CN115781686A - Mechanical arm for remotely diagnosing pulse and control method - Google Patents
Mechanical arm for remotely diagnosing pulse and control method Download PDFInfo
- Publication number
- CN115781686A CN115781686A CN202211674382.7A CN202211674382A CN115781686A CN 115781686 A CN115781686 A CN 115781686A CN 202211674382 A CN202211674382 A CN 202211674382A CN 115781686 A CN115781686 A CN 115781686A
- Authority
- CN
- China
- Prior art keywords
- mechanical
- arm
- pulse
- steering engine
- patient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a mechanical arm for remote pulse diagnosis and a control method, wherein the mechanical arm comprises: the pulse condition sensor comprises a fixing part, a first mechanical large arm, a second mechanical large arm, a first mechanical small arm, a second mechanical small arm, a manipulator and a piezoresistive pulse condition sensor arranged at the finger end of the manipulator. The invention can ensure the optimal pulse feeling angle of the fingers by controlling the bending of the mechanical fingers, and change the magnitude of applied pressure by the bending degree so as to simulate the change of pulse feeling strength of a doctor to a patient and realize the sinking and floating operation of sensing pulse; in addition, the left-right transverse movement of the index finger and the ring finger is controlled to simulate a pulse-feeling technique of a doctor, so that the operation of sensing the width of the pulse tube is realized. The scheme of the invention can realize the automatic and accurate acquisition of the pulse information of the patient, and because the pulse feeling manipulation of the mechanical arm is similar to the traditional Chinese medicine process, the pulse feeling manipulation is more easily accepted by the patient, and the acquisition process is not easily influenced by the psychological change of the patient.
Description
Technical Field
The invention belongs to the technical field of remote pulse diagnosis, and particularly relates to a mechanical arm for remote pulse diagnosis and a control method.
Background
The pulse is one of the important dynamic signals of human body, it can reflect the physiological change of human heart organ and blood circulation system, can extract various physiological and pathological information related to cardiovascular disease from pulse wave, it is very important in clinical health observation and disease diagnosis, and ancient times have the saying that "ask a doctor to know its exterior and examine the pulse to know its interior". The pulse-taking is the pulse-taking, which is also the most distinctive diagnostic method in the traditional Chinese medicine, has long history and rich contents, is the embodiment and application of the basic spirit of the holistic concept and the treatment by syndrome differentiation of the traditional Chinese medicine, and is also an indispensable component of the theoretical system of the traditional Chinese medicine.
The physicians in the past generations studied the pulse conditions in the fields of measurement and analysis, classification and diagnosis. At present, pulse wave detection is applied to the fields such as cardiovascular disease diagnosis and treatment (such as coronary heart disease, hypertension, myocardial infarction, arteriosclerosis and the like), community rehabilitation and health care (such as exercise effect determination, special professional talent selection and the like), psychological state evaluation (such as lie detection, psychological quality determination and the like), body state diagnosis and treatment (such as noninvasive blood sample saturation determination, locomotive driver fatigue determination and the like).
With the development of computer technology, the related research of remote pulse feeling is more and more. A pulse acquisition device (CN 111436918A) invented by shanghai palm technologies ltd in 2020, the pulse acquisition device comprises: a frame; the pulse acquisition driving assembly is arranged on the rack; the pulse acquisition driving component drives the pulse acquisition component to contact the arm of the user so as to acquire a pulse signal; the communication component is used for communicating with the upper computer to receive remote instructions; the control assembly is respectively electrically connected with the pulse acquisition driving assembly, the pulse acquisition assembly and the communication assembly and controls the pulse acquisition driving assembly to act based on the remote instruction. The pulse acquisition device is suitable for complete and accurate pulse wave data extraction of operators on site or in a remote way. However, the pulse collecting device is a fixed collecting end, flexible adjustment cannot be realized, the traditional Chinese medicine pulse feeling manipulation cannot be simulated well, and the pulse collecting device cannot adapt to the different changes of acupuncture points caused by individual differences, so that the accuracy of pulse condition collection is influenced.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides a mechanical arm and a control method for remote pulse taking. The technical problem to be solved by the invention is realized by the following technical scheme:
a robotic arm for remote pulse taking, comprising: the pulse condition monitoring device comprises a fixing part, a first mechanical big arm, a second mechanical big arm, a first mechanical small arm, a second mechanical small arm, a mechanical arm and a piezoresistive pulse condition sensor arranged at the finger end of the mechanical arm;
the first mechanical big arm is rotatably connected with the fixing part so as to realize the crank arm action of the first mechanical big arm; the first mechanical large arm and the second mechanical large arm are connected and coaxial, and the second mechanical large arm can rotate along the central axis of the second mechanical large arm so as to realize the rotation action of the second mechanical large arm; the second mechanical large arm is rotatably connected with the first mechanical small arm so as to realize the crank action of the first mechanical small arm; the first mechanical small arm is connected with and coaxial with the second mechanical small arm, and the second mechanical small arm can rotate along the central axis of the second mechanical small arm so as to realize the rotation action of the second mechanical small arm; the second mechanical small arm is connected with the manipulator, and the rotation of the second mechanical small arm drives the manipulator to coaxially rotate so as to realize the overturning action of the manipulator;
the second mechanical forearm is connected with the mechanical arm through a linkage component, and fingers of the mechanical arm apply different pressures to acupuncture points of a patient under the driving of the linkage component so as to simulate a doctor pulse-taking method to realize pulse-sensing sinking and floating operation; the fingers of the manipulator move left and right under the driving of the linkage part so as to simulate a doctor pulse-feeling method to realize the operation of sensing the width of the pulse tube; and acquiring the pulse condition information of the patient through the piezoresistive pulse condition sensor.
In one embodiment of the present invention, the first boom is provided with a first motor and a first pulley, the first motor and the first pulley are cooperatively connected, and rotation of the first motor drives the first pulley to rotate, so as to drive the first boom to swing around the fixing portion, so as to realize a crank action of the first boom.
In an embodiment of the present invention, a second motor and an internal gear are disposed at an upper end portion of the second mechanical large arm, the second motor and the internal gear are connected in a matching manner, and rotation of the second motor drives the internal gear to rotate along a central axis of the second mechanical large arm, so as to implement a rotation action of the second mechanical large arm.
In an embodiment of the present invention, a third motor and a second pulley are disposed at a lower end of the second mechanical arm, the third motor and the second pulley are connected in a matching manner, the second pulley is connected with the first mechanical arm, and rotation of the third motor drives the second pulley to rotate to realize a crank arm action of the first mechanical arm.
In an embodiment of the present invention, the first mechanical arm includes a fourth motor and a bevel gear, the fourth motor is in fit connection with the bevel gear, and rotation of the fourth motor drives the bevel gear to rotate, which in turn drives the second mechanical arm to rotate along a central axis of the second mechanical arm, so as to implement a rotation action of the second mechanical arm.
In one embodiment of the invention, the second mechanical forearm is provided with a first steering engine, a second steering engine and a third steering engine, the first steering engine is connected with a pulley at one end of the index finger close to the palm of the hand through a first traction steel rope, the second steering engine is connected with a pulley at one end of the middle finger close to the palm of the hand through a second traction steel rope, and the third steering engine is connected with a pulley at one end of the ring finger close to the palm of the hand through a third traction steel rope; the index finger, the middle finger and the ring finger are driven by the first steering engine, the second steering engine and the third steering engine respectively to change the bending degree so as to realize the optimal pulse feeling angle; the magnitude of the applied pressure is changed through the bending degree so as to simulate the change of the pulse-taking force of a doctor to a patient and realize the sinking and floating operation of sensing the pulse.
In one embodiment of the invention, a fourth steering engine is arranged at the palm part of the manipulator, a first curved rod and a second curved rod are fixedly connected to the fourth steering engine, the first curved rod is connected with the index finger, and the second curved rod is connected with the ring finger; the forefinger and the ring finger are driven by the fourth steering engine to move left and right through the extension of the first curved rod and the second curved rod respectively so as to simulate a doctor's pulse-feeling technique. A perception vessel width operation is implemented.
In one embodiment of the invention, the first traction cable, the second traction cable and the third traction cable are each sheathed with a traction cable tube.
In one embodiment of the present invention, there are 3 piezoresistive pulse condition sensors respectively disposed at the fingertip portions of the index finger, the middle finger and the ring finger of the manipulator.
A control method of the mechanical arm comprises the following steps:
when a patient places an arm on a pulse pillow placed below the mechanical arm, the control system controls the first motor to rotate according to the predetermined distance between the mechanical arm and the patient arm, and drives the first mechanical big arm to bend downwards through the first belt wheel, so that the mechanical arm is close to the wrist of the patient;
the third motor rotates under the control of the control system, and the first mechanical forearm is driven to move downwards through a second belt wheel, so that the mechanical arm just contacts the wrist of the patient;
the first steering engine, the second steering engine and the third steering engine rotate under the control of the control system, and the index finger, the middle finger and the ring finger are correspondingly pulled to be bent through the first traction steel rope, the second traction steel rope and the third traction steel rope respectively so as to realize the optimal pulse-taking angle; the magnitude of the applied pressure is changed through the bending degree so as to simulate the change of the pulse-taking force of a doctor to a patient and realize the sinking and floating operation of sensing the pulse;
the fourth steering engine is under the control of the control system, when the middle finger is kept pressing the corresponding acupuncture point immovably, the index finger and the ring finger are correspondingly pulled through the first curved rod and the second curved rod to move transversely left and right so as to simulate a doctor's pulse-taking technique to realize the operation of sensing the width of the pulse tube.
Compared with the prior art, the invention has the beneficial effects that:
the mechanical arm and the control method for remotely diagnosing the pulse can ensure the optimal pulse feeling angle of the fingers by controlling the bending of the mechanical fingers, and change the magnitude of applied pressure by the bending degree so as to simulate the change of pulse feeling strength of a patient by a doctor and realize the sinking and floating operation of sensing the pulse; in addition, when the middle finger is kept to press the corresponding acupuncture point, the index finger and the ring finger are controlled to transversely move left and right so as to simulate a doctor's pulse-taking technique and realize the operation of sensing the width of the pulse tube. The scheme of the invention can realize the automatic and accurate acquisition of the pulse information of the patient, and because the pulse feeling manipulation of the mechanical arm is similar to the traditional Chinese medicine process, the pulse feeling manipulation is more easily accepted by the patient, and the acquisition process is not easily influenced by the psychological change of the patient.
Drawings
Fig. 1 is a schematic overall structural diagram of a robot arm for remote pulse taking according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mechanical big arm and a mechanical small arm of a mechanical arm for remote pulse taking according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a manipulator and a mechanical arm of a mechanical arm for remote pulse taking according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a manipulator arm for remotely diagnosing pulses according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of a method for controlling a robot according to an embodiment of the present invention.
Reference numerals: 1-a fixed part; 2-a first mechanical boom; 3-a second mechanical big arm; 4-a first mechanical forearm; 5-a second mechanical forearm; 6-a manipulator; 7-a first motor; 8-a first pulley; 9-a second motor; 10-internal gear; 11-a third motor; 12-a second pulley; 13-a fourth motor; 14-bevel gear; 15-a first steering engine; 16-a second steering engine; 17-a third steering engine; 18-a first traction rope; 19-a second traction steel cord; 20-a third traction steel cord; 21-a pulley; 22-a fourth steering engine; 23-a first knee lever; 24-second curved lever.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, fig. 1 is a schematic overall structural diagram of a mechanical arm for remote pulse taking according to an embodiment of the present invention, and as shown in fig. 1, the mechanical arm for remote pulse taking according to the embodiment of the present invention includes: the pulse condition monitoring system comprises a fixing part 1, a first mechanical large arm 2, a second mechanical large arm 3, a first mechanical small arm 4, a second mechanical small arm 5, a manipulator 6 and a piezoresistive pulse condition sensor arranged at the finger end of the manipulator 6. The specific structure and function of each part will be described in detail below.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a mechanical arm and a mechanical arm for remote pulse taking according to an embodiment of the present invention.
The fixing part 1 of the embodiment of the invention is a fixing part 1 for fixing the mechanical arm on the operating table, the first mechanical arm 2 is rotatably connected with the fixing part 1 to realize the crank action of the first mechanical arm 2, and the aim is to drive the whole mechanical arm to be close to and far away from the wrist of a patient.
Specifically, the first mechanical arm 2 is provided with a first motor 7 and a first belt wheel 8, the first motor 7 is connected with the first belt wheel 8 in a matching mode, and the first motor 7 rotates to drive the first belt wheel 8 to rotate so as to drive the first mechanical arm 2 to swing around the fixing portion 1, so that the arm bending action of the first mechanical arm 2 is achieved. It can be understood that the first belt pulley 8 comprises a first driving wheel and a second driven wheel, the first driving wheel is connected with the output end of the first motor 7, and the first driven wheel is coaxially connected with the end part of the first mechanical large arm 2 and the rotating shaft of the fixing part 1, so that the first mechanical large arm 2 can swing around the rotating shafts of the end part of the first mechanical large arm 2 and the fixing part 1 under the driving of the first motor 7, so as to realize the lifting and lowering of the whole mechanical arm.
The first mechanical large arm 2 and the second mechanical large arm 3 are connected and coaxial, and the second mechanical large arm 3 can rotate along the central axis of the second mechanical large arm 3 so as to realize the rotation action of the second mechanical large arm 3.
Specifically, the upper end part of the second mechanical large arm 3 is provided with a second motor 9 and an internal gear 10, the second motor 9 is connected with the internal gear 10 in a matching manner, and the rotation of the second motor 9 drives the internal gear 10 to rotate along the central axis of the second mechanical large arm 3, so as to realize the rotation of the second mechanical large arm 3. For example, the internal gear 10 may be disposed at a junction of the first mechanical upper arm 2 and the second mechanical upper arm 3, and the second mechanical upper arm 3 may drive the first mechanical lower arm 4, the second mechanical lower arm 5 and the manipulator 6 to perform a rotation motion when the height of the first mechanical upper arm 2 is a certain height.
The second mechanical large arm 3 of the embodiment of the invention is rotatably connected with the first mechanical small arm 4 to realize the crank action of the first mechanical small arm 4.
Specifically, a third motor 11 and a second belt pulley 12 are arranged at the lower end of the second mechanical large arm 3, the third motor 11 is connected with the second belt pulley 12 in a matching manner, the second belt pulley 12 is connected with the first mechanical small arm 4, and the rotation of the third motor 11 drives the second belt pulley 12 to rotate so as to realize the crank movement of the first mechanical small arm 4. It can be understood that the third belt wheel includes a second driving wheel and a second driven wheel, the second driving wheel is connected with the output end of the third motor 11, and the second driven wheel is coaxially connected with the rotation shafts of the second mechanical arm 3 and the first mechanical arm 4, so that the first mechanical arm, the second mechanical arm and the manipulator 6 can be lifted or lowered under the driving of the third motor 11 to be far away from or close to the wrist of the patient.
The first mechanical small arm 4 and the second mechanical small arm 5 are connected and coaxial, and the second mechanical small arm 5 can rotate along the central axis of the second mechanical small arm 5 so as to realize the rotation action of the second mechanical small arm 5; the second mechanical small arm 5 is connected with the manipulator 6, and the rotation of the second mechanical small arm 5 drives the manipulator 6 to coaxially rotate so as to realize the overturning action of the manipulator 6.
Specifically, the first mechanical arm 4 includes a fourth motor 13 and a bevel gear 14, the fourth motor 13 is connected to the bevel gear 14 in a matching manner, and rotation of the fourth motor 13 drives the bevel gear 14 to rotate, so as to drive the second mechanical arm 5 to rotate along the central axis of the second mechanical arm 5, so as to implement rotation of the second mechanical arm 5. It will be appreciated that bevel gear 14 is provided at the junction of the first mechanical arm 4 and the second mechanical arm 5. The fourth motor 13 drives the second mechanical small arm 5 and the mechanical arm 6 to rotate, so that the fingers of the mechanical arm 6 can be twisted within a small amplitude range during pulse feeling.
The first mechanical large arm 2 can do bending movement so as to be convenient for sending mechanical fingers to the vicinity of the wrist of a patient, and the mechanical hand 6 just contacts the wrist of the patient by combining the downward movement of the first mechanical small arm 4, and the rotation movement of the second mechanical small arm 5 within a small amplitude range can realize the finding of the position and the angle which are most suitable for pulse sensor pulse taking.
Referring to fig. 3 and 4, fig. 3 is a schematic structural diagram of a manipulator and a small arm of a manipulator for remotely diagnosing pulses according to an embodiment of the present invention, and fig. 4 is a schematic structural diagram of a manipulator for remotely diagnosing pulses according to an embodiment of the present invention.
The second mechanical forearm and the mechanical arm 6 are connected through a linkage component, and fingers of the mechanical arm 6 apply different pressures to acupuncture points of a patient under the driving of the linkage component so as to simulate a pulse-taking method of a doctor to realize sinking and floating operations for sensing pulse; the fingers of the manipulator 6 move left and right under the driving of the linkage part so as to simulate a doctor pulse-feeling method to realize the operation of sensing the width of the pulse tube; and acquiring the pulse condition information of the patient through the piezoresistive pulse condition sensor.
Specifically, the second mechanical small arm 5 is provided with a first steering engine 15, a second steering engine 16 and a third steering engine 17, the first steering engine 15 is connected with a pulley 21 at one end of the index finger close to the palm through a first traction steel rope 18, the second steering engine 16 is connected with the pulley 21 at one end of the middle finger close to the palm through a second traction steel rope 19, and the third steering engine 17 is connected with the pulley 21 at one end of the ring finger close to the palm through a third traction steel rope 20; the index finger, the middle finger and the ring finger are driven by the first steering engine 15, the second steering engine 16 and the third steering engine 17 respectively to change the bending degree so as to realize the optimal pulse feeling angle; the magnitude of the applied pressure is changed through the bending degree so as to simulate the change of pulse feeling strength of a doctor to a patient and realize the sinking and floating operation of sensing the pulse.
It should be noted that the first steering engine 15, the second steering engine 16 and the third steering engine 17 can be respectively controlled by a control system, so that each finger of the manipulator 6 can be independently and freely bent, the pulse sensor can be tightly attached to a pulse feeling point, and more accurate and rich pulse information can be conveniently acquired; a single-pressing manipulation of pulse-invigorating manipulation can also be realized.
Furthermore, in order to avoid wear of the traction ropes, traction rope tubes may be sleeved outside the first traction rope 18, the second traction rope 19, and the third traction rope 20.
A fourth steering gear 22 is arranged at the palm part of the manipulator 6 in the embodiment of the invention, a first curved rod 23 and a second curved rod 24 are fixedly connected to the fourth steering gear 22, the first curved rod 23 is connected with the index finger, and the second curved rod 24 is connected with the ring finger; the forefinger and the ring finger are driven by the fourth steering engine 22 to move left and right through the extension of the first curved rod 23 and the second curved rod 24 respectively so as to simulate a doctor's pulse-feeling technique to sense the width of a vessel.
It should be noted that the first curved bar 23 and the second curved bar 24 are formed by connecting a plurality of connecting bars in a rotating manner, and are in a half-folding state in a normal state, and can be further folded or extended under the driving of the steering engine. In addition, fourth steering wheel 22 is different with first steering wheel 15, the model of second steering wheel 16 and third steering wheel 17, because fourth steering wheel 22 installs palm department, needs the steering wheel of less volume. The fourth steering engine 22 is connected with two curved bars, and the first curved bar 23 can be folded or extended under the driving of the fourth steering engine 22 so as to control the left and right transverse movement of the index finger; the second curved rod 24 is connected with the little finger and the ring finger at the same time, and the second curved rod 24 is folded or stretched under the driving of the fourth steering engine 22 to control the left and right movement of the little finger and further drive the left and right movement of the ring finger.
During the pulse taking process of the doctor, the change of finger force is explained, and the doctor lifts the skin by lightly touching the skin with fingers, namely, floating; the doctor has heavy finger strength, even pressing the muscles and bones to take the physical pulse condition as pressing, which is called sinking; the finger force between the mild and the heavy condition, or lifting or pressing, or moving the pulse-taking device forward, backward, leftward or rightward, is called to seek or take the pulse condition by fine and detailed physical examination; cutting three parts of pulse with the same finger force after the three fingers are laid flat, called as total pressing; to focus on the experience of a certain pulse condition, only one finger is pressing.
In the embodiment of the invention, the steering engine pulls the traction steel rope to pull the fingers, and all joints of the fingers of the manipulator 6 are in bendable connection, so that when the fingers are pulled by small pulling force, the pressing force of the fingertips on acupuncture points is increased under the condition that the fingertips do not cause too large displacement; thus, the optimal pulse feeling angle of the fingers can be ensured, and the manipulations of floating, sinking, taking and the like of a doctor during pulse feeling can be simulated through the change of the force. Meanwhile, the embodiment of the invention can simulate the single pressing, the total pressing and other methods when a doctor cuts pulse by controlling the first steering engine 15, the second steering engine 16 and the third steering engine 17 singly or together.
According to the embodiment of the invention, by controlling the rotation of the fourth steering engine 22, under the condition that the middle finger is not fixed on the acupuncture point, the first curved rod 23 and the second curved rod 24 can be driven to fold or extend so as to control the small-amplitude left-right transverse movement of the index finger and the ring finger, and the operation method of sensing the width of the vessel when a doctor cuts the vessel is realized. The forefinger and the ring finger of the manipulator 6 can realize small-amplitude transverse motion, can better simulate the pulse-feeling manipulation in the pulse feeling process of traditional Chinese medicine, and ensures the accuracy of pulse acquisition. In addition, the fingers can be transversely adjusted to adapt to the difference of the positions and distances of the learning positions of the inch-custom scales of different people.
The finger tips of the index finger, the middle finger and the ring finger of the embodiment of the invention are all provided with piezoresistive pulse condition sensors. The piezoresistive pulse condition sensor generally adopts a micro-pressure sensing material, such as a piezoelectric sheet or an electrical bridge, the probe of the sensor is attached to a place where the artery pulsation is strong, certain pressure is applied, the micro-pressure material can collect pressure signals of the pulse pulsation and generate electric signal variation, and after the pressure signals are amplified by a signal amplifying and conditioning circuit, complete waveforms of the pulse pulsation can be obtained, and pulse signals synchronous with the artery pulsation can be further output. The invention utilizes the signal information collected by the piezoresistive pulse condition sensor as the pulse condition information of the patient for the diagnosis of a remote doctor.
The mechanical arm for remotely diagnosing the pulse, provided by the embodiment of the invention, can ensure the optimal pulse feeling angle of the fingers by controlling the bending of the mechanical fingers, and change the magnitude of applied pressure by the bending degree so as to simulate the change of pulse feeling strength of a doctor on a patient and realize the sinking and floating operation of sensing the pulse; in addition, when the middle finger is kept to press the corresponding acupuncture point, the index finger and the ring finger are controlled to transversely move left and right so as to simulate a doctor's pulse-taking technique and realize the operation of sensing the width of the pulse tube. The scheme of the invention can realize the automatic and accurate acquisition of the pulse information of the patient, and because the pulse feeling manipulation of the mechanical arm is similar to the traditional Chinese medicine process, the pulse feeling manipulation is more easily accepted by the patient, and the acquisition process is not easily influenced by the psychological change of the patient.
The embodiment of the invention also provides a control method of the mechanical arm, which comprises the following steps
Referring to fig. 5, fig. 5 is a flowchart illustrating a method for controlling a robot according to an embodiment of the present invention. The method comprises the steps of:
s1, after a patient places an arm on a pulse pillow placed below a mechanical arm, a control system controls a first motor 7 to rotate according to a predetermined distance between the mechanical arm and the arm of the patient, and drives a first mechanical large arm 2 to bend downwards through a first belt wheel 8, so that a mechanical arm 6 is close to the wrist of the patient.
It should be noted that, the distance between the robot arm and the patient arm, which is predetermined in this step, may be measured by using an image acquisition device (such as a binocular camera) and an existing distance measurement algorithm, and a description thereof is omitted here.
S2, the third motor 11 rotates under the control of the control system, and the first mechanical forearm 4 is driven to move downwards through the second belt wheel 12, so that the manipulator 6 just contacts the wrist of the patient.
S3, under the control of a control system, a first steering engine 15, a second steering engine 16 and a third steering engine 17 rotate, and a forefinger, a middle finger and a ring finger are correspondingly pulled to be bent through a first traction steel rope 18, a second traction steel rope 19 and a third traction steel rope 20 respectively so as to realize the optimal pulse-taking angle; the magnitude of the applied pressure is changed through the bending degree so as to simulate the change of the pulse-taking force of a doctor to a patient and realize the sinking and floating operation of sensing the pulse.
S4, under the control of the control system, when the middle finger is kept pressing the corresponding acupuncture point, the fourth steering engine 22 correspondingly pulls the index finger and the ring finger to move horizontally left and right through the first curved rod 23 and the second curved rod 24 respectively so as to simulate a pulse feeling technique of a doctor and realize the operation of sensing the width of the pulse tube.
In the control method of the mechanical arm according to the embodiment of the present invention, the structures and functions of the related components are the same as those of the mechanical arm for remote pulse taking, and are not described herein again.
According to the control method of the mechanical arm provided by the embodiment of the invention, the optimal pulse feeling angle of the finger can be ensured by controlling the bending of the mechanical finger, and the magnitude of pressure application is changed by the bending degree, so that the pulse feeling strength change of a doctor on a patient is simulated, and the sinking and floating operation of sensing the pulse is realized; in addition, when the middle finger is kept stationary in pressing the corresponding acupuncture point, the index finger and the ring finger are controlled to transversely move left and right so as to simulate a doctor's vein-cutting technique and realize the operation of sensing the width of the vein. The scheme of the invention can realize the automatic and accurate acquisition of the pulse information of the patient, and because the pulse feeling manipulation of the mechanical arm is similar to the traditional Chinese medicine process, the pulse feeling manipulation is more easily accepted by the patient, and the acquisition process is not easily influenced by the psychological change of the patient.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A robotic arm for remote pulse taking, comprising: the pulse condition monitoring device comprises a fixing part, a first mechanical big arm, a second mechanical big arm, a first mechanical small arm, a second mechanical small arm, a mechanical arm and a piezoresistive pulse condition sensor arranged at the finger end of the mechanical arm;
the first mechanical big arm is rotatably connected with the fixing part so as to realize the crank arm action of the first mechanical big arm; the first mechanical large arm and the second mechanical large arm are connected and coaxial, and the second mechanical large arm can rotate along the central axis of the second mechanical large arm so as to realize the rotation action of the second mechanical large arm; the second mechanical large arm is rotatably connected with the first mechanical small arm so as to realize the crank action of the first mechanical small arm; the first mechanical small arm is connected with and coaxial with the second mechanical small arm, and the second mechanical small arm can rotate along the central axis of the second mechanical small arm so as to realize the rotation action of the second mechanical small arm; the second mechanical small arm is connected with the manipulator, and the rotation of the second mechanical small arm drives the manipulator to coaxially rotate so as to realize the overturning action of the manipulator;
the second mechanical forearm is connected with the mechanical arm through a linkage component, and fingers of the mechanical arm apply different pressures to acupuncture points of a patient under the driving of the linkage component so as to simulate a doctor pulse-taking technique to realize sinking and floating operation for sensing pulse; the fingers of the manipulator move left and right under the driving of the linkage part so as to simulate a doctor pulse-feeling method to realize the operation of sensing the width of the pulse tube; and acquiring the pulse condition information of the patient through the piezoresistive pulse condition sensor.
2. The mechanical arm for remote pulse diagnosis according to claim 1, wherein the first mechanical boom is provided with a first motor and a first pulley, the first motor and the first pulley are cooperatively connected, and rotation of the first motor drives the first pulley to rotate and further drive the first mechanical boom to swing around the fixed portion, so as to realize the crank arm action of the first mechanical boom.
3. The mechanical arm for remote pulse diagnosis according to claim 2, wherein a second motor and an internal gear are disposed at an upper end portion of the second mechanical large arm, the second motor and the internal gear are connected in a matching manner, and rotation of the second motor drives the internal gear to rotate along a central axis of the second mechanical large arm, so as to realize rotation of the second mechanical large arm.
4. The mechanical arm for remote pulse taking as claimed in claim 3, wherein a third motor and a second pulley are provided at a lower end of the second mechanical arm, the third motor and the second pulley are cooperatively connected, and the second pulley and the first mechanical arm are connected, and rotation of the third motor rotates the second pulley to realize the crank action of the first mechanical arm.
5. The mechanical arm for remote pulse taking according to claim 4, wherein the first mechanical arm comprises a fourth motor and a bevel gear, the fourth motor and the bevel gear are cooperatively connected, and rotation of the fourth motor drives the bevel gear to rotate, which in turn drives the second mechanical arm to rotate along the central axis of the second mechanical arm, so as to realize the rotation of the second mechanical arm.
6. The mechanical arm for remote pulse feeling as claimed in claim 1, wherein the second mechanical forearm is provided with a first steering engine, a second steering engine and a third steering engine, the first steering engine is connected with a pulley at one end of the index finger close to the palm through a first traction steel cable, the second steering engine is connected with a pulley at one end of the middle finger close to the palm through a second traction steel cable, and the third steering engine is connected with a pulley at one end of the ring finger close to the palm through a third traction steel cable; the index finger, the middle finger and the ring finger are driven by the first steering engine, the second steering engine and the third steering engine respectively to change the bending degree so as to realize the optimal pulse feeling angle; the magnitude of the applied pressure is changed through the bending degree so as to simulate the change of pulse feeling strength of a doctor to a patient and realize the sinking and floating operation of sensing the pulse.
7. The mechanical arm for remote pulse feeling as claimed in claim 6, wherein a fourth steering engine is arranged at the palm part of the mechanical arm, a first curved rod and a second curved rod are fixedly connected to the fourth steering engine, the first curved rod is connected with the index finger, and the second curved rod is connected with the ring finger; the forefinger and the ring finger are driven by the fourth steering engine to move left and right through the extension of the first curved rod and the second curved rod respectively so as to simulate a doctor's pulse-feeling technique and realize the operation of sensing the width of a pulse.
8. The mechanical arm for remote pulse taking according to claim 6, wherein the first traction steel rope, the second traction steel rope and the third traction steel rope are all sleeved with traction steel rope tubes.
9. The robotic arm for remote pulse taking as defined in claim 1, wherein there are 3 piezoresistive pulse condition sensors respectively disposed at the fingertips of the index finger, the middle finger and the ring finger of the robotic arm.
10. A method for controlling a robot arm according to any one of claims 1 to 9, comprising the steps of:
after a patient places an arm on a pulse pillow placed below the mechanical arm, the control system controls the first motor to rotate according to the predetermined distance between the mechanical arm and the patient arm, and drives the first mechanical big arm to bend downwards through the first belt wheel, so that the mechanical arm is close to the wrist of the patient;
the third motor rotates under the control of the control system, and the first mechanical forearm is driven to move downwards through a second belt pulley, so that the manipulator just contacts the wrist of the patient;
the first steering engine, the second steering engine and the third steering engine rotate under the control of the control system, and correspondingly pull the index finger, the middle finger and the ring finger to bend through the first traction steel rope, the second traction steel rope and the third traction steel rope respectively so as to realize the optimal pulse-taking angle; the magnitude of the applied pressure is changed through the bending degree so as to simulate the change of the pulse-taking force of a doctor to a patient and realize the sinking and floating operation of sensing the pulse;
the fourth steering engine is under the control of the control system, when the middle finger is kept pressing the corresponding acupuncture point still, the first curved rod and the second curved rod correspondingly pull the index finger and the ring finger to transversely move left and right respectively, so that the pulse feeling technique of a doctor is simulated to realize the operation of sensing the width of the pulse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211674382.7A CN115781686A (en) | 2022-12-26 | 2022-12-26 | Mechanical arm for remotely diagnosing pulse and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211674382.7A CN115781686A (en) | 2022-12-26 | 2022-12-26 | Mechanical arm for remotely diagnosing pulse and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115781686A true CN115781686A (en) | 2023-03-14 |
Family
ID=85426747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211674382.7A Pending CN115781686A (en) | 2022-12-26 | 2022-12-26 | Mechanical arm for remotely diagnosing pulse and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115781686A (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120194120A1 (en) * | 2011-01-27 | 2012-08-02 | The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | System and method for tensioning a robotically actuated tendon |
| CN103263256A (en) * | 2013-04-28 | 2013-08-28 | 香港应用科技研究院有限公司 | Method and equipment for sensing human pulses in traditional Chinese medicine |
| CN106041995A (en) * | 2016-08-05 | 2016-10-26 | 北京工业大学 | Human-simulated mechanical hand |
| CN107877501A (en) * | 2017-12-20 | 2018-04-06 | 万博宣 | Mechanical arm |
| CN108544518A (en) * | 2018-06-14 | 2018-09-18 | 五邑大学 | A kind of active double mode rope driving the five fingers flexible manipulator |
| CN109965852A (en) * | 2019-03-08 | 2019-07-05 | 上海大学 | A kind of manipulator-arm assembly intelligently felt the pulse |
| CN112587102A (en) * | 2020-11-09 | 2021-04-02 | 季华实验室 | A mechanical arm device for pulse-taking |
| CN112720541A (en) * | 2020-12-11 | 2021-04-30 | 昆明理工大学 | Bionic five-finger manipulator with adaptability |
| 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 |
| CN113561190A (en) * | 2021-09-27 | 2021-10-29 | 季华实验室 | Mechanical claw control method and device, electronic equipment, mechanical claw and robot |
| WO2022027921A1 (en) * | 2020-08-05 | 2022-02-10 | 谈斯聪 | Medical robotic device, system, and method |
| CN216135874U (en) * | 2021-08-06 | 2022-03-29 | 季华实验室 | Pulse-taking dexterous hand |
| CN114269279A (en) * | 2019-08-02 | 2022-04-01 | 奥瑞斯健康公司 | System and method for adjusting remote center distance in medical procedures |
| CN115177220A (en) * | 2022-07-13 | 2022-10-14 | 深圳市大数据研究院 | Automatic pulse condition acquisition device and method |
| CN217777004U (en) * | 2022-07-19 | 2022-11-11 | 湖南超能机器人技术有限公司 | Bionic robot hand |
-
2022
- 2022-12-26 CN CN202211674382.7A patent/CN115781686A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120194120A1 (en) * | 2011-01-27 | 2012-08-02 | The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | System and method for tensioning a robotically actuated tendon |
| CN103263256A (en) * | 2013-04-28 | 2013-08-28 | 香港应用科技研究院有限公司 | Method and equipment for sensing human pulses in traditional Chinese medicine |
| CN106041995A (en) * | 2016-08-05 | 2016-10-26 | 北京工业大学 | Human-simulated mechanical hand |
| CN107877501A (en) * | 2017-12-20 | 2018-04-06 | 万博宣 | Mechanical arm |
| CN108544518A (en) * | 2018-06-14 | 2018-09-18 | 五邑大学 | A kind of active double mode rope driving the five fingers flexible manipulator |
| CN109965852A (en) * | 2019-03-08 | 2019-07-05 | 上海大学 | A kind of manipulator-arm assembly intelligently felt the pulse |
| CN114269279A (en) * | 2019-08-02 | 2022-04-01 | 奥瑞斯健康公司 | System and method for adjusting remote center distance in medical procedures |
| WO2022027921A1 (en) * | 2020-08-05 | 2022-02-10 | 谈斯聪 | Medical robotic device, system, and method |
| CN112587102A (en) * | 2020-11-09 | 2021-04-02 | 季华实验室 | A mechanical arm device for pulse-taking |
| CN112720541A (en) * | 2020-12-11 | 2021-04-30 | 昆明理工大学 | Bionic five-finger manipulator with adaptability |
| 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 |
| CN216135874U (en) * | 2021-08-06 | 2022-03-29 | 季华实验室 | Pulse-taking dexterous hand |
| CN113561190A (en) * | 2021-09-27 | 2021-10-29 | 季华实验室 | Mechanical claw control method and device, electronic equipment, mechanical claw and robot |
| CN115177220A (en) * | 2022-07-13 | 2022-10-14 | 深圳市大数据研究院 | Automatic pulse condition acquisition device and method |
| CN217777004U (en) * | 2022-07-19 | 2022-11-11 | 湖南超能机器人技术有限公司 | Bionic robot hand |
Non-Patent Citations (1)
| Title |
|---|
| 燕海霞: "仿人机器人基础理论与技术", 哈尔滨工业大学出版社, pages: 220 - 221 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7306563B2 (en) | Pulse diagnostic system | |
| JP5564646B2 (en) | Biological information measuring apparatus and biological information measuring system | |
| US7214192B2 (en) | Vascular testing system | |
| CN106580273A (en) | Pulse wave collecting device and pulse wave collecting and calibrating method | |
| US7166076B2 (en) | Vascular testing system | |
| JP2006230679A (en) | Health monitoring apparatus | |
| CN107157455A (en) | It is a kind of to intend true terminal with the pulse condition that fingering is gathered | |
| US20060052712A1 (en) | Vascular testing system | |
| US9521957B2 (en) | Hand-held device for self-measurement and recording of a heart rate variability examination | |
| US20180000348A1 (en) | Method and apparatus for medical diagnosis based on the tissue stiffness | |
| JP3970697B2 (en) | Biological information processing device | |
| CN106175728A (en) | Horizontal lying-type sign detection device and method | |
| CN109330581A (en) | A kind of wearable pulse information acquisition device | |
| CN106725363A (en) | Pulse wave harvester and pulse wave collection scaling method | |
| EP2716233A1 (en) | Ultrasonic probe, bioinformation measurement device, and bioinformation measurement method | |
| CN109924954A (en) | A kind of intelligence traditional Chinese medicine pulse electro pulsograph | |
| CN115781686A (en) | Mechanical arm for remotely diagnosing pulse and control method | |
| JPH1119055A (en) | Pulse diagnosing device | |
| CN116392091A (en) | Continuous arterial blood pressure waveform detection system and device based on single-channel finger tip PPG | |
| Hu et al. | Pulse differences and 3D pulse mapping in TPNI displacements | |
| CN219206912U (en) | Pulse acquisition manipulator for traditional Chinese medicine remote pulse diagnosis | |
| TWI327061B (en) | ||
| CN1903118A (en) | Mini-electrocardiograph | |
| JP7286135B2 (en) | Blood circulation information calculation device, blood circulation information calculation method, and program | |
| EP2004044A1 (en) | Integrated pregnancy monitoring unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |