CN107157454A - A kind of pulse wave spectrum bionical doctor's microgripper and signal acquisition method - Google Patents
A kind of pulse wave spectrum bionical doctor's microgripper and signal acquisition method Download PDFInfo
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- CN107157454A CN107157454A CN201710492549.0A CN201710492549A CN107157454A CN 107157454 A CN107157454 A CN 107157454A CN 201710492549 A CN201710492549 A CN 201710492549A CN 107157454 A CN107157454 A CN 107157454A
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- 239000011664 nicotinic acid Substances 0.000 claims abstract description 74
- 210000000707 wrist Anatomy 0.000 claims abstract description 62
- 238000010276 construction Methods 0.000 claims abstract description 23
- 238000001467 acupuncture Methods 0.000 claims abstract description 17
- 239000003814 drug Substances 0.000 claims abstract description 10
- 210000001367 artery Anatomy 0.000 claims abstract description 7
- 210000003462 vein Anatomy 0.000 claims abstract description 7
- 238000004088 simulation Methods 0.000 claims abstract description 5
- 210000003811 finger Anatomy 0.000 claims description 242
- 210000005224 forefinger Anatomy 0.000 claims description 45
- 229910000831 Steel Inorganic materials 0.000 claims description 31
- 239000010959 steel Substances 0.000 claims description 31
- 239000000203 mixture Substances 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
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- 238000012937 correction Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 210000003128 head Anatomy 0.000 description 21
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 208000010138 Diastema Diseases 0.000 description 2
- 206010068052 Mosaicism Diseases 0.000 description 2
- 210000000475 diastema Anatomy 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 2
- 239000004810 polytetrafluoroethylene Substances 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 210000003765 sex chromosome Anatomy 0.000 description 2
- 239000002033 PVDF binder Substances 0.000 description 1
- 241000486406 Trachea Species 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
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Abstract
The invention discloses a kind of pulse wave spectrum bionical doctor's microgripper and signal acquisition method, it is related to pulse wave spectrum informatization.It includes：Bionic finger（1）, bionic finger positioning and drive mechanism（2）, wrist fixed mechanism（3）, housing supporting construction（4）, fingering signal input part（5）With pulse signal output end（6）；Bionic finger（1）It is packaged in housing supporting construction（4）It is interior, and by being placed in housing supporting construction（4）Internal bionic finger positioning and drive mechanism（2）It is fixed on the positioning, housing supporting construction（4）It is fixed on wrist fixed mechanism（3）Top.Signal acquisition is concretely comprised the following steps：Immobilized patients wrist, positioning cun,guan,chi acupuncture point, simulation doctor of traditional Chinese medicine applies arteries and veins fingering motion.The compliant mechanism of present invention simulation doctor's finger, the pulse condition information at precise acquisition patient's cun,guan,chi acupuncture point.
Description
Technical field
The present invention relates to pulse wave spectrum informatization, especially a kind of pulse wave spectrum bionical doctor's microgripper and letter
Number acquisition method.
Background technology
With continuing to develop for Internet technology, medical field also gradually moves towards interconnected and informationization.Pass through internet
Medium, the distance between doctor and patient further further, and patient need not trudge and seek medical advice and medicine, you can enjoy quite big
Advantage medical resource.In Internet era, for the traditional Chinese medical science, traditional feeling the pulse diagnostic method is because of the limitation of space length
By very big restriction, the further development of the traditional Chinese medical science have impact on.Although the collection currently for clinically patient's pulse condition information is asked
Topic and the quantification problem of pulse wave spectrum have carried out many researchs and exploration, but rely on the skill of simple signal collection and processing
Art fails really to meet the information-based needs of pulse wave spectrum, and pulse condition is presented in its corresponding equipment in the form of images mostly, with biography
System the traditional Chinese medical science feel pulse custom it is far from each other, along with machine replace the traditional Chinese medical science the mode of thinking also allow doctor of traditional Chinese medicine colony to be difficult to connect
By, nowadays, middle modernization be faced with should developing Chinese medicine it is information-based, allow the traditional Chinese medical science to participate again, patient should be facilitated
To facilitate and lifting doctor's interest and this puzzlement of value.Therefore, develop a kind of long-range diagnosis by feeling the pulse technology to be just particularly important.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of pulse wave spectrum with bionical doctor's microgripper
And signal acquisition method, by the regulation to bionic finger spacing, three acupuncture points of cun,guan,chi can be conveniently positioned, trouble is solved
Person acupuncture point individual difference sex chromosome mosaicism；Pass through the motion control to bionic finger and the positioning of cantilever beam displacement transducer, Neng Goushi
The separation of existing displacement acquisition and pulse-tracing collection, it is to avoid interfering between them；By the pre- elastic body of spring in finger,
The compliant mechanism of doctor's finger is simulated, while effectively overcoming finger motion diastema phenomenon occur, so that lifting system responsiveness；It is logical
Cross the wrist fixed mechanism specially designed whole system is fixed in wrist, can not only realize that elasticity is adjustable, effectively disappears
Wrist shake gathers the influence of signal to pulse transducer during except feeling the pulse, and makes the pulse signal of collection more accurate, Er Qieke
Influence of the wrist strap to pulse flow is reduced as far as possible.
The purpose of the present invention is achieved through the following technical solutions：A kind of pulse wave spectrum is with bionical doctor's finger system
System, it includes：Bionic finger, bionic finger positioning and drive mechanism, wrist fixed mechanism, housing supporting construction, fingering signal
Input and pulse signal output end；Bionic finger is made up of bionical forefinger, bionical middle finger and the bionical third finger, and bionic hand is specified
Position is made up of with drive mechanism finger actuation mechanism and bionic finger positioning correcting mechanism, and wrist fixed mechanism is by inflation wrist strap machine
Structure and wrist jointing plate are constituted, and housing supporting construction is made up of lid, cassette bottom and motor fixing plate；Bionical finger is packaged in housing
In supporting construction, and it is fixed on the positioning by being placed in the bionic finger positioning inside housing supporting construction with drive mechanism, shell
Support structure is fixed on the top of wrist fixed mechanism.
Further limit, the described bionical third finger pacifies nameless finger bar using nameless finger set as fixed mechanism
Inside it, so that realize that nameless finger bar can be slided up and down inside nameless finger set, nameless finger set head
The upper nameless finger lid of lid, prevents nameless finger bar from moving out nameless finger set length, nameless finger club head peace
The nameless finger head of dress, the pulse signal to gather acupuncture point at the third finger；The bionical middle finger, bionical forefinger and the imitative third finger
Structure is identical.
Further limit, described nameless finger head is upper even nameless using nameless finger head pedestal as fixed mechanism
Finger bar, using nameless piezoelectric transducer as nameless pulse collection sensor, is pasted onto under nameless finger head pedestal
On surface, and two electrodes are drawn, nameless finger head silica gel sheath is enclosed on nameless finger head pedestal and nameless piezoelectric sensing
On device, the abrasion of nameless piezoelectric transducer is prevented, and completely cuts off human biological electricity；The middle finger finger head, forefinger finger head with
Nameless finger header structure is identical.
Further limit, described bionic finger drive mechanism is by structure identical forefinger drive mechanism, middle finger driving
Mechanism and nameless drive mechanism located side by side are formed.
Further limit, described nameless drive mechanism is that, using nameless motor as driving source, the third finger drives
Fixed nameless steel wire wheel on dynamic motor shaft, and by the one ends wound of nameless steel wire on nameless steel wire wheel, it is another
End turns direction by nameless steel wire guide beam and is followed by nameless finger bar, and nameless spring is placed in nameless finger set
Pre- elastic force is provided, nameless spring-compressed is driven by nameless motor.
Further limit, the described bionic finger positioning correcting mechanism is by bionic finger longitudinal register aligning gear
Constituted with bionic finger located lateral chute two parts, bionic finger longitudinal register aligning gear is used to position and correct bionic hand
Refer to position, bionic finger is fixed on bionic finger located lateral chute, passes through bionical forefinger, bionical middle finger and bionical nothing
Name refers to be slided in bionic finger located lateral chute slotted eye, can adjust between bionical forefinger and bionical nameless and bionical middle finger
Away from so as to be positioned at three acupuncture points of wrist cun,guan,chi.
Further limit, described bionic finger longitudinal register aligning gear is by structure identical forefinger positioning correcting machine
Structure, middle finger positioning correcting mechanism and nameless positioning correcting mechanism composition.
Further limit, described nameless positioning correcting mechanism is pasted using nameless resistance strain gage as sensor
On nameless elastic steel sheet beam, nameless elastic steel sheet beam one end is fixed on wrist jointing plate, and one end is fixed on the third finger and referred to
On head rod, cantilever beam structure is formed, for gathering bionical nameless positional information.
Further limit, described inflation wristband constructions include inflator pump, magnetic valve, inflatable interface, tracheae and inflation wrist
Band；The two ends for inflating wrist strap are fixed on the protruding end of wrist jointing plate two, inflator pump gives wrist strap inflating pressure, and magnetic valve is deflated and let out
Pressure, is adjusted by inflation/deflation, wrist can be fixed in terminal.
Further limit, described housing supporting construction is made up of lid, cassette bottom and motor fixing plate.Motor fixing plate leads to
Cross screw and be fixed on cassette bottom, motor, forefinger steel wire guide beam, middle finger motor, middle finger steel wire are referred to for fixing forefinger
Guide beam, nameless motor and nameless steel wire guide beam, are fixed by screw between lid and cassette bottom, other structures are sealed
In box.
Further limit, described fingering signal input part is reserved signal input port, external corresponding wiring and set
When standby, the doctor of traditional Chinese medicine's that can be collected by this interface to this terminal input remote doctor end applies arteries and veins fingering signal；
Described pulse signal output end is reserved signal output port, can be by this terminal when external corresponding wiring and equipment
The road pulse signal of cun,guan,chi three collected is outwards transmitted.
A kind of pulse wave spectrum specifically includes following steps with bionical doctor's finger signal acquisition method：
S001 by the wrist jointing plate of wrist fixed mechanism and inflation wrist strap mechanism, realized by inflating or deflating pressurization or
Person is depressurized, and system terminal is firmly secured on patients wrist；
S002 by adjusting bionical forefinger, bionical middle finger and the bionical nameless position in bionic finger located lateral chute,
Realize bionical doctor's finger terminal positioning in the cun,guan,chi acupuncture point of patient；
The fingering signal of doctor's forefinger, middle finger and the third finger that S003 is collected remote doctor end by fingering signal input part
It is input to this terminal and is contrasted with bionic finger longitudinal register aligning gear and is corrected；
S004 control biomimetics finger actuations mechanism drives bionical forefinger, bionical middle finger and bionical nameless action respectively, accurately
Simulation doctor of traditional Chinese medicine applies arteries and veins fingering motion；
S005 Bionic fingers heads portion is covered each by forefinger piezoelectric transducer, middle finger piezoelectric transducer and nameless piezoelectric transducer,
The pulse condition information at three acupuncture points of collection cun,guan,chi, and being sent to the pulse signal of collection by pulse signal output end respectively
Remote doctor end.
The beneficial effects of the invention are as follows：The present invention by the regulation to bionic finger spacing, can conveniently position cun, close,
Three acupuncture points of chi, solve patient acupuncture point individual difference sex chromosome mosaicism；Pass through the motion control to bionic finger and cantilever Liang Sicheng
The positioning of sensor, can realize the separation of displacement acquisition and pulse-tracing collection, it is to avoid interfering between them；Pass through finger
In the pre- elastic body of spring, simulate doctor's finger compliant mechanism, while effectively overcome finger motion there is diastema phenomenon, from
And lifting system responsiveness；Whole system is fixed in wrist by the wrist fixed mechanism specially designed, not only can be real
Existing elasticity is adjustable, effectively eliminates the influence that wrist shake when feeling the pulse gathers signal to pulse transducer, makes the pulse of collection
Signal is more accurate, and can reduce influence of the wrist strap to pulse flow as far as possible.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is bionic finger structural representation of the present invention；
Fig. 3 is bionic finger of the present invention positioning and drive mechanism schematic diagram；
Fig. 4 is wrist fixed mechanism schematic diagram of the present invention；
Fig. 5 is inventive shell supporting construction schematic diagram；
Fig. 6 is signal input output end structural representation of the present invention；
In figure, the bionical fingers of 1-, 2- bionic fingers are positioned and drive mechanism, 3- wrist fixed mechanisms, 4- housing supporting constructions, 5-
Fingering signal input part, 6- pulse signal output ends, the bionical forefingers of 11-, the bionical middle fingers of 12-, the bionical third fingers of 13-, 21- is bionical
Finger actuation mechanism, 22- bionic finger positioning correctings mechanism, 31- inflation wrist straps mechanism, 32- wrist jointing plates, 41- lids,
42- motor fixing plates, 43- cassette bottoms, 131- third finger finger lids, 132- third finger springs, 133- third finger finger sets, 134- without
Name finger bar, 135- third finger finger heads, 211- forefinger drive mechanisms, 212- middle finger drive mechanisms, 213- third finger drivings
Mechanism, 221- bionic finger longitudinal register aligning gears, 222- bionic finger located lateral chutes, 311- inflator pumps, 312- electricity
Magnet valve, 313- inflatable interfaces, 314- tracheaes, 315- inflation wrist straps, 1351- third finger finger head pedestals, 1352- third finger piezoelectricity
Sensor, 1353- third finger finger head silica gel sheaths, 2134- third finger motors, 2131- third finger steel wire guide beams,
2132- third finger steel wires, 2133- third finger steel wire wheels, 2211- forefinger positioning correctings mechanism, 2212- middle finger positioning correcting machines
Structure, 2213- third finger positioning correctings mechanism, 2221- bionic finger located lateral groove upper caps, 2222- bionic finger located laterals
Groove is gone to the bottom, 22131- third finger resistance strain gages, 22132- third finger elastic steel sheet beams.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in figure 1, a kind of pulse wave spectrum is with bionical doctor's finger terminal, it includes bionic finger 1, bionic finger and positioned
With drive mechanism 2, wrist fixed mechanism 3, housing supporting construction 4, fingering signal input part 5 and pulse signal output end 6.It is described
Bionical finger be to be made up of bionical forefinger 11, bionical middle finger 12 and bionical nameless 13 3 absolute construction, it is ensured that bionical food
Refer to 11, bionical middle finger 12 and bionical nameless 13 to work independently；Remote doctor end is collected by fingering signal input part 5
The fingering signal of doctor's forefinger, middle finger and the third finger be input to this terminal and with 221 pairs of bionic finger longitudinal register aligning gear
Than correction, and then control biomimetics finger actuation mechanism 21 drives bionical forefinger 11, bionical middle finger 12 and bionical nameless 13 respectively
Action, accurate simulation doctor of traditional Chinese medicine applies arteries and veins fingering motion；Described bionic finger 1 is by bionical forefinger 11, the and of bionical middle finger 12
Bionical nameless 13 composition, Bionic fingers head portion is covered each by forefinger piezoelectric transducer, middle finger piezoelectric transducer and unknown finger pressure
Electric transducer 1352, gathers the pulse condition information at cun,guan,chi three acupuncture points respectively, and by pulse signal output end 6 by collection
Pulse signal is sent to remote doctor end.Described wrist fixed mechanism 3 is included by inflation wrist strap mechanism 31 and wrist jointing plate
The elastic adjustable stuck-module of 32 compositions；Described housing supporting construction 4 includes lid 41, cassette bottom 42 and motor fixing plate 43
Three parts.Above bionic finger 1, bionic finger positioning and drive mechanism 2, wrist fixed mechanism 3, fingering signal input part 5
It is connected with pulse signal output end 6 by certain way with housing supporting construction 4, so as to form the integrated of entirety
Change terminal.
Embodiment 1：
As shown in Fig. 2 bionic finger includes the bionical forefinger 11 of structure identical, bionical middle finger 12 and bionical nameless 13 composition,
It is fixed mechanism with nameless finger set 133 exemplified by bionical nameless 13, nameless finger bar 134 is through inside it, from
And realize that nameless finger bar 134 can be slided up and down inside nameless finger set 133, it is desirable to inside nameless finger set 133
Fitted closely with nameless finger bar 134, prevent nameless the rocking during moving up and down of finger bar 134.The third finger refers to
Nameless finger lid 131 is covered on the head of headgear 133, position-limiting action is played, prevents nameless finger bar 131 from moving out the third finger and referring to
The length of headgear 133, the nameless head of finger bar 131 is installed by nameless finger first 135, the pulse to gather acupuncture point at the third finger
Signal, nameless finger set 133, nameless finger bar 134 and nameless finger lid 131 use polytetrafluoroethylmaterial material；Institute
State bionical middle finger 12, bionical nameless 13 identical with the structure and material of bionical forefinger 11；
Nameless finger first 135 is fixed mechanism with nameless finger head pedestal 1351, upper even nameless finger bar 134, with
PVDF piezoelectric membranes or piezoelectric ceramics are pasted onto under nameless finger head pedestal 1351 as nameless piezoelectric transducer 1352
On surface, and two electrodes are drawn, electrode wires pass through hollow nameless finger bar 134, then from nameless finger lid 131
Two circular holes are drawn, and be connected to pulse signal output end 6, nameless finger head silica gel sheath 1353 is enclosed on into nameless finger head pedestal
1351 and nameless piezoelectric transducer 1352 on, prevent the abrasion of nameless piezoelectric transducer 1352, and completely cut off human biological electricity；
Middle finger finger first 125, forefinger finger first 115 are identical with first 135 structure of nameless finger；
As shown in figure 3, bionic finger drive mechanism 21 is by structure identical forefinger drive mechanism 211, middle finger drive mechanism 212
It is disposed side by side on nameless drive mechanism 213 on bionic finger located lateral groove 222；
Nameless drive mechanism 213 is to be used as nameless motor 2134, nameless motor using minitype speed reducing motor
Fixed third finger steel wire wheel 2133 on 2134 axles, and one end of nameless steel wire 2132 is fixed by through hole and nothing is wrapped in
Name refers on steel wire wheel 2133, and the other end turns direction by the circular hole in nameless steel wire guide beam 2131 and is followed by referring in the third finger
The top of head rod 134, nameless spring 132 is placed on the nameless inside of finger set 133 and provides pre- elastic force, by nameless motor
2134 drive nameless spring 132 to compress；
Bionic finger positioning correcting mechanism 22 is by bionic finger longitudinal register aligning gear 221 and bionic finger located lateral cunning
The two parts of groove 222 are constituted, and bionic finger longitudinal register aligning gear 221 is used to position and correct the bionical position of finger 1, imitates
Raw finger 1 is fixed on bionic finger located lateral chute 222, and bionic finger located lateral chute 222 is horizontal by bionic finger
Lid 2221 and bionic finger located lateral chute bottom 2222 are constituted on positioning runner, and bionic finger located lateral slides groove upper cap
3 groove profile holes are provided with 2221, by control biomimetics forefinger 11 and bionical nameless 13 in the bionical located lateral chute of finger 1
Slide in 222 slotted eyes, can adjust bionical forefinger 11 and bionical nameless 13 with the spacing of bionical middle finger 12, so as to be positioned at wrist
Three acupuncture points of cun,guan,chi；
Bionic finger longitudinal register aligning gear 221 is by structure identical forefinger positioning correcting mechanism 2211, middle specific bit school
Positive mechanism 2212 and nameless positioning correcting mechanism 2213 are constituted；
Nameless positioning correcting mechanism 2213 is pasted onto nameless elasticity using nameless resistance strain gage 22131 as sensor
On steel disc beam 22132, and four electrode wires are drawn, nameless one end of elastic steel sheet beam 22132 is fixed on wrist jointing plate 32,
One end perforate is simultaneously fixed on nameless finger bar 134, cantilever beam structure is formed, so that as displacement transducer, for gathering
Bionical nameless 13 positional information；
As shown in figure 4, inflation wrist strap mechanism 31 includes inflator pump 311, magnetic valve 312, the tracheae 314 of inflatable interface 313 and inflation
Wrist strap 315 amounts to 5 parts；The two ends for inflating wrist strap 315 are fixed on 32 liang of protruding ends of wrist jointing plate, inflator pump 311, electricity
Connected between magnet valve 312 and inflation wrist strap 315 with tracheae 314, inflator pump 311 gives wrist strap inflating pressure, magnetic valve 312 is deflated and let out
Pressure, is adjusted by inflation/deflation, wrist can be fixed in terminal；
As shown in figure 5, housing supporting construction 4 is made up of lid 41, cassette bottom 43 and motor fixing plate 42, and use polytetrafluoroethylene (PTFE)
Material is made, and motor fixing plate 42 is fixed on cassette bottom 43, motor fixing plate 42 by 6 screws and is provided with 3 circular holes, 3 sides
Hole and 6 screws, minitype speed reducing motor 2114, forefinger steel wire guide beam 2111, middle finger micro speed reducing electricity are referred to for fixing forefinger
The structures, lid such as machine 2124, middle finger steel wire guide beam 2121, nameless motor 2134 and nameless steel wire guide beam 2131
Fixed between 41 and cassette bottom 43 by 8 screws, other structures are encapsulated in box.
As shown in fig. 6, fingering signal input part 5 uses USB interface, facilitate external computer or mobile phone, this interface can be passed through
To this terminal input the doctor of traditional Chinese medicine that remote doctor end is collected forefinger fingering signal A1, the middle finger fingering signal A2 for applying arteries and veins and
Nameless fingering signal A3；
Pulse signal output end 6 uses USB interface, when external corresponding computer or mobile phone, the cun pulse that can collect this terminal
Picture signals B1, Guan pulse picture signals B2 and chi pulse picture signals B3 are outwards transmitted.
Described above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form, is not to be taken as the exclusion to other embodiment, and available for various other combinations, modification and environment, and can be at this
In the text contemplated scope, it is modified by the technology or knowledge of above-mentioned teaching or association area.And those skilled in the art are entered
Capable change and change does not depart from the spirit and scope of the present invention, then all should appended claims of the present invention protection domain
It is interior.
Claims (10)
1. a kind of pulse wave spectrum is with bionical doctor's microgripper, it is characterised in that it includes：Bionic finger（1）, bionic hand specify
Position and drive mechanism（2）, wrist fixed mechanism（3）, housing supporting construction（4）, fingering signal input part（5）It is defeated with pulse signal
Go out end（6）；Bionic finger（1）By bionical forefinger（11）, bionical middle finger（12）With the bionical third finger（13）Composition, bionic hand is specified
Position and drive mechanism（2）By finger actuation mechanism（21）With bionic finger positioning correcting mechanism（22）Composition, wrist fixed mechanism
（3）By inflation wrist strap mechanism（31）With wrist jointing plate（32）Constitute, housing supporting construction（4）By lid（41）, cassette bottom（43）
And motor fixing plate（42）Composition；Bionic finger（1）It is packaged in housing supporting construction（4）It is interior, and by being placed in housing support knot
Structure（4）Internal bionic finger positioning and drive mechanism（2）It is fixed on the positioning, housing supporting construction（4）Wrist is fixed on to consolidate
Determine mechanism（3）Top.
2. a kind of pulse wave spectrum according to claim 1 is with bionical doctor's microgripper, it is characterised in that：Described is bionical
It is nameless（13）With nameless finger set（133）For fixed mechanism, by nameless finger bar（134）Inside it, so that
Realize nameless finger bar（134）Can be in nameless finger set（133）Inside is slided up and down, nameless finger set（133）Head
The upper nameless finger lid of lid（131）, prevent nameless finger bar（134）Move out nameless finger set（133）Length, it is unknown
Refer to finger bar（134）Head is installed by nameless finger head（135）, the pulse signal to gather acupuncture point at the third finger；It is described imitative
Raw middle finger（12）, bionical forefinger（11）With the imitative third finger（13）Structure is identical.
3. a kind of pulse wave spectrum according to claim 2 is with bionical doctor's microgripper, it is characterised in that：Described is unknown
Refer to finger head（135）With nameless finger head pedestal（1351）For fixed mechanism, upper even nameless finger bar（134）, with unknown
Finger pressure electric transducer（1352）As nameless pulse collection sensor, nameless finger head pedestal is pasted onto（1351）Following table
On face, and two electrodes are drawn, by nameless finger head silica gel sheath（1353）It is enclosed on nameless finger head pedestal（1351）And it is unknown
Finger pressure electric transducer（1352）On, prevent nameless piezoelectric transducer（1352）Abrasion, and completely cut off human biological electricity；In described
Refer to finger head（125）, forefinger finger head（115）With nameless finger head（135）Structure is identical.
4. a kind of pulse wave spectrum according to claim 1 is with bionical doctor's microgripper, it is characterised in that：Described is bionical
Finger actuation mechanism（21）It is by structure identical forefinger drive mechanism（211）, middle finger drive mechanism（212）With third finger driving
Mechanism（213）Located side by side is formed.
5. a kind of pulse wave spectrum according to claim 4 is with bionical doctor's microgripper, it is characterised in that：Described is unknown
Refer to drive mechanism（213）It is with nameless motor（2134）As driving source, nameless motor（2134）It is solid on axle
Fixed third finger steel wire wheel（2133）, and by nameless steel wire（2132）One ends wound rolled in nameless steel wire（2133）
On, the other end passes through nameless steel wire guide beam（2131）Turn direction to be followed by nameless finger bar（134）On, nameless spring
（132）It is placed on nameless finger set（133）It is interior that pre- elastic force is provided, by nameless motor（2134）Drive nameless spring
（132）Compression；Forefinger drive mechanism（211）, middle finger drive mechanism（212）With nameless drive mechanism（213）Structure is identical.
6. a kind of pulse wave spectrum according to claim 1 is with bionical doctor's microgripper, it is characterised in that：Described is described
Bionic finger positioning correcting mechanism（22）It is by bionic finger longitudinal register aligning gear（221）Slided with bionic finger located lateral
Groove（222）Two parts are constituted, bionic finger longitudinal register aligning gear（221）For positioning and correcting bionic finger（1）Place
Position, bionic finger is fixed on bionic finger located lateral chute（222）On, pass through bionical forefinger（11）, bionical middle finger（12）
With the bionical third finger（13）In bionic finger located lateral chute（222）Slided in slotted eye, can adjust bionical forefinger（11）With it is imitative
It is raw nameless（13）With bionical middle finger（12）Spacing, so as to be positioned at three acupuncture points of wrist cun,guan,chi；
Described bionic finger longitudinal register aligning gear（221）It is by structure identical forefinger positioning correcting mechanism（2211）、
Middle finger positioning correcting mechanism（2212）With nameless positioning correcting mechanism（2213）Composition；
Described nameless positioning correcting mechanism（2213）With nameless resistance strain gage（22131）As sensor, it is pasted onto
Nameless elastic steel sheet beam（22132）On, nameless elastic steel sheet beam（22132）One end is fixed on wrist jointing plate（32）, one
End is fixed on nameless finger bar（134）On, cantilever beam structure is formed, for gathering the bionical third finger（13）Positional information.
7. a kind of pulse wave spectrum according to claim 1 is with bionical doctor's microgripper, it is characterised in that：Described inflation
Wristband constructions（31）Including inflator pump（311）, magnetic valve（312）, inflatable interface（313）, tracheae（314）With inflation wrist strap
（315）；Wrist strap will be inflated（315）Two ends be fixed on wrist jointing plate（32）Two protruding ends, inflator pump（311）Give wrist strap inflation
Pressurization, magnetic valve（314）Deflation pressure release, is adjusted by inflation/deflation, and wrist can be fixed in terminal.
8. a kind of pulse wave spectrum according to claim 1 is with bionical doctor's microgripper, it is characterised in that：Described housing
Supporting construction（4）By lid（41）, cassette bottom（43）And motor fixing plate（42）Composition, motor fixing plate（42）Fixed by screw
In cassette bottom（43）, for fix forefinger refer to motor, forefinger steel wire guide beam, middle finger motor, middle finger steel wire guide beam,
Nameless motor（2134）With nameless steel wire guide beam（2131）, lid（41）With cassette bottom（43）Between it is solid by screw
It is fixed, other structures are encapsulated in box.
9. a kind of pulse wave spectrum according to claim 1 is with bionical doctor's microgripper, it is characterised in that also include：Refer to
Method signal input part（5）With pulse signal output end（6）；
Described fingering signal input part（5）For reserved signal input port, when external corresponding wiring and equipment, connect by this
The doctor of traditional Chinese medicine's that mouth is collected to this terminal input remote doctor end applies arteries and veins fingering signal；
Described pulse signal output end（6）For reserved signal output port, when external corresponding wiring and equipment, by this terminal
The road pulse signal of cun,guan,chi three collected is outwards transmitted.
10. a kind of pulse wave spectrum according to claim 1-9 any one is with bionical doctor's finger signal acquisition method, its
It is characterised by, specifically includes following steps：
S001 passes through wrist fixed mechanism（3）Wrist jointing plate（32）With inflation wrist strap mechanism（31）, by inflating or putting
Gas is realized pressurization or depressurized, and system terminal is firmly secured on patients wrist；
S002 is by adjusting bionical forefinger（11）, bionical middle finger（12）With the bionical third finger（13）Slided in bionic finger located lateral
Groove（222）In position, realize bionical doctor's finger terminal positioning in the cun,guan,chi acupuncture point of patient；
S003 passes through fingering signal input part（5）The fingering of doctor's forefinger, middle finger and the third finger that remote doctor end is collected
Signal be input to this terminal and with bionic finger longitudinal register aligning gear（221）Contrast correction；
S004 control biomimetics finger actuations mechanism（21）Bionical forefinger is driven respectively（11）, bionical middle finger（12）With the bionical third finger
（13）Action, accurate simulation doctor of traditional Chinese medicine applies arteries and veins fingering motion；
S005 Bionic fingers heads portion is covered each by forefinger piezoelectric transducer, middle finger piezoelectric transducer and nameless piezoelectric transducer
（1352）, the pulse condition information at three acupuncture points of cun,guan,chi is gathered respectively, and passes through pulse signal output end（6）By the pulse condition of collection
Signal is sent to remote doctor end.
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| CN108652596A (en) * | 2018-05-17 | 2018-10-16 | 中国科学院微电子研究所 | Device for determining insufficiency of qi and blood in viscera |
| CN108742551A (en) * | 2018-07-04 | 2018-11-06 | 芜湖圣美孚科技有限公司 | A kind of pocket imitates Chinese medicine and takes arteries and veins device automatically |
| CN109893103A (en) * | 2019-04-10 | 2019-06-18 | 浙江理工大学 | Electromagnetic type pulse pressure generating means |
| CN111631689A (en) * | 2020-07-06 | 2020-09-08 | 和宇健康科技股份有限公司 | Doctor end management device based on remote inquiry traditional chinese medical science diagnosis pulse collector |
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| CN113288074A (en) * | 2021-05-17 | 2021-08-24 | 上海交通大学 | Multi-degree-of-freedom position-adjustable pulse-taking mechanical arm device |
| CN113288074B (en) * | 2021-05-17 | 2022-03-15 | 上海交通大学 | Multi-degree-of-freedom position-adjustable pulse-taking mechanical arm device |
| CN116269246A (en) * | 2023-05-24 | 2023-06-23 | 深圳市中医院 | Internet remote bionic pulse-taking instrument and application method |
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