WO2022188189A1 - Dispositif et procédé de détection de thromboélastogramme à base de bille magnétique - Google Patents

Dispositif et procédé de détection de thromboélastogramme à base de bille magnétique Download PDF

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Publication number
WO2022188189A1
WO2022188189A1 PCT/CN2021/080698 CN2021080698W WO2022188189A1 WO 2022188189 A1 WO2022188189 A1 WO 2022188189A1 CN 2021080698 W CN2021080698 W CN 2021080698W WO 2022188189 A1 WO2022188189 A1 WO 2022188189A1
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magnetic bead
detection
blood
magnetic
detection cup
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PCT/CN2021/080698
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English (en)
Chinese (zh)
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蔡泳
周奇
刘勇
陈福攀
赵荻
谢健
程伟
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重庆南方数控设备股份有限公司
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Publication of WO2022188189A1 publication Critical patent/WO2022188189A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
    • G01N33/483—Physical analysis of biological material
    • G01N33/487—Physical analysis of biological material of liquid biological material
    • G01N33/49—Blood
    • G01N33/4905—Determining clotting time of blood
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N11/00—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties
    • G01N11/10—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties by moving a body within the material
    • G01N11/14—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties by moving a body within the material by using rotary bodies, e.g. vane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
    • G01N33/483—Physical analysis of biological material
    • G01N33/487—Physical analysis of biological material of liquid biological material
    • G01N33/49—Blood
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
    • G01N33/50—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing
    • G01N33/86—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing involving blood coagulating time or factors, or their receptors

Definitions

  • the invention relates to the technical field of blood detection and analysis, in particular to a magnetic bead-based thromboelastography detection device and method.
  • the Whole Blood Coagulation Analyzer performs simple and rapid coagulation analysis using trace amounts of whole blood.
  • thromboelastometry is mainly used for coagulation analysis, which is a graph produced by measuring the viscoelastic changes of blood caused by fibrin polymerization. It was first invented by Hartert in 1948 and can detect various dynamic changes during whole blood coagulation, such as clot formation kinetics, clot contraction, viscosity, fibrin elasticity and fibrinolysis.
  • ROTEM rotary thromboelastometer
  • TAG thromboelastography
  • SONOCLOT coagulation and platelet function analyzer
  • the dual-magnetic-circuit magnetic bead method for coagulation detection and analysis has the advantages of requiring less sample volume and less influence by interference such as air bubbles.
  • the magnetic beads of the double magnetic circuit magnetic bead method (STAGO) are driven by electromagnets to move back and forth. This form of movement will cause fibrin in the blood to break. Therefore, a magnetic bead with a limited length of reciprocating motion is used to reflect The entire blood coagulation process, and with the change of time, the reciprocating magnetic beads track will change with the blood coagulation.
  • the dual magnetic circuit magnetic bead method is mainly for the detection of a part of the isolated plasma in the coagulation chain reaction; it is driven by an alternating magnetic field to make the magnetic beads do oscillating motion, and the detection coil measures the change of plasma coagulation viscosity. Motion trajectory of the magnetic beads.
  • the purpose of the present invention is to provide a magnetic bead-based thromboelastometry detection device and method.
  • the detection device and method of the present invention combine the conventional magnetic bead coagulation detection and thromboelastometry detection technology, and propose the detection of the whole blood coagulation process, reflecting the direct influence of the whole blood flowing in layers in the blood coagulation process on the movement track of the magnetic bead.
  • the invention provides a magnetic bead-based thromboelastometry detection device, comprising: a detection cup (1), a rotating part (2), an angular displacement sensor (3), a magnetic bead (4) and a magnet (5);
  • the detection cup (1) is used for holding blood samples
  • the rotating component (2) is used to drive the detection cup (1) to periodically reciprocate with a predetermined amplitude and frequency;
  • the magnetic beads (4) are placed in the detection cup (1), and the blood sample in the detection cup (1) can immerse the magnetic beads (4); the magnetic beads (4) reciprocate periodically Rotating and moving in the blood sample, the movement amplitude of the magnetic beads (4) is positively correlated with the coagulation strength of the blood;
  • the angular displacement sensor (3) is used for detecting the movement amplitude of the magnetic beads (4) in the blood, and the angular displacement sensor (3) is located below the detection cup (1);
  • the magnet (5) is installed on the side of the detection cup for providing magnetic force to the magnetic beads (4) to overcome the viscoelasticity of blood and the static friction force of the magnetic beads in the early stage of coagulation, and to maintain the movement range of the magnetic beads during the detection process.
  • the detection cup (1) there is a bulge in the middle of the detection cup (1), and a channel for the periodic movement of the magnetic beads is left around the bulge.
  • the rotating part (2) comprises a stepper motor (2a) or a cam, and a connector (2b), through which the stepper motor (2a) or the cam is connected to the detection cup. (1) Connection.
  • the magnet (5) is a permanent magnet, or an electromagnet with a controllable magnetic force.
  • the amplitude angle of the reciprocating rotation of the detection cup (1) ranges from ⁇ 2 degrees to ⁇ 20 degrees.
  • the period of the reciprocating rotation of the detection cup (1) is 3 seconds to 30 seconds.
  • the diameter of the magnetic beads (4) is 1 mm to 5 mm.
  • the inclination angle of the bottom surface of the detection cup relative to the horizontal plane ranges from 0 to 90 degrees.
  • the magnet (5) is close to the end of the detection cup and between the inner magnetic bead of the detection cup (1) which is closest to the end of the magnet.
  • the detection device further comprises a signal processing circuit, which is used for obtaining a reading representing the movement amplitude of the magnetic bead from the angular displacement sensor (3), and establishing a dynamic peak curve of the movement amplitude of the magnetic bead, The dynamic peak curve is analyzed.
  • a signal processing circuit which is used for obtaining a reading representing the movement amplitude of the magnetic bead from the angular displacement sensor (3), and establishing a dynamic peak curve of the movement amplitude of the magnetic bead, The dynamic peak curve is analyzed.
  • the reading of the angular displacement sensor (3) is used to reflect the moment M generated by the stratified flow of blood on the magnetic beads during the blood coagulation process, and the reading is related to the viscosity ⁇ of the blood, the rotational speed of the detection cup ⁇ , and the magnetic bead.
  • the radius R and the product of the distance a and b from the magnetic bead to the center O of the detection cup are positively correlated.
  • the angular velocity ⁇ of the rotation of the detection cup (1) has the following relationship:
  • ⁇ is the rotation angle of the detection cup;
  • t is the time it takes for the detection cup to rotate the ⁇ angle;
  • ⁇ is the angular velocity of the detection cup;
  • the velocity of the liquid layer is V b , and the blood liquid layer at a distance from the center O of the detection cup is in a static state, that is, the velocity V a of the liquid layer at a is equal to 0;
  • the shear rate is equal to the velocity gradient of the liquid layer: in the formula Represents the velocity gradient on the liquid layer on
  • the present invention provides a magnetic bead-based detection method for thromboelastometry, which is characterized by comprising the following steps:
  • the magnetic beads (4) immersed in the blood sample are moved in the blood sample along with the periodic reciprocating rotation of the detection cup, and the motion amplitude of the magnetic beads (4) is positively correlated with the coagulation strength of the blood;
  • the motion amplitude of the magnetic beads (4) moving in the blood sample is detected by the angular displacement sensor (3);
  • the dynamic peak curve of the motion amplitude of the magnetic beads in the blood sample is established by the signal processing circuit, and the dynamic peak curve is analyzed by the signal processing circuit.
  • the amplitude angle of the reciprocating rotation of the detection cup (1) ranges from ⁇ 2 degrees to ⁇ 20 degrees.
  • the period of the reciprocating rotation of the detection cup (1) is 3 seconds to 30 seconds.
  • the diameter of the magnetic beads (4) is 1 mm to 5 mm.
  • the inclination angle of the bottom surface of the detection cup relative to the horizontal plane ranges from 0 to 90 degrees.
  • a magnet (5) is installed on the side of the detection cup to provide magnetic force to the magnetic beads (4) so as to overcome the viscoelasticity of blood and the static friction of the magnetic beads in the early stage of coagulation, and to maintain the movement of the magnetic beads during the detection process. magnitude.
  • the reading of the angular displacement sensor (3) is used to reflect the moment M generated by the stratified flow of blood on the magnetic beads during the blood coagulation process, and the reading is related to the viscosity ⁇ of the blood, the rotational speed of the detection cup ⁇ , and the magnetic bead.
  • the radius R and the product of the distance a and b from the magnetic bead to the center O of the detection cup are positively correlated.
  • the angular velocity ⁇ of the rotation of the detection cup (1) has the following relationship:
  • ⁇ is the rotation angle of the detection cup;
  • t is the time it takes for the detection cup to rotate the ⁇ angle;
  • ⁇ is the angular velocity of the detection cup;
  • the velocity of the liquid layer is V b , and the blood liquid layer at a distance from the center O of the detection cup is in a static state, that is, the velocity V a of the liquid layer at a is equal to 0;
  • the shear rate is equal to the velocity gradient of the liquid layer: ; in the formula Represents the velocity gradient on the liquid
  • the detection device and detection method of the present invention represent the change range of the position of the magnetic beads by measuring the reading of the angular displacement sensor, and use the position change and the change of the torque M generated by the blood flowing in layers during the blood coagulation process to the magnetic beads.
  • the positive correlation reflects the changes of blood coagulation, so that the detection of TEG thrombelastogram in the process of blood coagulation can be realized through the dynamic peak curve of the motion amplitude of the magnetic beads.
  • the invention breaks through the traditional double magnetic circuit magnetic bead method for measurement, and realizes the combination of magnetic bead coagulation detection and thromboelastometry detection.
  • Fig. 1 is a schematic diagram of the structure of a magnetic bead-based thromboelastography detection device
  • Fig. 2 is the flow chart of the detection method of thrombelastography based on magnetic beads
  • Fig. 3 is the schematic diagram of the dynamic peak curve of magnetic bead motion amplitude
  • Fig. 4 is the force analysis diagram of magnetic beads in the detection cup
  • Fig. 5 is the movement track diagram of magnetic beads in blood in the detection cup
  • FIG. 6 is a schematic diagram of the surface element of the magnetic bead and the cross-section of the movement of the magnetic bead in the analysis of the magnetic bead moment.
  • the embodiments of the present invention provide a magnetic bead-based thromboelastometry detection device and method.
  • the detection device and method of the present invention combine the conventional magnetic bead coagulation detection and thromboelastometry detection technology, and propose the detection of the whole blood coagulation process, reflecting the direct influence of the stratified flow of whole blood in the blood coagulation process on the movement track of the magnetic beads.
  • FIG. 1 is a schematic structural diagram of the magnetic bead-based thromboelastography detection device.
  • the detection device of the present invention includes: a detection cup 1 , a rotating part 2 , an angular displacement sensor 3 , a magnetic bead 4 and a magnet 5 .
  • the detection cup 1 is used for holding blood samples, the magnetic beads 4 are placed in the detection cup 1, the blood sample in the detection cup 1 can be submerged in the magnetic beads 4, and the detection cup 1 has a convex in the middle From the beginning, a channel for the periodic movement of the magnetic beads is left around the protrusion.
  • the rotating part 2 includes a stepping motor 2a or a cam, and a connector 2b, through which the stepping motor 2a or the cam is connected to the detection cup 1; the detection cup 1 is driven by the stepping motor 2a , perform periodic reciprocating rotation with a predetermined amplitude and frequency; the magnetic beads 4 immersed in the blood sample move in the blood sample with the periodic reciprocating rotation.
  • the changing torque M generated by the blood will push the magnetic beads to move. Therefore, the movement range of the magnetic beads 4 is directly related to the coagulation strength of the blood. Therefore, changes in blood coagulation can be reflected by detecting the movement amplitude of the magnetic beads 4 immersed in the blood sample.
  • the angular displacement sensor 3 is used to detect the movement amplitude of the magnetic beads 4 , and the sensor can be a differential inductive angular displacement sensor, which is located below the detection cup 1 .
  • the test surface of the differential inductive angular displacement sensor 3 is parallel to the bottom surface of the detection cup 1, and the bottom surface of the detection cup 1 and the horizontal plane (that is, the test surface of the angular displacement sensor 3 and the horizontal plane) form a certain inclination angle ⁇ , as shown in the figure shown.
  • the magnet 5 is a permanent magnet, or an electromagnet with a controllable magnetic force, and is installed on the side of the detection cup to provide a magnetic force to the magnetic bead 4, which is used to overcome the static friction between the magnetic bead and the test cup in the early stage of coagulation. force and the initial adhesion force between the blood sample and the magnetic beads, when the detection cup starts to rotate, by eliminating the initial static friction force and the blood sample adhesion force, the magnetic beads are kept in a static state; and the magnetic force generated by the magnet 5 is a constant force , which can reduce the movement amplitude of the magnetic beads in the subsequent testing process and keep the movement amplitude of the magnetic beads within the detection range.
  • the stepper motor 2a drives the detection cup 1 to perform periodic reciprocating rotation, and the amplitude angle of the rotation ranges from ⁇ 2 degrees to ⁇ 20 degrees, preferably ⁇ 10 degrees; the reciprocating period is 3 seconds and 30 seconds, Among them, 15 seconds is preferable.
  • the diameter of the magnetic beads 4 is 1 mm ⁇ 5 mm, preferably 3 mm.
  • the range of the inclination angle ⁇ of the bottom surface of the detection cup relative to the horizontal plane is 0-90 degrees (that is, horizontal or vertical), preferably 15 degrees.
  • the distance between the end of the magnet 5 close to the detection cup and the closest surface of the magnetic beads inside the detection cup 1 to the end of the magnet is 1 mm-30 mm, preferably 18.4 mm.
  • the detection device also includes a signal processing circuit, which obtains a reading representing the movement amplitude of the magnetic bead from the angular displacement sensor 3, and the reading is related to the torque generated by the blood flowing in layers during the blood coagulation process to the magnetic bead. M is correlated, reflecting changes in blood viscosity during blood coagulation. Therefore, the signal processing circuit dynamically detects the change of the position of the magnetic bead with the periodic rotation, and establishes a dynamic peak curve of the movement amplitude of the magnetic bead, as shown in FIG. 3 . In addition, the signal processing circuit analyzes the dynamic peak curve. The analysis process includes extracting the envelope signal of the original signal to form an envelope curve, so as to obtain relevant results. The test results are correlated with the TEG thromboelastometry to achieve Harmonization of results from different methodologies.
  • FIG. 2 is a flow chart of the magnetic bead-based thromboelastometry detection method of the present invention.
  • the detection method includes the following steps: the detection cup 1 containing the blood sample is driven by the stepping motor 2a to periodically reciprocate at a predetermined amplitude and frequency.
  • the magnetic beads 4 immersed in the blood sample are moved in the blood sample with the periodic reciprocating rotation of the detection cup.
  • the motion amplitude of the magnetic beads 4 moving in the blood sample is detected by the angular displacement sensor 3 .
  • the dynamic peak curve of the motion amplitude of the magnetic bead in the blood sample is established by the signal processing circuit according to the change of the position of the magnetic bead, and the dynamic peak curve is analyzed by the signal processing circuit.
  • the analysis process includes the envelope signal extraction of the original signal, An envelope curve is formed, resulting in relevant results, the test results of which are correlated with TEG thromboelastometry.
  • the stepper motor 2a drives the detection cup 1 to perform periodic reciprocating rotation, and the amplitude angle of the rotation ranges from ⁇ 2 degrees to ⁇ 20 degrees, preferably ⁇ 10 degrees; the reciprocating period is 3 seconds and 30 seconds, Among them, 15 seconds is preferable.
  • the diameter of the magnetic beads 4 is 1 mm ⁇ 5 mm, preferably 3 mm.
  • the range of the inclination angle ⁇ of the bottom surface of the detection cup relative to the horizontal plane is 0-90 degrees (that is, horizontal or vertical), preferably 15 degrees.
  • the distance between the end of the magnet 5 close to the detection cup and the closest surface of the magnetic beads inside the detection cup 1 to the end of the magnet is 1 mm-30 mm, preferably 18.4 mm.
  • Figure 4 is the force analysis diagram of the magnetic beads in the detection cup.
  • the shaded part in the figure is the distribution of the blood sample in the test cup, and the blood in the test cup will just cover the magnetic beads.
  • the force of the magnetic beads specifically includes the gravity of the magnetic beads G, the magnetic force F of the magnet to the magnetic beads, the buoyancy of the blood to the magnetic beads F float , the support force N of the detection cup to the magnetic beads, and the rolling friction force of the detection cup to the magnetic beads.
  • the F tangential force is the pressure exerted on the magnetic beads by the blood in laminar flow, which is changed by the change of blood viscoelasticity.
  • F magnetism is used to overcome the viscoelasticity of blood in the non-coagulated state at the initial stage of coagulation.
  • Magnetic F is considered to be a constant force due to the small movement range of the magnetic beads, which is balanced with the component forces of gravity G and supporting force N in the same direction.
  • the F tangential force that is, the pressure exerted by the blood on the magnetic beads, will push the magnetic beads to roll, and as the blood coagulates, the F tangential force gradually increases, and the movement amplitude of the magnetic beads will also become larger and larger. .
  • the angular velocity ⁇ of the detection cup rotation has the following relationship:
  • V b ⁇ b Equation 3
  • a and b respectively represent the distance (cm) from both sides of the magnetic bead to the center O of the detection cup.
  • V a and V b represent the linear velocity of the liquid layer on both sides of the magnetic bead, respectively.
  • the shear rate of the liquid layer on both sides of the magnetic bead is equal to the velocity gradient of the liquid layer:
  • R represents the radius R (cm) of the magnetic bead.
  • ⁇ be the shear stress on the unit surface element, and the internal friction force acting on any layer between two adjacent flow layers is proportional to the contact area of the two adjacent layers, namely S, then the tangential force acting on it is :
  • the torque M is the internal friction torque acting on the spherical surface of the magnetic bead. At equilibrium, this torque is related to the position where the force of the magnetic bead is balanced. The position of the magnetic bead is reflected by the reading of the differential inductance angular displacement sensor. Therefore, the differential inductance The reading of the angular displacement sensor also reflects the moment of the magnetic bead at equilibrium. It can be seen from Equation 14 that the reading of the differential inductive angular displacement sensor is the product of the blood viscosity ⁇ , the detection cup rotation speed ⁇ , the radius R of the magnetic bead and the distance a and b from the magnetic bead to the detection cup center O. The parameters are positively correlated. The rotation speed ⁇ of the detection cup is related to the rotation angle ⁇ of the detection cup and the time t used to detect the rotation angle ⁇ of the detection cup, that is, the torque M is also related to the rotation angle and rotation time of the detection cup.
  • the detection device and detection method of the present invention represent the change range of the position of the magnetic beads by measuring the reading of the angular displacement sensor, and use the position change and the change of the torque M generated by the blood flowing in layers during the blood coagulation process to the magnetic beads.
  • the positive correlation reflects the changes of blood coagulation, so that the detection of TEG thrombelastogram in the process of blood coagulation can be realized through the dynamic peak curve of the motion amplitude of the magnetic beads.
  • the invention breaks through the traditional double magnetic circuit magnetic bead method for measurement, and realizes the combination of magnetic bead coagulation detection and thromboelastometry detection.

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Abstract

L'invention concerne un dispositif et un procédé de détection de thromboélastogramme à base de bille magnétique (4). Une coupelle de détection (1) contenant un échantillon de sang est entraînée pour tourner périodiquement en va-et-vient à une amplitude et une fréquence prédéterminées ; une bille magnétique (4) immergée dans l'échantillon de sang est activée pour se déplacer dans l'échantillon de sang conjointement avec la rotation de va-et-vient périodique de la coupelle de détection (1), et l'amplitude de mouvement de la bille magnétique (4) est corrélée positivement à l'intensité de coagulation du sang ; l'amplitude de mouvement de la bille magnétique (4) se déplaçant dans l'échantillon de sang est mesurée au moyen d'un capteur de déplacement angulaire (3) ; et une courbe de crête dynamique de l'amplitude de mouvement de la bille magnétique (4) dans l'échantillon de sang est établie au moyen d'un circuit de traitement de signal, et la courbe de crête dynamique est analysée au moyen du circuit de traitement de signal. Le dispositif et le procédé de détection de thromboélastogramme à base de bille magnétique (4) sont combinés avec des technologies de détection de thromboélastographie et de détection de la coagulation sanguine à bille magnétique classique (4), la détection d'un processus de coagulation du sang total est proposée, et l'effet direct de sang total s'écoulant d'une manière stratifiée dans le processus de coagulation sanguine sur un trajet de déplacement de la bille magnétique (4) est réfléchi.
PCT/CN2021/080698 2021-03-12 2021-03-15 Dispositif et procédé de détection de thromboélastogramme à base de bille magnétique WO2022188189A1 (fr)

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CN115440119B (zh) * 2022-11-09 2023-03-24 德阳市人民医院 一种动态演示脑梗死病理的模型及演示方法
CN117233364B (zh) * 2023-11-16 2024-02-02 苏州思迈德生物科技有限公司 一种血栓弹力图的参数提取方法

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US4081242A (en) * 1975-07-16 1978-03-28 Antoine Girolami Apparatus and method for measuring the time taken for a change in viscosity to occur
CN86203106U (zh) * 1986-07-08 1987-02-18 上海科达测试仪器厂 滚球式凝血测定仪
CN202676709U (zh) * 2012-02-08 2013-01-16 南京柯伦迪检测技术有限公司 一种新型的全血血凝功能分析仪
US20150118691A1 (en) * 2012-06-21 2015-04-30 Synapse B.V. Simultaneous measurement of thrombin generation and clot strength in plasma and whole blood
WO2020133188A1 (fr) * 2018-12-28 2020-07-02 北京普利生仪器有限公司 Analyseur de coagulation et procédé de mesure de la concentration de fibrinogène associé
CN111693685A (zh) * 2020-05-18 2020-09-22 中国科学院苏州生物医学工程技术研究所 血栓弹力信号提取方法、存储介质及计算机设备

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4081242A (en) * 1975-07-16 1978-03-28 Antoine Girolami Apparatus and method for measuring the time taken for a change in viscosity to occur
CN86203106U (zh) * 1986-07-08 1987-02-18 上海科达测试仪器厂 滚球式凝血测定仪
CN202676709U (zh) * 2012-02-08 2013-01-16 南京柯伦迪检测技术有限公司 一种新型的全血血凝功能分析仪
US20150118691A1 (en) * 2012-06-21 2015-04-30 Synapse B.V. Simultaneous measurement of thrombin generation and clot strength in plasma and whole blood
WO2020133188A1 (fr) * 2018-12-28 2020-07-02 北京普利生仪器有限公司 Analyseur de coagulation et procédé de mesure de la concentration de fibrinogène associé
CN111693685A (zh) * 2020-05-18 2020-09-22 中国科学院苏州生物医学工程技术研究所 血栓弹力信号提取方法、存储介质及计算机设备

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