupuncture point device and method, including mechanical arm 1, marking tool 2, photosensitive pick-up lens 3, image recognition analysis component 4, control assembly 5, the driving motor 6 of mechanical arm, sensor 7；Photosensitive camera camera lens 3 is connect with image recognition analysis component 4, and image recognition analysis component 4, sensor 7 are connect with control assembly 5, and control assembly 5 connects and controls the driving motor 6 of mechanical arm.Marking tool 2 is pressed in the formation figure marking 8 on human skin.Photosensitive camera camera lens 3 shoots and identifies the image information of the figure marking 8, image recognition analysis component 4, analyze the difference between the image information photographed and the graphical information of standard, and the spatial position numerical value of photosensitive camera camera lens 3 and the difference of preset spatial position numerical value to be reached are calculated, control assembly 5 drives mechanical arm 1 mobile towards scheduled spatial position according to the information that the information and sensor 7 of this numerical difference record.
Description
Technical field
It is the invention belongs to search, determine the technical field at acupuncture point, in particular to a kind of to look for the device for having demarcated acupuncture point automatically.
Background technique
The specific location at acupuncture point is that Chinese medicine treats patient and the specific of acupuncture point is found in the important information of health care, preparation
Position could be treated accordingly with the treatment means of Chinese medicine and health care, such as needle thorn, moxa-moxibustion, cupping.With science and technology
Development, people have invented the therapeutic equipment of many modernizations, and acupoint therapy, which is evolved as, is automatically brought into operation substitution by hand by machine.
And the therapeutic equipment of electric mechanical class needs to be aligned acupuncture point and could complete to treat, at this moment automatically and accurately finding acupuncture point becomes pole
It is important.Due to human acupoint and channels and collaterals be not it is clear and intuitive be apparent on human body, the otherness of people also allows standardized
Acupuncture point data can not be generally applicable, so current all kinds of acupoint therapeutical apparatus, which still need people, determines acupuncture point to operate to look for, Bu Nengshi
Now automate.
Summary of the invention
The purpose of the present invention is to provide the device and methods that acupuncture point and channels and collaterals have been demarcated in a kind of fully automated searching, utilize
Image recognition technology and computer technology allow what therapeutic equipment can be automatic accurate to find proven acupuncture point and channels and collaterals, from
And improve the automatization level of acupoint therapy.
A kind of automatic search of the present invention has demarcated acupuncture point device, the mechanical arm including therapeutic equipments, it is characterised in that
It further include marking tool, photosensitive pick-up lens, image recognition analysis component, sensor, the driving motor of mechanical arm, control group
Part；Photosensitive camera camera lens is connect with image recognition analysis component, and image recognition analysis component is connect with control assembly, sensor with
Control assembly connection, control assembly connect and control the driving motor of mechanical arm.
The marking tool includes that reflective material forms certain shapes after reflective material presses human body on human skin
The figure marking, the reflective material it is capable of washing fall；The reflective material can reflect the light of particular color or right to special light sources
Ordinary light source can reflect the light for being different from skin color, and can be by optical electron device recognition.The shooting of photosensitive camera camera lens
And identify the image information of the figure marking, it is transferred to image recognition analysis component, image recognition analysis block analysis was photographed
Difference between image information and the graphical information of standard.
It include numerical value and error calculating module in described image discriminance analysis component.This module can calculate photosensitive camera
The difference of the spatial position numerical value of camera lens and preset spatial position numerical value to be reached, is transferred to control assembly, in turn
Control assembly drives mechanical arm mobile towards spatial position appropriate.
The photosensitive pick-up lens is mounted on the front end of mechanical arm.The front end of usual mechanical arm is the machine of acupoint therapeutical apparatus
Head part, photosensitive pick-up lens are installed together with head part, can both have been determined by the position of the photosensitive pick-up lens of determination
The position of head part, so as to which the head part of therapeutic equipment is directed at acupuncture point.
The driving motor of the mechanical arm can drive mechanical arm to shift one's position and angle in three-dimensional space.
The photosensitive pick-up lens is the photosensitive pick-up lens of CCD or CMOS.
Acupuncture point has been demarcated using described device lookup, comprising the following steps:
The first step presets one or more test patterns in image recognition analysis component, and test pattern is believed
Breath and specific spatial position numerical value or motion track numerical value are corresponding；
Second step is stamped and aforesaid standards figure phase by operator with marking tool on patient acupuncture point or channels and collaterals position
The same figure marking；
Third step places the patient into ordinary light source or the environment of special light sources irradiation, photosensitive pick-up lens is directed at disease
The figure marking on people acupuncture point or channels and collaterals is shot, and the image information of shooting is automatically transferred to image recognition analysis component；
4th step, image recognition analysis component carry out the image information taken and preset test pattern information
Analysis is compared, and calculates the current spatial position numerical value of photosensitive pick-up lens and preset spatial position numerical value, or
With the difference between preset motion track numerical value；
The information of this numerical difference is transferred to control assembly by the 5th step image recognition analysis component, and control assembly is according to this
The information of information and the sensor record of numerical difference, controls the driving motor of mechanical arm, mobile mechanical arm reduces photosensitive camera lens
The spatial position numerical value and preset spatial position numerical value of head, or between preset motion track numerical value
Difference；
6th step repeats third step to the 5th step, until the image information that takes of photosensitive pick-up lens with preset
The error range identical or in license of test pattern information in, at this point, spatial position numerical value where photosensitive pick-up lens and pre-
The normed space position numerical value first set is identical, or identical as preset motion track numerical value, thus mechanical arm, that is, quilt
It is adjusted to accurate position；
7th step mechanical arm rests on the acupuncture point position, or moves along channels and collaterals track, and it is mobile to complete channels and collaterals track
Afterwards, device stops；If necessary to carry out next acupuncture point or channels and collaterals therapeutic, need to treat by next in second step
Acupuncture point or channels and collaterals label, only need to repeat third step to the 6th step；Unmarked next cave in need for the treatment of in second step
Position or when channels and collaterals, then repeatedly second step to the 6th step.
It is either irregular that the test pattern can be rectangular round triangle polygon
Figure either lines.
Detailed description of the invention
Fig. 1 is searched automatically has demarcated acupuncture point schematic device
Specific embodiment
Fig. 1 show a preferred embodiment of the present invention, and a kind of search automatically has demarcated acupuncture point device, including controls
The mechanical arm 1 for the treatment of instrument, marking tool 2, photosensitive pick-up lens 3, image recognition analysis component 4, control assembly 5, mechanical arm
Driving motor 6, sensor 7；Photosensitive camera camera lens 3 is connect with image recognition analysis component 4, image recognition analysis component 4, sensing
Device 7 is connect with control assembly 5, and control assembly 5 connects and control the driving motor 6 of mechanical arm, and the photosensitive pick-up lens 3 is pacified
Mounted in the front end of mechanical arm 1.
Marking tool 2 has reflective material, and after pressing human body, the figure marking 8 can be formed on human skin.Photosensitive camera mirror
First 3 shoot and identify the image information of the figure marking 8, are transferred to image recognition analysis component 4, analyze the image information that photographed with
Difference between the graphical information of standard, and the spatial position numerical value for calculating photosensitive camera camera lens 3 is wanted with preset
The difference of the spatial position numerical value of arrival is transferred to control assembly 5, and then recorded according to the information of this numerical difference and sensor 7
Information drives mechanical arm 1 mobile towards scheduled spatial position.
Using the general step of aforementioned device:
The first step, presets the test pattern information of the figure marking 8 in image recognition analysis component 4, and this is marked
The spatial position numerical value of some height above quasi- graphical information and face human body waist acupuncture point corresponds；
Second step stamps the figure marking 8 on patient's waist acupuncture point with marking tool 2 by operator；
Third step places the patient into ordinary light source or the environment of special light sources irradiation, and patient's waist figure marking 8 can be with
It is reflective, the figure marking 8 of photosensitive pick-up lens 3 alignment patient's waist is shot, the image information of shooting is automatically transferred to
Image recognition analysis component 4；
4th step, image recognition analysis group 4 image informations and preset standard to the figure marking 8 taken
Graphical information is compared, and calculates the current spatial position numerical value of photosensitive pick-up lens 3, with preset face
Difference between the spatial position numerical value of some height above human body waist acupuncture point；
The information of this numerical difference is transferred to control assembly 5,5 basis of control assembly by the 5th step image recognition analysis component 4
The information of information and sensor 7 record of this numerical difference, controls the driving motor 6 of mechanical arm, and mobile mechanical arm 1 reduces photosensitive
The spatial position numerical value of pick-up lens 3 and the spatial position of some height above preset face human body waist acupuncture point
Difference between numerical value；
6th step repeats third step to the 5th step, until the image letter for the figure marking 8 that photosensitive pick-up lens 3 takes
It ceases in identical as preset test pattern information or error range in license, at this point, photosensitive pick-up lens 3 is just be stopped at
The spatial position of some height above preset face human body waist acupuncture point；
7th step mechanical arm rests on the acupuncture point position, or moves along channels and collaterals track, and it is mobile to complete channels and collaterals track
Afterwards, device stops；If necessary to carry out next acupuncture point or channels and collaterals therapeutic, need to treat by next in second step
Acupuncture point or channels and collaterals label, only need to repeat third step to the 6th step；Unmarked next cave in need for the treatment of in second step
Position or when channels and collaterals, then repeatedly second step to the 6th step.
It should be noted that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (2)
1. a kind of automatic search has demarcated acupuncture point device, the mechanical arm including therapeutic equipments, it is characterised in that further include marking work
Tool, photosensitive pick-up lens, image recognition analysis component, sensor, the driving motor of mechanical arm, control assembly；Photosensitive camera mirror
Head is connect with image recognition analysis component, and image recognition analysis component is connect with control assembly, and sensor is connect with control assembly,
Control assembly connects and controls the driving motor of mechanical arm；Marking tool includes reflective material, after reflective material presses human body,
On human skin formed certain shapes the figure marking, the reflective material it is capable of washing fall；The reflective material can to special light sources
The light of particular color is reflected, or the light for being different from skin color can be reflected ordinary light source, and can be by optical electron device
Part identification；It include numerical value and error calculating module in image recognition analysis component；Before photosensitive pick-up lens is mounted on mechanical arm
End；The driving motor of mechanical arm can drive mechanical arm to shift one's position and angle in three-dimensional space；
Photosensitive pick-up lens shoots and identifies the image information of the figure marking, is transferred to image recognition analysis component, image
Discriminance analysis component compares the graphical information of this image information and standard, and calculates the spatial position of current photosensitive pick-up lens
Numerical value position numerical difference corresponding with test pattern is transferred to control assembly, and then control assembly drives mechanical arm towards standard
The corresponding position of figure is mobile.
2. automatic search has demarcated acupuncture point device according to claim 1, it is characterised in that photosensitive pick-up lens be CCD or
The photosensitive pick-up lens of CMOS.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610386649.0A CN105877999B (en) | 2016-06-04 | 2016-06-04 | A kind of search automatically has demarcated acupuncture point device |
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| CN201610386649.0A CN105877999B (en) | 2016-06-04 | 2016-06-04 | A kind of search automatically has demarcated acupuncture point device |
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| CN105877999A CN105877999A (en) | 2016-08-24 |
| CN105877999B true CN105877999B (en) | 2019-04-05 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106175719A (en) * | 2016-08-29 | 2016-12-07 | 郭福生 | A kind of arteries and veins position marking apparatus |
| CN106619061B (en) * | 2016-11-03 | 2019-04-23 | 刘湘毅 | A kind of accurate foot massage device |
| CN106621070B (en) * | 2017-02-23 | 2018-12-11 | 合肥京东方光电科技有限公司 | A kind of laser acupuncture and moxibustion system and laser acupuncture and moxibustion equipment |
| CN108078765A (en) * | 2017-12-15 | 2018-05-29 | 泗洪县正心医疗技术有限公司 | A kind of method that Shu Points orientation is realized based on mark spot projection |
| CN108143489A (en) * | 2017-12-15 | 2018-06-12 | 泗洪县正心医疗技术有限公司 | A kind of mold for based on body surface vein pattern puncture navigation and preparation method thereof |
| IT201900009498A1 (en) * | 2019-06-19 | 2020-12-19 | Giacomo Copelli | AN EQUIPMENT FOR THE TREATMENT OF PATHOLOGIES |
| CN112116597B (en) * | 2020-07-30 | 2024-08-06 | 北京明医堂互联网医疗科技有限公司 | Back and abdomen acupoint area positioning health management system based on round needle therapy image data mining |
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| CN102805707A (en) * | 2012-08-06 | 2012-12-05 | 吴清忠 | Automatic positioning system and method for human acupoint image |
| CN105534694A (en) * | 2015-12-04 | 2016-05-04 | 上海华郡科技有限公司 | Human body characteristic visualization device and method |
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Effective date of registration: 20190319 Address after: 100094 625, room 6, new materials and business building, 7 Feng Hui Road, Haidian District, Beijing. Applicant after: Beijing Chuang Chuang Huajian Technology Co., Ltd. Address before: 100086 room 9, block A, 1 building, 2 South Street, Haidian District, Beijing, 1016 block, block 1016, block 3, No. Applicant before: (Beijing) Technology Co., Ltd. |
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