CN111671404B - Bionic pulse feeling system - Google Patents
Bionic pulse feeling system Download PDFInfo
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- CN111671404B CN111671404B CN202010468976.7A CN202010468976A CN111671404B CN 111671404 B CN111671404 B CN 111671404B CN 202010468976 A CN202010468976 A CN 202010468976A CN 111671404 B CN111671404 B CN 111671404B
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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
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
- A61B5/0015—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by features of the telemetry system
Abstract
The embodiment of the invention provides a bionic pulse feeling system which comprises a pressure sensing system and a bionic arm system. The pressure sensing system comprises a pressure sensor array attached to the wrist of the user, and the pressure sensor array is used for acquiring pressure information of the pulse at the wrist. The bionic arm system comprises: the bionic arm is internally provided with a flexible conduit; the outer surface of the flexible conduit is attached with electric field/magnetic force adjusting equipment corresponding to the flexible conduit material; the peristaltic pump is used for drawing liquid from the water tank and outputting the liquid to the flexible conduit, and the flow of the liquid in the flexible conduit is instructed according to the flow control; and the first processor is used for receiving the pressure information, outputting a flow control instruction to the peristaltic pump according to the pressure information and outputting an electric field/magnetic force control instruction to the electric field/magnetic force adjusting device so that the flexible conduit reproduces the pulse condition of the user. The embodiment of the invention can improve the pulse reproduction precision.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a bionic pulse feeling system.
Background
With the increasing importance of people on medical health, novel medical electronic equipment and diagnostic technology are popularized and applied. Especially, the advent of the technology of the internet of things makes remote medical diagnosis possible. Currently, traditional Chinese medicine often judges the pathological condition of a person by feeling pulses, however, patients in many areas cannot be consulted with traditional Chinese medicine due to the limitation of geographical positions.
The existing remote pulse condition instrument can only present the pulse condition to a doctor in an image form, the pulse condition cannot be well restored to bionic vibration information, the pulse condition information is difficult to accurately interpret from the image, in addition, the pulse feeling has certain subjectivity, different traditional Chinese medicine experts have different understanding on the pulse condition, and a lot of inconvenience exists in the practical use of remote pulse feeling through the image pulse condition.
Disclosure of Invention
Embodiments of the present invention provide a biomimetic pulse taking system that overcomes, or at least partially solves, the above-mentioned problems.
In a first aspect, an embodiment of the present invention provides a bionic pulse feeling system, including:
the pressure sensing system comprises a pressure sensor array attached to the wrist of a user, wherein the pressure sensor array is used for acquiring pressure information of the pulse at the wrist;
a bionic arm system comprising:
the bionic arm is made of a flexible material, a flexible conduit is arranged inside the bionic arm, and the flexible conduit is made of an electrostrictive material (including but not limited to electroactive polymers) or a magnetostrictive material (including but not limited to flexible magnetostrictive Fe81Ga19 thin films); an electric field/magnetic force adjusting device corresponding to the flexible conduit material is attached to the outer surface of the flexible conduit; the electric field/magnetic force adjusting equipment adjusts the size of the electric field/magnetic force according to the electric field/magnetic force control instruction;
the peristaltic pump is used for drawing liquid from the water tank, outputting the liquid to the flexible conduit and commanding the flow of the liquid in the flexible conduit according to the flow control;
and the first processor is used for receiving the pressure information, outputting the flow control instruction to the peristaltic pump according to the pressure information and outputting the temperature/magnetic force control instruction to the temperature/magnetic force adjusting device, so that the flexible conduit reproduces the pulse condition of the user.
Further, the pressure sensing system further comprises:
the analog-to-digital converter is connected with the output end of the pressure sensor array and is used for converting the pressure information of the analog signal output by the pressure sensor array into the pressure information of a digital signal;
the algorithm unit is connected with the analog-to-digital converter and is used for carrying out average value processing on the digital signals of all the pressure sensors of the pressure sensor array to obtain a comprehensive digital signal;
and the first transmission unit is used for transmitting the integrated digital signal to the bionic arm system through a wireless communication protocol.
Further, the bionic arm system comprises:
and the second transmission unit is connected with the input end of the processor and is used for transmitting the pressure information transmitted by the pressure sensing system through a wireless communication protocol to the processor.
Further, the wireless communication protocol includes, but is not limited to, a TCP/IP protocol, a 4G communication protocol, and a 5G communication protocol.
Further, the pressure sensing system further comprises a memory for storing the pressure sensing information of the digital signal.
Further, the solvent component of the liquid includes, but is not limited to, water and/or organic solvents, and the solute component includes, but is not limited to, inorganic salts, starches, agar and/or organic soluble materials.
Further, the bionic arm system further comprises a liquid density control device, and the liquid density control device comprises:
the device comprises a first storage area and a second storage area, wherein the first storage area is used for containing solvent components of the liquid, the second storage area is used for containing solute components of the liquid, outlets of the first storage area and the second storage area are both connected with a water tank, and outlets of the first storage area and the second storage area are both provided with an electric control valve;
a density sensor disposed in the tank for detecting a density of the liquid in the tank;
and the second processor is used for receiving the density of the liquid in the water tank and controlling the electric control valve switches at the outlets of the first storage section and the second storage section to enable the density of the liquid in the water tank to meet the preset liquid density requirement.
Furthermore, the bionic arm is prepared from silica gel or polydimethylsiloxane.
The bionic pulse feeling system provided by the embodiment of the invention is provided with the pressure sensing system at the user side and the bionic arm system at the doctor side, and the pressure sensing system can more comprehensively acquire the pressure sensing information of the pulse at the wrist of the user by arranging the pressure sensing sensor array; the bionic arm system firstly comprises a bionic arm simulating a human arm as much as possible, so that a doctor faces an instrument which is not cold ice but the bionic arm to improve the perception of the doctor, and secondly, the flexible conduit made of an electrostrictive material or a magnetostrictive material is arranged in the arm to simulate blood vessels in the arm, so that the contraction and the relaxation of the flexible conduit can be realized by controlling the size of an electric field or magnetic force, and the expansion state of the blood vessels can be restored more truly; the peristaltic pump is further arranged, the flow of liquid is controlled through the peristaltic pump, the flowing state of blood is more truly restored, and the (first) processor outputs a control instruction according to the pressure information, so that the flexible catheter reproduces the pulse condition of the user; the bionic arm is used for reproducing the pulse vibration, bionic blood vessels and blood are arranged in the bionic arm, diversified pulse vibration states can be realized by adjusting the density, the flow speed, the switch, the contractility of the bionic blood vessels and the like of the bionic blood, and the reproduction precision of the pulse is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a bionic pulse feeling system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the above problems in the prior art, the inventive concept of the embodiment of the present invention is: the pressure sensing system at the user side and the bionic arm system at the doctor side are arranged, and the pressure sensing system collects the pressure sensing information of the pulse at the wrist of the user more comprehensively by arranging the pressure sensing sensor array; the bionic arm system firstly comprises a bionic arm simulating a human arm as much as possible, so that a doctor faces an instrument which is not cold ice but the bionic arm to improve the perception of the doctor, and secondly, the flexible conduit made of an electrostrictive material or a magnetostrictive material is arranged in the arm to simulate blood vessels in the arm, so that the contraction and the relaxation of the flexible conduit can be realized by controlling the size of an electric field or magnetic force, and the expansion state of the blood vessels can be restored more truly; the peristaltic pump is further arranged, the flow of liquid is controlled through the peristaltic pump, the flowing state of blood is more truly restored, and the (first) processor outputs a control instruction according to the pressure information, so that the flexible catheter reproduces the pulse condition of the user; the bionic arm is used for reproducing the pulse vibration, bionic blood vessels and blood are arranged in the bionic arm, diversified pulse vibration states can be realized by adjusting the density, the flow speed, the switch, the contractility of the bionic blood vessels and the like of the bionic blood, and the reproduction precision of the pulse is improved.
Fig. 1 is a schematic structural diagram of a biomimetic pulse feeling system according to an embodiment of the present invention, as shown in fig. 1, including:
the pressure sensing system 100 comprises a pressure sensor array 101 attached to the wrist of a user, wherein the pressure sensor array 101 is used for acquiring pressure sensing information of pulse at the wrist.
The pressure sensor array according to the embodiment of the present invention is composed of a plurality of pressure sensors, for example, 9 pressure sensors in 3 rows and 3 columns, and the number of pressure sensors in the pressure sensor array is not further limited in the embodiment of the present invention. It can be understood that, in the embodiment of the present invention, the binding bands may be disposed on two sides of the pressure sensor array, so that the pressure sensor array is tightly attached to the wrist, and when the pressure sensor is attached to the wrist, the pressure information that the pressure sensor can collect includes the magnitude of the pressure and the frequency of the pressure change, where the magnitude of the pressure may represent the blood pressure, and the frequency of the pressure change may represent the frequency of the pulse vibration.
The bionic arm system 200 includes:
the bionic arm 201 is made of a flexible material, specifically, the material of the bionic arm can be silica gel or polydimethylsiloxane, and the length and the diameter of the bionic arm can be set to a plurality of specifications aiming at men and women, so that the appearance of the arm of a user can be reflected more truly.
The bionic arm 201 is internally provided with a flexible conduit 202, and the diameter of the flexible conduit is similar to that of a human wrist vein, so that the vibration and the flow velocity of the vein can be better simulated. The flexible conduit 202 is made of an electrostrictive material (e.g., an electroactive polymer) or a magnetostrictive material (e.g., a flexible magnetostrictive Fe81Ga19 film). An electric field/magnetic force adjusting device (not shown) corresponding to the material of the flexible conduit is attached to the outer surface of the flexible conduit 202, and it can be understood that when the material of the flexible conduit is an electrostrictive material, the electric field adjusting device is attached to the outer surface of the flexible conduit, and when the material of the flexible conduit is a magnetostrictive material, the magnetic force adjusting device is attached to the outer surface of the flexible conduit. The electric field/magnetic force adjusting device adjusts the size of the electric field/magnetic force according to the electric field/magnetic force control instruction. Thus, when the electric field or the magnetic force changes periodically, the flexible conduit can also contract and expand periodically, so that the simulation effect of the pulse is obtained.
The peristaltic pump 203 is connected with the input end of the peristaltic pump 203 and the water tank 204, the output end of the peristaltic pump 203 is connected with the flexible conduit 202, and the peristaltic pump 203 is used for drawing liquid from the water tank 204 and outputting the liquid to the flexible conduit 202, and the flow of the liquid in the flexible conduit 202 is instructed according to the flow control.
It should be noted that peristaltic pumps have excellent repeatability accuracy in dispensing and metering small volumes of fluid. No valve is needed to be installed, and the common blocking and siphoning phenomena of the fluid are eliminated. According to the embodiment of the invention, the peristaltic pump is utilized to adjust the flow of the liquid in the flexible conduit, so that the simulation effect of blood flow is obtained.
A first processor 205, configured to receive the pressure information, output the flow control instruction to the peristaltic pump 203 and output the temperature/magnetic force control instruction to the temperature/magnetic force adjusting device according to the pressure information, so that the flexible conduit 202 reproduces the pulse condition of the user.
It should be noted that the first processor determines the pressure range of the liquid inside the flexible conduit as a target pressure range according to the amplitude of the pressure sense, so as to obtain a flow control instruction, so that the peristaltic pump can adjust the pressure range in the flexible conduit to the target pressure range according to the flow control instruction, so that the pressure of the flexible blood vessel is consistent with the blood pressure of the user; meanwhile, the first processor is used for obtaining an electric field/magnetic force control instruction according to the frequency of the pressure change serving as a target frequency, and the temperature/magnetic force adjusting device is used for adjusting the frequency of the electric field/magnetic force change serving as the target frequency according to the electric field/magnetic force control instruction, so that the frequency of the contraction and relaxation of the flexible blood vessels is consistent with the pulse frequency of a user.
According to the bionic pulse feeling system, the pressure sensing system on the user side and the bionic arm system on the doctor side are arranged, and the pressure sensing system collects the pressure sensing information of the pulse at the wrist of the user more comprehensively by arranging the pressure sensing sensor array; the bionic arm system firstly comprises a bionic arm simulating a human arm as much as possible, so that a doctor faces an instrument which is not cold ice but the bionic arm to improve the perception of the doctor, and secondly, the flexible conduit made of an electrostrictive material or a magnetostrictive material is arranged in the arm to simulate blood vessels in the arm, so that the contraction and the relaxation of the flexible conduit can be realized by controlling the size of an electric field or magnetic force, and the expansion state of the blood vessels can be restored more truly; the peristaltic pump is further arranged, the flow of liquid is controlled through the peristaltic pump, the flowing state of blood is more truly restored, and the (first) processor outputs a control instruction according to the pressure information, so that the flexible catheter reproduces the pulse condition of the user; the bionic arm is used for reproducing the pulse vibration, bionic blood vessels and blood are arranged in the bionic arm, diversified pulse vibration states can be realized by adjusting the density, the flow speed, the switch, the contractility of the bionic blood vessels and the like of the bionic blood, and the reproduction precision of the pulse is improved.
On the basis of the foregoing embodiments, as an alternative embodiment, the pressure sensing system further includes:
and the analog-to-digital converter is connected with the output end of the pressure sensor array and is used for converting the pressure information of the analog signal output by the pressure sensor array into the pressure information of the digital signal.
The main drawback of an analog signal is that it is always affected by noise (an undesirable random variation in the signal). The influence of random noise can become significant after the signal is copied for many times or transmitted for a long distance, and the loss of the signal in the transmission process can be reduced by arranging an analog-to-digital converter to convert the analog signal into a digital signal in order to realize long-distance pulse feeling.
The algorithm unit is connected with the analog-to-digital converter and is used for carrying out average value processing on the digital signals of all the pressure sensors of the pressure sensor array to obtain a comprehensive digital signal;
it should be understood that, the pressure sensor array has a plurality of pressure sensors, and the arithmetic unit obtains the pressure information with higher accuracy by averaging the duck liver information of the digital signal corresponding to each pressure sensor.
And the first transmission unit is used for transmitting the pressure sensing information of the integrated digital signal to the bionic arm system through a wireless communication protocol.
The wireless communication protocols of the embodiment of the invention include but are not limited to TCP/IP protocol, 4G communication protocol and 5G communication protocol.
On the basis of the above embodiments, as an alternative embodiment, the bionic arm system includes: and the second transmission unit is connected with the input end of the processor and is used for transmitting the pressure information transmitted by the pressure sensing system through a wireless communication protocol to the processor.
On the basis of the above embodiments, as an alternative embodiment, the pressure sensing system further includes a memory for storing the pressure sensing information of the digital signal.
On the basis of the above embodiments, as an alternative embodiment, the solvent component of the liquid includes, but is not limited to, water and/or an organic solvent, and the solute component includes, but is not limited to, an inorganic salt, starch, agar and/or an organic soluble substance. The liquid according to the embodiment of the present invention is not pure water, and the purpose thereof is to solve the density of blood by the density of the liquid, thereby more truly reflecting the influence of the pulse on the blood flow.
On the basis of the above embodiments, as an alternative embodiment, the bionic arm system further includes a liquid density control device, and the liquid density control device includes:
the device comprises a first storage interval and a second storage interval, wherein the first storage interval is used for containing solvent components of the liquid, the second storage interval is used for containing solute components of the liquid, outlets of the first storage interval and the second storage interval are connected with the water tank, and electric control valves are arranged at the outlets of the first storage interval and the second storage interval.
It should be understood that the liquid density control device of the embodiment of the present invention is provided with two storage sections, and the purpose of the device is to adjust the density of the liquid, after the electrically controlled valve at the outlet of the first storage section is opened, the solvent component contained in the first storage section is added to the water tank, so as to reduce the density of the liquid, and after the electrically controlled valve at the outlet of the second storage section is opened, the solvent component contained in the second storage section is added to the water tank, so as to increase the density of the liquid.
A density sensor disposed in the tank for detecting a density of the liquid in the tank;
and the second processor is used for receiving the density of the liquid in the water tank and controlling the electric control valve switches at the outlets of the first storage section and the second storage section to enable the density of the liquid in the water tank to meet the preset liquid density requirement. It can be understood that the output end of the density sensor is connected with the input end of the second processor, so that the density information detected by the density sensor can be sent to the second processor, a liquid density can be preset in the second processor as a target density, if the detected density is lower than the target density, the second processor can control the electric control valve at the outlet of the second storage region to be opened, so that the solute is added into the water tank, the liquid density is improved, and if the detected density is higher than the target density, the second processor can control the electric control valve at the outlet of the first storage region to be opened, so that the solvent is added into the water tank, and the liquid density is reduced.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A biomimetic pulse taking system, comprising:
the pressure sensing system comprises a pressure sensor array attached to the wrist of a user, wherein the pressure sensor array is used for acquiring pressure information of the pulse at the wrist;
a bionic arm system comprising:
the bionic arm is made of a flexible material, a flexible conduit is arranged in the bionic arm, and the flexible conduit is made of an electrostrictive material or a magnetostrictive material; an electric field/magnetic force adjusting device corresponding to the flexible conduit material is attached to the outer surface of the flexible conduit; the electric field/magnetic force adjusting equipment adjusts the size of the electric field/magnetic force according to the electric field/magnetic force control instruction;
the peristaltic pump is used for drawing liquid from the water tank, outputting the liquid to the flexible conduit and commanding the flow of the liquid in the flexible conduit according to the flow control;
the first processor is used for receiving the pressure information, outputting the flow control instruction to the peristaltic pump according to the pressure information and outputting the electric field/magnetic force control instruction to the electric field/magnetic force adjusting device so that the flexible conduit reproduces the pulse condition of the user;
the pressure sensing system further comprises:
the analog-to-digital converter is connected with the output end of the pressure sensor array and is used for converting the pressure information of the analog signal output by the pressure sensor array into the pressure information of a digital signal;
the algorithm unit is connected with the analog-to-digital converter and is used for carrying out average value processing on the digital signals of all the pressure sensors of the pressure sensor array to obtain a comprehensive digital signal;
the first transmission unit is used for transmitting the integrated digital signal to the bionic arm system through a wireless communication protocol;
a memory for storing pressure-sensitive information of the digital signal.
2. The biomimetic pulse feeling system of claim 1, wherein the biomimetic arm system comprises:
and the second transmission unit is connected with the input end of the processor and is used for transmitting the pressure information transmitted by the pressure sensing system through a wireless communication protocol to the processor.
3. The biomimetic pulse feeling system of claim 1 or 2, wherein the wireless communication protocol includes, but is not limited to, TCP/IP protocol, 4G communication protocol, and 5G communication protocol.
4. The biomimetic pulse feeling system of claim 1, wherein the liquid has a solvent component including, but not limited to, water and/or an organic solvent and a solute component including, but not limited to, an inorganic salt, starch, agar and/or an organic soluble substance.
5. The biomimetic pulse feeling system of claim 4, wherein the biomimetic arm system further comprises a liquid density control device, the liquid density control device comprising:
the device comprises a first storage area and a second storage area, wherein the first storage area is used for containing solvent components of the liquid, the second storage area is used for containing solute components of the liquid, outlets of the first storage area and the second storage area are both connected with a water tank, and outlets of the first storage area and the second storage area are both provided with an electric control valve;
a density sensor disposed in the tank for detecting a density of the liquid in the tank;
and the second processor is used for receiving the density of the liquid in the water tank and controlling the electric control valve switches at the outlets of the first storage section and the second storage section to enable the density of the liquid in the water tank to meet the preset liquid density requirement.
6. The biomimetic pulse feeling system of claim 1, wherein the biomimetic arm is made of silica gel or polydimethylsiloxane.
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| CN1444758A (en) * | 2000-05-24 | 2003-09-24 | 英默森公司 | Haptic devices using electroactive polymers |
| JP2013235094A (en) * | 2012-05-08 | 2013-11-21 | Takiron Co Ltd | Simulated blood for flow phantom for ultrasonic diagnostic device |
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| CN103876713A (en) * | 2014-04-21 | 2014-06-25 | 北京航空航天大学 | Remote pulse diagnosis instrument |
| CN108056758A (en) * | 2017-12-21 | 2018-05-22 | 芜湖圣美孚科技有限公司 | A kind of imitative traditional Chinese medical science takes vein system to unite automatically |
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| CN110731764A (en) * | 2019-10-28 | 2020-01-31 | 重庆大学 | pulse detection system |
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| CN1444758A (en) * | 2000-05-24 | 2003-09-24 | 英默森公司 | Haptic devices using electroactive polymers |
| JP2013235094A (en) * | 2012-05-08 | 2013-11-21 | Takiron Co Ltd | Simulated blood for flow phantom for ultrasonic diagnostic device |
| CN103426351A (en) * | 2013-07-11 | 2013-12-04 | 牛欣 | Heart artery induction pulse taking training device and method allowing remote reproduction |
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