Automatic pulse searching and extracting device and method based on intelligent mechanical arm

Abstract

The invention discloses automatic pulse searching and extracting device and method based on an intelligent mechanical arm. The device is composed of a mechanical arm, an ARM microcontroller, a pulse condition sensor, a signal preprocessing module, a pressure control module, and an upper computer. The method comprises the following steps: determining a relative position; searching for an initial site of a pulse by the mechanical arm; extracting the pulse by the cun part, the guan part and the chi part according to the intelligent five-point pulse searching method of the mechanical arm; and then, displaying the pulse condition waveform in real time by the upper computer, and calculating the pulse rate and the pressure according to the waveform. The optimal pulse extracting site can be accurately and repeatedly found, different pressures are applied as starting points according to different conditions, an intelligent traditional Chinese medicine collection system is established in combination with an intelligent mechanical arm Dobot and a pressure sensor, and the threshold of self-operation of a pulse diagnosis instrument by a user is lowered. The intelligent mechanical arm is used for replacing the pulse searching function of a human hand, so that the repeatability of collection of the pulse diagnosis equipment is improved; and moreover, technical thinking is provided for automation and intelligentization of the pulse diagnosis equipment.

Description

technical field [0001] The present invention relates to an automatic pulse-seeking method, and more specifically, relates to an automatic pulse-seeking and pulse-taking device and method based on an intelligent mechanical arm. Background technique [0002] Pulse diagnosis has a very long history in the Chinese nation. From ancient times to the present, there are many documents recording the theory, method and application of pulse diagnosis. The various advantages of pulse diagnosis make it show unique advantages in modern clinical medicine. First of all, in terms of diagnostic methods, pulse diagnosis can directly touch the patient's body, and the pulse wave generated by the heartbeat contains rich human body Physiological information, in modern clinical medicine, has a high degree of reliability in diagnosing diseases by feeling pulse waves; secondly, pulse diagnosis has the advantages of non-invasive, efficient, and economical, and can understand the internal mechanism of ...

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Problems solved by technology

These devices often require users to accurately find the location of pulse collection with the help of professional medical staff, and they cannot simulate the different pressures exerted by different people when taking pulse by Chinese medicine practitioners, which limits the pulse collection to a large extent. The promotion of diagnostic instruments in ordinary families and society, and secondly, the existing manual fixed position makes the repeatability of the collected signals poor, which limits the development of TCM pulse diagnosis system

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