JPH1147226A - Automatic pointillage apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve a higher pointillage effect by a method wherein a moving acupressure means moves to measure a figure of a treating person for detecting and measuring the position of an 'acupressure spot' and is provided with a pointillage head controllable to move horizontally and vertically to press the position of the 'acupressure spot'. SOLUTION: With a start key turned ON, a running frame 2 starts an outgoing action toward the final end position from a starting position S. With the outgoing action, the contour of the treating person is detected by a TV camera 33 and a side sensor SS, namely, a photoelectric sensor 34. As the running frame 2 reaches the final end position E, the outgoing action of the running frame 2 is stopped and the position of the 'acupressure spot' of the treating person is calculated to be stored into an execution 'acupressure spot' memory means together with an angle of inclination and the side contour. Then, an incoming action 2 of the running frame is started and moves forward on his back based on the execution 'acupressure spot', the angle of inclination and the side contour stored by the execution 'acupressure spot' memory means to execute a pointillage with an acupressure head 27.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic acupressure device, and more particularly to an automatic acupressure device capable of automatically and accurately capturing a "pot" of a medical practitioner and acupressure the same.

[0002]

2. Description of the Related Art Conventionally, a traveling frame that runs in the front-back direction is provided on a bed, and a shiatsu head is supported on the traveling frame so as to be movable in the left-right direction of the bed. An automatic acupressure device is known in which the acupressure head is moved and controlled by operating a board so that the entire body can be acupressure uniformly (see Japanese Patent Publication No. 51-4032).

[0003]

By the way, the position of the "pot" of each patient depends on the body shape, that is, the overall appearance of the body.

However, in the above-mentioned conventional acupressure device, the position of the acupressure when automatically performing the acupressure is not determined in consideration of the position of the "pot" due to the difference in the body shape of each treating person. However, there was a problem that the position of the “pot” was deviated from the position of the “pot” and a sufficient acupressure effect could not be obtained.

When adjusting the position of the acupressure head using the operation switch, it is difficult to adjust the position of the acupressure head because the surgeon cannot see the acupressure head. Otherwise, there was another problem that the effect of acupressure could not be obtained.

The present invention has been made in view of the above circumstances, and automatically and accurately detects and measures the position of a "pot" according to the body shape of a medical practitioner. An object of the present invention is to improve the effects and solve the above-mentioned problems.

Another object of the present invention is to solve the above-mentioned problem by allowing a clinician to easily adjust the position of the shiatsu head as needed.

Furthermore, the present invention solves the above problem by storing the contents of the adjustment of the position of the acupressure head, and enabling the memorized physician to perform the acupressure at the stored position the next time he or she receives the acupressure. The solution is yet another object.

[0009]

In order to achieve the above object, according to the first aspect of the present invention, a bed on which a treating person lies down, and a moving shiatsu means with a sensor capable of reciprocating on the bed. The moving acupressure means is moved from one end of the bed to the other end, the body shape of the therapist is measured, the position of the `` pot '' to be pressed by the therapist is detected and measured, and the position of the `` pot '' is determined. In order to apply acupressure, the moving acupressure means is characterized by having an acupressure head that is controlled to move left and right and up and down.According to such a configuration, the position of the `` pot '' according to the body shape of the caregiver is changed. It is possible to automatically and accurately capture and acupressure it, thereby improving the acupressure effect.

To achieve the above object, according to the second aspect of the present invention, in the first aspect, a television camera for photographing a human body and an acupressure head, and a bed so that a treating person can be seen. Provided with a screen for displaying an image taken by a television camera, and an operation means for correcting the position of the acupressure head, and performing the detection and measurement by the operation means while confirming the position of the acupressure head on the screen. It is characterized in that the position of the "pot" can be corrected. According to such a configuration, in addition to the effect of the invention described in claim 1,
The healer easily adjusts the position of the shiatsu head,
By correcting the displacement of the position, the acupressure position can be more accurately pressed.

According to the third aspect of the present invention, in order to achieve the above object, the second aspect of the present invention provides
A management means for reading the position of the individual 'pot' from the individual 'pot' storage means, and after executing the acupressure with the acupressure head, storing the executed position of the 'pot' in the storage means, It is characterized in that the acupressure is performed based on the position of the "pot". According to such a configuration, in addition to the effect of the above-mentioned claim 2, the contents of the adjustment of the position of the acupressure head are stored, and When the stored therapist performs the next acupressure, the acupressure at the stored position can be automatically and accurately performed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be specifically described below based on the embodiments of the present invention shown in the accompanying drawings.

1 to 11 show a first embodiment of the present invention. FIG. 1 is an overall side view of an automatic acupressure device, and FIG.
FIG. 3 is an overall plan view of the automatic acupressure device taken along line 2 of FIG.
FIG. 4 is a rear view of the automatic acupressure device taken along line 3 of FIG. 1;
FIG. 5 is a vertical sectional side view of the moving acupressure means along the line 4-4 of FIG.
FIG. 6 is a front view of the moving acupressure means taken along line 5 in FIG.
, FIG. 7 is a front view of the operation panel, FIG. 8 is an explanatory view of the movement control of the bogie, and FIG.
Is an explanatory diagram of the contour detection control of the body of the therapist, FIG.
FIG. 11 is a block diagram of the control device, and FIG. 11 is a flowchart illustrating the operation of acupressure.

In FIGS. 1 and 2, a pair of left and right running rails 3 and 3 are integrally provided on the left and right side portions of a flat rectangular bed frame 1 of a bed B over the entire length thereof. On the left and right running rails 3,3,
A moving acupressure means F having a traveling frame 2 formed in a gate shape so as to straddle the bed frame 1 is supported so as to be able to reciprocate in the front-rear direction.

A drive wheel 4 and a driven wheel 5 capable of rolling on the upper surfaces of the left and right running rails 3 and 3 are provided below the left and right legs 2 ₁ and 2 ₂ of the gate-shaped running frame 2. Two driven wheels 6 capable of rolling on the lower surfaces of the third and third shafts are respectively mounted on shafts, and running motors 7 for driving the driving wheels 4 via a transmission mechanism are provided, respectively. , 7 can be reciprocated in the front-rear direction of the bed frame 1 (the left-right direction in FIGS. 1 and 2) by the synchronous forward and reverse rotation drive.

A switch K ₁ for detecting that the traveling frame 2 is at the start position S at the front end of the bed B, that is, a reference position Xo (a solid line position in FIGS. 1 and 2), and the traveling frame 2 travel on the bed frame 1. A switch K _1E is provided for detecting the end position E (the position indicated by the two-dot chain line in FIGS. 1 and 2), and the traveling frame 2 is provided with an encoder C ₁ for generating a pulse as the traveling frame 2 travels. Is provided.

As is clearly shown in FIGS. 3 to 5, a carriage rail 8 having a rectangular cross section is supported between the left and right sides of the upper portion of the traveling frame 2 so as to be swingable in the front-rear direction of the bed B.
Shafts 9, 9 are integrally provided at both ends of the bogie rail 8, and these shafts 9, 9 are rotatably supported on both left and right sides of the traveling frame 2 via bearings. A bogie swing motor 10 is supported on the traveling frame 2, and the bogie swing motor 10 is interlocked with the shaft 9 via a deceleration transmission mechanism, and drives the swing motor 10 forward and backward. Thereby, the bogie rail 8 is swung in the forward / reverse direction, that is, in the front-back direction with respect to the bed B, and the advancing / retreating direction of the acupressure head 27, which will be described later, can be substantially vertical and rearward inclined.

Further, as shown in FIG.
Is the longitudinal axis l passing through the center of swing of the bogie rail 8₁−l₁But
Switch that detects that it is at the reference position αo that is almost vertical
Chi K _TwoAnd pulse output in accordance with the swing of bogie rail 8
Encoder C_TwoIs provided.

A pair of right and left bogies 1 is mounted on the bogie rail 8.
1 _L, 11 _R are drivable supported on the left and right direction relative to the bed B, these carriages 11 _L, 11 _R
Is projected upward through an opening in the upper surface of the traveling frame 2. As shown in FIGS. 4 and 5, the upper rail 8 having a mountain-shaped cross section is provided on the upper rail 8 over substantially the entire length thereof.
_1, also in its lower surface, the lower rail ₈₂ of rectangular cross-section are respectively fixed over its substantially entire length. The rolling upper rail ₈₁ above the top of each trolley 11 _L, 11 _R, the drive wheel 12 and driven wheel 13 are respectively axially supported, also in the lower part of each truck 11 _L, 11 _R, the lower rail 8 two driven wheels 14 ₂ rolling four driven wheels 14 ₁ and the lower rail ₈₂ of the lower surface on which rolling on both sides of ₂ are respectively axially supported, and each carriage 11 _L, 11 _R A moving motor 15 connected to the driving wheel 12 via a transmission mechanism is supported on the upper surface of the driving wheel 12. Therefore, the right and left bogies 11 _L and 11 _R can be forcedly reciprocated along the bogie rails 8, that is, in the left and right direction of the bed B (the up and down direction in FIG. 2 and the left and right direction in FIG. 3) by forward and reverse driving of the moving motor 15. it can.

The truck rail 8 has left and right carts 11 _L ,
Switches K _3L , K _3R for detecting that 11 _R is at the left and right bogie positions ZA _LK , ZA _RK (solid line positions shown in FIGS. 2 and 3), which will be described later, near the center of the bed B in the left and right direction, and the left bogie 11 _L.
Switch _K3LE that detects that is in the leftward movement limit position
And Migidaisha 11 _R switch K _3re is provided for detecting that the right side movement limit position, further lateral carriage 1
1 _L and 11 _R are provided with encoders C _3L and C _3R (see FIG. 5) that output pulses as the carts 11 _L and 11 _R run, respectively.

As shown in FIGS. 4 to 6, the right and left bogies 11 _L ,
11 on the outer end face of the _R, the guide rail 1 extending in a vertical direction
6 is integrally provided, formed in the guide rail 16, the cross section dovetail-shaped guide surface 16 ₁ is slidably fitted lifting table 17 capable of elevating by being guided on the guide surface 16 ₁ is in the vertical Have been combined. A female screw hole 18 (see FIG. 4) penetrating up and down is formed in the center of the lift table 17.
An external thread rod 19 rotatably supported by upper and lower brackets integrally projecting from the upper and lower sides of the left and right carriages 11 _L and 11 _R is screwed into the female screw hole 18. The upper end of the male screw rod 19 is secured the worm wheel 20 _1, The worm wheel 20 _1, carriage 11 _L, 11 worm 20 ₂ fixed to the output shaft of the elevation motor 21 provided in the _R is meshed I have. Therefore, the elevator 17 can be moved up and down by forward and reverse rotation of the elevator motor 21.

As shown in FIG. 4, the left and right carriages 11 _L ,
The 11 _R, the switch K _4L to the elevation frame 17 is detected to be in the upper limit position, K _4R and encoder C _4L for outputting a pulse in accordance with the elevation of the elevation frame 17, the C _4R are provided.

As shown in FIGS.
In the center, a support shaft 22 is provided integrally toward the front,
On this support shaft 22, a large-diameter driven gear 23 is rotated substantially horizontally.
It is rotatably supported, and is tilted to one side of the elevator 17.
A tilt motor 24 is provided.
The drive gear 25 fixed to the output shaft is connected to the driven gear 23
Has been engaged. In addition, as shown in FIGS.
At the center of the front surface of the gear 23, upper and lower
Cylinder 26 of cylinder 26 extending in the direction ₁But that
Center axis 26 of cylinder 26_TwoSupports rotation around
The cylinder rod 26 of the cylinder 26_ThreeBottom of
Acupressure head 27 on cylinder rod 26_ThreeUp and down
Noh and cylinder rod 26_ThreeWith central axis 26_Two
It is supported so that it can rotate around. Cylinder rod 26
_ThreeA spring receiver 28 is fixed in the middle of
A compression spring 29 is provided between the spring receiver 28 and the acupressure head 27.
The compression force of the compression spring 29 causes the acupressure head.
27 is urged downward. And at Shiatsu Head 27
When an upward force exceeding a certain level is applied, when the acupressure head 27 is compressed,
Cylinder rod 26 against the resilience of_ThreeAgainst
When the force is released and the acupressure head 27 is released, the compression spring 2
Cylinder rod 26_ThreeDescend against
You. This ensures that no more than a certain amount of force is applied to the human body
can do. The acupressure head 27 is at least
The acupressure surface is made of elastic material and has the same shape as the human fingertip surface
Moreover, it is formed so as to have the same feeling.

[0024] cylinder rod 26 ₃ is rotatable about axis 26 about ₂ to cylinder barrel ₂₆₁ integrally. As clearly shown in FIG.
The _first upper end, the front end arm 30 having a fork portion 30 ₁ of the U-shape is fixed to, the fork portion 30 _1, and fixed to the output shaft of the swing motor 31 provided on the front surface on the driven gear 23 The eccentric cam 32 is loosely engaged.

As shown in FIG. 3, a hydraulic pump 35 and a switching valve 36 connected to the hydraulic pump 35 via an oil passage are provided on the upper portion of the traveling frame 2, and the output port of the switching valve 36 has an oil passage. Are connected to two ports of the cylinder 26. The pressure oil from the hydraulic pump 35 is reduced in pressure by the switching control of the switching valve 26 and
Selectively supplied to one port. Thus, when the hydraulic pump 35 is operated to switch the switching valve 36 in one direction, the cylinder 26 is extended to lower the acupressure head 27, and when the switching valve 36 is switched in the other direction, the cylinder 2
6 is reduced and the acupressure head 27 can be raised.

The acupressure head 2 is driven by the swing motor 31.
7 can be swung about a central axis 26 ₂ ,
Further, by the forward and reverse rotation drive of each tilt motor 24, FIG.
As shown by an arrow in FIG. 7, the cylinder 26 is swung in the left-right direction, whereby the acupressure head 27 can move in the vertical direction and the left and right tilt directions.

As shown in FIG. 5, a reference position W at which the center axis 26 ₂ of the cylinder 26 is substantially vertical
o, switches K _5L , K _5R for detecting that the motor is at the position o, and an encoder C for outputting a pulse with the rotation of the driven gear 23.
_5L and _C5R are provided.

In FIGS. 1 to 3, a television camera 33 is provided at the center in the left-right direction of the traveling frame 2, and the television camera 33 can photograph the body of a treating person lying on the bed B from above. The relative position of the acupressure head 27 with respect to the human body can be photographed. A plurality of photoelectric switches 34 as side sensors SS are provided on the side of the traveling frame 2 along the vertical direction.
Each photoelectric switch 34 is more constructed as usual light projector 34 ₁ and the light receiver 34 _2. Then, the photoelectric switch 34 can detect the upper end position of the human body of the treating person lying on the bed B.

A see-through hole H is opened at the position of the eyes of the treating person lying on the bed B, and a television 37 is provided below the bed B immediately below the see-through hole H.
The television 37 displays an image photographed by the television camera 33.

As shown in FIGS. 1 and 2, the bed B is provided with an operation panel 38 and a control panel 39 containing a control device 52 for controlling the moving shiatsu means F.

As shown in FIG. 2, on the upper surface of the bed B, a chin position line L ₁ indicating the position of the chin of the patient lying on the bed and a waist position line L ₂ indicating the position of the waist are shown. , moving the acupressure means center line L ₃ indicating the center of the movement acupressure means F is depicted.

As shown in FIG. 7, the operation panel 38
Is a start key ST for inputting acupressure start, and an operation key
An input for inputting a change in the position of the acupressure head 27 as the group A
Forward to input the forward and backward of the key 40 and the acupressure head 27
Key 41₁And reverse key 41_Two, Right shiatsu head 27
And rightward key 42 to enter leftward₁And left key 4
2_TwoTo enter the rightward and leftward directions of the left shiatsu head 27.
-43₁And left key 43_TwoRight Shiatsu Head 27
DOWN key 44 for inputting and rising₁And up key 4
4_Two, A lowering key for inputting the lowering and raising of the left shiatsu head 27
-45₁And lift key 45 _TwoAnd on the inserted card
A card reader 49 for reading recorded personal symbols,
Individuals described later stored in the inserted IC card
Read the "pot" information and insert the IC card
An IC card reader 50 for storing "pot" information;
And a numeric keypad 51 for inputting a personal symbol
You.

As shown in FIG. 10, the control device 52 includes a traveling frame position detecting means P ₁ , a bogie rail inclination angle detecting means P ₂ , left and right bogie position detecting means P _3L , P _3R , a left and right acupressure head lower end position. Detecting means P _4L , P _4R , left and right cylinder inclination angle detecting means P _5L , P _5R , contour detection controlling means G ₁ , “pot” calculating means G ₂ , controlling means G ₃ , managing means G ₄ , standard body "Pot" storage means M ₁ , contour storage means M
_2, run "pot" storage means M ₃ and the internal individual "pot"
Storage means M ₄ .

The traveling frame position detecting means P ₁ detects the traveling frame 2 from the frame reference position Xo based on signals from the frame reference position detecting switch K ₁ and the encoder C _1.
(The distance from the frame reference position Xo) X is detected (see FIG. 9). That is, the travel position X is running frame 2 is the start position S, of when the position of the tip 27 ₁ of acupressure head 27 when the carriage rails 8 is in the reference position αo the reference position Xo (see FIG. 1) Its reference position X
from o, traveling frame 2 coincides with the distance to the tip 27 _first acupressure head 27 when the carriage rails 8 located at a position apart from the start position S is in the reference position .alpha.o.

The bogie rail tilt angle detecting means P ₂ detects the tilt angle α of the bogie rail 8 from the bogie rail reference position αo based on signals from the bogie rail reference position detection switch K ₂ and the encoder C ₂ (see FIG. 4). 4).

The left bogie position detecting means P _3L is based on a signal from a left bogie position detecting switch K _3L and an encoder C _3L .
The center axis 26 ₂ of the cylinder 26 of the left bogie 11 _L (hereinafter, referred to as
When the left center axis 26 ₂ is at the reference position Wo, the left center axis 26 ₂ is the center line L ₃ of the moving acupressure means F.
When at the top as a reference position of the left carriage 11 _L, to detect the ZA _L (distance from the reference position of the left carriage 11 _L) the location of the left carriage 11 _L from the reference position of the left carriage 11 _L. That is, the left carriage positions ZA _L, the reference position Z _LO centerline L ₃
From the reference position Z _LO when the, coincides with the distance to the left the central axis 26 ₂ in the reference position Wo of when the left truck 11 _L is in a position away from the reference position (see FIG. 8).

Left bogie position ZA_LIs the left bogie 11_LBut in advance
Determined left bogie position ZA_LKWhen you move left from
Left bogie position ZA_LKLeft cart 11_LLeft bogie position ZA_LKOr
(ZA)_L= ZA_LK+ Za)
When moving to the right, the left bogie position ZA_LKFrom the left bogie
Position 11_LLeft bogie position ZA_LKTravel distance Za from
Calculation (ZA_L= ZA_LK-Za) to calculate. And left
Center axis 26_TwoIs the reference position Z_LO+ To the left
ZA_LAnd when it is on the right, -ZA _LAs
Detected (see FIG. 8).

The right bogie position detecting means P _3R is based on a signal from the right bogie position detecting switch K _3R and an encoder C _3R .
Center axis 26 ₂ of the right truck 11 _R of the cylinder 26 (hereinafter,
When the right center axis 26 ₂ is at the reference position Wo, the right center axis 26 ₂ is the center line L ₃ of the moving acupressure means F.
When at the top as a reference position of the right carriage 11 _R, to detect the right carriage 11 position of the right truck 11 _R from the reference position of the _R (distance from the reference position of the right carriage 11 _R) ZA _R. That is, the right carriage position ZA _R is the reference position to the center line L ₃ Z _RO
From the reference position Z _RO upon, consistent with the distance to the right center axis 26 ₂ in the reference position Wo when right truck 11 _R is in a position away from the reference position (see FIG. 8).

The right carriage position ZA _R when the right truck 11 _R is moved to the right from the predetermined right carriage position ZA _RK is
A moving distance Za from the right carriage position ZA _RK of right carriage position ZA _RK in Migidaisha 11 _R adds _{(ZA R = ZA RK + Za} ),
Also when the user moves to the left, subtracts the moving distance Za from the right carriage position ZA _RK of right carriage 11 _R from the right carriage position _{ZA RK (ZA R = ZA RK} -Za) was calculated. When the right central axis line 26 ₂ is located to the right of the reference position Z _RO , + Z
Is detected as A _R, when the left is detected as -ZA _R (see FIG. 8).

The left acupressure head lower end position detecting means P _4L is based on a signal from the lift base reference position detection switch K _4L and the encoder C _4L , the truck rail 8 is at the reference position αo, and the left central axis line 26 ₂ is the reference. The position of the lower end 27 ₂ of the acupressure head 27 of the left bogie 11 _L when in the position Wo is changed to the reference position Yo that is a predetermined distance above the position of the lower end 27 ₂ of the acupressure head 27 when the lift 17 is at the upper limit position. From the reference position (reference position Yo
It is detected as a distance) Y _L from (see Figure 9).

The right shiatsu head lower end position detecting means P _4R is based on a signal from the elevation platform reference position detection switch K _4R and the encoder C _4R , the truck rail 8 is at the reference position αo, and the right center axis line 26 ₂ is the reference. the right carriage 11 position of the lower end 27 ₂ of the acupressure heads 27 of _R when in the position Wo, (distance from the reference position Yo) position from the reference position Yo detected as Y _R (see FIG. 9).

The left cylinder inclination angle detecting means P _5L is connected to the left central axis 2 from the cylinder reference position Wo based on signals from the cylinder reference position detection switch K _5L and the encoder C _5L.
Detecting the inclination angle of 6 ₂ (see FIG. 5).

The right cylinder tilt angle detecting means P _6R is connected to the right central axis 2 from the cylinder reference position Wo based on signals from the cylinder reference position detection switch K _6R and the encoder C _6R.
Detecting the inclination angle of 6 ₂ (see FIG. 5).

The standard body “pot” storage means M ₁ stores a distance T from the chin to the heel as a reference value of the body shape of the standard body of the therapist.
The shoulder width W and the position of the “pot” of the standard body are previously stored as a plurality of positions of the acupressure head 27 for acupressure the position of the “pot” of the standard body. That is, as shown in FIG. 2, as a pair the position of the "pot" of the right and left traveling positions XB of the running frame 2, left and right carriages 11 _L, 11 positions of _R Z
B _L, are pairs stored as ZB _R. Also, the inclination angle αB of the bogie rail 8 is stored in correspondence with the position of each “pot”. In this embodiment, the positions of the "pots" of the back and the shoulder are stored, and the "pot" of the back is
The bogie rail 8 is set at the reference position αo (αB = αo), the left and right center axis line 26 ₂ is set at the cylinder reference position Wo, and the “pot” of the shoulder tilts the bogie rail 8 from the reference position αo to set the left and right center axis line 26 _2. Is set to the cylinder reference position Wo and finger pressure is performed.

The contour storage means M ₂ stores the detected contour of the body of the physician.

[0046] Run "pot" storage means M ₃ are, execution to be described later "tsubo" position, the inclination angle alpha B, and stores the side profile and the left and right side profile.

The internal personal "pot" storage means M ₄ stores the individual "pot" information, which will be described later.

The contour detection control means G ₁ includes the television camera 3
From the video signal of No. 3, the positions of the left and right ends of the patient on the left and right lines immediately below the center of the television camera 33 are determined by the reference positions Z _L0 ,
Position from Z _R0 (distance from reference position Z _L0 , Z _R0 )
Z _L, detected as Z _R, and from the signal of the side sensor SS, and detects the upper end position of the treatment's as Y (distance from the reference position Y ₀₎ position from the reference position Y _0, corresponding to the running position X is allowed to treat's left and right edge positions Z _L, stores the Z _R and the upper end position Y to the contour memory means M _2.

[0049] Incidentally, the left and right edge positions Z _L, Z _R, since the tip 27 ₁ and the center of the acupressure heads 27 of the television camera 33 is coincident, and stored in correspondence to the traveling position X when the detected , The upper end position Y is the traveling position X at the time of detection,
Misalignment D between side sensor SS and acupressure head tip 27 ₁
(See FIG. 1) is stored in association with the running position X to which the sum is added. Thereby the contour memory means M _2, contour as viewed from above the therapist is stored as an upper surface contour (see FIG. 9), also the contour viewed from the side is stored as side profile (see FIG. 9).

[0050] "pot" calculation unit G ₂ is based on the top surface contour, and calculates the distance Ts and shoulder Ws from jaw position line L ₁ to the heel of the therapist (see FIG. 9). Then, the distance T to the heel and the shoulder width W of the standard body are enlarged or reduced at a predetermined ratio so as to match the calculated distance Ts and the shoulder width Ws, and the positions of the plurality of “pots” of the standard body are the same. As shown in FIG. 2, the position of the “pot” of the caregiver is enlarged or reduced by
Travel position XC, position Z of right and left bogies 11 _L and 11 _R
C _L, calculated as ZC _R. That is, the position of the "pot" of the healer is calculated as the position of the acupressure head 27 for acupressure the position of the "pot" of the healer. Incidentally, the running position of the running frame 2, enlarged or reduced from the travel position X ₁ corresponding to the jaw position line L ₁ only backward. _{That, XC = X 1 + (XB} -X 1) Ts ÷ T, ZC L = Z
It is calculated as B _L × Ws ÷ W, ZC _R = ZB _R × Ws ÷ W. (Note that in FIG. 2, XC and XB, ZC _L and Z
B _L, ZC _R and ZB _R have been shown in the same position,
Depending on the relationship between Ts and T and between Ws and W, there are times when they are at the same position and times when they are not. ) Then, the position of the "pot" of the calculated healer stores to run "pot" storage means M ₃ as Run "pot" position, perform the side profile "pot" storage means M ₃
To memorize. The inclination angle αB of the bogie rail 8 is stored in correspondence with each execution “pot” position.

Control means G_ThreeIs the execution "pot" storage means M
_ThreeOf the execution "pots" stored by
And the frame position detecting means P₁Travel detected by
Left and right traveling motors so that XC = X based on the position X
7, 7 and the truck position detecting means P_3L, P_3RIs detected
Right and left bogie position ZA_L, ZA_RBased on ZC_L= ZA
_L, ZC_R= ZA_RMoving motors 15, 15
And put the shiatsu head 27 above the position of the "pot" of the healer.
Move (see FIG. 2).

Next, the predetermined "pot" position and side surface
Outline and Shiatsu head lower end position detecting means P _4L, P_4RDetected
Lower end position Y of acupressure head 27_L, Y_RTravel position X based on
Position obtained by subtracting a predetermined distance Ya from the upper end position Y of C and the lower end position
Place Y_L, Y_RAnd Y-Ya = Y_L, Y−Ya = Y_RTona
The lower end 2 of the acupressure head 27 is controlled
7_TwoIs located at a predetermined distance Ya from the upper end position of the therapist.
(Hereinafter referred to as the elevating position). And of Shiatsu head 27
Driving the swing motor 31 to extend the cylinder 26
Perform shiatsu.

After a predetermined time has passed after the acupressure on the "pot", the cylinder 26 is contracted, and then the acupressure head 27 is placed above the next predetermined "pot" and the lower end 27 ₂ of the acupressure head 27 is moved up and down. To perform the next acupressure.

When the athlete's back is acupressured, the cylinder 26 is placed in the vertical position (the bogie rail 8 is moved to the reference position αo,
The left and right central axis line 26 ₂ is set to the reference position Wo) to perform the extension operation to perform the acupressure. Also, when you acupressure the healer's shoulder,
Inclination of predetermined "pot" position angle alpha B, by driving the carriage swing motor 10 such that alpha B = alpha based on the inclination angle alpha of the rail inclination angle detection means P ₂ is detected, the cylinder 2
6 from the substantially vertical position to the rearward inclined position (the position indicated by the two-dot chain line in FIG. 4), the left and right center line 26 ₂ is set to the reference position Wo, and the lower end 27 ₂ of the acupressure head 27 is set to a predetermined position. Do.

When an operation is performed by the operation key group A (see FIG. 7), the operation motor controls the traveling motors 7, 7, the moving motors 15, 15, and the elevating motors 21, 21.
The run was updated to "pot" storage means should be changed to M ₃ is described below with are running "pot" position stored position, executes the acupressure with the updated execution "pot" position.

[0056] Incidentally, when the downward key 44 _1, 45 ₁ and raised key 44 _2, 45 ₂ is operated, as described later, stores the left and right side profile to run "pot" storage unit M _3.

[0057] Also, when the run "pot" storage means M ₃ left and right side profile is stored, the vertical position of the lower end 27 ₂ of the left carriage 11 _L of acupressure head 27 using the left side contour control and the vertical position of the lower end 27 ₂ of the right truck 11 _R acupressure head 27 is controlled using the right side contour.

The management means G ₄ stores the execution “pot” position, the inclination angle αB, the side profile and the left and right side profiles stored in the execution “pot” storage means M _{3 in} response to the acupressure end signal from the control means G _3. as an individual "pot" information, it is stored in correspondence to the individual symbols of the internal personal "fountain" storage unit M _4.
Alternatively, it is stored in an IC card.

Further, the card reader 49 and the numeric keypad 5
When the individual symbols is input by 1, reads out the personal "pot" information corresponding to the input individual symbol from within individual "pot" storage unit M _4. When an IC card is used, the personal "pot" information is read from the IC card.

Next, the operation of the first embodiment will be described mainly with reference to FIGS.

[0061] If the therapist owns a card or IC card, the card or IC card is inserted into the card reader 49 or the IC card reader 50 on the operation panel 38.

When the healer has registered a personal symbol, or registers a personal symbol, the operation panel 38
The personal symbol is input by the ten keys 51 of the user.

Thereafter, the healer adjusts his / her chin to the chin position line L ₁ , lays down on the bed B with the center line passing through the spine of the body substantially coincident with the center line L ₃ of the moving shiatsu means F, and starts the start key ST. Is pressed (FIG. 11, S1).

[0064] When the start key ST is turned on, the traveling frame 2 starts going forward from the start position S to the end position E (travels from the left end to the right end in FIGS. 1 and 2). By this traveling, the television camera 33 and the side sensor SS, that is, the photoelectric sensor 34, detect the contour of the patient. Also, at the time of this going, the video taken by the TV camera 33 is displayed on the TV 37 (FIG. 11,
S2).

[0065] The traveling frame 2 is located at the end position E (FIG. 1,
(2 right end position), the traveling of the traveling frame 2 is stopped. And when there is no input by the card or IC card insertion and the numeric keypad 51, or within personal "fountain" storage unit M _4, when there is no individual "pot" information corresponding to the individual symbols (FIG. 11, S3), The position of the "pot" of the healer is calculated as described above (FIG. 11, S4),
Inclination angle alpha B, is stored in the execution "pot" storage means M ₃ with side profile (FIG. 11, S5).

[0066] Next, the traveling frame 2 is moved backward,
Run "pot" run the storage means M ₃ are stored "pot"
Acupressure is performed by the acupressure head 27 by moving forward on the back based on the position, the inclination angle αB, and the side profile. In addition, when the running frame returns, the image captured by the television camera 33 is displayed on the television 37.

That is, as described above, the acupressure head 27 is moved above the predetermined "pot" position (S6 in FIG. 11).
The lower end 27 ₂ of the acupressure heads 27 to the vertical position (Fig. 1
1, S7). If there is no operation of the operation key group A (S8 in FIG. 11), the swing motor 31 is driven to extend the cylinder 26 to perform the finger pressure. After a predetermined time has elapsed from this, the cylinder 26 is contracted (FIG. 11, S
9). If the acupressure at all of the execution "pots" positions is not completed (S10 in FIG. 11), the process proceeds to step S6, and the acupressure at the next predetermined "pot" position is performed. Thus, when there is no input by the insertion and ten keys 51 of the card or IC card, or within individual "pot" storage unit M _4, when there is no individual "pot" information corresponding to the individual symbols, calculated in Step 4 Of the "pot" of the treated healer (Figs. 1 and 2)
Shiatsu) is performed.

[0068] Ends and acupressure "pot" position all the body, when the running frame 2 is returned to the start position S, run "pot" storage means M ₃ executes the stored "pot" position, the inclination angle alpha B, side profile and lateral Side profile of
And stores therein personal "fountain" storage means M ₄ or IC card (Fig. 11, S10, S11).

[0069] When the healer knows the “deviation” of the “pot” position and changes the “pot” position, the healer checks the position of the acupressure head 27 on the screen of the television 37 and operates the operation key group A in step S8. (See FIG. 7)) to move the acupressure head 27 to an optimal position.

That is, the healer presses the change key 40.
When the change key 40 is pressed, the cylinder 26 is contracted to temporarily stop the acupressure operation. Then, the therapist operates the target key to move the acupressure head 27 to the optimum position, and then presses the start key ST (FIG. 11, S8).

When the start key ST is pressed, the running position
X, right and left bogie position ZA_L, ZA_RLoad and execute
"Pot" storage means M_ThreePaused and stored in
The running “pot” position is read as the running position X,
Bogie position ZA_L, ZA_RUpdate to Also, the down key
44₁, 45₁And lift key 44_Two, 45_TwoIs operated
When the lower end position Y_L, Y_RAnd read that
Lower end position Y_L, Y _RBased on the upper end position Y (left
Car 11_LY = Y corresponding to the acupressure head 27 of_L+ Ya, right stand
Car 11_RY = Y corresponding to the acupressure head 27 of_R+ Ya)
Out, and create side contours for the left and right,
Corresponding to the read traveling position X of the left and right side contours
The upper end position Y is updated to the calculated upper end position Y, and
Executing the updated left and right side profile "pot" storage means M_ThreeTo
It is stored (FIG. 11, S12). Next, in step S7
Advance and pause when execution "pot" position (updated
The acupressure operation is resumed from the execution “pot” position).

[0072] Individual symbols are entered by the card reader 49 and ten keys 51 in the, when the internal personal "fountain" storage means M ₄ are individual "pot" information is stored, and a personal IC card "pot" information is stored is If used (FIG. 11, S3), the individual "pot" information is stored in the execution "pot" storage means M ₃ (Fig. 11, S13, S5).

Therefore, in this case, the acupressure is performed at the same position as the previous time.

Next, a second embodiment will be described.

[0075] device of the second embodiment, different from the standard body "pot" part of the contents of the memory means M ₁ functionality and the "pot" detection means G ₂ is a first embodiment, except they are first Since it is the same as the first embodiment, only the differences will be described.

[0076] That is, the standard body "pot" storage means M ₁ is in the first embodiment, instead of storing the distance T to the heel of the therapist from jaw of the standard body, the second embodiment The example is different in that the distance H from the chin of the standard body to the highest position of the hip is stored (see FIG. 9).

[0077] "pot" calculation unit G ₂ of the second embodiment, the contour memory means the upper end position Y is the highest traveling between the side profile of the M ₂ of a predetermined travel position X ₃ to X ₄ shown in FIG. 9 Position X ₅
Detects, calculates the distance Hs from the running position X ₅ to the traveling position X _1, also calculates a shoulder width Ws from the top edge. The distance H and the shoulder width W of the standard body are enlarged or reduced at a predetermined ratio so as to match the calculated distance Hs and the calculated shoulder width Ws, and the positions of the plurality of “pots” of the standard body are enlarged or reduced at the same ratio. and, the position of the "pot" of the therapist, the running position of the running frame 2 XC, lateral carriage 11 _L, 11 positions of _R ZC _L, calculated as ZC _R. Incidentally, the running position of the running frame 2, enlarged or reduced from the running position X ₁ only backward. That is, X
_{C = X 1 + (XB-} X 1) Hs ÷ H, ZC L = ZB L ×
Ws ÷ W, ZC _R = ZB _R × Ws ÷ W

Then, the calculated position of the “pot” of the clinician is stored in the execution “pot” storage means M ₃ as the execution “pot” position, and the side profile is executed.
Stored in the storage means M _3. The inclination angle αB of the bogie rail 8 is stored in correspondence with each execution “pot” position.

Next, the operation of the second embodiment will be described.

[0080] operation of the second embodiment, the therapist points calculated by the function of the "pot" detection means G ₂ of the second embodiment of the position described above of the "pot" is different from the first embodiment in step S4 The rest is the same as the first embodiment.

[0081] The internal personal "fountain" storage unit M ₄ and the IC card of the first and second embodiments corresponds to a personal "fountain" storage means (claim 3).

In the first and second embodiments, the left and right carriages 1
Since 1 _L and 11 _R can move beyond the center line L ₃ of the moving acupressure means, it is possible to simultaneously acupressure the left and right sides of the body of the patient using the left and right acupressure heads 27. For example, one foot of the healer can be simultaneously pressed using the left and right acupressure heads 27.

FIGS. 12 and 13 show modified examples of the acupressure part of the acupressure device. FIG. 12 is a side view of the acupressure part, FIG.
FIG. 13 is a bottom view of the acupressure part taken along line 13 of FIG. 12, and the same members as those in the first embodiment are denoted by the same reference numerals.

[0084] In this modified example, the acupressure head 127 is constituted by a roller, the acupressure head 127 is rotatably supported in a plane L-shaped roller shaft 128 which is fixed to the lower end of the cylinder rod 26 ₃ of the cylinder 26 . Therefore, according to the driving of the swing motor 31, the bed B can swing in the left-right direction (FIG. 13, arrow 129) with respect to the front-back direction. Also like the acupressure heads 27 of the Again the first embodiment, a compression spring provided between the cylinder rod 26 ₃ and the roller shaft 128, when a predetermined or more force is applied to the roller, acupressure head consisting roller 127 may be raised with respect to the cylinder rod.

Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments, and various embodiments are possible within the scope of the present invention. For example, in the above-described embodiment, the frame of the moving acupressure device reciprocates on the traveling rail provided on the bed. However, the frame may reciprocate along a guide provided separately from the bed. . Alternatively, the left and right end positions of the caregiver may be detected using a conventionally known sensor such as an infrared camera, a reflection type ultrasonic detection device, a photoelectric sensor, or a laser type reflection sensor instead of the television camera. In this case, a television camera for projecting the shiatsu head on the television is separately provided. Moreover, the bed on which the healer lies down may be of any type.For example, if a depression for receiving the abdomen and the foot of the healer is formed on the upper surface of the bed, the prone position of the healer will be stable,
The displacement of the acupressure position can be prevented.

Further, in the embodiment, the position of the "pot" of the healer is calculated based on the chin. However, the healer should be prone with his / her shoulder in a predetermined position, and based on the shoulder. The position of the “pot” of the healer may be calculated.

[0087]

According to the first aspect of the present invention, the body shape of the healer is measured, the "pot" to be acupressured by the healer is detected and measured, and the measured "pot" is automatically detected by the acupressure head. Since the acupressure is performed, the acupressure effect can be improved.

According to the second aspect of the present invention, in addition to the effect of the first aspect, the healer can easily adjust the acupressure position of the acupressure head.

According to the third aspect of the present invention, in addition to the effect of the second aspect of the invention, when the healer receives acupressure next time, the acupressure at the previously adjusted acupressure position is used as it is. Can be received.

[Brief description of the drawings]

FIG. 1 is an overall side view of an automatic acupressure device.

FIG. 2 is an overall plan view of the automatic acupressure device taken along line 2 of FIG. 1;

FIG. 3 is a rear view of the automatic acupressure device of FIG.

FIG. 4 is a longitudinal side view of the moving acupressure means taken along line 4-4 in FIG. 3;

FIG. 5 is a front view of the moving acupressure means taken along line 5 of FIG. 4;

FIG. 6 is a top view of the moving acupressure means taken along line 6 of FIG. 4;

FIG. 7 is a front view of an operation panel.

FIG. 8 is an explanatory diagram of the movement control of the cart.

FIG. 9 is an explanatory diagram of body contour detection control of a therapist;

FIG. 10 is a block diagram of a control device.

FIG. 11 is a flowchart showing the effect of acupressure.

FIG. 12 is a side view of the acupressure part (varied example).

FIG. 13 is a bottom view of the acupressure part taken along line 13 of FIG. 12;

[Explanation of symbols]

27; 127 Shiatsu head 33 TV camera 38 Operation panel B Bed F Moving shiatsu means G ₄ Management means M ₄ Internal personal “pot” storage means

Claims (3)

[Claims] 1. A bed on which a treating person is prone, and a moving shiatsu means with a sensor capable of reciprocating on the bed, the moving shiatsu means being moved from one end of the bed to the other end, and In order to detect and measure the position of the `` pot '' to be acupressured by the patient by measuring the body shape and acupressure the position of the `` pot '', the moving acupressure means includes a shiatsu head that is controlled to move left and right and up and down. An automatic acupressure device, comprising: 2. A television camera for photographing a human body and a shiatsu head; a screen provided on a bed so that a treating person can see the image photographed by the television camera; and operation means for correcting the position of the shiatsu head. 2. The automatic acupressure according to claim 1, wherein the position of the "pot" to be acupressure detected and measured by the operation means can be corrected while confirming the position of the acupressure head on the screen. apparatus. 3. A management means for reading out the position of the individual “pot” from the individual “pot” storage means, and after executing the acupressure by the acupressure head, storing the executed position of the “pot” in the storage means. 3. The automatic acupressure device according to claim 2, wherein the acupressure is performed based on the read position of the "pot" of the individual.