CN217040104U

CN217040104U - Remote control device for remotely diagnosing pulse

Info

Publication number: CN217040104U
Application number: CN202123141152.8U
Authority: CN
Inventors: 杨威
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-12-14
Filing date: 2021-12-14
Publication date: 2022-07-26
Anticipated expiration: 2031-12-14

Abstract

The utility model provides a remote control device for remotely diagnosing pulse, relating to the technical field of pulse diagnosis of traditional Chinese medicine; comprises a cloud platform, a palm sleeve, a palm frame and a pulse feeling device; the palm sleeve 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 respectively comprise a proximal joint part, a middle joint part and a distal joint part, and 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 are respectively provided with a first displacement sensor; continuous elastic membranes are arranged among the three proximal joints, the elastic membranes comprise two elastic membranes which are respectively positioned on the front and the back of the proximal joints, and second displacement sensors are arranged on the two elastic membranes at the positions between the fingers; the palm rest comprises a base, a simulation palm and a supporting table, the simulation palm is connected with the supporting table through a first joint, and a first sensor is arranged in the first joint; the pulse feeling device comprises a pulse pillow and a wrist finger device, the pulse pillow and the wrist finger device are connected through a support arm, and a sensing module and a driving module are arranged in the wrist finger device; the doctor can remotely diagnose the pulse by the structure.

Description

Remote control device for remotely diagnosing pulse

Technical Field

The utility model relates to a traditional chinese medical science diagnosis pulse technical field particularly, relates to a remote control unit for long-range diagnosis pulse.

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 the muscle, 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 considered to be simple, only one point is measured, and measurement of three parts of cun, guan and chi is not met; and the pulse signals can not be accurately acquired, and the pulse signals are only transmitted and displayed to the doctor for the doctor to see, 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 a powerful basis for medical diagnosis.

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

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a remote control unit for remote diagnosis pulse, it can be to the weak point among the prior art, proposes solution, has ability remote control and feels the pulse action, accurate location patient pulse position, accurate acquisition patient pulse signal improves characteristics such as doctor's diagnosis pulse is felt.

The embodiment of the utility model is realized like this:

a remote control device for remote pulse taking, comprising: 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 and a palm frame for simulating pulse feeling, and the pulse feeling terminal comprises a pulse feeling device;

the palm cover is identical with the shape of the palm of the human body, and comprises: the finger joint comprises an index finger, a middle finger, a ring finger and a half sole part corresponding to the back of a palm center, wherein 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, and 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 are respectively provided with a first displacement sensor; continuous elastic membranes are arranged between the three proximal joints, the elastic membranes comprise two elastic membranes which are respectively positioned on the front and the back of the proximal joints, and second displacement sensors are arranged on the two elastic membranes at the positions between the fingers;

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

the pulse feeling device comprises a pulse pillow and a wrist finger device, the pulse pillow is connected with the wrist finger device through a support arm, and a sensing module and a driving module are arranged in the wrist finger device.

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

In some embodiments of the present invention, the back of the front palm portion is provided with a hand-changing switch.

In some embodiments of the present invention, a portion of the distal segment corresponding to the finger tip is exposed.

In some embodiments of the present invention, the palm cover is made of medical elastic plastic material, and the simulation palm is made of latex material.

In some embodiments of the utility model, the wrist indicates the ware is hollow palm shape, including palm wrist and three diagnosis arteries and veins fingers with palm wrist connection, every diagnosis artery indicates to follow the palm wrist outwards includes in proper order and indicates the proximal joint, indicates the middle-sized joint and indicates the distal joint, the palm wrist with the junction of support arm and indicate the proximal joint, indicate the middle-sized joint and indicate the distal joint and all be equipped with rotary joint.

In some embodiments of the present invention, the driving module includes a servo motor and a rotating assembly, the servo motor is used for controlling each of the rotation joints, and the rotating assembly is connected to the output shaft of the servo motor.

In some embodiments of the present invention, the distal finger section is annularly bonded with latex.

The utility model discloses an in some embodiments, sensing module includes pressure sensor and temperature sensor, pressure sensor includes threely, locates threely respectively on the latex of the knuckle far away, temperature sensor includes one, locates to be located the intermediate position on the latex of the knuckle far away.

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

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

the utility model discloses 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; the remote control terminal comprises a palm sleeve and a palm frame for simulating pulse feeling, and the pulse feeling terminal comprises a pulse feeling device; the palm cover is anastomotic with human palm shape, includes: the palm device comprises an index finger, a middle finger, a ring finger and a half sole part corresponding to the back of the palm, wherein 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; continuous elastic membranes are arranged between the three proximal joints, the elastic membranes comprise two elastic membranes which are respectively positioned on the front and the back of the proximal joints, and second displacement sensors are arranged on the two elastic membranes at the positions between the fingers; the palm rest comprises a base, a simulation palm and a supporting table, the simulation palm is connected with the supporting table through a first joint, a first sensor is arranged in the first joint, the supporting table is connected with the base through a spiral pipe, and a first wireless communication module is arranged in the base; the pulse feeling device comprises a pulse pillow and a wrist finger device, the pulse pillow is connected with the wrist finger device through a support arm, and a sensing module and a driving module are arranged in the wrist finger device; the utility model discloses a palm cover first displacement sensor and second displacement sensor detect the emergence of actions such as opening and shutting, bending, the removal of palm cover, detect through the first sensor in the palm frame the emergence of the action of bending substantially, horizontal rotation of palm frame, send the signal that detects to the cloud platform through first wireless communication module, the cloud platform generates command signal and sends to the pulse diagnosis device, drive module in the wrist finger ware diagnoses the pulse according to command signal, carries out corresponding removal at the patient's wrist, detects patient's pulse condition information through sensing module, sends the pulse condition signal that detects to the cloud platform, thereby accomplishes to the pulse diagnosis of patient; the utility model discloses a palm cover, palm frame, cloud platform and pulse feeling device realize that the doctor is long-range to examine pulse, and the pulse condition position when can accomplish traditional chinese medical science pulse feeling obtains, and the pulse signal that can the accurate acquisition patient again brings very big facility for the doctor and patient, lets the doctor realize the most genuine on-line pulse feeling, allows the patient need not to go to the diagnosis of hospital pulse feeling, has saved the time, has reduced the risk of patient's disease cross infection.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required 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 front view of a palm cover according to an embodiment of the present invention;

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

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

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

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

Reference numerals are as follows: 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. palm and wrist; 20. pulse feeling 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 embodiments of the present invention will be clearly and completely described below with reference to the accompanying 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 the 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 invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to 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 or 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" and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, the description is only for convenience of description of the present invention and simplification, but the indication or suggestion that the device or element to be referred must have a specific position, be constructed and operated in a specific position, and therefore, the present invention should not be construed as being limited thereto. 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" means 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 "set", "mounted", "connected" and "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; 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 meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Examples

Referring to fig. 1-5, fig. 1 is a front schematic view of a palm cover according to an embodiment of the present invention;

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

The method specifically comprises the following steps: the method comprises the following steps: the remote control terminal, the pulse feeling terminal and the cloud platform are connected through wireless communication; the remote control terminal comprises a palm sleeve 1 and a palm frame 2 for simulating pulse diagnosis, and the pulse diagnosis terminal comprises a pulse diagnosis device; palm cover 1 is coincide with human palm shape, includes: the finger joint comprises an index finger, a middle finger, a ring finger and a front palm part corresponding to the back of the palm, wherein the index finger, the middle finger and the ring finger respectively 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, and 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 are respectively provided with a first displacement sensor 5; continuous elastic membranes 33 are arranged among the three proximal joints 30, the elastic membranes 33 comprise two elastic membranes which are respectively positioned on the front and the back of the proximal joints 30, and second displacement sensors 6 are arranged on the two elastic membranes 33 at the positions between the fingers; the palm rest 2 comprises a base 10, a simulation palm and a supporting table 9, the simulation palm is connected with the supporting table 9 through a first joint 11, a first sensor is arranged in the first joint 11, the supporting table 9 is connected with the base 10 through a spiral pipe 28, and a first wireless communication module is arranged in the base 10; the pulse feeling device comprises a pulse pillow 3 and a wrist finger device 4, the pulse pillow 3 is connected with the wrist finger device 4 through a support arm, and a sensing module and a driving module are arranged in the wrist finger device 4.

The utility model is connected with the pulse feeling terminal 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 feeling device; the palm cover 1 is inosculated with the shape of the palm of the human body, and comprises: the finger joint comprises an index finger, a middle finger, a ring finger and a front palm part corresponding to the back of the palm, wherein the index finger, the middle finger and the ring finger respectively 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 tip of the finger, and 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 are respectively provided with a first displacement sensor 5; a continuous elastic membrane 33 is arranged between the three proximal joints 30, the elastic membrane 33 comprises two elastic membranes which are respectively positioned on the front and the back of the proximal joints 30, and a second displacement sensor 6 is arranged on the two elastic membranes 33 at the position between the fingers; the palm rest 2 comprises a base 10, a simulation palm and a supporting table 9, the simulation palm is connected with the supporting table 9 through a first joint 11, a first sensor is arranged in the first joint 11, the supporting table 9 is connected with the base 10 through a spiral pipe 28, and a first wireless communication module is arranged in the base 10; the pulse feeling device comprises a pulse pillow 3 and a wrist finger device 4, the pulse pillow 3 is connected with the wrist finger device 4 through a support arm, and a sensing module and a driving module are arranged in the wrist finger device 4; the utility model discloses a first displacement sensor 5 and second displacement sensor 6 detect the emergence of actions such as opening and shutting, bending, removal of palm cover 1 on palm cover 1, through the emergence of the first sensor detection palm frame 2 in palm frame 2 crooked, the horizontal rotation action by a wide margin, send the signal that detects to the cloud platform through first wireless communication module, the cloud platform generates instruction signal and sends to the pulse diagnosis device, drive module in wrist finger ware 4 diagnoses the pulse according to instruction signal, carry out corresponding removal at the patient wrist, detect the pulse condition information of patient through sensing module, send the pulse condition signal that detects to the cloud platform, thereby accomplish the pulse diagnosis to the patient; the utility model discloses a palm cover 1, palm frame 2, cloud platform and pulse diagnosis device realize the long-range pulse diagnosis of doctor, and the pulse condition position when can accomplish traditional chinese medical science pulse diagnosis obtains, and the pulse signal that again can the accurate acquisition patient brings very big facility for the doctor and patient, lets the doctor realize the most genuine on-line pulse taking, allows the patient need not to go to the diagnosis of hospital pulse taking, has saved the time, has reduced the risk of patient's disease cross infection.

A remote control device for remote pulse taking in the present exemplary embodiment will be further described below.

In one embodiment of this embodiment, the palm cover 1 is provided with a first displacement sensor 5 and a second displacement sensor 6, which are collectively referred to as a first sensor.

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, joints of three parts of one finger are respectively provided with a rotatable joint, the front side and the back side of each joint are provided with a pair of displacement sensors, and the total number of the three fingers is 2 multiplied by 3 which is 6 signals; the continuous elastic membranes 33 are arranged among the three near joints 30, namely, one elastic membrane 33 is continuously arranged between the near joint 21 of the middle finger of the near joint 21 30 of the instant finger and the near joint 21 of the ring finger 30, the elastic membranes 33 comprise two membranes which are respectively positioned on the front surface and the back surface of the near joint 30 and are connected with the original elastic membrane 33 material of the palm sleeve 1 into one membrane, but the finger surface and the finger back are respectively one membrane, the upper membrane and the lower membrane are not adhered to each other, the second displacement sensor 6 is also positioned on the two elastic membranes 33 at the position between the fingers, 4 signals are totally sensed, the tiny linear separation and folding movement between the three fingers is sensed, the signals output by the displacement sensors are sampled into digital signals and then are sent to an internet platform, the palm sleeve 1 totally has 10 electric signals, 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 pulse diagnosis appearance, this pulse diagnosis appearance is the simulation patient wrist device, and the removal of doctor control finger makes wrist finger ware 4 find the pulse position of patient, and the three positions of accurate location radial cun, guan, chi, and then acquire accurate pulse condition information, and pulse diagnosis appearance is through receiving the patient pulse signal that cloud platform sent, gives the doctor with patient's pulse signal transmission, and the doctor is through pointing the perception.

In one embodiment of the present embodiment, the back of the front palm portion 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 hand at the guan pulse position on the wrist finger device 4 is guan pulse information, when the left and right pulses of the patient are to be changed and switched, the doctor instructs the patient to rotate the pulse pillow 3 with the wrist finger device 4, the patient changes the hand, the doctor does not need to change the palm cover 1, the three-finger pulse signals provided by the pulse feeling instrument are switched as long as the hand-changing switch 7 is pulled down, otherwise, the pulse feeling instrument has the pulse signals provided by the index finger position and the ring finger position which are opposite.

In one embodiment of the present invention, the part of the distal segment 32 corresponding to the finger tip is exposed to improve the tactile sensation of the finger of the doctor, so as to 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 device includes a pulse pillow 3 and a wrist finger device 4 for feeling pulse for a patient, the pulse pillow 3 is connected with the wrist finger device 4 through a support arm, and a sensing module and a driving module are arranged in the wrist finger device 4, 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 electronic device (power supply and all circuit boards) additionally arranged at the bottom of the pulse pillow 3 is 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 palm wrist 19 of a human body, is slightly wider than the palm wrist 19 of the real human body, is hollow and only has a shell, only three hollow fingers which are slightly longer than the fingers of the real human body 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 is provided with 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; the driving module comprises a servo motor and a rotating assembly.

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 one embodiment of the present embodiment, 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 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 in 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, and 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 connected with the corresponding rotary servo motors 24 through a set of rotating assemblies; 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 of the two sections of steel wires 26 is connected with the output shaft of the corresponding rotary servo motor 24, the other end of each of the two sections of steel wires 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 one roller 27 is required to be wound by each joint in the middle.

In one embodiment, for example, the sixth joint 16, the steel wire 26 is divided into two segments, one of the segments is connected to the output shaft of the motor, the other end passes through the fifth joint 15 and the roller 27 of the sixth joint 16 and is connected to the upper side of the sixth joint 16, one of the other segment is connected to the output shaft of the motor, the other end passes through the fifth joint 15 and the roller 27 of 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 22 to rotate (extend) the middle finger 22 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 22 in the reverse direction to rotate (retract) the middle finger 22 in the lowering direction, adjusting the length of the two lengths of wire 26 initially zeroes the joints and the fingers assume an initial relaxed curl condition.

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 moving device to form a rotary motion. 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, the sensing module includes a third sensor, specifically, a pressure sensor 36 and a temperature sensor, latex is annularly bonded to the distal finger joint 23, the annular bonding does not hinder the movement of the joint between the middle finger joint 22 and the distal finger joint 23, and a sufficient elastic space is left at the end of the distal finger joint 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 joint 23 is more attached to the wrist of the patient, the third sensor is disposed on the annular latex, the third sensor is preferably the pressure sensor 36, a temperature sensor is further disposed on the distal finger joint 23 located 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 utility model discloses a theory of operation:

when feeling pulse, the patient puts the forearm flat and with the palm upward, puts the wrist 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 a finger in the middle of the wrist finger device 4 to touch a high bone and a radius, and appoints a joint, at the moment, the doctor needs to observe the motion of the middle finger of the wrist finger device 4 through video and also needs to feel on the hand, whether the middle finger of the hand touches a hard high bone or not, then moves other two fingers, detects the moving action of the doctor through a displacement sensor on the palm sleeve 1, samples and digitizes the action signal into a digital signal, sends the digital signal to a cloud platform through a wireless communication module, sends the cloud platform to the wrist finger device 4, thereby controlling a servo motor of the wrist finger device 4 to rotate, controls three fingers of the wrist finger device 4 to follow the movement of the doctor, simultaneously collects pulse signals of a patient through a pressure sensor 36 and a temperature sensor on the pulse finger 20, sends the pulse signals to the cloud platform, sends the pulse signals to the doctor through the cloud platform, and the doctor slowly feels and finds out the cun and ulnar, the lifting process of lifting, pressing and searching is finished, then the force is increased to press and search 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 need to be changed and switched, the doctor instructs 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 tightly move from the initial 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 joint 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 joint part 30 and the palm joint 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 tightens the middle finger of the steel wire 26 to translate leftwards and close with the ring finger to separate from the forefinger; 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 the translation of the ring finger. If the polarity of the command signal received by the ring finger server is controlled to be positive, the motor rotates in the positive direction to pull the steel wire 26 to move in the right direction in the ring finger direction, and the ring finger moves away from the left limiting block and closes with the middle finger; 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 the 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, form feedback through telemedicine vision and touch sense, 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 mutually linked 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. A remote control device for remote pulse taking, comprising: 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 and a palm frame for simulating pulse diagnosis, and the pulse diagnosis terminal comprises a pulse diagnosis device;

the palm cover is anastomotic with human palm shape, includes: the palm device comprises an index finger, a middle finger, a ring finger and a half sole part corresponding to the back of the palm, wherein 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; continuous elastic membranes are arranged among the three proximal joints, the elastic membranes comprise two elastic membranes which are respectively positioned on the front and the back of the proximal joints, and second displacement sensors are arranged on the two elastic membranes at the positions between the fingers;

2. The remote control device for remote pulse taking according to claim 1, wherein said first joint comprises a first rotating block for controlling the rotation of said artificial palm in a vertical direction and a second rotating block for controlling the rotation of said artificial palm in a horizontal direction, and said second sensor comprises two sensors respectively located on said first rotating block and said second rotating block.

3. The remote control device for remote pulse taking as claimed in claim 1, wherein the back of the front palm part is provided with a hand-changing switch.

4. The remote control device for remote pulse taking according to claim 1, wherein a portion of said distal segment corresponding to a fingertip of a finger is exposed.

5. The remote control device for remote pulse feeling as claimed in claim 1, wherein the palm cover is made of medical elastic plastic material, and the simulation palm is made of latex material.

6. The remote control device for remote pulse feeling as claimed in claim 1, wherein the wrist-finger device is hollow palm-shaped and comprises a palm wrist and three pulse feeling fingers connected with the palm wrist, each pulse feeling finger comprises a proximal knuckle, a middle knuckle and a distal knuckle along the palm wrist, and the joints of the palm wrist and the support arm and the proximal knuckle, the middle knuckle and the distal knuckle are provided with rotary joints.

7. The remote control device for remote pulse feeling as claimed in claim 6, wherein said driving module comprises a servo motor for controlling the rotation of each of said rotary joints and a rotary assembly connected to an output shaft of said servo motor.

8. The remote control device for remote pulse taking as claimed in claim 7, wherein said distal phalangeal ring is bonded with latex.

9. The remote control device for remote pulse taking according to claim 7, wherein said sensing module comprises three pressure sensors and three temperature sensors, said three pressure sensors are respectively disposed on the latex of three said distal phalangeal sections, and said one temperature sensor is disposed on the latex of said distal phalangeal section at a middle position.

10. The remote control device for remote pulse feeling as claimed in 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.