WO2011065697A3 - 레이저 거리측정기를 이용한 맥파측정로봇장치 및 이를 이용한 맥파측정방법 - Google Patents

레이저 거리측정기를 이용한 맥파측정로봇장치 및 이를 이용한 맥파측정방법 Download PDF

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WO2011065697A3
WO2011065697A3 PCT/KR2010/008100 KR2010008100W WO2011065697A3 WO 2011065697 A3 WO2011065697 A3 WO 2011065697A3 KR 2010008100 W KR2010008100 W KR 2010008100W WO 2011065697 A3 WO2011065697 A3 WO 2011065697A3
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WO
WIPO (PCT)
Prior art keywords
pulse
pulse waves
robotic device
range finder
laser range
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PCT/KR2010/008100
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English (en)
French (fr)
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WO2011065697A2 (ko
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도준형
전영주
김근호
김종열
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한국한의학연구원
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Publication of WO2011065697A2 publication Critical patent/WO2011065697A2/ko
Publication of WO2011065697A3 publication Critical patent/WO2011065697A3/ko

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/024—Detecting, measuring or recording pulse rate or heart rate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/683—Means for maintaining contact with the body
    • A61B5/6835—Supports or holders, e.g., articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/684—Indicating the position of the sensor on the body
    • A61B5/6842—Indicating the position of the sensor on the body by marking the skin
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6844—Monitoring or controlling distance between sensor and tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/7405—Details of notification to user or communication with user or patient ; user input means using sound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Surgery (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Physics & Mathematics (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Physiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Manipulator (AREA)

Abstract

본 발명은 레이저 거리 측정기를 이용한 맥파 측정 로봇 장치 및 이를 이용한 맥파 측정 방법에 관한 것으로, 해결하고자 하는 기술적 과제는 검진자가 지정한 맥의 측정위치에 맥진센서를 자동으로 위치시켜 맥파를 측정할 수 있는 레이저 거리 측정기를 이용한 맥파 측정 로봇 장치 및 이를 이용한 맥파 측정 방법을 제공하는 데 있다. 이를 위해 본 발명에 따른 레이저 거리 측정기를 이용한 맥파 측정 로봇 장치는 베이스부와, 상기 베이스부에 의해 가이드되어 수평이동되며 상부에 수직 가이드부가 형성된 수평이동부와, 상기 수직 가이드부에 의해 가이드되어 수직이동되며 일 측에 제 1연결부재가 형성된 수직이동부와, 상기 제 1연결부재에 연결되어 임의의 일 축을 중심으로 회전되며 일 측에 제 2연결부재가 형성된 제 1회전부재와, 상기 제 2연결부재에 연결되어 임의의 일 축을 중심으로 회전되고 일 측에 레이저 빔을 발생시키는 레이저 거리 측정기가 구비되며 저면에서 수직이동되는 맥진센서가 구비된 제 2회전부재를 포함하되, 상기 레이저 빔의 타겟 지점과 피검진자의 맥 위치를 일치시켜 상기 맥 위치의 절대 좌표를 생성하고, 상기 절대 좌표에 입력된 접근 각도로 역기구학(inverse kinematics)을 계산하여 이동 경로를 생성하며, 상기 이동 경로를 따라 상기 맥진센서를 맥 위치로 이동시킨 후 맥파를 측정하는 것을 특징으로 한다.
PCT/KR2010/008100 2009-11-24 2010-11-16 레이저 거리측정기를 이용한 맥파측정로봇장치 및 이를 이용한 맥파측정방법 WO2011065697A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020090114037A KR101033001B1 (ko) 2009-11-24 2009-11-24 레이저 거리 측정기를 이용한 맥파 측정 로봇 장치 및 이를 이용한 맥파 측정 방법
KR10-2009-0114037 2009-11-24

Publications (2)

Publication Number Publication Date
WO2011065697A2 WO2011065697A2 (ko) 2011-06-03
WO2011065697A3 true WO2011065697A3 (ko) 2011-10-06

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PCT/KR2010/008100 WO2011065697A2 (ko) 2009-11-24 2010-11-16 레이저 거리측정기를 이용한 맥파측정로봇장치 및 이를 이용한 맥파측정방법

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KR (1) KR101033001B1 (ko)
WO (1) WO2011065697A2 (ko)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101310405B1 (ko) 2012-07-05 2013-09-23 한국 한의학 연구원 맥동 위치 추정 및 맥센서 위치 제어 장치 및 방법
KR101310530B1 (ko) 2012-07-18 2013-10-14 한국 한의학 연구원 맥 측정 장치 및 그의 맥 측정 방법
CN105559759B (zh) * 2016-01-28 2018-07-27 郭福生 一种传感器及使用该传感器的脉象仪
CN108078553B (zh) * 2017-12-28 2021-02-02 黄忠全 高精密智能化脉诊仪
CN109770874B (zh) * 2019-03-27 2024-08-09 智美康民(珠海)健康科技有限公司 脉诊仪机械手指
CN112971739A (zh) * 2021-02-08 2021-06-18 上海掌门科技有限公司 一种诊脉设备
CN114098663A (zh) * 2021-11-26 2022-03-01 上海掌门科技有限公司 脉搏波采集方法和设备
CN114098664B (zh) * 2021-11-26 2024-08-30 上海掌门科技有限公司 脉搏波采集方法和设备
KR102694217B1 (ko) * 2023-08-22 2024-08-12 주식회사 주원테크놀러지 무선통신을 이용한 로컬 유닛 로봇의 선행 예측 모션 플래닝 방법 및 장치

Citations (3)

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KR20020096224A (ko) * 2001-06-19 2002-12-31 정두진 자동맥진기
KR200358195Y1 (ko) * 2004-05-07 2004-08-05 대요메디(주) 맥파 측정 장치
KR100464806B1 (ko) * 2002-02-25 2005-01-06 주식회사 씨메드 맥진장치

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KR100662779B1 (ko) * 2001-12-29 2007-01-02 엘지.필립스 엘시디 주식회사 액정표시소자

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020096224A (ko) * 2001-06-19 2002-12-31 정두진 자동맥진기
KR100464806B1 (ko) * 2002-02-25 2005-01-06 주식회사 씨메드 맥진장치
KR200358195Y1 (ko) * 2004-05-07 2004-08-05 대요메디(주) 맥파 측정 장치

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WO2011065697A2 (ko) 2011-06-03

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