CN216675731U

CN216675731U - Pulse feeling device for remotely feeling pulse

Info

Publication number: CN216675731U
Application number: CN202123172923.XU
Authority: CN
Inventors: 杨威
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-12-16
Filing date: 2021-12-16
Publication date: 2022-06-07
Anticipated expiration: 2031-12-16

Abstract

The utility model provides a pulse feeling device for remotely feeling pulses, and relates to the technical field of pulse feeling of traditional Chinese medicine; comprises a palm sleeve, a palm frame, a cloud platform, a pulse pillow and a wrist finger device; a first sensor and a second sensor for detecting actions are respectively arranged in the palm sleeve and the palm frame; the pulse pillow is connected with the wrist finger device through the support arm, and the wrist finger device is connected with the support arm through a second joint; the wrist finger device comprises a palm wrist and three pulse diagnosis fingers connected with the palm wrist, each pulse diagnosis finger sequentially comprises a proximal finger joint, a middle finger joint and a distal finger joint along the palm wrist outwards, one side of the palm wrist close to the proximal finger joint is transversely provided with a third joint, the proximal finger joint is sleeved on the third joint through a fourth joint, and the proximal finger joint, the middle finger joint and the distal finger joint are sequentially connected through a fifth joint and a sixth joint; according to the utility model, the doctor can remotely diagnose the pulse through the palm sleeve, the palm frame, the cloud platform and the pulse diagnosis device, so that the pulse position acquisition during the pulse diagnosis of the traditional Chinese medicine can be finished, and the pulse signal of the patient can be accurately acquired.

Description

Pulse feeling device for remotely feeling pulse

Technical Field

The utility model relates to the technical field of traditional Chinese medicine pulse diagnosis, in particular to a pulse diagnosis device for remotely diagnosing pulses.

Background

The diagnosis of traditional Chinese medicine is profound, but the root of the diagnosis is that the diagnosis method of traditional Chinese medicine is 'inspection, smelling, asking and cutting', although pulse-feeling is the last in the four word apothelymes of traditional Chinese medicine, the pulse-feeling is also a crucial step. The pulse-taking of the traditional Chinese medicine needs three fingers to take the pulse, and the gentle exertion is started, and the superficial taking is performed when the skin is touched and pressed, so the traditional Chinese medicine is named as 'lifting'; then, apply moderate force, touch and press to muscle to get it, named as "seek"; the muscles and bones are sunk by touch with the force, so the name is 'press', at present, in the traditional Chinese medicine field, only Chinese medicine diagnosis and treatment work can be carried out on site, and many patients cannot obtain ideal medical service due to actual conditions (remote areas and limited local medical resources); when the doctor and the patient are not in the same geographical position, the first three diagnostic methods can be solved by a video conversation method, but pulse feeling cannot be implemented.

When feeling pulse, a physician needs to obtain the pulse condition of a patient and adjust the position and strength of the pulse-feeling fingers according to the individual physiological condition of the patient and the pulse condition of the patient, i.e., the so-called "lifting, pressing and searching" process. At present, a plurality of health bracelets capable of monitoring pulse are available on the market, the pulse can be only roughly monitored, but most of the health bracelets are simple to consider, only one point is measured, and the measurement of three parts of cun, guan and chi is not met; and the pulse signals can not be accurately acquired, and only the pulse signal graphs are transmitted and displayed to the doctor, but the doctor is difficult to link the graphs and the hand feeling together, the effect is not good, and the pulse signals can not be used as powerful basis for medical diagnosis.

Therefore, in view of the deficiencies of the prior art, it is necessary to provide a pulse taking device for remote pulse taking, which can realize remote pulse taking and accurately acquire pulse signals of a patient.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a pulse feeling device for remotely feeling pulse, which can provide a solution for the defects in the prior art, and has the characteristics of accurately positioning the pulse part of a patient, accurately acquiring the pulse signal of the patient, improving the pulse feeling of a doctor and the like.

The embodiment of the utility model is realized by the following steps:

a pulse feeling device for remotely feeling pulses comprises a remote control terminal, a pulse feeling terminal and a cloud platform, wherein the remote control terminal, the cloud platform and the pulse feeling terminal are connected through wireless communication;

a first sensor and a second sensor for detecting actions are respectively arranged in the palm sleeve and the palm frame;

the pulse pillow is connected with the wrist finger device through a support arm, and the wrist finger device is connected with the support arm through a second joint; the wrist finger device is in a hollow palm shape and comprises a palm wrist and three pulse diagnosis fingers connected with the palm wrist, each pulse diagnosis finger sequentially comprises a proximal finger joint, a middle finger joint and a distal finger joint along the palm wrist outwards, one side of the palm wrist close to the proximal finger joint is transversely provided with a third joint, the proximal finger joint is sleeved on the third joint through a fourth joint, and the proximal finger joint, the middle finger joint and the distal finger joint are sequentially connected through a fifth joint and a sixth joint; a third sensor is arranged on the knuckle;

the second joint, the fifth joint and the sixth joint are controlled by a rotary servo motor, the fourth joint is controlled by a linear servo motor and a rotary servo motor, and the fourth joint, the fifth joint and the sixth joint are respectively connected with the rotary servo motors corresponding to the fourth joint, the fifth joint and the sixth joint through a group of rotating assemblies.

In some embodiments of the present invention, the rotating assembly includes a steel wire and a roller, the steel wire is divided into two segments, one end of each of the two segments is connected to the output shaft of the corresponding rotary servo motor, the other end of each of the two segments is connected to the upper and lower sides of the corresponding joint, and the roller is disposed at the fifth joint and the sixth joint.

In some embodiments of the present invention, the rotary servo motors controlling the fourth joint, the fifth joint and the sixth joint are collectively disposed inside proximal knuckles of three pulse feeling fingers, the rotary servo motor controlling the second joint is disposed on the second joint, and the linear servo motor controlling the fourth joint is disposed on the fourth joint.

In some embodiments of the present invention, the distal phalangeal ring is bonded with latex, and the third sensor is disposed on the latex ring.

In some embodiments of the present invention, a temperature sensor is further disposed on the distal phalangeal section located at the middle position, and the temperature sensor is disposed on the latex.

In some embodiments of the present invention, the second joint includes a third rotating block and a fourth rotating block, wherein the third rotating block and the fourth rotating block are used for controlling the wrist finger device to rotate up and down and the fourth rotating block is used for controlling the wrist finger device to rotate left and right, and the third rotating block and the fourth rotating block are respectively provided with one rotating servo motor.

In some embodiments of the present invention, the third joint is a cylinder, and one of the servo motors is disposed at the third joint.

In some embodiments of the utility model, the pulse pillow comprises a soft pillow at the top and an electronic box at the bottom for placing the second wireless communication module.

In some embodiments of the utility model, the palm sleeve is matched with the palm shape of a human body and comprises an index finger, a middle finger, a ring finger and a half sole part corresponding to the back of the palm center, the index finger, the middle finger and the ring finger respectively comprise a proximal joint part, a middle joint part and a distal joint part which are sequentially connected from the root of the finger to the fingertip, a continuous elastic membrane is arranged between the three proximal joint parts, the elastic membrane comprises two elastic membranes which are respectively positioned on the front side and the back side of the proximal joint part, the first sensor is respectively positioned on the front side and the back side of the joint of the front palm part, the proximal joint part, the middle joint part and the distal joint part and the position between the two elastic membranes;

the palm frame comprises a simulation palm, a supporting table and a base, the simulation palm is connected with the supporting table through a first joint, the supporting table is connected with the base through a spiral pipe, a second sensor is arranged on the first joint, and a first wireless communication module is arranged in the base.

In some embodiments of the present invention, the first joint includes a first rotating block for controlling the simulated palm to rotate up and down and a second rotating block for controlling the simulated palm to rotate left and right, and the second sensor includes two sensors respectively located on the first rotating block and the second rotating block.

Compared with the prior art, the embodiment of the utility model has at least the following advantages or beneficial effects:

the pulse diagnosis terminal comprises a palm sleeve and a palm frame which are used for simulating pulse diagnosis, and the pulse diagnosis terminal comprises a pulse pillow and a wrist finger device which are used for diagnosing pulse of a patient; a first sensor and a second sensor for detecting actions are respectively arranged in the palm sleeve and the palm frame; the pulse pillow is connected with the wrist finger device through a support arm, and the wrist finger device is connected with the support arm through a second joint; the wrist finger device is in a hollow palm shape and comprises a palm wrist and three pulse diagnosis fingers connected with the palm wrist, each pulse diagnosis finger sequentially comprises a proximal finger joint, a middle finger joint and a distal finger joint along the palm wrist outwards, one side of the palm wrist close to the proximal finger joint is transversely provided with a third joint, the proximal finger joint is sleeved on the third joint through a fourth joint, and the proximal finger joint, the middle finger joint and the distal finger joint are sequentially connected through a fifth joint and a sixth joint; a third sensor is arranged on the knuckle; the second joint, the fifth joint and the sixth joint are controlled by rotary servo motors, the fourth joint is controlled by a linear servo motor and a rotary servo motor, and the fourth joint, the fifth joint and the sixth joint are respectively connected with the rotary servo motors corresponding to the fourth joint, the fifth joint and the sixth joint through a group of rotating assemblies; the utility model detects the occurrence of actions of a doctor such as up-down, left-right, front-back and the like through a palm frame and a first sensor and a second sensor in a palm sleeve, detected signals are sent to a pulse pillow and a wrist finger device through a cloud platform, a rotary servo motor of a second joint receives command signals sent by the palm frame and generates a large-amplitude up-down rotation or left-right rotation action so as to enable pulse-taking fingers to be placed at the general position of the cun-mouth of the wrist of a patient, a linear servo motor of a fourth joint receives the command signals sent by the palm sleeve and generates a linear movement action so as to enable the pulse-taking fingers to move to the near center or far center along the radial artery at the cun-mouth of the wrist of the patient, rotary servo motors of the fourth joint, a fifth joint and a sixth joint receive the command signals sent by the palm sleeve to generate a rotation action so as to control a rotating component to drive the pulse-taking fingers to generate a left-right movement or up-down-up and-down pressing action, the utility model realizes remote pulse feeling of doctors through the palm sleeve, the palm frame, the cloud platform and the pulse feeling device, can finish position acquisition of the pulse feeling during pulse feeling of traditional Chinese medicine, can accurately acquire the pulse signal of the patients, brings great convenience to the doctors and patients, enables the doctors to realize online pulse feeling diagnosis in a real sense, allows the patients not to go to a hospital to take pulse feeling diagnosis, saves time and reduces the risk of mutual infection of diseases of the patients.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic front view of a palm cover according to an embodiment of the present invention;

FIG. 2 is a schematic view of the back of the palm cover in the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a palm rest according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a pulse pillow and a wrist finger device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of one pulse feeling finger in the embodiment of the present invention.

Reference numerals: 1. palm covers; 2. a palm rest; 3. pulse pillow; 4. a wrist-finger device; 5. a first displacement sensor; 6. a second displacement sensor; 7. a hand-changing switch; 8. simulating a palm; 9. a support table; 10. a base; 11. a first joint; 12. a second joint; 13. a third joint; 14. a fourth joint; 15. a fifth joint; 16. a sixth joint; 17. a soft pillow; 18. an electronic box; 19. the palm and wrist; 20. pulse diagnosis means; 21. proximal phalanx; 22. middle finger section; 23. a distal knuckle; 24. rotating the servo motor; 25. a linear servo motor; 26. a steel wire; 27. a roller; 28. a spiral tube; 29. a spiral tube; 30. a proximal segment; 31. a middle section; 32. a distal segment; 33. an elastic film; 34. a distal segment; 35. a second sensor; 36. a pressure sensor.

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. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. 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.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, or an orientation or a positional relationship which is usually placed when the products of the present invention are used, the description is only for convenience and simplicity, and the indication or the suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, the present invention should not be construed as being limited. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present invention, "a plurality" represents at least 2.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Examples

Referring to fig. 1-5, fig. 1 is a front view of a palm cover according to an embodiment of the present invention; FIG. 2 is a schematic view of the back of the palm cover in the embodiment of the present invention; FIG. 3 is a schematic structural diagram of a palm rest according to an embodiment of the present invention; FIG. 4 is a schematic structural diagram of a pulse pillow and a wrist finger device according to an embodiment of the present invention; fig. 5 is a schematic structural diagram of one pulse feeling finger in the embodiment of the present invention.

The method specifically comprises the following steps: the remote control terminal, the cloud platform and the pulse feeling terminal are connected through wireless communication, the remote control terminal comprises a palm sleeve 1 and a palm frame 2 for simulating pulse feeling, and the pulse feeling terminal comprises a pulse pillow 3 and a wrist finger device 4 for feeling pulse of a patient; a first sensor and a second sensor 35 for detecting actions are respectively arranged in the palm sleeve 1 and the palm frame 2; the pulse pillow 3 is connected with the wrist finger device 4 through a support arm, and the wrist finger device 4 is connected with the support arm through a second joint 12; the wrist and finger device 4 is in a hollow palm shape and comprises a palm wrist 19 and three pulse diagnosis fingers 20 connected with the palm wrist 19, each pulse diagnosis finger 20 sequentially comprises a proximal finger joint 21, a middle finger joint 22 and a distal finger joint 23 along the palm wrist 19 outwards, one side of the palm wrist 19 close to the proximal finger joint 21 is transversely provided with a third joint 13, the proximal finger joint 21 is sleeved on the third joint 13 through a fourth joint 14, and the proximal finger joint 21, the middle finger joint 22 and the distal finger joint 23 are sequentially connected through a fifth joint 15 and a sixth joint 16; a third sensor is arranged on the knuckle 23; the second joint 12, the fifth joint 15 and the sixth joint 16 are controlled by a rotary servo motor 24, the fourth joint 14 is controlled by a linear servo motor 25 and the rotary servo motor 24, wherein the fourth joint 14, the fifth joint 15 and the sixth joint 16 are respectively connected with the corresponding rotary servo motors 24 through a group of rotating assemblies.

The pulse feeling terminal is connected with the cloud platform through wireless communication through the remote control terminal, the pulse feeling terminal and the cloud platform, the remote control terminal comprises a palm sleeve 1 and a palm frame 2 for simulating pulse feeling, and the pulse feeling terminal comprises a pulse pillow 3 and a wrist finger device 4 for feeling pulse of a patient; a first sensor and a second sensor 35 for detecting actions are respectively arranged in the palm sleeve 1 and the palm frame 2; the pulse pillow 3 is connected with the wrist finger device 4 through a support arm, and the wrist finger device 4 is connected with the support arm through a second joint 12; the wrist and finger device 4 is in a hollow palm shape and comprises a palm wrist 19 and three pulse diagnosis fingers 20 connected with the palm wrist 19, each pulse diagnosis finger 20 sequentially comprises a proximal finger joint 21, a middle finger joint 22 and a distal finger joint 23 along the palm wrist 19 outwards, one side of the palm wrist 19 close to the proximal finger joint 21 is transversely provided with a third joint 13, the proximal finger joint 21 is sleeved on the third joint 13 through a fourth joint 14, and the proximal finger joint 21, the middle finger joint 22 and the distal finger joint 23 are sequentially connected through a fifth joint 15 and a sixth joint 16; a third sensor is arranged on the knuckle 23; the second joint 12, the fifth joint 15 and the sixth joint 16 are controlled by a rotary servo motor 24, the fourth joint 14 is controlled by a linear servo motor 25 and the rotary servo motor 24, wherein the fourth joint 14, the fifth joint 15 and the sixth joint 16 are respectively connected with the corresponding rotary servo motors 24 through a group of rotating assemblies; the utility model detects the occurrence of the actions of the doctor such as up and down, left and right, front and back and the like through the first sensor and the second sensor 35 in the palm frame 2 and the palm sleeve 1, the detected signals are sent to the pulse pillow 3 and the wrist finger device 4 through the cloud platform, the rotary servo motor 24 of the second joint 12 receives the command signals sent by the palm frame 2 and generates the actions of large-amplitude up and down rotation or left and right rotation so as to enable the pulse feeling fingers 20 to be placed at the approximate position of the cun-oral cavity of the wrist of the patient, the linear servo motor 25 of the fourth joint 14 receives the command signals sent by the palm sleeve 1 and generates the actions of linear movement so as to enable the pulse feeling fingers 20 to move to the near center or far center along the radial artery at the cun-oral cavity of the wrist of the patient, the rotary servo motors 24 of the fourth joint 14, the fifth joint 15 and the sixth joint 16 receive the command signals sent by the palm sleeve 1 and generate the actions of rotation, thereby controlling the rotating component to drive the pulse feeling fingers 20 to generate the actions of left and right movement or up and down pressing, the utility model realizes doctor remote pulse feeling by the palm sleeve 1, the palm frame 2, the cloud platform and the pulse feeling device, can finish the pulse feeling position acquisition during the traditional Chinese medicine pulse feeling, can accurately acquire the pulse signal of the patient, brings great convenience to doctors and patients, enables the doctor to realize the on-line pulse feeling in the real sense, allows the patient to have no need of going to the hospital to take the pulse, saves time and reduces the risk of mutual infection of diseases of the patient.

Hereinafter, a pulse feeling device for remote pulse feeling in the present exemplary embodiment will be further described.

In one embodiment of this embodiment, a first sensor for detecting motion is provided in the palm cover 1, and the first sensor includes a first displacement sensor 5 and a second displacement sensor 6.

It should be noted that the palm cover 1 is matched with the palm shape of the human body and is a remote controller in the hand of the doctor, the doctor wears the wrist finger device 4 when going out a doctor to remotely control the wrist finger device, the shape of the wrist finger device is like a common medical plastic glove, the material of the wrist finger device is a thicker common medical elastic plastic, namely the material of the elastic membrane 33, so that the doctor can flexibly move the fingers, the wrist finger device specifically comprises an index finger, a middle finger, a ring finger and a front palm part corresponding to the back of the palm, the index finger, the middle finger and the ring finger all comprise a proximal joint part 30, a middle joint part 31 and a distal joint part 32 which are sequentially connected from the root of the finger to the fingertip, the first displacement sensor 5 is respectively positioned on the front side and the back side of the joint of the front palm part, the proximal joint part 30, the middle joint part 31 and the distal joint part 32, the first displacement sensor 5 senses the rotary motion of the hand joint of the doctor, namely the stretching or the curling or the contraction, so as to cause the stretching or contraction deformation of the elastic palm cover 1 to generate a tiny displacement, and then sends an electric signal to be converted into an internet sampling digital signal, the joints of three parts of one finger are respectively provided with a rotatable joint, each joint is provided with a pair of displacement sensors on the front and back sides, and the total of 2 multiplied by 3 of the three fingers is 6 signals; the continuous elastic membranes 33 are arranged among the three proximal joints 30, namely the proximal joint 21 of the instant finger 30 spans from the proximal joint 21 of the middle finger 30 to the proximal joint 21 of the ring finger 30 and is continuously provided with one elastic membrane 33, the elastic membranes 33 comprise two elastic membranes 33 which are respectively positioned on the front surface and the back surface of the proximal joint 30 and are connected with the original elastic membrane 33 material of the palm sleeve 1 into one sheet, but the finger surface and the finger back are respectively provided with one membrane, the upper membrane and the lower membrane are not adhered to each other, the second displacement sensor 6 is positioned on the two elastic membranes 33 and positioned between the fingers, 4 signals are totally sensed, the tiny linear separation and folding motion between the three fingers is sensed, the signal output by the displacement sensor is sampled into a digital signal and then is sent to an internet platform, the palm sleeve 1 has 10 electric signals totally, and the sampling frequency is 10 KHz.

In a concrete realization, when the doctor goes out a doctor, wear palm cover 1, put the hand on the pulse feeling appearance, this pulse feeling appearance is the simulation patient wrist device, and the removal of doctor control finger makes wrist finger ware 4 find patient's pulse position, and accurate radial cun, pass, three positions of chi are fixed a position, and then acquire accurate pulse condition information, and the pulse feeling appearance is through receiving the patient pulse signal that cloud platform sent, gives the doctor with patient pulse signal transmission, and the doctor is through pointing the perception.

In one embodiment of this embodiment, the back of the half sole is provided with a hand-changing switch 7, the hand-changing switch 7 on the palm cover 1 controls whether the information transmitted from the finger on the wrist finger device 4 at the guan pulse position is guan pulse information, when the left and right pulses of the patient are to be changed, the doctor instructs the patient to rotate the pulse pillow 3 with the wrist finger device 4, the patient can change the hand, the doctor does not need to change the palm cover 1, the three-finger pulse signals provided by the pulse diagraph can be switched as long as the hand-changing switch 7 is pulled down, otherwise, the pulse signals provided by the index finger position and the ring finger position of the pulse diagraph are opposite.

In one embodiment of this embodiment, a portion of the distal segment 32 corresponding to the finger tip is exposed, so as to improve the tactile sensation of the finger of the doctor, and further improve the accuracy of obtaining the pulse condition information of the patient by the doctor.

In one embodiment of this embodiment, a second sensor 35 for monitoring the operation is provided in the palm rest 2. Specifically, the palm rest 2 comprises a simulated palm 8, a support table 9 and a base 10, the simulated palm 8 is connected with the support table 9 through a first joint 11, the support table 9 is connected with the base 10 through a spiral tube 28, a second sensor 35 is arranged on the first joint 11, and a first wireless communication module is arranged in the base 10; the first joint 11 includes a first rotating block for controlling the simulated palm 8 to rotate up and down and a second rotating block for controlling the simulated palm 8 to rotate left and right, and the second sensor 35 includes two sensors respectively located on the first rotating block and the second rotating block.

It should be noted that, the palm rest 2 is similar to a desk lamp in shape and used for remotely adjusting 19 parts of the palms and wrists of the wrist finger device 4 to move with larger amplitude, a power supply and various circuit boards are placed in a base 10 of the palm rest 2 to reach a certain weight (about 1kg), a hollow elastic spiral tube 28 (about 15cm) is connected to the base 10, a support 9 is connected to the spiral tube 28, the support 9 is vertically intersected with the axis of the spiral tube 28, a latex analog palm is placed on the support 9, the analog palm is connected with the support 9 through a first joint 11, wherein the first joint 11 comprises a first rotating block and a second rotating block, the first rotating block allows the analog palm to do limited-angle pitching motion (about +/-45 degrees) relative to the horizontal plane, and the limited-angle pitching motion is stopped through a stop block; the second rotating block allows the simulation palm to do limited angle plane rotation motion (about +/-45 degrees) relative to the holder plane, the stop block stops, the first rotating block and the second rotating block are respectively provided with a sensor which can be an angle sensor, a homotheter or a rotary transformer, and the sampling frequency is 10 KHz; the wires pass through the spiral tube 28 to the base 10 of the palm rest 2.

In a specific implementation, the doctor pulls the simulation palm to send out a command signal to move the second joint 12 of the wrist finger device 4, namely the connection joint between the wrist finger device 4 and the support arm, so that the wrist finger device 4 is lifted up and put down or rotates left and right to do a large range of movement, which is beneficial for the patient to put in or take out the wrist.

In one implementation manner of this embodiment, the pulse feeling terminal includes a pulse pillow 3 and a wrist finger device 4 for feeling pulse for a patient, wherein the pulse pillow 3 includes a soft pillow 17 at the top and an electronic box 18 at the bottom for placing a second wireless communication module, the pulse pillow 3 is from a common pulse pillow 3 for medical pulse feeling, but the bottom of the pulse pillow 3 is added with electronic devices (power supply and all circuit boards) which are slightly heavier than the common pulse pillow 3, but the upper part of the pulse pillow is still soft, and the shape of the pulse pillow is the same as that of the common pulse pillow 3; the appearance of the wrist finger device 4 simulates a human palm wrist 19, is slightly wider than the real human palm wrist 19, is hollow and only has a shell, only three hollow fingers which are slightly longer than the real human fingers are arranged on the palm wrist 19, and can be conventionally called as an index finger, a middle finger and a ring finger, but the three fingers have no structural function difference, the material is food-grade stainless steel, each finger has three sections of a proximal section, a middle section and a distal section, and joints are arranged among the fingers and can do limited (about +/-8 degrees) 1-degree-of-freedom rotary motion bending or stretching.

Specifically, the pulse pillow 3 is connected with the wrist finger device 4 through a support arm, and the wrist finger device 4 is connected with the support arm through a second joint 12; the wrist and finger device 4 is in a hollow palm shape and comprises a palm wrist 19 and three pulse diagnosis fingers 20 connected with the palm wrist 19, each pulse diagnosis finger 20 sequentially comprises a proximal finger joint 21, a middle finger joint 22 and a distal finger joint 23 along the palm wrist 19 outwards, one side of the palm wrist 19 close to the proximal finger joint 21 is transversely provided with a third joint 13, the proximal finger joint 21 is sleeved on the third joint 13 through a fourth joint 14, and the proximal finger joint 21, the middle finger joint 22 and the distal finger joint 23 are sequentially connected through a fifth joint 15 and a sixth joint 16; a third sensor is arranged on the knuckle 23; the second joint 12, the fifth joint 15 and the sixth joint 16 are controlled by a rotary servo motor 24, the fourth joint 14 is controlled by a linear servo motor 25 and the rotary servo motor 24, wherein the fourth joint 14, the fifth joint 15 and the sixth joint 16 are respectively connected with the corresponding rotary servo motors 24 through a group of rotating assemblies.

It should be noted that the second joint 12 includes a third rotating block for controlling the wrist finger device 4 to rotate up and down and a fourth rotating block for controlling the wrist finger device 4 to rotate left and right, and the third rotating block and the fourth rotating block are respectively provided with a rotary servo motor 24, which may be a position servo motor or a speed-regulating servo motor, for receiving a control signal sent by the palm rest 2 through a cloud platform connected by wireless communication; the third rotating block allows the palm wrist 19 to do pitching motion with a limited angle of about +/-45 degrees relative to the horizontal plane, which is called alpha motion, the wrist finger device 4 is lifted up or put down, and the stop block stops; the fourth rotating block allows the palm wrist 19 to do plane rotation motion with a limited angle of about +/-45 degrees relative to the horizontal plane, which is called beta motion, the wrist finger device 4 rotates leftwards or rightwards, and the stop block stops;

the third joint 13 is cylindrical and is transversely arranged in the palm and wrist 19, the formed linear sliding is called X motion, the human body does not have the joint, only the sliding joint which is built on the wrist finger device 4 can adjust the pulse cutting position to move towards the proximal center or the distal center along the radial artery, therefore, the shape of the wrist finger device 4 is slightly wider than that of the palm of a real person by 15mm, and the distance between the middle three fingers is about 5 mm; the fourth joints 14 of the three proximal knuckles 21 are annular and are sleeved on the third joint 13, the three pulse diagnosis fingers 20 can independently and linearly slide along the cylinder axis of the third joint 13, the left end and the right end of the third joint 13 are respectively provided with a limiting block to prevent the three fingers from falling off, and can independently rotate around the cylinder axis through the fourth joints 14, so that the pulse diagnosis fingers 20 can be adjusted to press or lift on the radial artery to move, namely Z motion;

the proximal knuckle 21, the middle knuckle 22 and the distal knuckle 23 are sequentially connected through a fifth joint 15 and a sixth joint 16, the fifth joint 15 is a joint of the middle knuckle 22 rotating relative to the proximal knuckle 21, the sixth joint 16 is a joint of the distal knuckle 23 rotating relative to the middle knuckle 22, the fifth joint 15 and the sixth joint 16 move respectively or simultaneously, and the pulse diagnosis finger 20 can be adjusted to move inwards or outwards perpendicular to the radial artery incision position, which is called Y motion.

In an implementation manner of one embodiment of the present invention, the fourth joint 14 is controlled by a linear servo motor 25, the linear servo motor 25 receives a command signal to adjust the pulse cutting position to move along the radial artery in the proximal or distal direction, the second joint 12, the fourth joint 14, the fifth joint 15 and the sixth joint 16 are respectively controlled by a rotary servo motor 24, the rotary servo motors 24 controlling the fourth joint 14, the fifth joint 15 and the sixth joint 16 are collectively arranged inside proximal knuckles 21 of three pulse diagnosis fingers 20, the rotary servo motor 24 controlling the second joint 12 is arranged on the second joint 12, the linear servo motor 25 controlling the fourth joint 14 is arranged on the fourth joint 14, wherein the fourth joint 14, the fifth joint 15 and the sixth joint 16 are respectively connected with the corresponding rotary servo motors 24 through a set of rotating components; the rotating assembly comprises a steel wire 26 and a roller 27, the steel wire 26 is divided into two sections, one end of each section of the steel wire 26 is connected with the output shaft of the corresponding rotary servo motor 24, the other end of each section of the steel wire 26 is connected to the upper side and the lower side of the corresponding joint, the roller 27 is arranged at the fifth joint 15 and the sixth joint 16, and the middle of each section of the joint bypasses one roller 27.

In one specific implementation, for example, the sixth joint 16, the steel wire 26 is divided into two segments, one end of one segment is connected to the output shaft of the motor, the other end passes through the roller 27 of the fifth joint 15 and the sixth joint 16 and is connected to the upper side of the sixth joint 16, one end of the other segment is connected to the output shaft of the motor, the other end passes through the roller 27 of the fifth joint 15 and the sixth joint 16 and is connected to the lower side of the sixth joint 16, the steel wire 26 is wound on the output shaft of the motor to rotate, if the polarity of the command signal received by the servo motor system is positive, the motor pulls the outer segment of the steel wire 26 fixed on the middle finger segment 22 to rotate (extend) in the raising direction, whereas if the polarity of the command signal received by the servo motor system is negative, the motor pulls the other segment of the steel wire 26 fixed on the lower inner side of the middle finger segment 22 in the reverse direction to rotate (curl) the middle finger segment 22 in the lowering direction, the length of the two lengths of wire 26 is adjusted to initially null the joints and the finger assumes an initial relaxed coiled state.

It should be noted that the rotary servo motor 24 may be composed of a torque motor, a permanent magnet synchronous motor or an aviation micro motor, and may be a position control system or a speed control system, and the steel wire 26 and the roller 27 form a movement device to form a rotary movement. The three pulse feeling fingers 20 are designed and manufactured into standard controllable fingers with three rotary joints according to the same mode, which is convenient for complete set assembly and maintenance and replacement.

In an implementation manner of this embodiment, a third sensor is disposed on the distal finger section 23, and latex is annularly bonded to the distal finger section 23, the annular bonding does not hinder the movement of the joint from the middle finger section 22 to the distal finger section 23, and an enough elastic margin is left at the end of the distal finger section 23, especially near the finger eye (i.e., the part between the finger tip and the finger abdomen boundary edge and the connection line between the two corners of the nail), so that the distal finger section 23 is more attached to the wrist of the patient, the third sensor is disposed on the annular latex, the third sensor is preferably a pressure sensor 36, and a temperature sensor is also disposed on the distal finger section 23 at the middle position, and the temperature sensor is disposed on the latex; a high-precision film capacitance pressure sensor 36 is stuck to the finger surface direction of the finger eye position for sensing and outputting the pulse condition of the patient, and a temperature sensor is used for sensing and outputting the body temperature of the patient; signals collected by the pressure sensor 36 and the temperature sensor are converted into digital signals through sampling and digitalizing into circuits for sending the digital signals to the internet, and a series of electronic circuits, power supplies and the like which are matched with the two sensors to work are communicated to the electronic box 18 at the bottom of the pulse pillow 3 through the analog palm wrist 19 through a combined flat cable, the estimated pressure sampling frequency is about 10kHz, the precision is higher than 0.25%, the body temperature sampling frequency is about 10Hz, and the precision is about 0.5 ℃.

The working principle of the utility model is as follows:

when feeling pulse, the patient puts the forearm flat and extends with the palm down, the wrist is put near the pulse pillow 3 near the wrist finger device 4, if the patient cuts the left pulse, the pulse pillow 3 is in front of the patient, and the wrist finger device 4 is generally on the left of the patient; if the hand is changed to pulse the patient is not moved, the patient only needs to rotate the pulse pillow 3 with the wrist finger device 4 on the table plane, the pulse pillow 3 is still in front of the patient, but the position of the wrist finger device 4 is rotated from the left (for example, upper) of the pulse pillow 3 to the right of the pulse pillow 3, and the right of the patient is also rotated. For example, the patient can measure the left wrist and turn the pulse pillow 3 with the wrist finger device 4 to measure the right wrist. The patient stably and loosely puts his wrist on the pulse pillow 3, the doctor detects an action signal through a sensor in the palm frame 2 by pulling the palm frame 2, the action signal is sampled and digitized into a digital signal which is sent to a cloud platform through a wireless communication module, the cloud platform is sent to a rotary servo motor 24 of the wrist finger device 4 at the joint of the palm wrist 19 and the support arm, the palm wrist 19 is firstly controlled to rotate so that the three pulse diagnosis fingers 20 are placed at the approximate position of the cunkou of the wrist, the patient simultaneously communicates with a far medical video, the far medical observes whether the relative position of the wrist finger device 4 and the wrist of the patient is appropriate, if the direction is not correct, the patient can quickly correct the pulse pillow 3 with the wrist finger device 4 as long as rotating, the body does not need to move, so as to ensure the breath and the psychological stability of the patient and create a good pulse feeling state; then, a doctor wears the palm sleeve 1, firstly appoints a joint, controls the middle finger on the wrist finger device 4 to touch the high-bone radius, and appoints a joint, at the moment, the doctor observes the movement of the middle finger on the wrist finger device 4 through video and feels on the hand, whether the middle finger of the hand touches the hard high bone or not, then moves other two fingers, detects the movement of the doctor through a displacement sensor on the palm sleeve 1, samples and digitizes the movement signals into digital signals which are sent to a cloud platform through a wireless communication module, the cloud platform is sent to the wrist finger device 4, so that a servo motor of the wrist finger device 4 is controlled to rotate, three fingers of the wrist finger device 4 are controlled to follow the movement of the doctor, meanwhile, a pressure sensor 36 and a temperature sensor on a pulse diagnosis finger 20 collect pulse signals of a patient, the pulse signals are sent to the cloud platform and sent to the doctor, and the doctor slowly feels and finds the cun and ulnar position, the process of lifting, pressing and seeking is finished, then the force is increased to press and seek pulse conditions, the finger force is adjusted to realize the floating, middle and sinking pulse conditions, the action coordination of a patient is completely not needed, the pulse feeling is completely carried out under the control of a doctor, when the left pulse and the right pulse of the patient are to be changed and switched, the doctor commands the patient to rotate the pulse pillow 3 with the wrist finger device 4, the patient changes hands, the doctor does not need to change the palm sleeve 1, and the accurate pulse condition position can be detected as long as the hand changing switch 7 is moved down.

The palm sleeve 1 inter-finger movement signal instructs two corresponding adjacent fingers of the wrist finger device 4 to relatively separate or move tightly from the starting position along the X direction (the pulse cutting position moves towards the proximal center or the distal center along the radial artery), the movement signal between the palm sleeve 1 front palm part and the proximal segment part 30 instructs one finger of the wrist finger device 4 to move along the Z direction (the finger moves up and down, the pulse cutting position is unchanged, the finger presses or lifts on the radial artery, the pulse cutting finger force increases or decreases), and the palm sleeve 1 proximal segment part 30 and the palm segment part 31 movement signal instructs one finger of the wrist finger device 4 to move along the Y direction (moves left and right, the pulse cutting position is inward or outward).

The wrist finger device 4 receives the instruction and acts as follows, the three pulse feeling fingers 20 are divided into an index finger, a middle finger and a ring finger, if the polarity of the instruction signal received by the servo motor controlling the index finger is positive, the motor rotates in the positive direction to pull the steel wire 26 index finger to move towards the right direction to be separated from the middle finger and close to the right limit block; on the contrary, if the polarity of the command signal received by the servo system is negative, the forefinger of the motor reversely tensioning the steel wire 26 moves to the middle finger leftwards and horizontally to be close to be separated from the right limit block. And when the second steel wire 26 crosses the middle finger, the second steel wire is wound and fixed on the output end of the motor for controlling the translation of the middle finger. If the polarity of the command signal received by the middle finger server is controlled to be positive, the motor rotates to pull the steel wire 26 in the positive direction, and then the middle finger moves towards the right direction and is separated from the ring finger and is folded with the index finger; if the polarity of the command signal received by the servo system is negative, the motor reversely tensions the steel wire 26, and the finger translates leftwards and moves away from the index finger when the ring finger is closed; and when the third steel wire 26 spans the ring finger, the third steel wire is wound and fixed on the ring finger to control the output end of the motor for controlling the translation of the ring finger. If the polarity of the command signal received by the control ring finger server is positive, the motor rotates in the positive direction to pull the steel wire 26 to move in the right direction in a ring finger direction, and the steel wire is separated from the left limiting block and folded with the middle finger; on the contrary, if the polarity of the command signal received by the servo system is negative, the motor reversely tightens the steel wire 26 to point to the left translation in an unknown direction, and the left limiting block is closed and separated from the middle finger. Therefore, by means of the cylinder lantern ring structure, the three fingers can realize independent left and right limited displacement linear translation motion which is about +/-5 mm; but also can realize independent limited angle rotary motion of about +/-8 degrees.

The motor servo systems receive command signals transmitted by the palm frame 2 of the palm sleeve 1 through the internet and form feedback through telemedicine vision and touch to control the corresponding movement of the corresponding joints of the wrist finger device 4, therefore, the continuous incremental inching motion of the closed loop is realized, the motor servo systems of each joint of each finger are not crosslinked and can independently move, 3 of the three-dimensional radial artery incisor and the three-dimensional radial artery incisor are controlled by a linear motion servo system to control X motion (controlling the incisor fingers to move towards the heart or the heart along the radial artery incisor position), 11 of the three-dimensional radial artery incisor and the three-dimensional radial artery incisor are controlled by a rotary motion servo system to control Y, Z motion (controlling the incisor fingers to move inwards or outwards perpendicular to the radial artery incisor position and controlling the incisor fingers to move on the radial artery by pressing or lifting), and α and β motions (controlling all three fingers of the palm and wrist 19 to pitch or rotate left and right), and in summary, the wrist finger device 4 has 16 motor servo systems in total, namely 3(x) +11(yz) +2(α β). The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The pulse feeling device for remotely feeling the pulse is characterized by comprising a remote control terminal, a pulse feeling terminal and a cloud platform, wherein the remote control terminal, the cloud platform and the pulse feeling terminal are connected through wireless communication;

2. The pulse feeling device for remote pulse feeling of claim 1, wherein the rotating assembly comprises a steel wire and a roller, the steel wire is divided into two segments, one end of each segment of the steel wire is connected with the output shaft of the corresponding rotary servo motor, the other end of each segment of the steel wire is connected to the upper side and the lower side of the corresponding joint, and the roller is arranged at the fifth joint and the sixth joint.

3. The pulse feeling device for remote pulse feeling of claim 1, wherein the rotary servomotors for controlling the fourth, fifth and sixth joints are collectively provided inside proximal knuckles of three pulse feeling fingers, the rotary servomotor for controlling the second joint is provided in the second joint, and the linear servomotor for controlling the fourth joint is provided in the fourth joint.

4. The pulse feeling device for remote pulse feeling as claimed in claim 1, wherein said distal phalangeal ring is annularly bonded with latex, and said third sensor is disposed on said annular latex.

5. The pulse feeling device for remote pulse feeling as claimed in claim 4, wherein a temperature sensor is further provided on said distal phalangeal section at the intermediate position, said temperature sensor being provided on said latex.

6. The pulse feeling device for remote pulse feeling of claim 1, wherein the second joint comprises a third rotating block and a fourth rotating block, wherein the third rotating block and the fourth rotating block are used for controlling the wrist finger device to rotate up and down and the wrist finger device to rotate left and right respectively, and one rotary servo motor is arranged at each of the third rotating block and the fourth rotating block.

7. The pulse feeling device for remote pulse feeling of claim 1, wherein said third joint is cylindrical, and one of said servo motors is provided at said third joint.

8. The pulse feeling device for remote pulse feeling of claim 1, wherein the pulse pillow comprises a soft pillow at the top and an electronic box at the bottom for placing the second wireless communication module.

9. The pulse feeling device for remote pulse feeling according to claim 1, wherein the palm cover is fitted to the palm of the human body and comprises an index finger, a middle finger, a ring finger and a half palm portion corresponding to the back of the palm, the index finger, the middle finger and the ring finger each comprise a proximal joint portion, a middle joint portion and a distal joint portion which are sequentially connected from the base of the finger to the tip of the finger, a continuous elastic membrane is arranged between the three proximal joint portions, the elastic membrane comprises two elastic membranes which are respectively positioned on the front and the back of the proximal joint portion, the first sensors are respectively positioned on the front and the back of the joint of the front palm portion, the proximal joint portion, the middle joint portion and the distal joint portion and on the position between the fingers on the two elastic membranes;

10. The pulse feeling device for remote pulse feeling of claim 9, wherein the first joint comprises a first rotating block for controlling the simulated palm to rotate up and down and a second rotating block for controlling the simulated palm to rotate left and right, and the second sensor comprises two sensors respectively located on the first rotating block and the second rotating block.