CN108078553B - High-precision intelligent pulse diagnosis instrument - Google Patents
High-precision intelligent pulse diagnosis instrument Download PDFInfo
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- CN108078553B CN108078553B CN201711463918.XA CN201711463918A CN108078553B CN 108078553 B CN108078553 B CN 108078553B CN 201711463918 A CN201711463918 A CN 201711463918A CN 108078553 B CN108078553 B CN 108078553B
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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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- 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
- A61B5/021—Measuring pressure in heart or blood vessels
- A61B5/02108—Measuring pressure in heart or blood vessels from analysis of pulse wave characteristics
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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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6824—Arm or wrist
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Abstract
The invention discloses a high-precision intelligent pulse diagnosis instrument which comprises a rack assembly, a measuring head assembly and an information acquisition system, wherein the rack assembly mainly comprises a pulse pillow component at the bottom and a rack component arranged above the pulse pillow component, the measuring head assembly at least comprises four intelligent fingers arranged in parallel, and each intelligent finger is provided with three driving units and a composite sensing unit. The frame component is connected with the measuring head component and used for realizing that the measuring head component rotates around the arm or is parallel to the linear motion of the arm, the arm is arranged on the pulse pillow component to realize the rotation motion and the lifting motion of the arm, and the positioning collection is realized through the image collection module and the image analysis positioning module. The pulse diagnosis instrument can automatically find, press and acquire pulse signals according to a five-zone six-zone seven-layer method, can realize pulse diagnosis of five twelve symptoms, and has the characteristics of high precision, repeatability and reproducibility; the method can be used for early warning and diagnosis of clinical diseases, and effectively solves the problems of low acquisition precision, incomplete acquired signals and the like of the conventional similar instruments.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a high-precision intelligent pulse diagnosis instrument.
Background
The Pulse Diagnosis (TCPD) is used as a diagnostic means in Traditional Chinese Medicine (TCM), and through thousands of years of research and practice in Traditional Chinese Medicine, 28 Pulse Diagnosis systems are gradually formed. At present, the main mode of pulse diagnosis in traditional Chinese medicine is that a doctor perceives the pulse condition of a patient through fingers and diagnoses the disease according to the experience of the doctor and the touch of hands. The diagnosis mode has fuzzy judgment standard, is easily influenced by personal experience and subjective factors of doctors to cause misjudgment, and cannot carry out quantification and effective recording on the pulse condition.
Therefore, in recent years, various scholars at home and abroad propose different solutions to solve the above problems and achieve certain effects. Under the condition that the single-probe and hand-adjusting pulse diagnosis instrument can not meet the requirement of pulse diagnosis objectification, the automatic pressurization, multi-probe and multi-degree-of-freedom pulse diagnosis instrument becomes the focus of attention of students. The three-part nine-phase pulse condition detector disclosed in patent CN101049247 can realize synchronous pulse signal acquisition corresponding to cun, guan and chi positions, and realize closed-loop control by combining with a stepping motor according to the force obtained by a pressure sensor, so as to ensure equal-pressure pressurization of the three positions. However, since the stepping motor is used for pressurization, the motor inevitably generates vibration when the constant-pressure pressurization is maintained, and the signal acquisition is interfered. Also, as the detection device disclosed in CN106264491, multi-probe and servo motor automatic pressurization are adopted to achieve pulse signal acquisition of cun, guan and chi parts, and meanwhile, an arm fixing device with adjustable position is provided, so that stability and sensor sensitivity of the former products are greatly improved. However, the above-mentioned instruments are limited to the collection of pulse signals of cun, guan and chi parts, and neglecting pulse signals under the chi causes the lack of collected information. Meanwhile, the difference between the instrument and the fingers of a person is not determined, a vertical downward pressure application mode is adopted, the influence of finger bending force application on the acquisition process when a doctor in traditional Chinese medicine acquires the pulse signals is ignored, and the pulse signal acquisition process cannot be completely simulated. Patent CN103263256 simulates the pulse feeling process of multiple degrees of freedom of a doctor in traditional Chinese medicine by designing multiple humanoid fingers, and therefore the problem of interference of an actuating force on a pulse sensor during acquisition is well solved, but due to the lack of a positioning reference and a wrist positioning device, during detection, the change of a detection area is easily caused to cause a large deviation of an acquired pulse signal. And the instrument adopts an air pressure transmission device to apply pressure, and due to the large compressibility of air and low precision of position control, the repeatability and reproducibility of the acquisition process are difficult to ensure.
Disclosure of Invention
In view of this, the present invention provides a high-precision intelligent pulse diagnosis instrument, which can objectively simulate a complete pulse signal collection process, thereby ensuring high precision, repeatability and reproducibility of the collection process.
In order to achieve the purpose, the invention provides the following technical scheme: a high-precision intelligent pulse diagnosis instrument comprises a rack assembly, a measuring head assembly and an information acquisition system, wherein the rack assembly mainly comprises a pulse pillow component at the bottom and a rack component arranged above the pulse pillow component, the measuring head assembly at least comprises four intelligent fingers arranged in parallel, and each intelligent finger is arranged on the rack component through a longitudinal motion driving unit;
the pulse pillow component comprises a bottom plate, a pulse pillow base and a pulse pillow; the pulse pillow base is rotatably connected above the base, a lifting driving mechanism is arranged on the pulse pillow base, and the pulse pillow is arranged on the pulse pillow base through the lifting driving mechanism and is driven by the lifting driving mechanism to perform vertical position adjustment;
each intelligent finger mainly comprises a connecting plate I connected with a longitudinal motion driving unit, a first driving unit arranged on the connecting plate I and capable of moving transversely, a connecting plate II arranged on the first driving unit and moving along with the first driving unit, a second driving unit arranged on the connecting plate II and capable of moving vertically, a connecting plate III arranged on the second driving unit and moving along with the second driving unit, and a third driving unit arranged on the connecting plate III; the first driving unit and the second driving unit are both linear telescopic driving devices; the third driving unit mainly comprises a servo linear actuator, push rods, connecting rods and intelligent finger tips, the servo linear actuator is arranged on a connecting plate III, the push rods are connected with the servo linear actuator and driven by the servo linear actuator, the number of the connecting rods is two, one end of each connecting rod is rotatably connected with the push rod and the connecting plate III, and the other end of each connecting rod is rotatably connected with the intelligent finger tips to form a parallelogram connecting rod mechanism;
the information acquisition system comprises a plurality of image acquisition modules, an image analysis positioning module and a composite sensing unit, wherein the image acquisition modules are arranged around the rack assembly and used for acquiring images of the arm to be detected, the image analysis positioning module is connected with the image acquisition modules and used for receiving information of the image acquisition modules, and the composite sensing unit is used for acquiring pressing information through intelligent fingers; the composite sensing unit comprises a flexible array sensor and a pressure sensor; the pressing surface on the tip end of the intelligent finger is an arc-shaped surface, the flexible array sensor is attached to the arc-shaped surface, and the pressure sensor is arranged in the tip end of the intelligent finger.
Furthermore, the pulse pillow base is connected above the base through an angular contact ball bearing, and a locking device is arranged outside the angular contact ball bearing; the locking device mainly comprises a guide post, a return spring sleeved on the guide post, clamping rings sleeved on the guide post and positioned at two ends of the return spring, and an electromagnetic pushing seat arranged on the outer sides of the clamping rings to control the clamping rings to open and close.
Further, the rack component is of an arc structure or a linear structure;
when the frame component is of an arc structure, the frame component mainly comprises an arc guide rail, a synchronous belt and a synchronous belt pulley, wherein an arc guide rail sliding block is arranged on the arc guide rail with two ends fixed on the pulse pillow base, a servo motor is arranged on the arc guide rail sliding block, the synchronous belt pulley is connected with the servo motor through a coupler, the two ends of the synchronous belt are fixedly connected to the two sides of the arc guide rail through a tensioning device after bypassing the synchronous belt pulley, and a supporting plate is arranged on the arc guide rail sliding block;
when the rack part is the linear type structure, it mainly comprises stand, crossbeam and lead screw slider, the stand has two, establishes respectively in the pulse pillow base both sides, the crossbeam both ends link to each other with two stands and constitute the portal frame structure, are equipped with lead screw and guide arm on the crossbeam, lead screw slider suit is on lead screw and guide arm, is equipped with the servo motor who is connected with the lead screw on the crossbeam, be equipped with the layer board on the lead screw slider.
Further, the longitudinal motion driving unit mainly comprises a sliding block I, a screw rod I, a guide rail I and a servo motor I, wherein the guide rail I and the servo motor I are arranged on the supporting plate; each connecting plate I in the intelligence finger all sets up on slider I.
Furthermore, first drive unit and second drive unit all mainly comprise slider II, lead screw II, guide rail II and servo motor II, lead screw II links firmly and is driven rotatoryly by servo motor II with servo motor II, be equipped with the screw hole on the slider II, II suits of slider are on lead screw II and guide rail II, guide rail II sets firmly on corresponding connecting plate I or connecting plate II with servo motor II.
Further, the lifting driving mechanism comprises a servo motor III, a screw rod III and a screw block, the servo motor III is fixedly arranged on the pulse pillow base, the screw rod III is vertically connected with the servo motor III and driven by the servo motor III to rotate, and the screw block is sleeved on the screw rod III and fixedly connected with the pulse pillow; and a guide rail III is further arranged on the pulse pillow base positioned on two sides of the screw rod III, and a sliding block III fixedly connected with the pulse pillow is sleeved on the guide rail III.
The invention has the beneficial effects that:
(1) the four independent intelligent fingers are adopted to respectively correspond to the cun region, the guan region, the chi region and the chi region to acquire pulse signals, and compared with the existing pulse diagnosis instrument which only acquires the cun region, the guan region and the chi region, the acquired pulse signals are more comprehensive;
(2) each intelligent finger moves with seven degrees of freedom, and the three degrees of freedom are the degrees of freedom independently controlled by each intelligent finger, so that the pulse diagnosis instrument can realize multi-angle pressure on a radial artery duct, collect pulse signals under more force application conditions and mine more abundant pulse condition information compared with most of the existing pulse diagnosis instruments only adopting linear motion;
(3) each driving unit adopts a servo control technology, and compared with the pulse diagnosis instrument which generally adopts a stepping motor as an actuator at present, the pulse diagnosis instrument ensures high-precision movement and simultaneously reduces the interference of motor tremor on the acquisition process to the maximum extent;
(4) the machine vision part positions the acquisition region according to the characteristics of the arm acquisition region and realizes accurate positioning of the acquisition region by combining the pulse pillow structure and the multi-degree-of-freedom high-precision measuring head;
(5) the pulse pillow can adjust the height and the placing angle of the arm according to the difference of the length and the thickness of the arm of patients with different ages and sexes, and adopts a left and right hyperboloid structure, so that the patients can quickly exchange hands to collect the data while keeping the current sitting posture and physiological state, and the repeatability and the reproducibility of the collecting process are ensured while the collecting efficiency is improved.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic structural view of a pulse diagnosis instrument with an arc-shaped frame;
FIG. 2 is a schematic structural view of a pulse pillow member;
FIG. 3 is a schematic structural diagram of a smart finger;
FIG. 4 is a schematic view of an arm acquisition area;
FIG. 5 is a schematic structural view of a pulse diagnosis instrument with a linear frame;
FIG. 6 is a schematic diagram of the pulse diagnosis instrument;
fig. 7 is a system block diagram.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in the figure, the high-precision intelligent pulse diagnosis instrument comprises a rack assembly, a measuring head assembly and an information acquisition system, wherein the rack assembly mainly comprises a pulse pillow component 1 at the bottom and a rack component 2 arranged above the pulse pillow component 1, the measuring head assembly at least comprises four intelligent fingers 3 arranged in parallel, and each intelligent finger 3 is arranged on the rack component 2 through a longitudinal motion driving unit 4.
Specifically, the pulse pillow component 1 comprises a bottom plate 11, a pulse pillow base 12 and a pulse pillow 13; the pulse-taking pillow base 12 is rotatably connected above the base 11, a lifting driving mechanism 14 is arranged on the pulse-taking pillow base 12, and the pulse-taking pillow 13 is arranged on the pulse-taking pillow base 12 through the lifting driving mechanism 14 and is driven by the lifting driving mechanism 14 to adjust the vertical position of the pulse-taking pillow 13. The pulse pillow is of a hyperboloid structure, left and right hands can be placed on the left and right curved surfaces respectively, and the height of the pulse pillow 13 can be adjusted by the lifting driving mechanism 14, namely the horizontal height of the arm can be adjusted; the pulse pillow base 12 can rotate on the base 11 and can be used for adjusting the rotation angle of the arm of the patient.
The measuring head component is composed of four intelligent fingers 3 capable of being independently controlled, and the four intelligent fingers 3 are an inch intelligent finger, a close intelligent finger, a ruler intelligent finger and a ruler lower intelligent finger in sequence and respectively correspond to four areas of an inch 51 area, a close 52 area, a ruler 53 area and a ruler lower 54 area on the arm 5.
Each intelligent finger 3 mainly comprises a connecting plate I31 connected with the longitudinal movement driving unit 4, a first driving unit 32 which is arranged on the connecting plate I31 and can move transversely, a connecting plate II 33 which is arranged on the first driving unit 32 and moves along with the first driving unit, a second driving unit 34 which is arranged on the connecting plate II 33 and can move vertically, a connecting plate III 35 which is arranged on the second driving unit 34 and moves along with the second driving unit, and a third driving unit 36 which is arranged on the connecting plate III 35; the first driving unit 32 and the second driving unit 34 are both linear telescopic driving devices; the third driving unit 36 mainly comprises a servo linear actuator 361, a push rod 362, two connecting rods 363 and a smart finger tip 364, wherein the servo linear actuator 361 is arranged on the connecting plate iii 35, the push rod 362 is connected with the servo linear actuator 361 and driven by the servo linear actuator 361, the number of the connecting rods 363 is two, one end of each of the two connecting rods 363 is rotatably connected with the push rod 362 and the connecting plate iii, and the other end of each of the two connecting rods 363 is rotatably connected with the smart finger tip 364, so that a parallelogram link mechanism is formed.
The first driving unit is used for driving the intelligent finger tips to do staggered movement relative to other intelligent finger tips; the second driving unit is used for driving the tip of the intelligent finger to do telescopic motion; the third driving unit is used for controlling the tip of the intelligent finger to rotate; the three driving processes can realize that the tip of the intelligent finger contacts the corresponding acquisition area at a certain angle and applies pressing force.
The first driving unit and the second driving unit in the embodiment are both mainly composed of a sliding block II 321, a screw rod II 322, a guide rail II 323 and a servo motor II 324, the screw rod II 322 is fixedly connected with the servo motor II 324 and is driven by the servo motor II 324 to rotate, a threaded hole is formed in the sliding block II 321, the sliding block II is sleeved on the screw rod II and the guide rail II, and the guide rail II and the servo motor II are fixedly arranged on a corresponding connecting plate I31 or connecting plate II 33.
In the first driving unit, the servo motor II drives the screw rod II to rotate when rotating, the sliding block II in threaded connection with the screw rod II drives the connecting plate II to do linear motion along the central shaft P-P' of the screw rod II, and the position of the sliding block II is fed back in real time through the arranged grating ruler, so that closed-loop control of motion is realized. In a similar way, in the second driving unit, the servo motor II drives the sliding block II to do linear motion along the central shaft Q-Q' of the screw rod II. In the third driving unit, the push rod, the two links, the smart finger tip, and the connecting plate iii form a parallelogram linkage mechanism having only one degree of freedom in principle. When the servo linear actuator drives the push rod to do linear motion, the connecting rod is pushed to do linear motion, the tip of an intelligent finger at one part rotates around the axis R-R' of the connecting hole which is rotatably connected with the connecting rod, and finally the end position of the push rod is fed back in real time through the arranged grating ruler, so that closed-loop control of motion is realized.
In order to improve the detection precision, each intelligent finger can be further divided into two or more independent-control split intelligent fingers, namely, the measuring head assembly can be provided with more than four independent-control-movement split intelligent fingers, and the basic structure and the function of each split intelligent finger are consistent with those of the intelligent fingers.
The information acquisition system comprises a plurality of image acquisition modules which are arranged around the rack assembly and used for acquiring images of the arm to be detected, an image analysis positioning module which is connected with the image acquisition modules and used for receiving information of the image acquisition modules, and a composite sensing unit which is used for acquiring pressing information through the intelligent finger 3; the composite sensing unit 6 comprises a flexible array sensor 61 and a pressure sensor 62; the pressing surface on the intelligent finger tip 364 is an arc-shaped surface, the flexible array sensor 61 is attached to the arc-shaped surface, and the pressure sensor 62 is arranged in the intelligent finger tip.
The image acquisition module and the image analysis positioning module jointly form a machine vision part, the image acquisition module comprises at least two cameras 7 for recording images of an acquisition area in real time, and the image analysis positioning module is used for analyzing the images in real time and accurately positioning the acquisition area. After the arm 5 is placed on the pulse pillow 13 and is stabilized, the image acquisition module acquires a wrist image and uploads the image to the image analysis positioning module, the image analysis positioning module determines an arm upper inch part 51, a closing part 52, a ruler part 53 and a ruler lower part 54 according to characteristics such as wrist upper wrist transverse lines 55, and the like, and accurate positioning of the intelligent finger tip to an acquisition area is achieved through each driving unit. Be equipped with compound sensing unit 6 on the intelligence finger tip, compound sensing unit here includes but not limited to flexible array sensor and pressure sensor, and flexible array sensor 61 is used for gathering pulse signal, and pressure sensor 62 is then used for detecting the pressing force of gathering to can confirm the depth of pressing of gathering according to the power size, realize the collection to the pulse signal of the different degree of depth. When the composite sensing unit 6 is accurately positioned in the corresponding acquisition area, the intelligent finger tip applies pressing force to the acquisition area through the high-precision telescopic motion of the second driving unit 32, the pressing depth level is determined according to the pressing force detected by the pressure sensor in real time, and the flexible array sensor 61 acquires pulse wave signals at different levels.
The scheme is further optimized, and a biological information acquisition part based on TCM theory can be further included for assisting diagnosis, such as but not limited to a tongue diagnosis image acquisition analysis part and a sound diagnosis recording analysis part.
The pulse pillow base 12 of the embodiment is connected above the base through an angular contact ball bearing 15, and a locking device is arranged outside the angular contact ball bearing 15; the locking device mainly comprises a guide post 16, a return spring 17 sleeved on the guide post 16, a clamping ring 18 sleeved on the guide post 16 and positioned at two ends of the return spring 17, and an electromagnetic pushing seat 19 arranged outside the clamping ring 18 to control the clamping ring 18 to open and close.
Specifically, the pulse pillow base 12 is supported by an angular contact ball bearing 15 to a certain height, and keeps a certain distance from the bottom plate 11, so that the arm 5 placed on the pulse pillow 13 can rotate to a proper angle around an angular contact ball bearing axis OO'. The utility model discloses a pulse pillow, including the pulse pillow base, the pulse pillow base 12, arm 5, reset spring 17, pulse pillow base 12, retaining ring 18, reset spring 17 and electromagnetism push away the seat 19 and install on same axis through guide post 16, guarantee the quick centre gripping of retaining ring 18, reset spring 17 pushes away two retaining rings when electromagnetism pushes away the seat 19 not circular telegram and pushes away, pulse pillow base 12 can freely rotate, place on pulse pillow 13 and rotate to certain angle when arm 5, after the encoder of placing in bottom plate 11 center detects the rotation angle and stabilizes, four electromagnetism push away the seat of placing symmetrically are circular telegram simultaneously, push two retaining rings to the bottom plate center, make retaining ring and angular contact ball bearing 15 outer lane contact, under the centre gripping of two retaining rings, pulse pillow base 12 rotary motion is locked, make the arm carry out the collection.
The frame part 2 is a device for mounting the probe assembly and suspending the probe assembly above the pulse pillow 13, and is connected with the probe assembly through a longitudinal motion driving unit 4 for driving the probe assembly to perform left and right (and height) position adjustment relative to the arm.
The frame part 2 here is of an arc-shaped or straight-line configuration.
When frame part 2 is the arc structure, it mainly comprises arc guide 201, hold-in range 202 and synchronous pulley 203, and both ends are fixed and are equipped with arc guide slider 204 on the arc guide 201 on pulse pillow base 12, be equipped with servo motor 205 on the arc guide slider 204, synchronous pulley 203 passes through the shaft coupling and links to each other with servo motor 205, hold-in range 202 walks around synchronous pulley 203 back both ends and links firmly in arc guide 201 both sides through overspeed device tensioner, be equipped with layer board 206 on arc guide slider 204.
The longitudinal motion driving unit 4 in the embodiment mainly comprises a sliding block I41, a screw rod I42, a guide rail I43 and a servo motor I44, wherein the guide rail I43 and the servo motor I44 are arranged on a supporting plate 206, the screw rod I42 is fixedly connected with the servo motor I44 and is driven by the servo motor I44 to rotate, a threaded hole is formed in the sliding block I41, and the sliding block I41 is sleeved on the screw rod I42 and the guide rail I43 and is driven by the servo motor to move back and forth along the guide rail I43; and the connecting plates I31 in the intelligent fingers are arranged on the sliding blocks I41.
Specifically, when the servo motor 205 rotates, the synchronous pulley 203 is driven to rotate. When the synchronous pulley 203 rotates relative to the synchronous belt 202 fixed at two ends, the arc-shaped guide rail sliding block 204 fixedly connected with the servo motor 205 is driven to rotate, and the longitudinal movement driving unit 4 is installed on the supporting plate 206 of the arc-shaped guide rail sliding block 204, so that the synchronous movement of the supporting plate 206 along with the arc-shaped guide rail sliding block 204 is realized. Each intelligent finger 3 of gauge head subassembly is installed on longitudinal movement drive unit 4's slider I41 through connecting plate I31 on it, and under slider I41 drives, the linear motion is done along the Y direction to the gauge head subassembly, and the real-time position of feedback slider I41 through the grating chi that sets up realizes motion closed-loop control. The arc-shaped guide rail sliding block 204 enables the measuring head assembly to do circular motion around the central axis N-N' of the arc-shaped guide rail 201, and the position of the arc-shaped guide rail sliding block 204 is fed back in real time through the arranged grating ruler on the arc-shaped guide rail 201, so that the motion closed-loop control is realized.
When the frame part 2 is a linear structure, it mainly comprises two upright posts 211, a cross beam 212 and a screw rod sliding block 213, the two upright posts 211 are respectively arranged at two sides of the pulse pillow base 12, two ends of the cross beam 212 are connected with the two upright posts 211 to form a gantry structure, the cross beam 212 is provided with a screw rod 214 and a guide rod 215, the screw rod sliding block 213 is sleeved on the screw rod 214 and the guide rod 215, the cross beam 212 is provided with a servo motor 216 connected with the screw rod 214, and the screw rod sliding block 213 is provided with a supporting plate 206.
The screw rod sliding block 213 slides linearly on the guide rod 215, the screw rod 214 is connected with the servo motor 216 and is in threaded connection with the screw rod sliding block 213, the supporting plate 206 is fixedly connected to the screw rod sliding block 213, when the servo motor 216 drives the screw rod 214 to rotate, the supporting plate 206 moves linearly along with the screw rod sliding block 213 along a screw rod central axis WW ', the longitudinal movement driving unit 4 fixedly connected with the supporting plate 206 also moves along with the screw rod sliding block 213, and therefore the measuring head assembly is enabled to move transversely and linearly along the WW'.
The rotary drive of the frame part is replaced by the transverse drive, and the rotary drive is combined with the longitudinal motion driving unit 4 of the measuring head component and the lifting driving mechanism 14 of the pulse pillow, so that the degree of freedom of the movement of the measuring head component relative to the three directions of the arms x, y and z is realized. Meanwhile, the seven-freedom-degree movement of the high-precision pulse diagnosis instrument is realized by combining the rotary movement of the pulse pillow 13 and the movement of the first driving unit, the second driving unit and the third driving unit at the tip of the intelligent finger, so that the acquisition area on the arm is completely covered.
The lifting driving mechanism 14 in this embodiment comprises a servo motor III 141, a screw rod III 142 and a screw block 143, the servo motor III 141 is fixedly arranged on the pulse pillow base 12, the screw rod III 142 is vertically connected with the servo motor III 141 and driven by the servo motor III 141 to rotate, and the screw block 143 is sleeved on the screw rod III 142 and fixedly connected with the pulse pillow 13; and guide rails III 144 are further arranged on the pulse pillow base 12 positioned on two sides of the screw rod III 142, and a sliding block III 145 fixedly connected with the pulse pillow is sleeved on the guide rails III 144. When the servo motor III 141 rotates, the screw rod III 142 is driven to rotate, the pulse pillow 13 is lifted along the direction vertical to the bottom plate 11, the grating ruler is arranged on one side of the pulse pillow base 12, the position of the pulse pillow 13 is fed back in real time, and the motion closed-loop control is realized.
The invention provides a finely layered pulse wave signal acquisition method based on the principle of stimulation and response, the vertical pressing of an intelligent fingertip on a wrist radial artery detection area is realized through the accurate telescopic motion of a second driving unit, the lateral pressing stimulation of the intelligent fingertip on the wrist radial artery is realized through the bending motion of a third driving unit, the lateral acquisition depth is determined according to the pressing force fed back by a pressure sensor, and pulse wave signals of layers with different depths on the lateral surface of the radial artery are acquired through a flexible array type pulse sensor. The pulse taking device is combined with the rack component, the pulse pillow component and each driving unit, automatically finds the acquisition area according to a five-zone six-zone seven-layer method, automatically applies pressure and acquires pulse signals, and realizes the pulse taking of five twelve symptoms.
The pulse diagnosis instrument has seven degrees of freedom, as shown in fig. 6, the movement A is that the arm is placed on the pulse pillow, the pulse pillow base rotates around the angular contact ball bearing axis OO '(the vertical axis Z direction), so that the integral rotating movement of the rack assembly and the measuring head assembly is realized, the axis OO' is taken as a reference, and the movement range is +/-35 degrees; the motion B is the lifting motion of the pulse pillow 13 and the arm 5 driven by the lifting driving mechanism 14, and the motion range is 0-25 mm; the movement C is the rotation movement of the measuring head assembly around the arc-shaped guide rail 201, the central axis NN' of the arc-shaped guide rail is taken as a reference, and the movement range is +/-50 degrees; the movement D is that the longitudinal movement driving unit 4 drives the measuring head to do linear movement along the longitudinal axis Y direction, and the movement range is-20 mm to 45mm by taking the wrist transverse striation 55 as a reference; the motion E is that the first driving unit 32 drives the intelligent finger tip to do staggered motion relative to other intelligent fingers, and the motion range is +/-10 mm; the motion F is that the second driving unit 34 drives the tip of the intelligent finger to do telescopic motion, and the stroke is 0-15 mm; the motion G is that the third driving unit 36 drives the tip of the smart finger to rotate around the axis RR', and the rotation angle range is +/-45 degrees; each smart finger can independently implement motion E, motion F, and motion G.
The flow of pulse signal acquisition by the pulse diagnosis instrument is shown in fig. 7.
Firstly, an arm 5 is placed on the pulse pillow, the pulse pillow base rotates for a certain angle through arm adjustment movement, when the arm adjustment is stopped, the locking device is locked, and then the lifting driving mechanism drives the pulse pillow to lift, so that the lifting adjustment of the arm is realized, and the arm and the heart of a patient are at the same horizontal height.
And entering a collection area positioning and aligning stage, wherein the machine vision part uses the wrist cross grain as a reference, carries out image collection on a collection area and is divided into four areas of inch, close, ruler and lower ruler, and analyzes the coordinate of each area and transmits the coordinate to each driving unit in the rack component and the measuring head component.
And entering a pulse searching stage, driving the measuring head component to a preset position by the rotary driving unit or the transverse driving unit of the rack and the longitudinal movement driving unit together according to the coordinate signal, and driving the tips of the intelligent fingers by the first driving unit and the second driving unit of the intelligent fingers in the measuring head component according to the coordinates so as to accurately move to a collecting area for directly pressing and collecting. Furthermore, the third driving unit realizes lateral pressing on the radial artery of the acquisition area through bending motion, and different pressing methods of doctors of traditional Chinese medicine are realized.
The pressing force and the pulse wave signals of the human body are collected by pressing at different depths or in different force application modes and are uploaded to an upper computer for recording and analyzing.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides a high-accuracy intelligent pulse diagnosis appearance which characterized in that: the pulse-taking pillow comprises a rack assembly, a measuring head assembly and an information acquisition system, wherein the rack assembly mainly comprises a pulse pillow component at the bottom and a rack component arranged above the pulse pillow component, the measuring head assembly at least comprises four intelligent fingers arranged in parallel, and each intelligent finger is arranged on the rack component through a longitudinal motion driving unit;
the pulse pillow component comprises a bottom plate, a pulse pillow base and a pulse pillow; the pulse pillow base is rotatably connected above the base, a lifting driving mechanism is arranged on the pulse pillow base, and the pulse pillow is arranged on the pulse pillow base through the lifting driving mechanism and is driven by the lifting driving mechanism to perform vertical position adjustment;
each intelligent finger mainly comprises a connecting plate I connected with a longitudinal motion driving unit, a first driving unit arranged on the connecting plate I and capable of moving transversely, a connecting plate II arranged on the first driving unit and moving along with the first driving unit, a second driving unit arranged on the connecting plate II and capable of moving vertically, a connecting plate III arranged on the second driving unit and moving along with the second driving unit, and a third driving unit arranged on the connecting plate III; the first driving unit and the second driving unit are both linear telescopic driving devices; the third driving unit mainly comprises a servo linear actuator, push rods, connecting rods and intelligent finger tips, the servo linear actuator is arranged on a connecting plate III, the push rods are connected with the servo linear actuator and driven by the servo linear actuator, the number of the connecting rods is two, one end of each connecting rod is rotatably connected with the push rod and the connecting plate III, and the other end of each connecting rod is rotatably connected with the intelligent finger tips to form a parallelogram connecting rod mechanism;
the information acquisition system comprises a plurality of image acquisition modules, an image analysis positioning module and a composite sensing unit, wherein the image acquisition modules are arranged around the rack assembly and used for acquiring images of the arm to be detected, the image analysis positioning module is connected with the image acquisition modules and used for receiving information of the image acquisition modules, and the composite sensing unit is used for acquiring pressing information through intelligent fingers; the composite sensing unit comprises a flexible array sensor and a pressure sensor; the pressing surface on the intelligent finger tip is an arc-shaped surface, the flexible array sensor is attached to the arc-shaped surface, and the pressure sensor is arranged in the intelligent finger tip;
the rack component is of an arc structure or a linear structure;
when the frame component is of an arc structure, the frame component mainly comprises an arc guide rail, a synchronous belt and a synchronous belt pulley, wherein an arc guide rail sliding block is arranged on the arc guide rail with two ends fixed on the pulse pillow base, a servo motor is arranged on the arc guide rail sliding block, the synchronous belt pulley is connected with the servo motor through a coupler, the two ends of the synchronous belt are fixedly connected to the two sides of the arc guide rail through a tensioning device after bypassing the synchronous belt pulley, and a supporting plate is arranged on the arc guide rail sliding block;
when the rack part is the linear type structure, it mainly comprises stand, crossbeam and lead screw slider, the stand has two, establishes respectively in the pulse pillow base both sides, the crossbeam both ends link to each other with two stands and constitute the portal frame structure, are equipped with lead screw and guide arm on the crossbeam, lead screw slider suit is on lead screw and guide arm, is equipped with the servo motor who is connected with the lead screw on the crossbeam, be equipped with the layer board on the lead screw slider.
2. The high-precision intelligent pulse diagnosis instrument according to claim 1, characterized in that: the pulse pillow base is connected above the base through an angular contact ball bearing, and a locking device is arranged outside the angular contact ball bearing; the locking device mainly comprises a guide post, a return spring sleeved on the guide post, clamping rings sleeved on the guide post and positioned at two ends of the return spring, and an electromagnetic pushing seat arranged on the outer sides of the clamping rings to control the clamping rings to open and close.
3. The high-precision intelligent pulse diagnosis instrument according to claim 1, characterized in that: the longitudinal motion driving unit mainly comprises a sliding block I, a screw rod I, a guide rail I and a servo motor I, wherein the guide rail I and the servo motor I are arranged on a supporting plate; each connecting plate I in the intelligence finger all sets up on slider I.
4. The high-precision intelligent pulse diagnosis instrument according to claim 1, characterized in that: first drive unit and second drive unit all mainly comprise slider II, lead screw II, guide rail II and servo motor II, lead screw II links firmly and is driven rotatoryly by servo motor II with servo motor II, be equipped with the screw hole on the slider II, II suits of slider are on lead screw II and guide rail II, guide rail II sets firmly on corresponding connecting plate I or connecting plate II with servo motor II.
5. The high-precision intelligent pulse diagnosis instrument according to claim 1, characterized in that: the lifting driving mechanism comprises a servo motor III, a screw rod III and a screw block, the servo motor III is fixedly arranged on the pulse pillow base, the screw rod III is vertically connected with the servo motor III and driven by the servo motor III to rotate, and the screw block is sleeved on the screw rod III and fixedly connected with the pulse pillow; and a guide rail III is further arranged on the pulse pillow base positioned on two sides of the screw rod III, and a sliding block III fixedly connected with the pulse pillow is sleeved on the guide rail III.
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