CN107016915A - A kind of Novel wrist as putting instrument again - Google Patents
A kind of Novel wrist as putting instrument again Download PDFInfo
- Publication number
- CN107016915A CN107016915A CN201710222323.9A CN201710222323A CN107016915A CN 107016915 A CN107016915 A CN 107016915A CN 201710222323 A CN201710222323 A CN 201710222323A CN 107016915 A CN107016915 A CN 107016915A
- Authority
- CN
- China
- Prior art keywords
- simulation
- artificial
- pulse
- arteries
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 26
- 238000004088 simulation Methods 0.000 claims abstract description 57
- 210000001367 artery Anatomy 0.000 claims abstract description 42
- 210000003462 vein Anatomy 0.000 claims abstract description 42
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 39
- 230000000747 cardiac effect Effects 0.000 claims abstract description 26
- 238000005086 pumping Methods 0.000 claims abstract description 26
- 230000017531 blood circulation Effects 0.000 claims abstract description 18
- 230000004048 modification Effects 0.000 claims abstract description 18
- 238000012986 modification Methods 0.000 claims abstract description 18
- 239000008280 blood Substances 0.000 claims description 28
- 210000004369 blood Anatomy 0.000 claims description 28
- 230000002792 vascular Effects 0.000 claims description 28
- 238000012545 processing Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 18
- 239000002473 artificial blood Substances 0.000 claims description 17
- 210000004204 blood vessel Anatomy 0.000 claims description 16
- 230000003044 adaptive effect Effects 0.000 claims description 15
- 230000002572 peristaltic effect Effects 0.000 claims description 14
- 229920000297 Rayon Polymers 0.000 claims description 9
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 9
- 230000003750 conditioning effect Effects 0.000 claims description 9
- 229910052710 silicon Inorganic materials 0.000 claims description 9
- 239000010703 silicon Substances 0.000 claims description 9
- 210000002615 epidermis Anatomy 0.000 claims description 8
- 239000007788 liquid Substances 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 9
- 238000005259 measurement Methods 0.000 abstract description 6
- 230000004927 fusion Effects 0.000 abstract description 4
- 230000008713 feedback mechanism Effects 0.000 abstract description 3
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 239000012530 fluid Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 13
- 238000001514 detection method Methods 0.000 description 10
- 238000004422 calculation algorithm Methods 0.000 description 9
- 239000003814 drug Substances 0.000 description 8
- 230000004044 response Effects 0.000 description 8
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 7
- 229910052802 copper Inorganic materials 0.000 description 7
- 239000010949 copper Substances 0.000 description 7
- 238000003745 diagnosis Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 238000001914 filtration Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000009467 reduction Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 239000012634 fragment Substances 0.000 description 4
- 230000035485 pulse pressure Effects 0.000 description 4
- 230000011514 reflex Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000004087 circulation Effects 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000008092 positive effect Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001746 atrial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000002405 diagnostic procedure Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 239000000839 emulsion Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012804 iterative process Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 229940074869 marquis Drugs 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- VBUNOIXRZNJNAD-UHFFFAOYSA-N ponazuril Chemical compound CC1=CC(N2C(N(C)C(=O)NC2=O)=O)=CC=C1OC1=CC=C(S(=O)(=O)C(F)(F)F)C=C1 VBUNOIXRZNJNAD-UHFFFAOYSA-N 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 210000002321 radial artery Anatomy 0.000 description 1
- 229910052761 rare earth metal Inorganic materials 0.000 description 1
- 150000002910 rare earth metals Chemical class 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000002945 steepest descent method Methods 0.000 description 1
- 239000010729 system oil Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Educational Technology (AREA)
- Educational Administration (AREA)
- Business, Economics & Management (AREA)
- Computational Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Algebra (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Mathematical Physics (AREA)
- Pure & Applied Mathematics (AREA)
- Medicinal Chemistry (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
Abstract
The present invention provides a kind of Novel wrist as putting instrument again, including control section, simulation cardiac pumping system, simulation blood circulation system, intelligent arteries and veins position detecting system, output modification system and bionic hand, control section, simulation cardiac pumping system, simulation blood circulation system and bionic hand are sequentially connected, intelligent arteries and veins position detecting system is at the radius of bionic hand, output modification system input is connected with simulation cardiac pumping system, and output end is connected with control section.The beneficial effects of the invention are as follows from bionics, mechanics angle, innovatively devise new pulse condition generator with the multiple place system of the pulse condition that hydraulic system is combined；Using multi-sensor information fusion technology, Intelligent Measurement and judge that taking for traditional Chinese physician and answers finger pressure at arteries and veins position, float, in, the optimal pulse feeling pressures of difference arteries and veins such as sink；Add closed-loop feedback mechanism effectively amendment and put error again, realize that the accurate of pulse profile data is put again.
Description
Technical field
The invention belongs to long-distance TCM pulse diagnostic equipment and pulse wave spectrum instruments used for education field, more particularly, to a kind of Novel wrist
As putting instrument again.
Background technology
Pulse condition can reflect abundant human health information, be the rarity of Chinese tradition traditional Chinese medicine.The traditional Chinese medical science four methods of diagnosis hope,
Hear, ask, hitting and occupy very important position.From ancient times to the present, Sphygmology is constantly developed and improved.Diagnosis by feeling the pulse has
The characteristics of " green is noninvasive " and advantage, have obtained the concern of China and foreign countries personage.But Traditional Chinese Medicine diagnosis by feeling the pulse is must to depend on traditional Chinese physician and trouble
Person obtains pulse condition information Face to face in the same time and place, and this causes more or less inconvenience to patient assessment to a certain extent.This
The characteristics of long-distance TCM pulse diagnostic of invention, can realize doctor and patient at the same time differently, not even while entering in the case of differently
Row diagnosis, with very big realistic meaning.On the other hand, the personal sensation and experience for relying on doctor are compared in diagnosis by feeling the pulse, and inconvenience is carried out
State and exchange, coverd with one layer of mysterious veil to pulse condition, the situation of " easy in the heart, to refer to lower hardly possible bright " exists all the time.Tradition
The tcm teaching of study in to(for) pulse condition can only rely on the shrivelled description of word or language to pulse condition, it is impossible to intuitively feel vividly
By constraining the succession and popularization of pulse study.The present invention provides a kind of effective means for the modernizing teaching of Chinese medicine pulse, can be with
Make beginner's foundation when learning feeling the pulse, greatly facilitate pulse wave spectrum teaching.Pulse condition at cun, guan and chi, three places at the wrist where the pulse is usually taken is diagnosis by feeling the pulse
Important reference, will additionally combine the different feeling the pulse methods such as modrate and heavey pressing and relatively obtain accurate pulse condition from different aspect.
What " Chinese medicine pulse mechanical digital is sampled and teaching machine tool formula recovery instrument " that Guan Bin patent document is related to used
It is the collection that mechanical pressurization and grating measuring method realize three pulse conditions of cun, guan and chi, three places at the wrist where the pulse is usually taken, then produces displacement with the rotation of stepper motor
Principle simulates pulse condition to drive 3 contact blocks (representing cun, guan and chi, three places at the wrist where the pulse is usually taken respectively) to produce displacement.It is related in Shao Guangzhen patent document
Biomimetic wrist is used on the premise of driving simulation blood flows in simulated blood vessel, and relevant position is set below simulated blood vessel
3 lowering or hoisting gears simulate cun, guan and chi, three places at the wrist where the pulse is usually taken pulse condition, and 3 lowering or hoisting gears are used for adjusting the height at three positions of cun, guan and chi, three places at the wrist where the pulse is usually taken, make it with treating also
Three positions of cun, guan and chi, three places at the wrist where the pulse is usually taken of former human body are highly consistent.The pulse condition generator of Shenyang University of Technology's design utilizes magnetoelectric sensor
Reverse characteristic pulse condition electric signal is converted into pulse condition vibration force to simulate pulse condition, i.e. magnetoelectric sensor, pulse condition shake a little with
Magnetoelectric sensor, which is connected, reappears pulse condition.The simulator system for teaching Chinese medicine of the designs such as the University Of Tianjin Wang Xue people is directed to
Pulse condition put again be controlled using Machinery Control System oil circuit simulate people veneous signal.
The present invention constructs simulation cardiac pumping system using modality vibration exciter and bellows, and with artificial blood vessel loop phase
With reference to simulation blood circulation system, realize that pulse condition is put again at the radial artery of Simulated hand, construct pulse condition generator.With than step
The faster response speed of stepper motor, reflects the change of pulse condition much sooner；The finger sense of artificial blood vessel is experienced excellent closer to true man
In the vibration of direct mechanical block.On the other hand, intelligent arteries and veins of the invention position detection function can automatically be transferred by adopting the pressure of arteries and veins
Pulse profile data under modrate and heavey pressing different pressures is put again.Finally, zero offset capability of the invention can be continuous by feedback
Ground round-off error, improves the reduction degree of pulse condition.
The content of the invention
To solve the above problems, in view of the shortcomings of the prior art, the present invention provides a kind of Novel wrist as putting instrument, including mould again
Pseudocardia pump blood system, bionic hand and matched hardware circuit；Using multi-sensor information fusion technology, Intelligent Measurement
Put with the pulse pressure of adopting for judging traditional Chinese physician so as to extracting corresponding pulse profile data fragment reflex；Output debugging functions are added effectively to repair
Eutopic reduction puts error, realizes that the accurate of pulse profile data is put again.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of Novel wrist as putting instrument, including control again
Partly, simulation cardiac pumping system, simulation blood circulation system, intelligent arteries and veins position detecting system, output modification system and bionic hand,
Control section, simulation cardiac pumping system, simulation blood circulation system and bionic hand are sequentially connected, and intelligent arteries and veins position detecting system is set
At the radius of bionic hand, output modification system input is connected with simulation cardiac pumping system, the output of output modification system
End is connected with control section.
Wherein, control section includes central processing unit, power module, communication module, signal conditioning circuit, pulse condition generator
Drive circuit, power module connects with central processing unit, communication module, signal conditioning circuit and pulse condition generator drive circuit respectively
Connect, communication module one end is connected with central processing unit, and signal conditioning circuit is connected with central processing unit, the communication module other end leads to
Cross communication interface to be connected with host computer, pulse condition generator drive circuit is connected with central processing unit.
Wherein, simulation cardiac pumping system includes shell and modality vibration exciter, Shock-proof bolt, drive block in shell
And bellows, modality vibration exciter upper surface is provided with support bar, and support bar is connected by Shock-proof bolt with tightening platform, under bellows
End is connected by the output end mover of driving wire block and modality vibration exciter, and bellows upper end is fixedly mounted on tightening platform, and
Provided with the simulation blood outlet for stretching out shell.
Wherein, simulation blood circulation system includes liquid reserve tank, peristaltic pump, magnetic valve, separator and artificial blood vessel, separator
It is connected, is placed in inside bionic hand with simulation cardiac pumping system, peristaltic pump respectively, magnetic valve is located at bionic hand two ends, artificial
Blood vessel is sequentially connected with liquid reserve tank, peristaltic pump and magnetic valve.
Wherein, bionic hand includes artificial epidermis, artificial skeleton, artificial vascular and flexible silicon blob of viscose, and separator is located at artificial
Skeletal internal, artificial epidermis is wrapped in artificial skeleton outer surface, and artificial vascular is located at artificial skeletal internal, and flexible silicon blob of viscose is located at
Between artificial vascular and intelligent arteries and veins position detection part.
Further, intelligent arteries and veins position detecting system includes multiple pressure sensors.
Further, output modification system is sef-adapting filter.
The present invention has the advantages and positive effects of：Due to using above-mentioned technical proposal, melted using multi-sensor information
Conjunction technology, Intelligent Measurement and judges that traditional Chinese physician's adopts pulse pressure so as to extract corresponding pulse profile data fragment reflex and put；The present invention
From bionics, mechanics angle, innovatively devise new pulse condition generator and answered with the pulse condition that hydraulic system is combined
Place system, higher to the reduction degree of pulse profile data compared to existing method, usage experience is experienced closer to real feeling the pulse；
Using multi-sensor information fusion technology, Intelligent Measurement and judge that taking for traditional Chinese physician and answers finger pressure at arteries and veins position, floated, in,
The optimal pulse feeling pressure of the different arteries and veins positions such as heavy；Add closed-loop feedback mechanism effectively amendment and put error again, realize the standard of pulse profile data
Really put again；The safety and reliability of system has been taken into full account in addition, and adding the module such as internal pressure detection and position detection prevents meaning
It is outer to occur.
Brief description of the drawings
Fig. 1 is the Adaptive Inverse Controlling figure of the present invention；
Fig. 2 is the elastic silica gel block structure schematic diagram of the present invention；
Fig. 3 is the pulse condition generator structural representation of the present invention；
The pulse condition that Fig. 4 is the present invention puts instrument schematic diagram again；
Fig. 5 is the separator schematic diagram of the present invention；
Fig. 6 is the bionic hand structure chart of the present invention；
Fig. 7 is the simulation blood circulation system of the present invention.
In figure：
1st, preferable input 2, sef-adapting filter 3, pulse condition generator
4th, adaptive algorithm 5, copper pipe fixing groove 6, station control block
7th, round boss 8, vascular groove 9, modality vibration exciter
10th, support bar 11, damping nut 12, bellows
13rd, simulation blood outlet 14, tightening platform 15, power module
16th, control section 17, simulation cardiac pumping system 18, bionic hand
19th, output modification system 20, simulation blood entry port 21, the outlet of separator simulation blood
22nd, influidic pipe 23, artificial vascular 24, artificial epidermis
25th, elastic silica gel fast 26, intelligent arteries and veins position detecting system 27, artificial blood vessel
28th, artificial skeleton 29, separator 30, liquid reserve tank
31st, peristaltic pump 32, magnetic valve 33, pulse condition generator
34th, bionic hand
Embodiment
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings.
The present invention relates to a kind of Novel wrist as putting instrument again, a kind of effective means is provided for the modernizing teaching of Chinese medicine pulse,
Beginner's foundation when learning feeling the pulse can be made, while doctor and patient can be realized at the same time differently, not even not simultaneously
Diagnosed in the case of differently, mainly reappear the important references that the pulse condition at the pulse condition at cun, guan and chi, three places at the wrist where the pulse is usually taken, cun, guan and chi, three places at the wrist where the pulse is usually taken is diagnosis by feeling the pulse
Foundation, accurate pulse condition is obtained with reference to the different feeling the pulse methods such as modrate and heavey pressing.
As shown in figure 4, Fig. 4 is the schematic diagram of the present invention, the present invention relates to a kind of Novel wrist as putting instrument, including control unit again
Divide 16, simulation cardiac pumping system 17, simulation blood circulation system, intelligent arteries and veins position detecting system 26, the and of output modification system 19
Bionic hand 18, wherein, control section 16, simulation cardiac pumping system 17, simulation blood circulation system and bionic hand 18 connect successively
Connect, intelligent arteries and veins position detecting system 26 is at the radius inside bionic hand 18, the input of output modification system 19 and simulation heart
Pump blood system 17 is connected, and the output end of output modification system 19 is connected with control section 16.
Wherein, the operation of the information of the control of control section 16 whole device, control simulation cardiac pumping system 17, simulation blood
Pendular ring streaming system, intelligent arteries and veins position detection part 26, the motion of output modification system 19 and bionic hand 18.Control section 16, simulation
Cardiac pumping system 17, simulation blood circulation system, output modification system 19 and bionic hand 18 are fixed on same plank, are constituted
One entirety.Control section 16, which includes central processing unit, power module 15, communication module, signal conditioning circuit, pulse condition, to be occurred
Device drive circuit, power module 15 drives electricity with central processing unit, communication module, signal conditioning circuit and pulse condition generator respectively
Road is connected, and is that central processing unit, communication module, signal conditioning circuit, pulse condition generator circuit are powered；Communication module one end is with
Central processor is connected, and the communication module other end is connected by communication interface with host computer, completed with this communication module with it is upper
Machine is communicated, and communication interface is on casing, and the pulse signal that host computer is transmitted passes to central processing unit by communication module, center
After processor handles pulse signal, pulse condition generator is driven to put pulse condition again by pulse condition generator drive circuit；Signal is adjusted
Reason circuit is connected with central processing unit, and signal conditioning circuit is used to be become the analog signal fed back at bionic hand 18
Change, analog signal is transformed to data signal, facilitate host computer to carry out data acquisition, perform calculating and process control etc.；Pulse condition
Generator drive circuit is connected with central processing unit, and pulse condition is driven for the pulse signal sent according to central processing unit
Device.
Wherein, simulation cardiac pumping system 17 i.e. pulse condition generator, is to provide dynamic to pulse wave at the radius of bionic hand 18
The device of power.As shown in figure 3, simulation cardiac pumping system 17 includes shell and modality vibration exciter 9, damping spiral shell in shell
Bolt, drive block and bellows 12, modality vibration exciter 9 are the power set of pulse condition generator, and the upper surface of modality vibration exciter 9 is provided with branch
Strut 10, the quantity of support bar 10 is 4, and the quantity of clamp nut 11 is 4, and support bar 10 passes through clamp nut 11 and fastening
Platform 14 is fixedly connected, and modality vibration exciter 9 is connected by support bar 10 and clamp nut 11 with tightening platform 14, is constituted
Small vibrating platform；Bellows 12 is metal bellows, and the lower end of bellows 12 is connected by the output end of drive block and modality vibration exciter 9
Connect, can closely be connected using seal so that the simulation blood inside bellows 12 will not be spilt, the upper end of bellows 12
Process and be fixedly mounted on by Shock-proof bolt on tightening platform 14 by sealing, such bellows 12 can only do longitudinal straight line
Compression or extensional motion, while the upper end of bellows 12 is simulated at blood outlet 13 provided with the simulation blood outlet 13 for stretching out shell
It is connected with rubber catheter with the simulation blood entry port 20 of the separator 29 at bionic hand 18 so that simulation cardiac pumping system 17
Blood fluid path is connected between bionic hand 18, blood can simulation cardiac pumping system 17, simulation blood circulation system and
Circulated between bionic hand 18.The modality vibration exciter 9 is the core of system as pulse condition generator, with displacement it is big, exert oneself
Abundance, small volume, lightweight, wide frequency range, the characteristics of rational in infrastructure, reliability is high.Compared to traditional motor generator
It is sensitive in time with response, the higher advantage of reduction degree that pulse condition is put again.The pulse condition generator converts electrical energy into mechanical energy, base
This operation principle is that current－carrying conductor will be by electromagnetic force in magnetic field.Rare-earth Nd-Fe-B permanent magnetic material offer is provided inside generator
Stabilizing magnetic field, so the sense of current and size of input change to cause produces direction and size as the vibrations head of mover
Different displacements.The linear motion of pulse condition generator vibrations head passes to bellows 12 by drive block, and bellows 12 is herein
Play the function similar with atrial ventricle, produce corresponding compression and stretch, internal volume changes, the simulation blood in pipe is extruded and
Suction, promotes artificial blood in closing fluid path to move, and the artificial vascular 23 of being hit by a bullet property of closing fluid path is produced corresponding expansion and is received
Contracting, so as to form pulse wave.It is using Shock-proof bolt that small vibrating platform, drive block, metal bellows 12 etc. is fixed together, subtract
Low noise and reduction vibration influence, macroscopically improve whole system stability and reliability.In addition, being provided with closing fluid path
Pipeline internal pressure detection sensor, detects pressure change in real time；Meanwhile, position detecting module is installed, in real time on pulse condition generator
The motion of bellows is detected, security of system is improved, prevents booster under abnormal conditions.
As shown in fig. 7, simulation blood circulation system is used for simulating circulation loop of the blood through bionic hand 18, including liquid reserve tank
30th, peristaltic pump 31, magnetic valve 32, separator 29 and artificial blood vessel 27, separator 29 respectively with simulation cardiac pumping system 17,
Bionic hand 18 and peristaltic pump 31 are connected, magnetic valve 32 be located at the two ends of bionic hand 18, be connected with central processing unit, artificial blood vessel 27 and
Liquid reserve tank 30, peristaltic pump 31 and magnetic valve 32 are sequentially connected.Liquid reserve tank 30 is used for placing artificial blood, is responsible for providing and receives
The artificial blood that circulation is returned；Peristaltic pump 31 is the power set of blood flow, for promoting the flowing of blood；Magnetic valve 32
Conducting and the closure of artificial blood vessel are controlled, positioned at the two ends of bionic hand 18, is put again so as to form one section of closing fluid path to carry out pulse condition；
Separator 29 is the device of the fluid path of the whole simulation blood circulation system of increase, as shown in figure 5, being divided into three tunnels, simulation is connect all the way
Cardiac pumping system 17, the simulation blood entry port 20 of separator 29 and the simulation blood outlet 13 in simulation cardiac pumping system 17
Connected by rubber catheter so that blood can flow into separator 29, and be flowed out from the simulation blood outlet 21 of separator 29；One
Road connects bionic hand 18, is connected with the artificial vascular 23 in bionic hand 18 so that blood can flow through bionic hand 18；Finally all the way with
Peristaltic pump 31 is connected, and peristaltic pump 31 can promote the flowing that this simulates blood in blood circulation system.Enter using separator 29
The branch of promoting circulation of blood pendular ring stream, it is possible to increase the security of system, prevents the booster under abnormal conditions.In addition, separator 29 also has
There are vascular canal plus decompression, for increasing or reducing the pressure inside artificial blood vessel, electricity is controlled by central processing unit
The opening and closing of magnet valve 32 and the operative orientation of peristaltic pump 31 change the fullness degree of vascular canal, so as to simulate different at modrate and heavey pressing
Arteries and veins position.Vascular canal internal pressure detection sensor is installed in closing fluid path, for detecting artificial blood vessel internal pressure size, inspection in real time
Measuring pressure change prevents booster.Because in system work process, fluid pressure fluctuation is smaller in artificial blood vessel pipeline, pressure letter
It is number more faint, it is preferred, therefore, that pressure sensor selects sensitivity height, strong antijamming capability, the pressure sensing of good airproof performance
Device.
As shown in fig. 6, bionic hand 18 includes artificial epidermis 24, artificial skeleton 28, artificial vascular 23 and flexible silicon blob of viscose
25, separator 29 is inside artificial skeleton 28, and artificial epidermis 24 is wrapped in the artificial outer surface of skeleton 28, and artificial vascular 23 is located at
Inside artificial skeleton 28, flexible silicon blob of viscose 25 is between artificial vascular 23 and intelligent arteries and veins position detecting system 26.Artificial epidermis 24,
Artificial skeleton 28 makes according to the profile standard of adult male hand, and form, texture are true to nature, makes feeling the pulse impression is same to cut true man as far as possible
Pulse-phase is same.Intelligent arteries and veins position detecting system 26 is arranged at the radius of bionic hand 18, and three arteries and veins positions of cun,guan,chi can be detected in real time
Answer finger pressure, realize Chinese medicine pulse " cun,guan,chi, it is floating, in, it is heavy " detections of three nine marquis's diagnostic methods.Artificial vascular 23 is according to people
The profile and suppleness processing and fabricating, compactness of body Artery Vein larger silicone tube or emulsion tube, effectively can be prevented in pipe
Fluid seepage.It is preferred that, intelligent arteries and veins position detecting system 26 includes multiple pressure sensors.Flexible silicon blob of viscose 25 is placed on artificial arteries and veins
Between the pressure sensor of pipe 23 and intelligent arteries and veins position detecting system 26, the security of artificial vascular 23 and pressure sensor is improved
And service life.Intelligent arteries and veins position detecting system 26 is used to detect adopts pulse pressure at bionic hand cun, guan and chi, three places at the wrist where the pulse is usually taken.When Traditional Chinese Medicine is felt the pulse,
Answer finger pressure smaller, the pressure sensor that cun, guan and chi, three places at the wrist where the pulse is usually taken pressure detecting module is used has higher sensitivity and antijamming capability,
The pulse condition puts the pressure size that instrument measures according to pressure sensor and carries out modrate and heavey pressing selection again transfers different pulse profile data pieces
Duan Jinhang is put again.
In addition, as shown in Fig. 2 Fig. 2 be flexible silicon blob of viscose 25 structural representation, including copper pipe fixing groove 5, vascular groove 8,
Station control block 6 and round boss 7, copper pipe fixing groove 5 are used for the copper pipe for fixing separator 29, and vascular groove 8 fixes artificial vascular
23, prevent artificial vascular 23 from sliding；Round boss 7 passes to finger on corresponding sensor to the pressure of artificial blood vessel, it is to avoid
Interference to other arteries and veins position；Flexible silicon blob of viscose 25 is flexible, and artificial vascular 23 can be protected not to be worn；Station control block 6
The position of fixed intelligence arteries and veins position detecting system 26.That is, copper pipe fixing groove 5 and vascular groove 8 are arranged in artificial skeleton 28,
Copper pipe and artificial vascular 23 for separator 29 provide the position laid in artificial skeleton 28, and station control block 6 ensure that
The position of intelligent arteries and veins position detecting system 26 so that the copper pipe of separator 29 and artificial vascular 23 will not be moved in artificial skeleton 28
Dynamic, position is fixed, and the arteries and veins position detected is more accurate.Separator 29 ensures the reliable and stable fortune of multiple place system closed blood fluid path
OK, the leakage of closed blood fluid path, air inlet are prevented.When the one end for closing artificial vascular 23 in fluid path is blocked by magnetic valve 32, point
Oily device 29 can be such that simulation blood is flowed from other end fluid path, it is to avoid be blocked rear pressure in one-way flow fluid path and go beyond the scope
Cause the danger of the artificial booster of vascular 23.
Output modification system 19 is sef-adapting filter.Output modification system 19 uses Adaptive Inverse Control Technology, such as Fig. 1
It is shown, it is Adaptive Inverse Controlling figure, the basic thought of Adaptive inverse control is to be gone to drive with a signal from controller
Dynamic controlled system, when the transmission function of controller converges to the inverse time of controlled system transmission function, controller and controlled system level
Transmission function after connection is changed into 1, and the response signal of such system output can approach preferable output signal.Mainly by following two
Basic process is realized：
(1) filtering.It is used as the sef-adapting filter of adaptive model, more satisfactory Signals ＆ Systems output response letter
Error between the two is drawn after number, while being filtered acquisition driving control signal to ideal signal.
Sef-adapting filter model uses transversal filter, has input signal x (n) and ideal signal d (n) two-way to input
Signal.Filter filtering coefficient is the weight coefficient { w1 (n), w2 (n) ..., wM (n) } to delay line tap signal.In filtering
During, together participation is handled ideal response d (n) and tap input vector x (n).In the case, for given input,
Transversal filter will produce an output y (n) as the estimation of ideal response.This output signal y (n) is equal to input signal x
(n) and shock response sequence W (n) convolution and, as shown in (1) formula：
Evaluated error e (n) is defined as to the difference of ideal response and practical filter output, then e (n) and x (n) is added
It is closed loop to Self Adaptive Control part, therefore around the feedback loop of tap weight value, weight coefficient W (n) is by certain adaptive
Answer under algorithm with e (n) progress real-time updates.
(2) adaptive process.The evaluated error obtained using filtering drives adaptive algorithm, by iteration to filtering
Weights are adjusted, and make wave filter be in optimum Working to realize filtering.
The adaptive algorithm is the steepest descent method after optimization, is had under the algorithm：
E (n)=d (n)-WT(n)x(n)； (2)
Wherein gradient amount
Following formula can be drawn by upper three formula：
W (n+1)=W (n)+μ K [e (n)]2K-1x(n)； (5)
The input data x (n) of wave filter is blocked as 1 or -1 in order to reduce amount of calculation, while with the High Order Moment of error term
As new error term, K values can be taken as 2 in actual use by the algorithm, then formula is changed into：
W (the n+1)=μ of W (n)+2 [e (n)]3·sgn[x(n)]； (6)
The highest number of times of error term is 3, and then reaches the effect of limitation iterative process amount of calculation.
The calculating process of adaptive algorithm is as follows：
(1) by moment n wave filter weight vector W (n), input signal x (n) and desired signal d (n) are calculated by formula (2)
Error signal；
(2) updated value of wave filter weight vector is calculated using the recursive algorithm of formula (5)；
(3) time index n is increased by 1, returns to step (1), repeat above-mentioned calculation procedure untill reaching stable state.
Adaptive inverse control is a kind of inverse control method, controller is approached the inverse mapping of object.The purpose of the system is
Both the output of object can be caused to follow instruction input, a delayed or smoothed instruction input can also be tracked, and
The control of dynamic characteristic control and the elimination disturbance of object separates respective complete independently, so as to improve the dynamic of system
Performance, and successfully inhibit disturbance.
The course of work of this example：Patient information and pulse profile data are transmitted through the network to the multiple place system of pulse condition, are stored in
In " case history archive ".When putting pulse condition again, arteries and veins position that central processing unit detects intelligent arteries and veins position detecting system 26 in bionic hand 18,
Take arteries and veins answer finger pressure, on manifold pressure and pulse condition generator the information transfer such as movement position of bellows 12 to host computer pulse condition
Multiple place system.Place system comprehensive analysis is answered, corresponding arteries and veins position is judged, takes arteries and veins to answer finger pressure, and by corresponding pulse profile data fragment, is sent out
Slave computer is delivered to, pulse condition is put in the new pulse condition generator work reflex of central processing unit drive control.During pulse condition is put again,
The signal of output end feeds back to pulse signal input through closed loop feedback system, is constantly carried out by adaptive inverse control algorithm
Amendment.Slave computer pulse condition is put after end again, and central processing unit will be put end feedback again and be sent to multiple place system, and multiple place system is again
Detect arteries and veins position, take arteries and veins to answer finger pressure, stepper motor run location and manifold pressure, send pulse profile data, drive control pulse condition
Generator works, reciprocal with this, until system is closed.
The present invention has the advantages and positive effects of：Due to using above-mentioned technical proposal, melted using multi-sensor information
Conjunction technology, Intelligent Measurement and judges that traditional Chinese physician's adopts pulse pressure so as to extract corresponding pulse profile data fragment reflex and put；The present invention
From bionics, mechanics angle, innovatively devise new pulse condition generator and answered with the pulse condition that hydraulic system is combined
Place system, higher to the reduction degree of pulse profile data compared to existing method, usage experience is experienced closer to real feeling the pulse；
Using multi-sensor information fusion technology, Intelligent Measurement and judge that taking for traditional Chinese physician and answers finger pressure at arteries and veins position, floated, in,
The optimal pulse feeling pressure of the different arteries and veins positions such as heavy；Add closed-loop feedback mechanism effectively amendment and put error again, realize the standard of pulse profile data
Really put again；The safety and reliability of system has been taken into full account in addition, and adding the module such as internal pressure detection and position detection prevents meaning
It is outer to occur.
One embodiment of the present of invention is described in detail above, but the content is only of the present utility model preferable
Embodiment, it is impossible to be considered as the practical range for limiting the present invention.All equivalent changes made according to the present patent application scope with
Improve etc., within the patent covering scope that all should still belong to the present invention.
Claims (7)
1. a kind of Novel wrist as putting instrument again, it is characterised in that：Including control section, simulation cardiac pumping system, simulation blood ring
Streaming system, intelligent arteries and veins position detecting system, output modification system and bionic hand, the control section, the simulation cardiac pumping system
System, the simulation blood circulation system are sequentially connected with the bionic hand, and the intelligent arteries and veins position detecting system is located at described bionical
At the radius of hand, the output modification system input is connected with the simulation cardiac pumping system, the output modification system
Output end be connected with the control section.
2. Novel wrist according to claim 1 as putting instrument again, it is characterised in that：The control section includes center and handled
Device, power module, communication module, signal conditioning circuit, pulse condition generator drive circuit, the power module respectively with it is described in
Central processor, the communication module, the signal conditioning circuit and pulse condition generator drive circuit connection, the signal are adjusted
Reason circuit is connected with the central processing unit, and described communication module one end is connected with the central processing unit, and the other end passes through logical
Communication interface is connected with host computer, and the pulse condition generator drive circuit is connected with the central processing unit.
3. Novel wrist according to claim 1 or 2 as putting instrument again, it is characterised in that：Described simulation cardiac pumping system
Modality vibration exciter, tightening platform, drive block and bellows including shell and in shell, the modality vibration exciter upper surface
Provided with support bar, the support bar is connected by clamp nut with the tightening platform, and the bellows lower end is passed by described
Motion block is connected with the output end mover of the modality vibration exciter, and the bellows upper end is fixedly mounted on the tightening platform,
The bellows upper end is provided with the simulation blood outlet for stretching out the shell.
4. Novel wrist according to claim 1 or 2 as putting instrument again, it is characterised in that：Described simulation blood circulation system
Including liquid reserve tank, peristaltic pump, magnetic valve, separator and artificial blood vessel, the separator simulates cardiac pumping system with described respectively
System, peristaltic pump connection, are placed in inside the bionic hand, and the magnetic valve is located at the bionic hand two ends, described artificial
Blood vessel is sequentially connected with the liquid reserve tank, the peristaltic pump and the magnetic valve.
5. Novel wrist according to claim 4 as putting instrument again, it is characterised in that：The bionic hand includes artificial epidermis, people
Skeleton, artificial vascular and flexible silicon blob of viscose are made, the separator is located at the artificial skeletal internal, and the artificial epidermis is wrapped in
The artificial skeleton outer surface, the artificial vascular is located at the artificial skeletal internal, and the flexible silicon blob of viscose is located at the people
Make between vascular and the intelligent arteries and veins position detecting system.
6. Novel wrist according to claim 1 or 2 as putting instrument again, it is characterised in that：Described intelligent arteries and veins position detecting system
Including multiple pressure sensors.
7. Novel wrist according to claim 1 or 2 as putting instrument again, it is characterised in that：Described output modification system is certainly
Adaptive filter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710222323.9A CN107016915A (en) | 2017-04-07 | 2017-04-07 | A kind of Novel wrist as putting instrument again |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710222323.9A CN107016915A (en) | 2017-04-07 | 2017-04-07 | A kind of Novel wrist as putting instrument again |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107016915A true CN107016915A (en) | 2017-08-04 |
Family
ID=59445448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710222323.9A Pending CN107016915A (en) | 2017-04-07 | 2017-04-07 | A kind of Novel wrist as putting instrument again |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107016915A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108283501A (en) * | 2018-01-31 | 2018-07-17 | 天津大学 | A kind of heart signal simulator |
| CN108451541A (en) * | 2018-01-31 | 2018-08-28 | 天津大学 | A kind of Dynamic CT test body mould |
| CN113990166A (en) * | 2021-11-13 | 2022-01-28 | 沈阳天仁合一科技有限公司 | Open bionic blood circulation system |
| CN113990165A (en) * | 2021-11-13 | 2022-01-28 | 沈阳天仁合一科技有限公司 | Analog heart pump device for automatic pulse finder |
| CN114005346A (en) * | 2021-11-13 | 2022-02-01 | 沈阳天仁合一科技有限公司 | Pulse diagnosis instrument with automatic pulse searching function |
| CN114005345A (en) * | 2021-11-13 | 2022-02-01 | 沈阳天仁合一科技有限公司 | Medical end of pulse diagnosis instrument |
| CN116058794A (en) * | 2022-12-30 | 2023-05-05 | 厦门大学 | Pulse reproduction device based on feedback adjustment and reproduction method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103426351A (en) * | 2013-07-11 | 2013-12-04 | 牛欣 | Heart artery induction pulse taking training device and method allowing remote reproduction |
| CN103876713A (en) * | 2014-04-21 | 2014-06-25 | 北京航空航天大学 | Remote pulse diagnosis instrument |
| CN103943018A (en) * | 2014-04-03 | 2014-07-23 | 天津大学 | Radial artery pulse beat simulating device and control method |
| CN104157199A (en) * | 2013-05-13 | 2014-11-19 | 上海中医药大学 | Using method of pulse signal analogue simulation generator |
-
2017
- 2017-04-07 CN CN201710222323.9A patent/CN107016915A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104157199A (en) * | 2013-05-13 | 2014-11-19 | 上海中医药大学 | Using method of pulse signal analogue simulation generator |
| CN103426351A (en) * | 2013-07-11 | 2013-12-04 | 牛欣 | Heart artery induction pulse taking training device and method allowing remote reproduction |
| CN103943018A (en) * | 2014-04-03 | 2014-07-23 | 天津大学 | Radial artery pulse beat simulating device and control method |
| CN103876713A (en) * | 2014-04-21 | 2014-06-25 | 北京航空航天大学 | Remote pulse diagnosis instrument |
Non-Patent Citations (1)
| Title |
|---|
| 王学民;宋鹏;周鹏;陆小左;王;曹宏梅;: "基于多传感器技术的中医脉象复放系统" * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108283501A (en) * | 2018-01-31 | 2018-07-17 | 天津大学 | A kind of heart signal simulator |
| CN108451541A (en) * | 2018-01-31 | 2018-08-28 | 天津大学 | A kind of Dynamic CT test body mould |
| CN113990166A (en) * | 2021-11-13 | 2022-01-28 | 沈阳天仁合一科技有限公司 | Open bionic blood circulation system |
| CN113990165A (en) * | 2021-11-13 | 2022-01-28 | 沈阳天仁合一科技有限公司 | Analog heart pump device for automatic pulse finder |
| CN114005346A (en) * | 2021-11-13 | 2022-02-01 | 沈阳天仁合一科技有限公司 | Pulse diagnosis instrument with automatic pulse searching function |
| CN114005345A (en) * | 2021-11-13 | 2022-02-01 | 沈阳天仁合一科技有限公司 | Medical end of pulse diagnosis instrument |
| CN113990165B (en) * | 2021-11-13 | 2024-01-23 | 沈阳天仁合一科技有限公司 | Heart pump simulating device for automatic pulse finder |
| CN114005345B (en) * | 2021-11-13 | 2024-03-26 | 沈阳天仁合一科技有限公司 | Medical care end of pulse diagnosis instrument |
| CN113990166B (en) * | 2021-11-13 | 2024-04-19 | 沈阳天仁合一科技有限公司 | Open bionic blood circulation system |
| CN116058794A (en) * | 2022-12-30 | 2023-05-05 | 厦门大学 | Pulse reproduction device based on feedback adjustment and reproduction method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107016915A (en) | A kind of Novel wrist as putting instrument again | |
| CN106991886A (en) | It is a kind of that there is the pulse simulator for reviewing one's lessons by oneself positive system | |
| CN207676517U (en) | A kind of Chinese medicine pulse instructional device | |
| WO2021243918A1 (en) | Upper-limb function evaluation apparatus and method, and upper-limb rehabilitation training system and method | |
| CN108854034B (en) | Cerebral apoplexy rehabilitation training system based on virtual reality and inertial motion capture | |
| CN103876713B (en) | Remote pulse diagnosis instrument | |
| CN103431842B (en) | Full automatic feedback type regional pulse condition reducing device | |
| CN101618239B (en) | Human body simulation circulating system | |
| CN102389296B (en) | Pulse reoccurrence device and reoccurring method thereof | |
| CN104248424B (en) | Emulate touch pulse condition sensing device and pulse-tracing collection method | |
| CN2884382Y (en) | Pulse condition simulator | |
| CN110742775A (en) | Upper limb active and passive rehabilitation training robot system based on force feedback technology | |
| CN104856706B (en) | Knee joint mechanical characteristics test equipment | |
| CN103943018A (en) | Radial artery pulse beat simulating device and control method | |
| CN105030194A (en) | System and method for detecting content in intestinal tract based on flexible pressure transducers and infrared detection | |
| CN109512640A (en) | Knee-joint rehabilitation training robot | |
| CN109223441A (en) | A kind of human upper limb rehabilitation training and movement auxiliary system based on Kinect sensor | |
| CN114795137A (en) | Patient pulse condition diagnosis system based on neural network | |
| CN205981729U (en) | A simulation cavity room for external simulation blood circulation | |
| CN116807420A (en) | Evaluation system and method for arteriovenous internal fistula blood vessel | |
| CN107693322B (en) | A kind of intermittent air pressure treatment system with blood backflow detection function | |
| CN101176661A (en) | Method and device for measuring blood pressure of human body lower limbs anterior tibial artery and leg rear arterial | |
| CN107174501A (en) | Intelligent edema limb rehabilitating device based on soft composite material | |
| CN203388835U (en) | Full-automation feedback type regional pulse condition reducing device | |
| CN209529102U (en) | A kind of long-range pulse diagnosing device, the remote Chinese medical diagnostic system of acquisition and simulation pulse condition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170804 |
|
| RJ01 | Rejection of invention patent application after publication |