WO2024011648A1 - Acupuncture manipulation and force measurement and evaluation system - Google Patents
Acupuncture manipulation and force measurement and evaluation system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/18—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring depth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
Definitions
- the invention belongs to the technical field of measurement and evaluation, and specifically relates to an acupuncture technique and force measurement and evaluation system.
- acupuncture has a wide range of clinical applications, including meridian diagnosis, acupuncture anesthesia, acupuncture health care and acupuncture treatment. It has been clinically proven that acupuncture can not only treat common diseases, functional diseases, and chronic diseases, but also treat some difficult diseases, organic diseases, and acute diseases.
- the acupuncture process seems simple, but according to traditional teaching, it takes a long time to train a mature acupuncturist from mastering the huge theoretical system to accumulating practical experience, and finally reaching the level of a doctor. Therefore, it is very important to preserve the techniques of an excellent acupuncturist, so that they can be used as a basis for future generations to practice.
- acupuncture has a wide range of clinical applications, including meridian diagnosis, acupuncture anesthesia, acupuncture health care and acupuncture treatment. It has been clinically proven that acupuncture can not only treat common diseases, functional diseases, and chronic diseases, but also treat some difficult diseases, organic diseases, and acute diseases.
- the acupuncture process seems simple, but according to traditional teaching, it takes a long time to train a mature acupuncturist from mastering the huge theoretical system to accumulating practical experience, and finally reaching the level of a doctor. Therefore, it is very important to preserve the techniques of an excellent acupuncturist, so that they can be used as a basis for future generations to practice.
- Figure 1 is a schematic front view of the force/torque measuring structure of the present invention
- Figure 2 is a schematic side view of the force/torque measuring structure of the present invention.
- Figure 3 is a schematic diagram of the phantom structure
- Figure 4 is an overall and partial schematic diagram of the combination of the force/torque measurement structure and the phantom end;
- Figure 5 is a schematic diagram of the combination of the force/torque measurement structure and the phantom end
- Figure 6 is a data collection flow chart.
- An acupuncture technique and force measurement and evaluation system includes the following steps:
- the host computer analyzes and evaluates the completeness, accuracy and consistency of the measurement data, eliminates erroneous data, and finally obtains reliable data.
- the force/torque measurement structure described in step (1) includes a needle handle 1, a support housing 2, a fastener 3, a millimeter needle 4, a two-dimensional sensor 5, and a needle holder. 6.
- the filiform needle 4 vertically passes through the needle body holder 6 inside the center of the support housing 2, and the needle handle 1 is exposed at the upper end of the support housing 2.
- the actual acupuncture needle insertion technique using thumb, index finger, Pinch the needle handle firmly with the middle finger to bend it, and hold the needle body with the ring finger to prevent the needle body from bending).
- the two-dimensional sensor 5 is connected to the inside of the support shell 2; the needle body clamping part
- the lower end of 6 is provided with a fastener 3, which is used to hold the needle handle of the millimeter needle 4;
- the fastener 3 is two symmetrical semi-sector structures, which are fixed on the outside of the needle body holder 6 and can be tightened by screws.
- the needle body exerts pressure to clamp the filiform needle 4.
- FIG. 3 The schematic structural diagram of the phantom force feedback equipment described in step (1) is shown in Figure 3, including a base 14, a rotating disk 15, a connecting rod 16, a parallelogram connecting rod 17, a connecting rod 2 18, an end joint 19,
- Link 2 18 is rotatable and is used to provide position input with six degrees of freedom; (marked in Figure 3), which allows the end structure to reach any point in the workspace.
- the handle 8 has a degree of rotational freedom relative to the structure 7 .
- FIG 4 and Figure 5 are the overall and partial schematic diagrams of the combination of the force/torque measurement structure and the end of the phantom.
- the pulley 9 is fixed on the handle 8 at the end of the phantom, the pulley 10 is fixed on the support shell 2, and the belt 11 is set on the pulley 9 and the pulley 10.
- tension when twisting the needle handle, it can ensure that the handle 8 and the needle handle keep moving synchronously; one end of the connecting piece 12 is fixed on the structure 7, the other end is fixed on the outer diameter of the bearing 13, and the inner diameter of the bearing 13 is fixed on the needle body clamp Part 6: Turn the needle handle 1, and the pulley 10 causes the belt 11 to displace through friction.
- the belt 11 also drives the pulley 9 to rotate through friction, causing the handle 8 to rotate synchronously.
- the twist is measured by the encoder at the end of the phantom. speed. By measuring the position of the end structure in real time, the depth, angle and lifting and insertion speed can be calculated.
- FIG. 6 is a data collection flow chart.
- the acupuncture technique data collection process includes the following steps:
- Step S1 chai 3d obtains the three-dimensional position of the needle tip in real time, and the start mark position is 0;
- Step S2 When the force and torque data received by chai 3d is empty, the start flag is 0, and when it is not empty, it is set to 1;
- Step S3 Record the point at mark position 1 as the skin surface penetration point, and calculate the depth, angle, lifting and inserting speed, and twisting speed.
- the force and moment data collection process includes the following steps:
- Step S1 The force and torque analog signals output by the two-dimensional force sensor are amplified through the amplification circuit;
- Step S2 Perform 2-channel A/D analog-to-digital conversion on the amplified force and torque signals
- Step S3 Transmit the A/D converted digital signal to the stm32 microcontroller through SPI serial communication, and calculate the true value;
- Step S4 Compare the value detected in real time with the value in the initial state (the state where the needle does not touch the skin and is almost unforced). If the values are consistent, the send flag bit send_flag is set to 0; when the filiform needle touches the skin, the force data There will be obvious changes. At this time, the send flag send_flag is set to 1;
- Step S5 stm32 and chai 3d transmit force and torque data through serial communication.
- send_flag no data is sent; when send_flag is 1, start sending data to chai 3d.
Abstract
An acupuncture manipulation and force measurement and evaluation system, comprising three main modules which are a measurement apparatus, a data acquisition module, and a data evaluation module. The measurement apparatus comprises a force/torque measuring structure and a manipulation measuring structure, the force/torque measuring structure being composed of a two-dimensional sensor (5), a filiform needle (4), and a supporting housing (2), and the manipulation measuring structure being based on a phantom force feedback device. Hardware of the data acquisition module comprises an amplification circuit, A/D analog-to-digital conversion, and an STM32 microcontroller. The acupuncture manipulation and force measurement and evaluation system performs data acquisition by using the force/torque measuring structure and the phantom force feedback device: an acquired signal is amplified and then analyzed and evaluated, error data is removed, and finally, reliable data is obtained. The acupuncture manipulation and force measurement and evaluation system can measure and store feedback force, torque, depth, angle, lifting and thrusting speed, and twisting and rotating speed data in real time during acupuncture, and performs integrity, accuracy, and consistency data evaluation to improve data reliability.
Description
本发明属于测量评估技术领域，具体涉及一种针灸手法和力测量评估系统。The invention belongs to the technical field of measurement and evaluation, and specifically relates to an acupuncture technique and force measurement and evaluation system.
针灸学作为世界当代医学的重要组成部分，临床应用范围广泛，已涉及经络诊断、针刺麻醉、针灸保健与针灸治疗。经临床验证，针灸不仅可治疗常见病、功能性疾病、慢性病，还可以治疗某些疑难病、器质性疾病和急性病。针灸过程看似简单，但是传统教学上培养一个成熟的针灸医师从庞大理论体系的掌握到实操经验累积，最终达到医者水平需要花费很长时间。因此将一个优秀针灸医师的手法保存下来显得至关重要，可以留作后人练习的依据。As an important part of contemporary medicine in the world, acupuncture has a wide range of clinical applications, including meridian diagnosis, acupuncture anesthesia, acupuncture health care and acupuncture treatment. It has been clinically proven that acupuncture can not only treat common diseases, functional diseases, and chronic diseases, but also treat some difficult diseases, organic diseases, and acute diseases. The acupuncture process seems simple, but according to traditional teaching, it takes a long time to train a mature acupuncturist from mastering the huge theoretical system to accumulating practical experience, and finally reaching the level of a doctor. Therefore, it is very important to preserve the techniques of an excellent acupuncturist, so that they can be used as a basis for future generations to practice.
另一方面，在教学中，目前主要是用纸垫和棉团进行指力和手法练习，也有在仿真人体模型上进行针灸训练；这些训练方法都有些落后，受到材料限制，以及有些可致死穴位不便于人体练习，导致训练经验不足。随着虚拟现实技术的发展，一种虚拟针灸训练成为可能，需要将不同穴位的针灸手法和力反馈信息进行建模应用于虚拟针灸系统中，帮助学生更高效率地掌握针灸手法。On the other hand, in teaching, currently paper pads and cotton balls are mainly used for finger strength and manual exercises, and acupuncture training is also conducted on simulated human models. These training methods are somewhat backward, limited by materials, and some acupuncture points can be fatal. It is not convenient for human body practice, resulting in insufficient training experience. With the development of virtual reality technology, a kind of virtual acupuncture training has become possible. Acupuncture techniques and force feedback information of different acupoints need to be modeled and applied to the virtual acupuncture system to help students master acupuncture techniques more efficiently.
但目前对针灸数据的研究几乎为空白，因此建立一种能有效记录针灸手法和力的测量评估系统至关重要。However, there is currently almost no research on acupuncture data, so it is crucial to establish a measurement and evaluation system that can effectively record acupuncture techniques and force.
发明内容Contents of the invention
针灸学作为世界当代医学的重要组成部分，临床应用范围广泛，已涉及经络诊断、针刺麻醉、针灸保健与针灸治疗。经临床验证，针灸不仅可治疗常见病、功能性疾病、慢性病，还可以治疗某些疑难病、器质性疾病和急性病。针灸过程看似简单，但是传统教学上培养一个成熟的针灸医师从庞大理论体系的掌握到实操经验累积，最终达到医者水平需要花费很长时间。因此将一个优秀针灸医师的手法保存下来显得至关重要，可以留作后人练习的依据。As an important part of contemporary medicine in the world, acupuncture has a wide range of clinical applications, including meridian diagnosis, acupuncture anesthesia, acupuncture health care and acupuncture treatment. It has been clinically proven that acupuncture can not only treat common diseases, functional diseases, and chronic diseases, but also treat some difficult diseases, organic diseases, and acute diseases. The acupuncture process seems simple, but according to traditional teaching, it takes a long time to train a mature acupuncturist from mastering the huge theoretical system to accumulating practical experience, and finally reaching the level of a doctor. Therefore, it is very important to preserve the techniques of an excellent acupuncturist, so that they can be used as a basis for future generations to practice.
另一方面，在教学中，目前主要是用纸垫和棉团进行指力和手法练习，也有在仿真人体模型上进行针灸训练；这些训练方法都有些落后，受到材料限制，以及有些可致死穴位不便于人体练习，导致训练经验不足。随着虚拟现实技术的发展，一种虚拟针灸训练成为可能，需要将不同穴位的针灸手法和力反馈信息进行建模应用于虚拟针灸系统中，帮助学生更高效率地掌握针灸手法。On the other hand, in teaching, currently paper pads and cotton balls are mainly used for finger strength and manual exercises, and acupuncture training is also conducted on simulated human models. These training methods are somewhat backward, limited by materials, and some acupuncture points can be fatal. It is not convenient for human body practice, resulting in insufficient training experience. With the development of virtual reality technology, a kind of virtual acupuncture training has become possible. Acupuncture techniques and force feedback information of different acupoints need to be modeled and applied to the virtual acupuncture system to help students master acupuncture techniques more efficiently.
但目前对针灸数据的研究几乎为空白，因此建立一种能有效记录针灸手法和力的测量评估系统至关重要。However, there is currently almost no research on acupuncture data, so it is crucial to establish a measurement and evaluation system that can effectively record acupuncture techniques and force.
图1是本发明力/力矩测量结构正面示意图；Figure 1 is a schematic front view of the force/torque measuring structure of the present invention;
图2是本发明力/力矩测量结构侧面示意图；Figure 2 is a schematic side view of the force/torque measuring structure of the present invention;
图3是phantom结构示意图；Figure 3 is a schematic diagram of the phantom structure;
图4是力/力矩测量结构和phantom末端结合整体和部分示意图；Figure 4 is an overall and partial schematic diagram of the combination of the force/torque measurement structure and the phantom end;
图5是力/力矩测量结构和phantom末端结合示意图；Figure 5 is a schematic diagram of the combination of the force/torque measurement structure and the phantom end;
图6是数据采集流程图。Figure 6 is a data collection flow chart.
下面结合附图和具体实施方式，进一步阐明本发明，应理解下述具体实施方式仅用于说明本发明而不用于限制本发明的范围。The present invention will be further clarified below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.
本发明所述的一种针灸手法和力测量评估系统，其使用方法，包括以下步骤：An acupuncture technique and force measurement and evaluation system according to the present invention, its use method includes the following steps:
(1)将力/力矩测量结构设置在phantom力反馈设备结构(也就是手法测量结构)末端；(1) Set the force/torque measurement structure at the end of the phantom force feedback equipment structure (that is, the manual measurement structure);
(2)利用力/力矩测量结构与phantom力反馈设备结构进行针灸手法数据采集与力/力矩数据采集：(2) Use the force/torque measurement structure and phantom force feedback equipment structure to collect acupuncture manipulation data and force/torque data:
(3)将获取的信号放大后上传至上位机；(3) Amplify the acquired signal and upload it to the host computer;
(4)上位机对测量数据的完整性、准确性和一致性进行分析评估，剔除错误数据，最终得到可靠的数据。(4) The host computer analyzes and evaluates the completeness, accuracy and consistency of the measurement data, eliminates erroneous data, and finally obtains reliable data.
步骤(1)所述的力/力矩测量结构，如图1、图2所示，包括针柄1、支撑壳体2、紧固件3、毫针4、二维传感器5、针体夹持件6。所述毫针4竖直穿过支撑壳体2中心内部的针体夹持件6，针柄1露在支撑壳体2的上端，考虑到真实针灸进针时的手法(会使用拇指、食指、中指用力捏紧针柄使弯曲，无名指扶针体，防止针体弯曲)，使用真实手柄1代替打印件，使手感更真实；支撑壳体2的内部连接二维传感器5；针体夹持件6的下端设有紧固件3，用于夹持毫针4 的针柄；紧固件3为两个对称的半扇形结构，固定在针体夹持件6的外部，可以通过螺丝旋紧给针体施加压力以夹紧毫针4。The force/torque measurement structure described in step (1), as shown in Figures 1 and 2, includes a needle handle 1, a support housing 2, a fastener 3, a millimeter needle 4, a two-dimensional sensor 5, and a needle holder. 6. The filiform needle 4 vertically passes through the needle body holder 6 inside the center of the support housing 2, and the needle handle 1 is exposed at the upper end of the support housing 2. Taking into account the actual acupuncture needle insertion technique (using thumb, index finger, Pinch the needle handle firmly with the middle finger to bend it, and hold the needle body with the ring finger to prevent the needle body from bending). Use the real handle 1 instead of the printed part to make the hand feel more real; the two-dimensional sensor 5 is connected to the inside of the support shell 2; the needle body clamping part The lower end of 6 is provided with a fastener 3, which is used to hold the needle handle of the millimeter needle 4; the fastener 3 is two symmetrical semi-sector structures, which are fixed on the outside of the needle body holder 6 and can be tightened by screws. The needle body exerts pressure to clamp the filiform needle 4.
步骤(1)所述的phantom力反馈设备结构示意图，如图3所示，包括基座14、转动圆盘15、连杆一16、平行四边形连杆17、连杆二18、末端关节19、末端连杆7和连杆8，其中转动圆盘15相对于基座14、平行四边形连杆17相对于连杆一16、连杆二18相对于平行四边形连杆17、末端连杆7相对于连杆二18可转动，用于提供六个自由度的位置输入；(图3中标出)，可使末端结构到达工作空间中的任意一点，使用OpenHaptics开发者工具包获取phantom末端位姿信息；手柄8相对于结构7有一个转动自由度。The schematic structural diagram of the phantom force feedback equipment described in step (1) is shown in Figure 3, including a base 14, a rotating disk 15, a connecting rod 16, a parallelogram connecting rod 17, a connecting rod 2 18, an end joint 19, The end link 7 and the link 8, in which the rotating disc 15 is relative to the base 14, the parallelogram link 17 is relative to the link one 16, the link two 18 is relative to the parallelogram link 17, and the end link 7 is relative to the parallelogram link 17. Link 2 18 is rotatable and is used to provide position input with six degrees of freedom; (marked in Figure 3), which allows the end structure to reach any point in the workspace. Use the OpenHaptics developer toolkit to obtain the phantom end pose information; The handle 8 has a degree of rotational freedom relative to the structure 7 .
图4、图5是力/力矩测量结构和phantom末端结合整体和部分示意图，滑轮9固定在phantom末端手柄8上，滑轮10固定在支撑壳体2上，皮带11套在滑轮9和滑轮10上并张紧，捻动针柄时可保证手柄8和针柄保持同步运动；连接件12一端固定在结构7上，另一端固定在轴承13的外径上，轴承13内径固定在针体夹持件6上；转动针柄1，滑轮10通过摩擦力使皮带11产生位移，皮带11同样通过摩擦力带动滑轮9旋转，使手柄8产生同步旋转，通过phantom末端自带的编码器测出捻转速度。通过实时测量末端结构的位置，可以计算出深度、角度和提插速度。Figure 4 and Figure 5 are the overall and partial schematic diagrams of the combination of the force/torque measurement structure and the end of the phantom. The pulley 9 is fixed on the handle 8 at the end of the phantom, the pulley 10 is fixed on the support shell 2, and the belt 11 is set on the pulley 9 and the pulley 10. And tension, when twisting the needle handle, it can ensure that the handle 8 and the needle handle keep moving synchronously; one end of the connecting piece 12 is fixed on the structure 7, the other end is fixed on the outer diameter of the bearing 13, and the inner diameter of the bearing 13 is fixed on the needle body clamp Part 6: Turn the needle handle 1, and the pulley 10 causes the belt 11 to displace through friction. The belt 11 also drives the pulley 9 to rotate through friction, causing the handle 8 to rotate synchronously. The twist is measured by the encoder at the end of the phantom. speed. By measuring the position of the end structure in real time, the depth, angle and lifting and insertion speed can be calculated.
图6是数据采集流程图，针灸手法数据采集过程包括以下步骤：Figure 6 is a data collection flow chart. The acupuncture technique data collection process includes the following steps:
步骤S1：chai 3d实时获取针尖的三维位置，start标志位置0；Step S1: chai 3d obtains the three-dimensional position of the needle tip in real time, and the start mark position is 0;
步骤S2：当chai 3d接收到的力和力矩数据为空时，start标志 位为0，不为空时置1；Step S2: When the force and torque data received by chai 3d is empty, the start flag is 0, and when it is not empty, it is set to 1;
步骤S3：将标志位置1时的点记为皮肤表面刺入点，计算出深度、角度、提插速度、捻转速度。Step S3: Record the point at mark position 1 as the skin surface penetration point, and calculate the depth, angle, lifting and inserting speed, and twisting speed.
力和力矩数据采集过程包括以下步骤：The force and moment data collection process includes the following steps:
步骤S1：二维力传感器受力输出的力和力矩模拟信号通过放大电路进行放大；Step S1: The force and torque analog signals output by the two-dimensional force sensor are amplified through the amplification circuit;
步骤S2：将放大后的力和力矩信号进行2路A/D模数转换；Step S2: Perform 2-channel A/D analog-to-digital conversion on the amplified force and torque signals;
步骤S3：将A/D转换后的数字信号通过SPI串行通信传输到stm32单片机中，并解算出真实值；Step S3: Transmit the A/D converted digital signal to the stm32 microcontroller through SPI serial communication, and calculate the true value;
步骤S4：将实时检测到的值与初始状态(针未接触皮肤情况下几乎不受力状态)值进行比较，若数值一致，则发送标志位send_flag置0；当毫针接触到皮肤后，力数据会产生明显变化，此时发送标志位send_flag置1；Step S4: Compare the value detected in real time with the value in the initial state (the state where the needle does not touch the skin and is almost unforced). If the values are consistent, the send flag bit send_flag is set to 0; when the filiform needle touches the skin, the force data There will be obvious changes. At this time, the send flag send_flag is set to 1;
步骤S5：stm32和chai 3d通过串口通信传输力和力矩数据，当send_flag为0时，不发送数据；当send_flag为1时，开始将数据发送至chai 3d。Step S5: stm32 and chai 3d transmit force and torque data through serial communication. When send_flag is 0, no data is sent; when send_flag is 1, start sending data to chai 3d.
需要说明的是，以上内容仅仅说明了本发明的技术思想，不能以此限定本发明的保护范围，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰均落入本发明权利要求书的保护范围之内。It should be noted that the above content only illustrates the technical idea of the present invention and cannot limit the protection scope of the present invention. For those of ordinary skill in the technical field, without departing from the principle of the present invention, they can also make Several improvements and modifications are made, and these improvements and modifications fall within the protection scope of the claims of the present invention.
Claims (9)
- 一种针灸手法和力测量评估系统，其特征在于，包括测量装置、数据采集和数据评估三大模块：An acupuncture manipulation and force measurement and evaluation system, which is characterized by including three major modules: measurement device, data collection and data evaluation:测量装置包括力/力矩测量结构和手法测量结构，用来测量提插、捻转时的反馈力/力矩；手法测量结构基于phantom力反馈设备，用来测量针灸时刺入组织的深度、角度、提插速度和捻转速度信息；The measurement device includes a force/torque measurement structure and a manual measurement structure, which are used to measure the feedback force/torque during lifting and twisting; the manual measurement structure is based on the phantom force feedback device and is used to measure the depth, angle, and depth of tissue penetration during acupuncture. Lifting and inserting speed and twisting speed information;数据采集模块硬件包括放大电路、A/D模数转换和stm32单片机，放大电路用来放大传感器输出的微弱模拟信号，A/D模数转换用来将放大的模拟信号转换为数字信号，stm32单片机用来获取数字信号并发送至上位机；The data acquisition module hardware includes an amplifier circuit, A/D analog-to-digital conversion and stm32 microcontroller. The amplifier circuit is used to amplify the weak analog signal output by the sensor. The A/D analog-to-digital conversion is used to convert the amplified analog signal into a digital signal. The stm32 microcontroller Used to obtain digital signals and send them to the host computer;数据评估包括对测量数据的完整性、准确性和一致性进行分析评估，剔除错误数据，提高数据的可靠性。Data evaluation includes analyzing and evaluating the completeness, accuracy, and consistency of measurement data, eliminating erroneous data, and improving data reliability.
- 根据权利要求1所述的一种针灸手法和力测量评估系统，其特征在于，所述力/力矩测量结构，包括针柄(1)、支撑壳体(2)、紧固件(3)、毫针(4)、二维传感器(5)、针体夹持件(6)，所述毫针(4)竖直穿过支撑壳体(2)中心内部的针体夹持件(6)，针柄(1)露在支撑壳体(2)的上端，支撑壳体(2)的内部连接二维传感器(5)；针体夹持件(6)的下端设有紧固件(3)，用于夹持毫针(4)；紧固件(3)为两个对称的半扇形结构，固定在针体夹持件(6)的外部。An acupuncture technique and force measurement and evaluation system according to claim 1, characterized in that the force/torque measurement structure includes a needle handle (1), a support shell (2), a fastener (3), The millimeter needle (4), the two-dimensional sensor (5), and the needle body holder (6) vertically pass through the needle body holder (6) inside the center of the support housing (2). The handle (1) is exposed at the upper end of the support housing (2), and the interior of the support housing (2) is connected to the two-dimensional sensor (5); the lower end of the needle clamp (6) is provided with a fastener (3). It is used to hold the filiform needle (4); the fastener (3) has two symmetrical semi-sector structures and is fixed on the outside of the needle body holder (6).
- 根据权利要求2所述的一种针灸手法和力测量评估系统，其特征在于，所述手法测量结构基于phantom力反馈设备，包括基座(14)、 转动圆盘(15)、连杆(16)、平行四边形连杆(17)、连杆(18)、末端关节(19)、末端连杆(7)和连杆(8)，用于提供六个自由度的位置输入。An acupuncture manipulation and force measurement and evaluation system according to claim 2, characterized in that the manipulation measurement structure is based on a phantom force feedback device and includes a base (14), a rotating disk (15), and a connecting rod (16). ), parallelogram link (17), link (18), end joint (19), end link (7) and link (8), used to provide position input with six degrees of freedom.
- 根据权利要求3所述的一种针灸手法和力测量评估系统，其特征在于，所述力/力矩测量结构安装在phantom力反馈设备的末端，滑轮(9)固定在phantom末端手柄(8)上，滑轮(10)固定在支撑壳体(2)上，皮带(11)套在滑轮(9)和滑轮(10)上并张紧，捻动针柄时可保证手柄(8)和针柄保持同步运动；连接件(12)一端固定在结构(7)上，另一端固定在轴承(13)的外径上，轴承(13)内径固定在针体夹持件(6)上，针体方向与末端手柄(8)方向一致；从实时获取的位姿信息计算出针刺的深度、角度、提插速度和捻转速度。An acupuncture technique and force measurement and evaluation system according to claim 3, characterized in that the force/torque measurement structure is installed at the end of the phantom force feedback device, and the pulley (9) is fixed on the phantom end handle (8) , the pulley (10) is fixed on the support shell (2), and the belt (11) is put on the pulley (9) and the pulley (10) and tightened. When twisting the needle handle, the handle (8) and the needle handle can be guaranteed to remain in place. Synchronous movement; one end of the connecting piece (12) is fixed on the structure (7), the other end is fixed on the outer diameter of the bearing (13), the inner diameter of the bearing (13) is fixed on the needle body clamping piece (6), the direction of the needle body The direction is consistent with the end handle (8); the depth, angle, lifting and inserting speed and twisting speed of the acupuncture are calculated from the posture information obtained in real time.
- 根据权利要求2所述的一种针灸手法和力测量评估系统，其特征在于，所述二维传感器(5)选取的力的量程为5N，扭矩的量程为40Nmm；支撑壳体(2)、针体夹持件(6)和紧固件(3)采用尼龙材料3d打印而成。An acupuncture technique and force measurement and evaluation system according to claim 2, characterized in that the force range selected by the two-dimensional sensor (5) is 5N, and the torque range is 40Nmm; the support shell (2), The needle body holder (6) and fastener (3) are 3D printed using nylon material.
- 根据权利要求1所述的一种针灸手法和力测量评估系统的使用方法，其特征在于：包括以下步骤：A method of using acupuncture manipulation and force measurement and evaluation system according to claim 1, characterized in that it includes the following steps:(1)将力/力矩测量结构设置在手法测量结构末端；(1) Set the force/torque measurement structure at the end of the manual measurement structure;(2)利用力/力矩测量结构与phantom力反馈设备结构进行针灸手法数据采集与力/力矩数据采集：(2) Use the force/torque measurement structure and phantom force feedback equipment structure to collect acupuncture manipulation data and force/torque data:(3)将获取的信号放大后上传至上位机；(3) Amplify the acquired signal and upload it to the host computer;(4)上位机对测量数据的完整性、准确性和一致性进行分析评估，剔除错误数据，最终得到可靠的数据。(4) The host computer analyzes and evaluates the completeness, accuracy and consistency of the measurement data, eliminates erroneous data, and finally obtains reliable data.
- 根据权利要求6所述的一种针灸手法和力测量评估系统的使用方法，其特征在于，步骤(2)所述针灸手法数据采集过程包括以下步骤：A method of using an acupuncture manipulation and force measurement and evaluation system according to claim 6, characterized in that the acupuncture manipulation data collection process in step (2) includes the following steps:步骤S1：chai 3d实时获取针尖的三维位置，start标志位置0；Step S1: chai 3d obtains the three-dimensional position of the needle tip in real time, and the start mark position is 0;步骤S2：当chai 3d接收到的力和力矩数据为空时，start标志位为0，不为空时置1；Step S2: When the force and torque data received by chai 3d is empty, the start flag is 0, and when it is not empty, it is set to 1;步骤S3：将标志位置1时的点记为皮肤表面刺入点，计算出深度、角度、提插速度和捻转速度。Step S3: Record the point at mark position 1 as the skin surface penetration point, and calculate the depth, angle, lifting and inserting speed, and twisting speed.
- 根据权利要求6所述的一种针灸手法和力测量评估系统的使用方法，其特征在于，步骤(2)所述力/力矩数据采集过程包括以下步骤：A method of using acupuncture manipulation and force measurement and evaluation system according to claim 6, characterized in that the force/torque data collection process in step (2) includes the following steps:步骤S1：二维力传感器受力输出的力和力矩模拟信号通过放大电路进行放大；Step S1: The force and torque analog signals output by the two-dimensional force sensor are amplified through the amplification circuit;步骤S2：将放大后的力和力矩信号进行2路A/D模数转换；Step S2: Perform 2-channel A/D analog-to-digital conversion on the amplified force and torque signals;步骤S3：将A/D转换后的数字信号通过SPI串行通信传输到stm32单片机中，并解算出真实值；Step S3: Transmit the A/D converted digital signal to the stm32 microcontroller through SPI serial communication, and calculate the true value;步骤S4：将实时检测到的值与初始状态值进行比较，若数值一致，则发送标志位send_flag置0；当毫针接触到皮肤后，力数据会产生明显变化，此时发送标志位send_flag置1；Step S4: Compare the real-time detected value with the initial state value. If the values are consistent, the send flag bit send_flag is set to 0; when the filiform needle contacts the skin, the force data will change significantly, and the send flag bit send_flag is set to 1. ;步骤S5：stm32和chai 3d通过串口通信传输力和力矩数据，当send_flag为0时，不发送数据；当send_flag为1时，开始将数据 发送至chai 3d。Step S5: stm32 and chai 3d transmit force and torque data through serial communication. When send_flag is 0, no data is sent; when send_flag is 1, start sending data to chai 3d.
- 根据权利要求1所述的一种针灸手法和力测量评估系统的使用方法，其特征在于，步骤(4)所述的评估包括以下几个方面：A method of using an acupuncture manipulation and force measurement evaluation system according to claim 1, characterized in that the evaluation in step (4) includes the following aspects:(1)完整性：(1) Completeness:从数据维度的完整性来说：提插、捻转的针灸手法通过测量针尖的位姿信息进行判断，力和扭矩的大小与针刺入的深度、角度和速度有关，这些测量的信息维度覆盖了影响针灸反馈力的主要因素；From the perspective of the completeness of the data dimension: acupuncture techniques such as lifting, inserting and twisting are judged by measuring the position and orientation information of the needle tip. The size of the force and torque are related to the depth, angle and speed of the needle penetration. The information dimensions of these measurements cover The main factors affecting the feedback power of acupuncture are identified;从数据记录的完整性来说：将每一次保存的数据编为一个数据帧，由帧序号、数值组成，通过检测记录的数据元素属性是否有缺失、各元素组成的数据帧中数据个数是否有缺失、帧序号是否有缺失及帧序号之间缺失的差值；From the perspective of the integrity of data records: compile each saved data into a data frame, which is composed of frame serial number and numerical value. By detecting whether the recorded data element attributes are missing and whether the number of data in the data frame composed of each element is Is there any missing, whether the frame serial number is missing and the missing difference between the frame serial numbers;(2)准确性：(2)Accuracy:检测数据是否有极其异常的数值，发现异常数值进行剔除；Detect whether the data has extremely abnormal values, and eliminate abnormal values if found;(3)一致性：(3) Consistency:通过对不同的人、同一个穴位采用同一种手法，判断位姿数据和力随时间的变化是否一致；力数据是否随着刺入深度的加深、速度的加快而增大；扭矩是否随着捻转速度的加快而增大。By using the same technique on different people and the same acupuncture point, it can be judged whether the posture data and force change over time are consistent; whether the force data increases as the penetration depth deepens and the speed increases; whether the torque increases with twisting Increases as the rotation speed increases.
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