CN208910224U - A kind of pulse information acquisition system based on Dextrous Hand - Google Patents
A kind of pulse information acquisition system based on Dextrous Hand Download PDFInfo
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- CN208910224U CN208910224U CN201820431428.5U CN201820431428U CN208910224U CN 208910224 U CN208910224 U CN 208910224U CN 201820431428 U CN201820431428 U CN 201820431428U CN 208910224 U CN208910224 U CN 208910224U
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- 210000002321 radial artery Anatomy 0.000 claims abstract description 24
- 210000000707 wrist Anatomy 0.000 claims abstract description 17
- 210000001367 artery Anatomy 0.000 claims abstract description 3
- 210000003462 vein Anatomy 0.000 claims abstract description 3
- 238000012545 processing Methods 0.000 claims description 15
- 210000001145 finger joint Anatomy 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 230000010365 information processing Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000003745 diagnosis Methods 0.000 description 6
- 239000003814 drug Substances 0.000 description 6
- 238000005452 bending Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 229940079593 drug Drugs 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Abstract
The pulse information acquisition system based on Dextrous Hand that the utility model proposes a kind of, Dextrous Hand have three fingers, and three fingers all have 4 freedom degrees, and install piezoresistive pressure sensor in its finger pulp.Definition first according to theory of traditional Chinese medical science to cun,guan,chi position artificially substantially determines the position of radial artery cun, guan and chi, three places at the wrist where the pulse is usually taken and makes marks that binocular camera obtains the angle and distance information of Dextrous Hand and label；Dextrous Hand cooperative mechanical arm itself is realized front and rear, left and right under the drive of the motor, is moved up and down, three fingers are made to arrive separately at three label positions of cun,guan,chi, finger carries out mobile search in radial artery region, find pulse signal point of maximum intensity, apply different pressure to signal point of maximum intensity to carry out taking arteries and veins, and pulse information is transferred to the end PC for analyzing and using, it is automatically performed the precise acquisition to pulse information.
Description
Technical field
The utility model relates to pulse information acquisition system, specially a kind of pulse information based on Dextrous Hand acquires system
System.
Background technique
It is sayed in ancient and Modern Medicine: " four word of the four methods of diagnosis is really the guiding principle of doctor ", and " cutting " in " four methods of diagnosis " four methods of diagnosis,
The even more marrow of Chinese medicine diagnosis over the past thousands of years.So-called " cutting " is exactly to feel the pulse, and doctor is referred to centre three is placed in radial artery cun,guan,chi
Three, and experience with different dynamics " the digit situation " of pulse, to judge the disease of patient, suit the remedy to the case later.When feeling the pulse
It needs doctor to experience in conjunction with finger tip and carrys out diagnosed disease with theory in the heart, so it is doped with the multiple subjectivity such as experience and sense of touch of doctor
Factor causes " diagnosis " to be difficult to impart knowledge to students, and further hinders Chinese medicine diagnosis theoretical and the development of technology.In order to make Chinese medicine move towards objective
Change, there are many mechanisms to begin one's study and design pulse-taking instrument, machine is allowed to obtain pulse information automatically.Current pulse information acquires system
System is roughly divided into two kinds: one is air bag pressurized, carries out pulse-tracing collection to bulk portion, one side signal excessively will lead to reality
When processing signal it is difficult, the pressure on the other hand applied for each part is consistent, different with Traditional Chinese Medicine mode of feeling the pulse；Secondly
For mechanical pressurization formula, such pulse-taking instrument mechanical structure is extremely complex, at high cost and can only generally realize spot measurement.
Utility model content
The purpose of this utility model is that being directed to the deficiency of prior art, a kind of pulse information based on Dextrous Hand is proposed
Acquisition system enables the pulse information of measured simply and accurately to be measured, and can be shown in the end PC in real time.
It is above-mentioned purpose to reach, the utility model adopts the following technical solutions:
A kind of pulse information acquisition system based on Dextrous Hand, including mechanical arm and its driving control system, Dextrous Hand and
Its driving control system, wrist lift system, image information collecting and processing system and PC terminal system.Dextrous Hand and mechanical arm
It is connected, driving motor and control module are placed in the palm；Mechanical arm system, wrist lift system and image capturing system phase
Even, the relative position between camera, Dextrous Hand and tested radial artery is kept to be basically unchanged.
Mechanical arm and its driving control system for realizing Dextrous Hand front and rear, left and right, move up and down, keep finger quasi-
Really reach three positions of cun,guan,chi.
Dextrous Hand and its driving control system for applying different pressure to three positions of cun,guan,chi respectively, to obtain
Pulse information.
Wrist lifts system and is tested arm for support, so that radial artery is relatively prominent and keeps phase of the supporting plate with Dextrous Hand
It is constant to position and its lift height it is almost the same with the height of measured's heart.
Image information collecting and processing system 4 are used to acquire the image information of cun,guan,chi label, are converted into after processing
Location information is transferred to the control system of mechanical arm.
PC terminal system is for receiving pulse signal and real-time display pulse waveform, while voice prompting pulse collection
Beginning and end.
The mechanical arm and its driving control system, including fixed underpan, driving motor, motor control module, adjusting
Mechanism and ring flange.The fixed underpan forms integral structure for carrying electric system and regulating mechanism；The driving electricity
Mechanical, electrical machine control system and regulating mechanism are realized the front and rear, left and right of mobile bracket, are moved up and down, and to Dextrous Hand front and back, a left side
Control that is right, moving up and down, reaches it at wrist mark.
The Dextrous Hand and its driving control system, including it is palm and finger mechanical structure, driving motor system, integrated
Control system, angular transducer, key rope and spring leaf, pressure sensor.The finger and palm mechanical structure, Dextrous Hand are shared
3 fingers, there are three finger joint and four freedom degrees for finger tool, and wherein three degree of freedom is used for the bending of finger, another freedom degree
Positioned at Fingers root, realization swings；6 motors and integrated manipulator can be held in palm；The driving motor system is
The slow-speed of revolution and big torque output motor, wherein 3 motors apply radial artery and press for pulling key rope to realize the bending of finger
Power；Terminate when feeling the pulse, motor reversal cooperation spring leaf makes finger return to original position；Other 3 motors are for realizing three fingers
It swings, realizes the adjustment of distance between referring to, preferably acquisition pulse information；The integrated control system is passed for receiving angle
Sensor information and pressure sensor information export pulse information to PC, and the operation of 6 motors of driving and control is realized to finger
Control.The angular transducer is used to obtain the location information of clever hand finger；The pressure sensor is believed for feedback pressure
Breath and acquisition pulse information.
The wrist lifts system, including chassis and bracket and spill supporting plate.The chassis and bracket and concave supporting plate
Be it is integrated, concave supporting plate is used to place the arm of measured, and the structure of concave supporting plate is conducive to the radial artery of prominent measured, more
Easily acquisition pulse signal will make the arm of measured keep almost the same with heart height when placing, to acquire pulse information
It prepares.
The image information collecting and processing system, including lighting unit, binocular camera, Image Information Processing list
Member.The lighting unit is used to provide good light environment for camera collection image information, reduces the interference of environment；It is described
Binocular camera is used to acquire the mark information in radial artery region, forms radial artery after handling through image information processing unit
Location information is exported to the control system of mechanical arm and Dextrous Hand.
The PC terminal system, including information receiving unit, information input recording unit, display unit and voice prompting
Unit.The information receiving unit is used to receive the pulse information of Dextrous Hand control system output；The information input record
Member is for inputting and recording personal information, including height, weight, age of measured etc.；The display unit is for showing quilt
The personal information and real-time display pulse waveform of survey；The voice alerting unit is used to prompt the beginning of measured's pulse collection
With end.
The utility model compared with prior art, has following obvious prominent substantive and technological progress:
1) pulse information acquisition is carried out using Dextrous Hand, on the one hand can imitates the overall process that Traditional Chinese Medicine is felt the pulse completely,
With innovative and practicality；Another aspect Dextrous Hand takes modularized design, has replicability.
2) movement of Dextrous Hand is driven using motor and its deceleration mechanism, and there is rapidity and accuracy.
3) position and the angle information of radial artery are obtained using camera, the input as control system instructs, and realizes arteries and veins
It fights the automation of information collection, there is advanced and operability.
4) each unit cooperating of system again can independent control, convenient for the maintenance and improvement of system.
Detailed description of the invention
Fig. 1 is the system principle diagram of the utility model.
Fig. 2 is the system structure diagrammatic elevation view of the utility model.
Fig. 3 is the system structure diagrammatic top view of the utility model.
Fig. 4 is the system structure diagram of Dextrous Hand.
Fig. 5 is image information collecting and processing system figure.
Fig. 6 is that measured's arm marks schematic diagram.
Fig. 7 is that Dextrous Hand acquires pulse signal operational flowchart.
Fig. 8 is that binocular camera seeks label three-dimensional coordinate schematic diagram.
Specific embodiment
In order to which the utility model is better described, in order to understand the technical solution of the utility model, with reference to the accompanying drawing
And preferred embodiment, the utility model is described in further detail.It should be understood that following embodiments is merely to illustrate this reality
With novel, the rights protection scope of the utility model is not represented or limits, the protection scope of the utility model is with claim
Subject to book.
Embodiment one:
Referring to Fig.1, based on the pulse information acquisition system of Dextrous Hand, including mechanical arm and its driving control system 1, spirit
Dab hand and its driving control system 2, wrist lift system 3, image information collecting and processing system 4 and PC terminal system 5.It is special
Sign is: Dextrous Hand is connected with mechanical arm by ring flange, and Dextrous Hand driving motor and control module are placed in the palm；Mechanical arm
System, wrist lift system and are connected with image capturing system, keep the opposite position between camera, Dextrous Hand and tested radial artery
It sets and is basically unchanged.
Embodiment two: the present embodiment is basically the same as the first embodiment, and special feature is as follows:
The mechanical arm and its driving control system 1 includes fixed underpan 11, driving motor 12, electric machine control system
13, regulating mechanism 14 and ring flange 15.The fixed underpan forms integration knot for carrying electric system and regulating mechanism
Structure；The driving motor, electric machine control system and regulating mechanism realize the front and rear, left and right of mobile bracket, moves up and down and right
Around Dextrous Hand, the control that moves up and down, reach it at wrist mark.
The Dextrous Hand and its driving control system 2 include palm and finger mechanical structure 21, driving motor system 22,
Integrated control system 23, angular transducer 24, key rope and spring leaf 25, pressure sensor 26.The finger and palm machinery knot
Structure 21, Dextrous Hand share 3 fingers, and there are three finger joint and four freedom degrees for finger tool, and wherein three degree of freedom is for finger
Bending, another freedom degree are located at Fingers root, and realization swings；6 motors 22 and integrated manipulator 23 can be held in palm；
The driving motor system is the slow-speed of revolution and big torque output motor, wherein 3 motors are for pulling key rope to realize finger
Bending applies pressure to radial artery；Terminate when feeling the pulse, motor reversal cooperation spring leaf makes finger return to original position；Other 3 motors
For realizing swinging for three fingers, the adjustment of distance between referring to, preferably acquisition pulse information are realized；The integrated control
System is used for receiving angle sensor information and pressure sensor information, exports pulse information to PC, 6 motors of driving and control
Operation realize control to finger.The angular transducer 24 is used to obtain the location information of clever hand finger；The pressure
Beating information of the sensor 26 for feedback pressure information and acquisition pulse.
It includes chassis and bracket 31 and spill supporting plate 32 that the wrist, which lifts system 3,.The chassis and bracket 31 and recessed
Type supporting plate 32 be it is integrated, concave supporting plate is used to place the arm of measured, and the structure of concave supporting plate is conducive to prominent measured's
Radial artery is easier to acquisition pulse signal, when placing, so that the arm of measured is kept almost the same with heart height, to adopt
Collection pulse information is prepared.
The image information collecting and processing system 4 includes lighting unit 41, binocular camera 42, Image Information Processing
Unit 43.The lighting unit 41 is used to provide good light environment for camera collection image information, reduces the dry of environment
It disturbs；The binocular camera 42 is used to acquire the mark information in radial artery region, after image information processing unit processing 43
The location information of radial artery is formed, is exported to the control system of mechanical arm and Dextrous Hand.
The PC terminal system 5 includes information receiving unit 51, information input recording unit 52, display unit 53 and language
Sound prompt unit 54.The information receiving unit 51 is used to receive the pulse information of Dextrous Hand control system output；The information
Input record unit 52 is for inputting and recording personal information, including height, weight, age of measured etc.；The display is single
Member 53 is for showing tested personal information and real-time display pulse waveform；The voice alerting unit 54 is for prompting to be tested
The beginning and end of person's pulse collection.
Embodiment three: the present embodiment and embodiment two are essentially identical, and special feature is as follows:
Referring to Fig. 2, connected between mechanical arm 1 and Dextrous Hand 2 by ring flange 15.Driving motor 121 and adjustment structure 141
Realize moving left and right for mechanical arm；Driving motor 122 and adjustment structure 142 realize the back-and-forth motion of mechanical arm；Driving motor 123
Moving up and down for mechanical arm is realized with adjustment structure 143.Based on this, pass through the cooperation of driving motor and regulating mechanism, Ke Yishi
The movement of existing Dextrous Hand front and rear, left and right, upper and lower six direction.Image information collecting and processing system 4 are according to mark point acquisition quilt
The location information of object wrist cun,guan,chi is surveyed, is exported to the electric machine control system 13 of mechanical arm, motor and regulating mechanism start
Movement, so that three fingers of Dextrous Hand accurately arrive at three positions of cun,guan,chi respectively.As shown in figure 4, every finger
Piezoresistive pressure sensor 26 is installed in remote finger joint 211, for obtaining pulse signal.At finger arrival radial artery, driving
Motor 121 realizes that the left and right of mechanical arm moves slowly at adjustment structure 141, and it is strongest to find cun,guan,chi pulse signal respectively
Point, and record the location information of most strong pulse signal point, it is to be searched finish after finger is placed at this point；Then Dextrous Hand
Integrated control system 23 drive driving motor operation so that digital flexion give radial artery apply pressure, pass through pressure sensor
Pulse information is obtained, and this information is transferred to PC terminal system 5.
Referring to Fig. 4, Dextrous Hand is made of three fingers and a palm.Wherein there are three finger joints for each finger, respectively
Remote finger joint 211, middle finger joint 212 and nearly finger joint 213；Every finger has 4 freedom degrees, wherein 3 are located at remote finger joint 211 and middle finger
Between section 212, between middle finger joint 212 and nearly finger joint 213, between nearly finger joint 213 and palm, the bending for finger is to radial artery
Apply pressure；4th freedom degree 214 drives swinging up and down for finger by motor, adjusts the spacing between finger.Every hand
Piezoresistive pressure sensor 26 is installed in the remote finger joint 211 referred to, obtains pulse signal.
Referring to Fig. 5, on a disk, lighting unit provides good for lighting unit 41 and 42 integrated installation of binocular camera
Signal acquisition environment, binocular camera obtain information principle it is as shown in Figure 7.
Referring to Fig. 6, three positions of cun,guan,chi are artificially preliminarily found in the definition according to theory of traditional Chinese medical science to cun,guan,chi portion
And it is marked, such as sticks black tape at three positions, on the one hand find target convenient for camera, it on the other hand can also be
The movement that lubricant is convenient for finger is applied on adhesive tape.
It is artificial first preliminarily to find cun,guan,chi three and be marked referring to Fig. 7；Further measured will mark
Wrist place on concave pallet, substantially with the heart of measured with high；Further, camera is in the top of concave pallet,
Start detect marking signal and by the location information of mark output mechanical arm electric machine control system, control mechanical arm front and back,
The movement of left and right, upper and lower six direction, Dextrous Hand are followed by the movement of mechanical arm and move, and finger reaches cun,guan,chi label
Place；Further, driving motor 121 realizes that the left and right of mechanical arm moves slowly at adjustment structure 141, looks for cun,guan,chi three
The signal point of maximum intensity at a position simultaneously records position a little, and after to be searched, three fingers are placed at respective signal point of maximum intensity；
Further Dextrous Hand driving motor is started to work, and key rope is pulled to make digital flexion, applies pressure to radial artery, obtains pulse letter
Number, pulse waveform can be shown in PC terminal in real time, after acquisition time is greater than 50 periods, can stop detecting, signal
Acquisition is completed, and Dextrous Hand, mechanical arm and pallet are kept in the center.
Referring to Fig. 8, the optical center O of camera 421 is taken1For the origin of 3 d space coordinate system, X-direction O1With camera
422 optical center O2Line direction, Y direction be with 32 parallel direction of supporting plate, 421 optical axis direction of camera be Z-direction.O2With
O1In X-axis at a distance of Δ X, f is camera focal length, and P is target label, P1、P2It is flat in two camera imagings respectively for target label
Picture point on face, Y are the vertical range of P to XZ plane, and Z is vertical range of the P to X/Y plane, x1、x2Respectively two picture points arrive
The vertical range of YZ plane, y1、y2Vertical range of respectively two picture points to XZ plane, X1、X2Respectively two optical centers are to Z
Place and vertical range with the face YZ parallel surface, and.It can be obtained according to similar triangle theory、,, release,, can further acquire target label
To the distance of camera, by the three-dimensional coordinate (X of the available target label P of above data1, Y, Z).
It can be seen that the purpose of this utility model completely and is effectively achieved.The function of the utility model and
Structural principle is shown and is illustrated in embodiment, and under without departing substantially from the principle, embodiment can make any modification.Institute
With the utility model includes all variant embodiments based on claim spirit and scope of the claims.
Claims (6)
1. a kind of pulse information acquisition system based on Dextrous Hand, which is characterized in that including mechanical arm and its driving control system
(1), Dextrous Hand and its driving control system (2), wrist lift system (3), image information collecting and processing system (4) and PC is whole
End system (5)；Dextrous Hand is connected with mechanical arm, and driving motor and control module are placed in the palm；Mechanical arm system, wrist support
Act system is connected with image capturing system, and the relative position between camera, Dextrous Hand and tested radial artery is kept to be basically unchanged；
Mechanical arm and its driving control system (1) for realizing Dextrous Hand front and rear, left and right, move up and down, keep finger quasi-
Really reach three positions of cun,guan,chi；
Dextrous Hand and its driving control system (2) for applying different pressure to three positions of cun,guan,chi respectively, to obtain
Pulse information；
Wrist lifts system (3) and is tested arm for support, so that radial artery is relatively prominent and keeps phase of the supporting plate with Dextrous Hand
It is constant to position and its lift height it is almost the same with the height of measured's heart；
Image information collecting and processing system (4) are used to acquire the image information of cun,guan,chi label, are converted into position after processing
Confidence ceases the control system for being transferred to mechanical arm；
PC terminal system (5) is for receiving pulse signal and real-time display pulse waveform, while voice prompting pulse collection
Beginning and end.
2. the pulse information acquisition system based on Dextrous Hand as described in claim 1, it is characterised in that: the mechanical arm and its
Driving control system (1), including fixed underpan (11), driving motor (12), motor control module (13), regulating mechanism (14) and
Ring flange (15), the fixed underpan (11) form integral structure for carrying electric system and regulating mechanism；The driving
Motor (12), motor control module (13) and regulating mechanism (14) are realized the front and rear, left and right of mobile bracket, are moved up and down, and
To around Dextrous Hand, the control that moves up and down, reach it at wrist mark.
3. the pulse information acquisition system based on Dextrous Hand as described in claim 1, it is characterised in that: the Dextrous Hand and its
Driving control system (2), including palm and finger mechanical structure (21), driving motor system (22), integrated control system (23),
Angular transducer (24), key rope and spring leaf (25) and pressure sensor (26), the palm and finger mechanical structure (21): spirit
Dab hand shares 3 fingers, and there are three finger joint and four freedom degrees for every finger tool, and wherein three degree of freedom is for the curved of finger
Song, another freedom degree are located at Fingers root, and realization swings；6 motors and integrated manipulator can be held in palm；The drive
Dynamic electric system (22) are the slow-speed of revolution and big torque output motor, wherein 3 motors are for pulling key rope to realize the curved of finger
Song applies pressure to radial artery；Terminate when feeling the pulse, motor reversal cooperation spring leaf (25) makes finger return to original position；Other 3 electricity
Machine swings for realizing three fingers, realizes the adjustment of distance between referring to, preferably acquisition pulse information；The integrated control
System (23) processed is used for receiving angle sensor information and pressure sensor information, exports pulse information to PC, driving and control 6
The control to finger is realized in the operation of a motor；The angular transducer (24) is used to obtain the location information of clever hand finger；
The pressure sensor (26) is for feedback pressure information and obtains pulse information.
4. the pulse information acquisition system based on Dextrous Hand as described in claim 1, it is characterised in that: the wrist, which is lifted, is
It unites (3), including chassis and bracket (31) and spill supporting plate (32), the chassis and bracket (31) and concave supporting plate (32) are one
, concave supporting plate (32) is used to place the arm of measured, and the structure of concave supporting plate is conducive to the radial artery of prominent measured, is easier to
Pulse signal is acquired, when placing, the arm of measured to be made to keep almost the same with heart height, be done for acquisition pulse information
Prepare.
5. the pulse information acquisition system based on Dextrous Hand as described in claim 1, it is characterised in that: described image information is adopted
Collection and processing system (4), including lighting unit (41), binocular camera (42) and image information processing unit (43), the photograph
Bright unit (41) is used to provide good light environment for camera collection image information, reduces the interference of environment；The binocular
Camera (42) is used to acquire the mark information in radial artery region, and it is dynamic to form oar after image information processing unit (43) processing
The location information of arteries and veins is exported to the control system of mechanical arm and Dextrous Hand.
6. the pulse information acquisition system based on Dextrous Hand as described in claim 1, it is characterised in that: the PC terminal system
(5), including information receiving unit (51), information input recording unit (52), display unit (53) and voice alerting unit (54),
The information receiving unit (51) is used to receive the pulse information of Dextrous Hand control system output；The information input recording unit
(52) for inputting and recording personal information, including height, weight, age of measured etc.；The display unit (53) is used for
The tested personal information of display and real-time display pulse waveform；The voice alerting unit (54) is for prompting measured's pulse
The beginning and end of acquisition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820431428.5U CN208910224U (en) | 2018-03-29 | 2018-03-29 | A kind of pulse information acquisition system based on Dextrous Hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820431428.5U CN208910224U (en) | 2018-03-29 | 2018-03-29 | A kind of pulse information acquisition system based on Dextrous Hand |
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| CN208910224U true CN208910224U (en) | 2019-05-31 |
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| CN201820431428.5U Expired - Fee Related CN208910224U (en) | 2018-03-29 | 2018-03-29 | A kind of pulse information acquisition system based on Dextrous Hand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112043248A (en) * | 2020-09-03 | 2020-12-08 | 山东大学 | Flexible pulse feeling hand and traditional Chinese medicine pulse feeling instrument |
| CN117617910A (en) * | 2024-01-23 | 2024-03-01 | 季华实验室 | Pulse positioning model training method, electronic equipment and storage medium |
-
2018
- 2018-03-29 CN CN201820431428.5U patent/CN208910224U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112043248A (en) * | 2020-09-03 | 2020-12-08 | 山东大学 | Flexible pulse feeling hand and traditional Chinese medicine pulse feeling instrument |
| CN112043248B (en) * | 2020-09-03 | 2021-07-20 | 山东大学 | Flexible pulse feeling hand and traditional Chinese medicine pulse feeling instrument |
| CN117617910A (en) * | 2024-01-23 | 2024-03-01 | 季华实验室 | Pulse positioning model training method, electronic equipment and storage medium |
| CN117617910B (en) * | 2024-01-23 | 2024-04-05 | 季华实验室 | Pulse positioning model training method, electronic equipment and storage medium |
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Granted publication date: 20190531 |