Traditional Chinese medicine pulse diagnosis teaching and evaluation equipment and system

Abstract

The invention relates to a traditional Chinese medicine pulse diagnosis teaching and evaluation device and system. A traditional Chinese medicine pulse diagnosis teaching and evaluation device is composed of an upper computer, a pulse condition playback device, a pulse condition collecting hand, a slidable hand pillow and a control module. The pulse condition playback device is composed of a lower computer main control module, a pulse fluctuation generation device, a simulated hand and cun-guan-chi pressure detection module, a liquid path pipeline pressure detection and feedback control module and a simulated blood storage device. The pulse fluctuation generation device, the simulated hand, the cun-guan-chi pressure detection module and the liquid path pipeline pressure detection and feedback control module are connected through simulated blood vessels, and all the modules, the pulse condition collection hand, the slidable hand pillow and the control module are electrically connected with the lower computer main control module at the same time; the lower computer master control module is in communication connection with the upper computer, and pulse diagnosis teaching and evaluation system software based on digital twinborn is arranged in an upper computer system. According to the invention, the blank of finger movement manipulation simulation training commonly used in pulse diagnosis is filled up, and the traditional Chinese medicine pulse diagnosis teaching and evaluation modes are enriched.

Description

Technical Field

[0001] The present invention relates to the technical field of modernized teaching and assessment of traditional Chinese medicine, and in particular to a novel teaching and assessment device and system for traditional Chinese medicine pulse diagnosis. Background Art

[0002] Traditional Chinese medicine is the crystallization of thousands of years of wisdom of the Chinese nation. TCM diagnosis is an important part of TCM theory. "Look, smell, ask, and palpate" are the most common and unique TCM diagnostic methods. Pulse diagnosis belongs to "palpate", which is the most characteristic of TCM. It is often regarded as a microcosm of TCM clinical practice and even a synonym for TCM. The pulse can reflect the physiological and pathological conditions of the human body. It is an important window for observing the functional changes of the internal organs of the human body. It is of great significance in identifying symptoms, judging the condition, distinguishing the pathogenesis and inferring the prognosis. The ancient pulse diagnosis literature has profound meanings, and the way of thinking and expression and habits are far from modern. There are sayings such as "the pulse is subtle and difficult to express in words" and "easy to understand in the mind, but difficult to understand under the fingers". In addition, the views in ancient and modern pulse diagnosis literature are not consistent, which makes learners feel confused and at a loss in the learning process, increasing the difficulty of learning. The recognition of pulse condition in clinical diagnosis is based on the feeling under the doctor's finger and the doctor's understanding of the concept of pulse condition. Due to the general concept of pulse condition, the lack of clear quantitative indicators in the judgment standard, and the inclusion of subjective factors such as the doctor's judgment experience and finger surface feeling, learners only rely on the teacher's teaching and personal understanding of language and characters, and often have no chance to experience various clinical pulse conditions, especially the common clinical combined pulse, and cannot obtain an intuitive understanding of the pulse feeling and characteristics, making Chinese pulse diagnosis more difficult in teaching, and learners find it difficult to master and understand it during learning, and it is difficult to achieve the expected teaching effect. At the same time, the scope of Chinese medicine is becoming more and more widespread internationally, and many foreign learners are very interested in Chinese pulse diagnosis. However, the description of pulse condition in ancient Chinese medicine books and textbooks is very abstract and too professional, which brings great trouble to foreign Chinese medicine learners.

[0003] With the advancement of science and technology and the development of interdisciplinary research, a new teaching and evaluation system for TCM pulse diagnosis has been developed by combining technologies from multiple disciplines such as artificial intelligence, computer science, physiology, mathematics, and biomedical engineering. A unified teaching platform and evaluation standards for TCM pulse diagnosis have been established, which will help improve the effectiveness and quality of pulse diagnosis teaching, standardize the teaching and clinical practice of TCM pulse diagnosis, and improve the overall diagnosis and treatment level of TCM. It will also promote the development of TCM pulse diagnosis teaching in a standardized, objective, digital, and international direction, and promote the modernization process and global promotion and application of TCM pulse diagnosis. Summary of the invention

[0004] This invention takes the perspective of bionics and engineering, combines multiple disciplines such as artificial intelligence, computer science, mathematics, biomedical engineering, and multi-sensor information fusion technology, and innovatively designs a new type of TCM pulse diagnosis teaching and evaluation equipment and system.

[0005] The technical solution adopted by the present invention is:

[0006] The Chinese medicine pulse diagnosis teaching and evaluation equipment of the present invention consists of a pulse diagnosis teaching and evaluation system based on digital twins, a host computer and display, a slave computer main control module, a pulse acquisition hand and control module, a slidable hand pillow and control module, a pulse fluctuation generating device, a simulated hand and Cun, Guan, and Chi pressure detection module, a liquid pipeline pressure detection and feedback control module, and a simulated blood reservoir.

[0007] The pulse diagnosis teaching and evaluation system based on digital twin mainly includes the history of TCM pulse diagnosis, the mechanism of pulse formation and pulse elements, teaching and simulation training of commonly used finger techniques for pulse diagnosis, teaching and simulation training of common TCM pulse conditions, teaching and simulation training of TCM pulse conditions for common clinical diseases, and evaluation of the teaching effect of TCM pulse diagnosis. It conducts TCM pulse diagnosis teaching, simulation training and evaluation in a panoramic, multi-perspective and real experience. At the same time, the system is divided into a teacher computer system and a student computer system, with two working states: online and stand-alone. When online, after the student computer receives the command from the teacher computer, the keyboard is locked and can only be controlled by the teacher computer. It is usually used in teaching tests. After the online state is released, the student computer can set and operate each pulse condition by itself. At the same time, the teacher computer system has two states: clear screen and display. When the screen is cleared, the student computers do not display the pulse condition diagram, which is suitable for pulse diagnosis tests. The teacher computer issues commands for different pulse conditions to examine the students' mastery of the pulse name, pulse diagram, etc. of each pulse condition. When the screen is cleared, each student computer can display the pulse condition diagram. It has a pulse condition editing function. After logging in as an administrator, the pulse parameters can be adjusted and saved through the "pulse condition editing" function, which greatly enriches the performance of the pulse condition.

[0008] The pulse collecting hand and control module are composed of palm, index finger, middle finger, ring finger, finger side swing mechanism, main control module, flange mechanism, etc. The collecting fingers of index finger, middle finger and ring finger are composed of finger tips, simulated bones, simulated tendons, continuous joints, and motion controllers. The pulse sensor is installed on the finger tips of the collecting hand. The finger motion controller is composed of a stepper motor and a capstan. One section of the simulated tendon is fixed on the finger tips, and the other section is connected to the capstan. When the stepper motor is driven by the capstan, the simulated tendon is driven to move, and the finger movement and bending are controlled to simulate the common finger manipulation techniques of Chinese medicine pulse diagnosis such as lifting, pressing, taking the middle, searching, pushing, following, total pressing, single pressing, pitching, raising, manipulating, and vertical. The finger side swing mechanism can control the index finger and ring finger of the collecting hand to swing to both sides; the flange mechanism can be connected to the mechanical arm; the pulse sensor on the finger tips collects the pulse information, which is amplified, filtered, and modulated by the signal processing circuit and then connected to the main control module of the collecting end for AD conversion and then uploaded to the collecting end host computer.

[0009] The slidable hand rest and control module are composed of a flexible hand rest, a lead screw, a slide rail and a stepper motor. There are "bumps" on both sides of the upper end of the flexible hand rest. The "bumps" protrude directly against the radius of the human body to "calibrate" the closed position. An airbag is installed inside the flexible hand rest. The expansion degree of the airbag can be adjusted through the control module to facilitate adjustment of the wrist position of the person being tested. The flexible hand rest is installed on the slide rail slider to drive the flexible hand rest to slide. When the left hand or the right hand is placed, the flexible hand rest drives the left hand and the right hand to slide along the slide rail slider, and adjusts the expansion degree of the airbag inside the flexible hand rest to ensure that the dexterous hand collects the pulse accurately.

[0010] The pulse pulsation generating device is the core component for pulse simulation and playback, and is composed of a liquid path interface, a bellows upper plug, a fixed platform, a bellows, a bellows lower plug, an oscillator, and a fixed base. It is used to simulate the contraction and relaxation movements of the heart, drive the simulated blood to flow in the simulated blood vessels, and produce corresponding expansion and contraction in the simulated blood vessels, thereby forming a perceptible pulse pulsation.

[0011] The simulated hand and Cun, Guan, Chi pressure inspection module are composed of a silicone hand and hand skin, an injection-molded arm, and a simulated blood vessel embedded therein. There is a bulge on the front side of the injection-molded arm to simulate the radial styloid process and the structure and finger feel of an adult's palm and arm; the Cun, Guan, Chi pressure detection module is composed of a Cun, Guan, Chi pressure detection board, a pressure sensor, and a latex module. Five pressure sensors can be placed on the Cun, Guan, Chi pressure detection board to detect the pulse pressure at five sites, namely, Cun Shang, Cun, Guan, Chi, and Chi Xia; the latex module is provided with a simulated blood vessel placement groove, and the simulated blood vessel is placed in the groove to restore the relationship between the blood vessel and the peripheral tissue. There are four grooves under the latex module, which divide the latex module into five small modules, and each small module corresponds to a sensor position to prevent interference with the pressure detection of adjacent sites after pressing at one site when taking the pulse.

[0012] The liquid pipeline pressure detection and feedback control module is composed of a liquid pipeline pressure detection sensor, a liquid pipeline control valve I, a liquid pipeline control valve II and a hydraulic control pump. By controlling the actions of the liquid pipeline control valve I, the liquid pipeline control valve II and the hydraulic control pump, the liquid capacity in the simulated blood vessel and the filling degree of the simulated blood vessel are changed, thereby simulating the compliance of the blood vessel and restoring the static shape of the blood vessel.

[0013] The simulated blood storage container is a closed, transparent container, which is mainly used to store simulated blood; the main component of the simulated blood is sodium carboxymethyl cellulose, and the viscosity will increase after adding water. After adding red dye, simulated blood with different viscosities can be prepared.

[0014] Beneficial effects of the invention:

[0015] 1. The Chinese medicine pulse diagnosis teaching and evaluation equipment and system of the present invention, starting from the perspective of bionics and engineering, combines multiple disciplines such as artificial intelligence, computer science, mathematics, biomedical engineering and multi-sensor information fusion technology, and innovatively designs a new type of Chinese medicine pulse diagnosis teaching and evaluation system. The present invention starts from the basic pulse diagnosis methods of Chinese medicine "taking the inch mouth alone" and "taking the pulse with both hands", designs the pulse image collection hand and control module of the three parts of Chinese medicine. When the stepping motor belt pass capstan moves, it drives the simulated tendon movement, controls the movement and bending of the fingers, and can simulate the 12 finger-moving techniques commonly used by traditional Chinese medicine practitioners, such as lifting, pressing, taking the middle, searching, pushing, following, total pressing, single pressing, tilting, looking up, manipulating, and vertical. It realizes the simulation of the finger-moving techniques commonly used by Chinese medicine practitioners for the first time; comprehensively considers the four attributes of the pulse image, "position, number, shape, and potential", to simulate and reproduce, and truly realizes the complete restoration of clinical pulse image information.

[0016] 2. The TCM pulse diagnosis teaching and assessment equipment and system of the present invention comprises a slidable hand rest and a control module. The flexible hand rest is mounted on a slide rail and is driven to slide by a stepper motor. When the left hand or right hand is placed, the flexible hand rest drives the left hand or right hand to slide along the slide rail. By adjusting the expansion degree of the airbag inside the flexible hand rest, the pulse collection position of the dexterous hand can be ensured to be accurate.

[0017] 3. The Chinese medicine pulse diagnosis teaching and assessment equipment and system of the present invention, the pulse pulsation generating device is the core component of pulse simulation and playback, and is composed of a liquid path interface, a bellows upper plug, a fixed platform, a bellows, a bellows lower plug, an oscillator, and a fixed base, and is used to simulate the contraction and relaxation movement of the heart, drive the simulated blood to flow in the simulated blood vessels, and produce corresponding expansion and contraction at the simulated blood vessels, thereby forming a perceptible pulse pulsation.

[0018] 4. The Chinese medicine pulse diagnosis teaching and assessment equipment and system of the present invention simulates a hand and Cun, Guan, Chi pressure inspection module. The simulated hand is composed of a silicone hand and hand skin, an injection-molded arm, and a simulated blood vessel is embedded therein. There is a protrusion on the front side of the injection-molded arm to simulate the radial styloid process and the structure and finger feel of an adult's palm and arm; the Cun, Guan, Chi pressure detection module is composed of a Cun, Guan, Chi pressure detection board, a pressure sensor, and a latex module. Five pressure sensors can be placed on the Cun, Guan, Chi pressure detection board to detect the pulse pressure at five sites, namely, Cun Shang, Cun, Guan, Chi, and Chi Xia; the latex module is provided with a simulated blood vessel placement groove, and the simulated blood vessel is placed in the groove to restore the relationship between the blood vessel and the peripheral tissue. There are four grooves under the latex module, which divide the latex module into five small modules, and each small module corresponds to five sensors to prevent interference with the pressure detection of adjacent sites after pressing at one site during pulse taking.

[0019] 5. The TCM pulse diagnosis teaching and assessment equipment and system of the present invention, the liquid pipeline pressure detection and feedback control module is composed of a liquid pipeline pressure detection sensor, a liquid circuit control valve I, a liquid circuit control valve II and a hydraulic control pump. By controlling the actions of the liquid circuit control valve I, the liquid circuit control valve II and the hydraulic control pump, the liquid capacity in the simulated blood vessel is changed, the simulated blood vessel filling degree is changed, thereby simulating the compliance of the blood vessel and restoring the static shape of the blood vessel.

[0020] In summary, the TCM pulse diagnosis teaching and assessment device and system of the present invention fills the gap in the simulation training of commonly used finger manipulation techniques for pulse diagnosis, enriches the teaching and assessment methods and approaches of TCM pulse diagnosis, helps to establish a unified TCM pulse diagnosis teaching platform and assessment standards, helps to standardize the teaching and clinical practice of TCM pulse diagnosis, helps to improve the effect and quality of pulse diagnosis teaching, helps to improve the overall diagnosis and treatment level of TCM, and advantageously promotes the development of TCM pulse diagnosis teaching in the direction of standardization, objectivity, digitization and internationalization, and promotes the modernization process and global promotion and application of TCM pulse diagnosis. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The figure shows the overall block diagram of the TCM pulse diagnosis teaching and assessment device / system of the present invention;

[0022] Figure 2 Shown is a schematic diagram of the structure of the pulse collecting hand;

[0023] Figure 3 Shown is a schematic diagram of the structure of the fingers of the pulse collecting hand;

[0024] Figure 4 Shown is a schematic diagram of a slidable armrest and a control module;

[0025] Figure 5 Shown is a schematic diagram of the structure of a pulse playback device;

[0026] Figure 6 Shown is a schematic diagram of the Cun, Guan, and Chi pressure detection module in the pulse playback device.

[0027] In the figure, 1. Pulse collection palm, 2. Collection ring finger, 3. Collection middle finger, 4. Collection index finger, 5. Collection finger side swing mechanism, 6. Collection hand main control module, 7. Collection hand flange mechanism, 8. Pulse sensor, 9. Finger, 10. Finger simulation skeleton, 11. Finger simulation tendon, 12. Finger continuous joint, 13. Finger motion controller, 14. Slide track, 15. Lead screw, 16. Flexible hand pillow, 17. Simulated radial protrusion, 18. Stepper motor, 19. Simulated hand, 20. Inch Guanchi pressure detection module, 21. simulated blood vessel, 22. simulated blood vessel, 23. liquid pipeline pressure detection sensor, 24. liquid circuit control valve I, 25. hydraulic control pump, 26. liquid circuit control valve II, 27. liquid circuit interface, 28. bellows upper plug, 29. fixed platform, 30. bellows, 31. bellows lower plug, 32. oscillator, 33. fixed base, 34. simulated blood storage container, 35. latex module, 36. simulated blood vessel placement slot, 37. pressure sensor, 38. Cunguanchi pressure detection board. DETAILED DESCRIPTION

[0028] In order to make the technical concept and advantages of the invention more clearly understood, the technical solution of the invention is further described in detail below in conjunction with the accompanying drawings. It should be understood that the following embodiments are only used to explain and illustrate the preferred implementation methods of the invention and should not be regarded as and do not constitute a limitation on the scope of patent protection claimed by the invention.

[0029] Example 1

[0030] See also Figure 1 The Chinese medicine pulse diagnosis teaching and assessment equipment of the present invention is composed of a host computer and a display module, a pulse playback device, a pulse collection hand and a control module, a slidable hand pillow and a control module, wherein the pulse playback device is composed of a lower computer main control module, a pulse fluctuation generating device, a simulated hand and a Cun, Guan, and Chi pressure detection module, a liquid pipeline pressure detection and feedback control module, and a simulated blood reservoir. The pulse fluctuation generating device, the simulated hand and the Cun, Guan, and Chi pressure detection module, and the liquid pipeline pressure detection and feedback control module are connected through simulated blood vessels, and simulated blood flows in the simulated blood vessels; the lower computer main control module is electrically connected to the pulse fluctuation generating device, the simulated hand and the Cun, Guan, and Chi pressure detection module, and the liquid pipeline pressure detection and feedback control module respectively; the lower computer main control module is communicatively connected to the host computer and the display module; the pulse collection hand and the control module, the slidable hand pillow and the control module are all electrically connected to the lower computer main control module.

[0031] Example 2

[0032] See also Figure 2 , Figure 3The Chinese medicine pulse diagnosis teaching and assessment equipment of this embodiment is different from the embodiment 1 in that: further, the pulse collection hand and control module are composed of a palm 1, a ring finger 2, a middle finger 3, an index finger 4, a finger side swing mechanism 5, and a collection hand main control module 6. The index finger, middle finger, and ring finger collection fingers are composed of finger tips 9, simulated bones 10, simulated tendons 11, continuous joints 12, and a finger motion controller 13. The finger motion controller 13 is composed of a stepping motor and a capstan. One section of the simulated tendon 11 is fixed on the finger tips, and the other section is connected to the capstan; the finger side swing mechanism 5 and the finger motion controller 13 are controlled and connected to the main control module to control the index finger and the ring finger of the collection hand to swing to both sides; the pulse sensor 8 is installed on the collection hand finger tips 9, collects and outputs the pulse information signal to access the collection hand main control module, and the pulse collection hand main control module is interactively connected with the lower computer main control module. The pulse collection hand main control module uploads the processed pulse information signal to the collection end host computer.

[0033] The pulse collecting hand and control module, when the main control module controls the stepping motor with the capstan movement, drives the simulated tendon movement, controls the finger movement and bending, so as to simulate the commonly used finger movement techniques of traditional Chinese medicine pulse diagnosis such as lifting, pressing, taking the middle, searching, pushing, circulating, total pressing, single pressing, leaning forward, leaning back, manipulating, and vertically.

[0034] The pulse collecting hand and the lower part of the control module are provided with a flange mechanism 7, and the collecting hand (just a "palm" structure) is connected with the mechanical arm (arm) through the flange mechanism to form a complete collecting hand and arm (mechanical arm).

[0035] Example 3

[0036] See also Figure 4 The Chinese medicine pulse diagnosis teaching and assessment equipment of this embodiment is different from that of embodiment 1 or embodiment 2 in that: further, the slidable hand rest and control module are composed of a flexible hand rest 16, a lead screw 15, a slide rail 14 and a stepper motor 18, the flexible hand rest 16 is installed on the slide rail slider, and the two side surfaces of the upper end of the flexible hand rest are facing the human radial protrusion 17 and are provided with "bumps" to mark the closed position; an airbag is installed inside the flexible hand rest 16; the stepper motor 18 and the airbag are controllably connected to the main control module, and the expansion degree of the airbag is adjusted by the control module to facilitate adjustment of the wrist position of the person being tested.

[0037] The slidable hand rest and control module, the flexible hand rest 16 is installed on the slide rail slider, the stepper motor 18 drives the flexible hand rest to slide, when the left hand or the right hand is placed, the flexible hand rest drives the left hand or the right hand to slide along the slide rail slider, and by adjusting the expansion degree of the airbag inside the flexible hand rest, the accurate position of pulse collection by the dexterous hand can be ensured.

[0038] Example 4

[0039] like Figure 5 As shown, the Chinese medicine pulse diagnosis teaching and assessment equipment of this embodiment is different from the aforementioned embodiments in that: the pulse playback device, wherein the pulse pulsation generating device includes a simulated blood vessel 21, a simulated blood vessel 22 and a heart contraction and relaxation simulation mechanism, the simulated blood vessel 21 is arranged in the simulated blood vessel 22 circuit, the heart contraction and relaxation simulation mechanism includes a bellows 30 and an oscillator 32; the bellows 30 is composed of an elastic tube body, a liquid storage chamber, an upper plug 28, and a lower plug 31, the upper bellows plug 28 is fixed on a fastening platform 29, and is connected to the simulated blood vessel 22 through a liquid path interface 27; the lower bellows plug 31 is fixed to the oscillator 32 through a connecting rod; the oscillator 32 is controllably connected to the lower computer main control module; the oscillator 32 is arranged on a fixed base 33, and the bellows 30 and the oscillator 32 are positioned and connected together through the fastening platform 29 and the fixed base 33. The oscillator 32, bellows 30, etc. are fixed together by a fastening platform 29 and a fixed base 33, which limits the bellows elastic cavity to only contraction or relaxation movement, thereby reducing the pulse playback error, reducing noise and vibration, and improving the stability and reliability of the three-part nine-hou pulse playback device.

[0040] The simulated hand 19 is composed of a silicone hand and hand skin, and an injection-molded arm, with simulated blood vessels embedded inside. There is a protrusion on the front side of the injection-molded arm, which simulates the radial styloid process to facilitate the positioning of the joints; the wrist of the simulated hand 19 and the simulated blood vessels 21 are cooperated to set the Cun, Guan, and Chi pressure detection module 20, and the pressure sensor output signal of the Cun, Guan, and Chi pressure detection module 20 is connected to the main control module.

[0041] Example 5

[0042] See also Figure 6 The Chinese medicine pulse diagnosis teaching and assessment equipment of this embodiment is different from that of embodiment 4 in that: the Cun, Guan, Chi pressure detection module 20 is composed of a Cun, Guan, Chi pressure detection plate 38, a pressure sensor 37 and a latex module 35; the latex module 35 is buckled on the Cun, Guan, Chi pressure detection plate 38, and a simulated blood vessel placement groove 36 is provided on the latex module 35. The simulated blood vessel 21 connected to the simulated blood vessel 22 is placed in the simulated blood vessel placement groove 36. Four grooves are provided under the latex module 35, dividing the latex module into five small modules, and a pressure sensor is correspondingly set on the Guanchi pressure detection plate 38 and at each small module position.

[0043] Example 6

[0044] The Chinese medicine pulse diagnosis teaching and assessment equipment of this embodiment is different from that of Embodiment 4 or Embodiment 5 in that: the liquid pipeline pressure detection and feedback control module is composed of a liquid pipeline pressure detection sensor 23, a liquid circuit control valve I, a liquid circuit control valve II, a hydraulic control pump 25 and a simulated blood reservoir 34, and the liquid pipeline pressure detection sensor 23 is connected to the simulated blood vessel 22; the liquid circuit control valve I 24 is arranged in the simulated blood vessel 22 circuit at the outlet of the hydraulic control pump 25, and the liquid circuit control valve II 26 is arranged in the pipeline from the simulated blood vessel 22 to the blood reservoir 34; the liquid inlet of the hydraulic control pump 25 is arranged in the simulated blood reservoir 34; the liquid circuit control valve I, the liquid circuit control valve II and the hydraulic control pump 25 are controllably connected to the lower computer main control module; the output signal of the liquid pipeline pressure detection sensor 23 is connected to the lower computer main control module.

[0045] In the Chinese medicine pulse diagnosis teaching and assessment system of the present invention, the simulated blood storage device 34 in the pulse playback device is a closed transparent container, which is mainly used to store simulated blood; the main component of the simulated blood is sodium carboxymethyl cellulose, and at the same time, a proper amount of alcohol is added to the sodium carboxymethyl cellulose solution to lower the freezing point of the solution and prevent the solution from freezing at low temperatures.

[0046] Example 7

[0047] The present invention innovatively designs a new type of TCM pulse diagnosis teaching and evaluation equipment / system from the perspective of bionics and engineering, combining multiple disciplines such as artificial intelligence, computer science, mathematics, biomedical engineering, and multi-sensor information fusion technology. Figure 1 As shown, the pulse diagnosis teaching and evaluation equipment / system of the present invention consists of a pulse diagnosis teaching and evaluation system based on digital twins, a host computer and display, a slave computer main control module, a pulse acquisition hand and control module, a slidable hand pillow and control module, a pulse fluctuation generating device, a simulated hand and Cun, Guan, and Chi pressure detection module, a liquid pipeline pressure detection and feedback control module, and a simulated blood reservoir.

[0048] The present invention starts from the basic pulse diagnosis methods of traditional Chinese medicine "taking the pulse at the Cunkou alone" and "feeling the pulse with both hands", and designs a pulse image collection hand and control module of three parts of traditional Chinese medicine, which can simulate 12 finger-moving techniques commonly used by traditional Chinese medicine practitioners, including lifting, pressing, taking the middle, searching, pushing, circulating, total pressing, single pressing, bending forward, looking up, manipulating, and vertical movement. It is the first time to realize the simulation of finger-moving techniques commonly used by traditional Chinese medicine practitioners; the four attributes of "position, number, shape, and momentum" of the pulse are comprehensively considered for simulation and playback, so as to truly realize the complete restoration of clinical pulse information.

[0049] Among them, the pulse diagnosis teaching and evaluation system based on digital twins mainly includes the history of TCM pulse diagnosis, the mechanism of pulse formation and pulse elements, teaching and simulation training of commonly used finger techniques for pulse diagnosis, teaching and simulation training of common TCM pulse conditions, teaching and simulation training of TCM pulse conditions for common clinical diseases, and evaluation of the teaching effect of TCM pulse diagnosis. It conducts TCM pulse diagnosis teaching, simulation training and evaluation in a panoramic, multi-perspective and real experience.

[0050] "History of Traditional Chinese Medicine Pulse Diagnosis" introduces the origin, formation and development of traditional Chinese medicine pulse diagnosis, pulse diagnosis classics, the significance of pulse diagnosis, traditional Chinese medicine theories on pulse formation, traditional Chinese medicine pulse diagrams and pulse patterns, objective research on traditional Chinese medicine pulse diagnosis and other basic knowledge in the form of pictures and texts. It mainly aims to enable students to have a comprehensive and holistic understanding of traditional Chinese medicine pulse diagnosis.

[0051] "Pulse formation mechanism and pulse elements" uses 3D animation and human-computer interaction to demonstrate the pulse formation mechanism, focusing on the pulse wave formed by the superposition of the forward wave propagated along the artery generated by the heart contraction and the reflected wave reflected from the periphery, and reflects the role of qi, blood, blood vessels and the five internal organs. The 3D model of forearm anatomy is used to present the mechanical and histomorphological differences of different pulse signals, and the 3D video animation is used to highly restore the different pulse elements that are difficult to observe in the real world. The eight elements of pulse position, pulse number, pulse length, pulse width, pulse strength, uniformity, fluency and tension are interpreted with audio, subtitles and traditional pulse diagrams to help students intuitively and vividly understand the connotation of the eight elements of pulse.

[0052] "Teaching and Simulation Training of Common Finger Movements in Pulse Diagnosis" uses 3D animation and human-computer interaction, and is accompanied by audio and subtitles to demonstrate 12 common finger movements in TCM pulse diagnosis, including lifting, pressing, taking the middle, searching, pushing, following, total pressing, single pressing, leaning forward, looking up, manipulating, and vertical. Students can choose any finger movement to simulate and train on the pulse collection hand. In addition, students can put their arms on the flexible hand pillow to experience the finger movement of TCM pulse diagnosis in person, and can see the pulse diagram detected by the pulse simulation hand in real time on the display, while deepening their understanding of TCM pulse.

[0053] "Common TCM Pulse Teaching and Simulation Training" uses 3D animation and human-computer interaction, and demonstrates 28 common TCM pulses and 260 combined pulses with audio and subtitles. Students can choose any pulse to simulate and train on the pulse simulator to experience the pulse fluctuations. At the same time, they can see the pulse diagram simulated on the pulse simulator in real time on the display to deepen their understanding of TCM pulses.

[0054] "Teaching and Simulation Training of TCM Pulse Conditions for Common Clinical Diseases" uses 3D animation and human-computer interaction, and is accompanied by audio and subtitles to demonstrate TCM pulse conditions for more than 1,000 common clinical diseases. Students can choose any pulse condition to simulate and train on the pulse condition simulator, and experience the pulse fluctuations firsthand. At the same time, they can see the pulse diagram simulated on the pulse condition simulator in real time on the display, deepening their understanding of TCM pulse conditions.

[0055] The "Teaching Effect Evaluation of TCM Pulse Diagnosis" adopts the form of "knowledge question bank, random test paper generation, random test paper distribution, timed test paper collection and scoring" to conduct TCM pulse diagnosis teaching examination. The knowledge question bank is divided into knowledge-based questions, practical questions and clinical application questions. The knowledge-based questions are presented in the form of pictures, texts, etc., mainly to assess students' mastery of TCM pulse diagnosis knowledge points; the practical question bank mainly assesses students' mastery of TCM pulse diagnosis in the form of practical operations such as TCM pulse diagnosis finger manipulation and pulse simulation diagnosis; the clinical application questions mainly simulate and replay the TCM pulse of common clinical diseases on the pulse simulation hand, and students make judgments according to the basic requirements of TCM pulse diagnosis, mainly to assess students' flexible application of TCM pulse diagnosis. The evaluation adopts online real-time assessment and scoring, and teachers can check and supervise students' completion. At the same time, students can also complete the submission of experiments and assessment questions online, check their own learning and training effects, and view their personal experimental results and teachers' comments.

[0056] In addition, the system is divided into a teacher computer system and a student computer system, with two working states: online and stand-alone. When online, after the student computer receives the command from the teacher computer, the keyboard is locked and can only be controlled by the teacher computer. It is usually used in teaching tests. After the online state is released, the student computer can set and operate each pulse condition by itself. At the same time, the teacher computer system has two states: clear screen and display. When the screen is cleared, the student computers do not display the pulse condition diagram, which is suitable for pulse diagnosis tests. The teacher computer issues commands for different pulse conditions to examine the students' mastery of the pulse name, pulse diagram, etc. of each pulse condition. When the screen is cleared, each student computer can display the pulse condition diagram. It has a pulse condition editing function. After logging in as an administrator, the pulse parameters can be adjusted and saved through the "pulse condition editing" function, which greatly enriches the performance of the pulse condition.

[0057] The system equipment comprises a host computer and a display module, a pulse playback device, a pulse acquisition hand and a control module, a slidable hand pillow and a control module, wherein the schematic diagram of the three-part nine-hou pulse acquisition hand is as follows: Figure 2 As shown in the figure, it consists of a palm, an index finger of the collection hand, a middle finger of the collection hand, a ring finger of the collection hand, a finger side swing mechanism, a main control module, a flange mechanism, etc. The schematic diagram of the collection fingers of the index finger, middle finger, and ring finger is shown in the figure. Figure 3As shown, it is composed of finger tips, simulated bones, simulated tendons, continuous joints, and motion controllers. The pulse sensor is installed on the finger tips of the collection hand. The finger motion controller is composed of a stepper motor and a capstan. One section of the simulated tendon is fixed on the finger tips, and the other section is connected to the capstan. When the stepper motor drives the capstan to move, it drives the simulated tendon to move, and controls the movement and bending of the finger to simulate the common finger-moving techniques of Chinese medicine pulse diagnosis, such as lifting, pressing, taking the middle, searching, pushing, following, pressing the whole time, pressing the single press, pitching, raising, manipulating, and vertical movement. The finger side swing mechanism can control the index finger and the ring finger of the collection hand to swing to both sides to meet the needs of the three parts and nine lords pulse collection of people of different heights, and simulate the finger-moving technique of "pushing"; the flange mechanism can be connected to the robotic arm; the pulse sensor on the finger tips collects the pulse information, which is amplified, filtered, and modulated by the signal processing circuit, and then connected to the main control module of the collection end for AD conversion and uploaded to the collection end host computer.

[0058] Among them, the schematic diagram of the sliding armrest and the control module is as follows Figure 4 As shown in the figure, it is composed of a flexible hand pillow, a lead screw, a slide rail and a stepper motor. There are "bumps" on both sides of the upper end of the flexible hand pillow. The "bumps" are protruding against the radius of the human body to "calibrate" the closed position. An airbag is installed inside the flexible hand pillow. The expansion degree of the airbag can be adjusted through the control module to facilitate the adjustment of the wrist position of the person being tested. The flexible hand pillow is installed on the slide rail slider to drive the flexible hand pillow to slide. When the left or right hand is placed, the flexible hand pillow drives the left and right hands to slide along the slide rail slider, and adjusts the expansion degree of the airbag inside the flexible hand pillow to ensure that the position of the dexterous hand to collect pulse is accurate.

[0059] Among them, the schematic diagram of the structure of the TCM three-part nine-part pulse image playback device is as follows Figure 5 As shown, it is composed of a pulse pulsation generating device, a simulated hand and Cun, Guan, and Chi pressure detection module, a fluid pipeline pressure monitoring and feedback control module, and a simulated blood storage device. Each module is connected by a simulated blood vessel, and simulated blood flows in the simulated blood vessel. The pulse "number" and "potential" attributes are reproduced by simulating heart pulsation through the pulse pulsation generating device, driving the simulated blood to flow in the simulated vascular system; the pulse "position" attribute is detected by the Cun, Guan, and Chi pressure detection module under the radial position of the simulated hand in real time, and the pulse pulsation generating device generates corresponding pulse pulsations according to the pulse pressure and pulse position; the pulse "shape" attribute is detected by the fluid pipeline pressure monitoring and feedback control module in real time in the simulated vascular system, and the simulated vascular morphology is changed by controlling the fluid control valve, hydraulic control pump, etc. to adjust the vascular filling degree. The invention comprehensively considers the four attributes of "position, number, shape, and potential" of the pulse to reproduce, truly realizing the complete restoration of clinical pulse information, and laying a solid foundation for the realization of remote Chinese medicine pulse diagnosis.

[0060] The pulse pulsation generating device is the core component of the pulse image playback device of the three parts and nine lords of traditional Chinese medicine, and determines whether the pulse image of the three parts and nine lords can be accurately played. The device consists of a liquid circuit interface, a bellows upper plug, a fixed platform, a bellows, a bellows lower plug, an oscillator, and a fixed base. The bellows consists of an elastic tube body, a liquid storage cavity, an upper plug, and a lower plug. The elastic tube body simulates the contraction and relaxation of the heart muscle and drives the simulated blood flow in the liquid storage cavity; the bellows upper plug is fixed on the fastening platform and connected to the simulated blood vessel through the liquid circuit interface; the bellows lower plug is fixed to the oscillator through a connecting rod. The oscillator causes the vibration head to produce different displacements according to the change in the strength of the control current. The vibration head is connected to the connecting rod. The reciprocating movement of the vibration head up and down drives the bellows elastic cavity to contract and relax, thereby causing the liquid storage cavity to contract or relax, discharge or inhale the simulated blood into the liquid storage cavity, drive the simulated blood to flow in the simulated blood vessel, and produce corresponding expansion and contraction at the simulated blood vessel, thereby forming a perceptible pulse pulsation. At the same time, the oscillator, bellows, etc. are fixed together using a fastening platform and a fixed base, which limits the bellows' elastic cavity to only contraction or relaxation movements, thereby reducing the pulse playback error, reducing noise and vibration, and improving the stability and reliability of the Sanbu Jiuhou pulse playback device.

[0061] Simulated hand and Cun, Guan and Chi pressure detection module The simulated hand is made by using bionics and taking the hand of an adult man as a template to simulate the structure and finger feeling of the palm and arm of an adult. It is composed of silicone hand and hand skin, injection molded arm, and embedded with simulated blood vessels. There is a bulge on the front side of the injection molded arm to simulate the radial styloid process to facilitate the positioning of the joint. Figure 6 As shown, it is composed of a Cun-Guan-Chi pressure detection board, a pressure sensor, and a latex module. Five pressure sensors can be placed on the Cun-Guan-Chi pressure detection board to detect the pulse pressure at five sites: Cun-Shang, Cun-Guan, Chi-Xia. There is a simulated blood vessel placement groove on the latex module, and the simulated blood vessel is placed in the groove to restore the relationship between the blood vessel and the peripheral tissue. There are four grooves under the latex module, which divides the latex module into five small modules. Each small module corresponds to five sensors to prevent interference with the pressure detection of adjacent sites after pressing at one site during pulse taking. The simulated blood vessel is made of silicone tube, and its thickness and elasticity are consistent with those of normal adult male blood vessels, so as to more accurately reproduce the pulse information.

[0062] The fluid pipeline pressure detection and feedback control module is composed of a fluid pipeline pressure detection sensor, a fluid control valve I, a fluid control valve II and a hydraulic control pump. The fluid volume in the simulated blood vessel is changed by controlling the actions of the fluid control valve I, the fluid control valve II and the hydraulic control pump, and the simulated blood vessel filling degree is changed, thereby simulating the compliance of the blood vessel and restoring the static state of the blood vessel. In this process, the fluid pipeline pressure detection sensor detects the pressure in the simulated blood vessel in real time. Open the fluid control valve I, close the fluid control valve II, rotate the hydraulic control pump forward, drive the simulated blood pressure in the simulated blood reservoir into the simulated blood vessel system, increase the pressure in the simulated blood vessel, cause the simulated blood vessel to expand, and increase the blood vessel filling degree; open the fluid control valve I, close the fluid control valve II, rotate the hydraulic control pump in the reverse direction, drive the simulated blood in the simulated blood vessel to flow back to the simulated blood reservoir, reduce the pressure in the simulated blood vessel, cause the simulated blood vessel to contract, and reduce the blood vessel filling degree. At the same time, open the liquid circuit control valve I and liquid circuit control valve II, rotate the hydraulic control pump forward, drive the simulated blood pressure in the simulated blood reservoir to flow in the simulated blood vessel, and discharge the bubbles in the simulated blood vessel system; this working mode can also realize the replacement of simulated blood in the simulated blood vessel system, so as to carry out research on the influence of changes in blood viscosity on pulse.

[0063] The simulated blood storage container is a closed, transparent container, mainly used to store simulated blood. The main component of simulated blood is sodium carboxymethyl cellulose, which is a food-grade thickener, safe and harmless, does not react with silica gel and can be stored for a long time. The viscosity will increase after adding water. After adding red dye, simulated blood of different viscosities can be prepared. At the same time, add an appropriate amount of alcohol to the sodium carboxymethyl cellulose solution to lower the freezing point of the solution and prevent the solution from freezing at low temperatures.

[0064] The workflow of the pulse diagnosis teaching and evaluation system of the present invention is as follows:

[0065] (1) System startup self-test: After the system is turned on, the liquid pipeline pressure detection and feedback control module controls the operation of liquid control valve I, liquid control valve II, and hydraulic control pump to drive the simulated blood in the liquid circuit to circulate, and discharge the bubbles in the pipeline that may affect the pulse playback effect through liquid circulation, and detect whether there is any leakage in the liquid system; detect whether the pulse collection hand and flexible hand pillow are in the initial position, and whether the pressure values ​​detected by each pressure sensor are normal.

[0066] (2) The teacher computer selects online or stand-alone working mode. When the teacher computer is in online working mode, it mainly carries out teaching and simulation of the history of TCM pulse diagnosis, the mechanism of pulse formation and pulse elements, common finger manipulation techniques for pulse diagnosis, teaching and simulation of common TCM pulse patterns, teaching and simulation of TCM pulse patterns for common clinical diseases, and evaluation of TCM pulse diagnosis teaching effect. When the teacher computer is in stand-alone working mode, each student computer can independently carry out learning of the history of TCM pulse diagnosis, the mechanism of pulse formation and pulse elements, simulation training of common finger manipulation techniques for pulse diagnosis, simulation training of common TCM pulse patterns, and simulation training of TCM pulse patterns for common clinical diseases.

[0067] (3) If the teacher or student computer is conducting teaching and simulation training on TCM pulse diagnosis finger manipulation techniques:

[0068] ① The learner chooses whether to detect the "left hand" or "right hand". After the selection, the lower computer main control module controls the sliding handrest module to automatically move to the "left hand" or "right hand" position;

[0069] ② The learner places his hand on the flexible hand pillow, with the radial protrusion of the hand facing the "radial protrusion" mark on the flexible hand pillow, and adjusts the expansion degree of the air bag inside the flexible hand pillow to make the pulse collection position accurate;

[0070] ③ Move the pulse collection hand to the detection position, press the index finger, middle finger and ring finger of the collection hand to the learner's Cun, Guan and Chi positions, fine-tune the index finger, middle finger and ring finger of the collection hand radially (parallel to the arm cross section), and detect the radial artery fluctuation signal in real time, and adjust the index finger, middle finger and ring finger of the collection hand to the position where the radial artery pulse fluctuation is the largest;

[0071] ④ The pulse acquisition hand simulates 12 common finger manipulation techniques of TCM pulse diagnosis, such as lifting, pressing, taking the middle, searching, pushing, following, total pressing, single pressing, leaning forward, leaning back, manipulating, and vertically, according to the control instructions of the upper computer, collects pulse information in real time, and uploads it to the upper computer teaching and evaluation system after AD conversion by the lower computer main control module;

[0072] ⑤ The upper computer teaching and evaluation system receives the pulse information, displays the pulse signal in real time, calculates various parameters of the pulse chart and the pulse pressure, and compares them with the pulse diagnosis standard to determine what kind of pulse or combined pulse it is;

[0073] ⑥ After a finger movement simulation training is completed, the lower computer main control module controls the pulse collection hand and the flexible hand pillow to return to the initial position and wait for the next simulation training.

[0074] (4) If the teacher or student computer is used for teaching and simulation training of TCM pulse:

[0075] ① The upper computer teaching and evaluation system selects the simulated pulse, pre-processes the pulse data, and sends the basic pulse data and the pulse data at each pulse sampling position and pulse sampling pressure segment to the lower computer main control module, which is ready to simulate and replay the pulse;

[0076] ② The lower computer main control module controls the liquid pipeline pressure detection and feedback control module to adjust the "blood pressure" in the simulated blood vessel to the "static pressure value" of the reproduced pulse data. After the simulated blood vessel reaches the "static pressure value", the pulse pulsation generating device is controlled to work, and the pulse is simulated and reproduced at the simulated hand Cun Guan Chi position;

[0077] ③ The lower computer main control module receives the pulse position and pulse pressure detected by the Cun, Guan, and Chi pressure detection module in real time, extracts the corresponding pulse data fragment in the replayed pulse data according to the pulse position and pulse pressure, controls the pulse pulsation generating device to work, and replays the pulse at the simulated hand Cun, Guan, and Chi positions, and repeats this process until the main control module detects that the pulse position and pulse pressure have not changed, and the replay end main control module automatically determines that the simulation and replay are finished;

[0078] ④ During the simulation and re-release pulse work, the liquid pipeline pressure detection and feedback control module always monitors the pressure changes in the liquid circuit in real time. When the pressure in the liquid circuit exceeds or is lower than 25% of the "static pressure value" of the re-release pulse, the re-release device will shut down automatically and alarm at the same time to prevent pipe burst and leakage.

[0079] ⑤ After the simulation and playback are completed, the bellows in the pulse pulsation generating device returns to normal state, and the pressure in the simulated blood vessel returns to the predetermined initial value, waiting for the next pulse data segment to be played back.

[0080] (5) When the teacher's computer conducts TCM pulse diagnosis assessment, the teacher's computer selects the "online" working mode, and defines a set of assessment papers in the "Pulse Diagnosis Assessment" module of the TCM pulse diagnosis teaching and assessment system, and sends them to each student's computer. After the student's computer receives the test paper, the student "answers the questions", and the system records, stores, and judges the "answering" process and the operation process, and issues an assessment grade (excellent, good, qualified, unqualified).

[0081] (6) If the teacher's computer is editing the pulse condition, the pulse diagnosis finger manipulation simulation module, the Chinese medicine pulse three parts and nine Hou simulation, and the playback module will automatically return to their positions. The teacher logs in as an administrator and adjusts and saves the pulse parameters through the "Pulse Condition Editing" function. The adjustment content includes frequency, pulse pressure, pulse amplitude and pulse characteristics: the frequency can be adjusted in the range of 0-99, the pulse pressure can be adjusted in the range of 0-99, the pulse amplitude can be adjusted in the range of 0-99, and there are three parts, Cun, Guan, and Chi, and each part has eight pulse characteristics with an adjustable range of 0-99. The adjusted pulse parameters can be saved.

[0082] (7) When students are conducting TCM pulse diagnosis training, the pulse diagnosis finger manipulation simulation module, the TCM pulse three parts and nine hou simulation, and the playback module control the pulse acquisition hand to simulate the commonly used TCM pulse manipulation, the three parts and nine hou pulse simulation, the playback simulation, and the playback of common TCM pulse patterns and TCM pulse patterns of common clinical diseases according to the students' learning progress and needs in the "Pulse Diagnosis Teaching and Evaluation System".

[0083] (8) After completing the TCM pulse diagnosis finger manipulation, TCM pulse learning and simulation training, the user exits the "Pulse Diagnosis Teaching and Assessment System", the system is initialized, the pulse collection hand and the flexible hand pillow return to the initial position, the bellows in the pulse pulsation generating device returns to normal, and the simulated blood vessel pressure returns to the predetermined initial value.

[0084] In addition, the present invention can collect standard pulses through the pulse collecting hand and the pulse simulation hand to simulate and replay the pulse, and carry out relevant research on the influence of TCM finger manipulation and the three-part nine-hou collection method; by replacing the pulse collecting hand sensor, it is possible to carry out relevant research on pulse topography; by replacing simulated blood vessels with different elastic coefficients, it is possible to carry out research on the influence of vascular elasticity on the pulse, so as to further carry out relevant research on arteriosclerosis; by preparing simulated blood with different viscosities, it is possible to carry out research on the influence of blood with different viscosities such as hyperlipidemia and hyperglycemia on the pulse; by changing the initialization pressure of the simulated blood vessels, it is possible to carry out research on the influence of different blood pressures such as hypertension on the pulse; in this way, further research on TCM diagnosis of the blood system, blood system diseases, and chronic diseases, and research on the integration of Chinese and Western medicine, etc. can be carried out.

[0085] The present invention starts from the basic pulse diagnosis methods of traditional Chinese medicine of "taking the pulse at the Cunkou alone" and "feeling the pulse with both hands". Through the three-part and nine-part pulse image collection hands and control modules of traditional Chinese medicine, it can simulate 12 finger-moving techniques commonly used by traditional Chinese medicine practitioners, including lifting, pressing, taking the middle, searching, pushing, circulating, total pressing, single pressing, bending forward, looking up, manipulating, and vertical movement. This is the first time that the simulation of finger-moving techniques commonly used by traditional Chinese medicine practitioners has been realized. The pulse simulation and playback comprehensively consider the four attributes of the pulse, namely "position, number, shape, and momentum", and truly realize the complete restoration of clinical pulse information.

[0086] In summary, the TCM pulse diagnosis teaching and assessment device and system of the present invention fills the gap in the simulation training of commonly used finger manipulation techniques for pulse diagnosis, enriches the teaching and assessment methods and approaches of TCM pulse diagnosis, helps to establish a unified TCM pulse diagnosis teaching platform and assessment standards, helps to standardize the teaching and clinical practice of TCM pulse diagnosis, helps to improve the effect and quality of pulse diagnosis teaching, helps to improve the overall diagnosis and treatment level of TCM, and advantageously promotes the development of TCM pulse diagnosis teaching in the direction of standardization, objectivity, digitization and internationalization, and promotes the modernization process and global promotion and application of TCM pulse diagnosis.

Claims

1. A Chinese medicine pulse diagnosis teaching and assessment device, consisting of a host computer and a display module, a pulse playback device, a pulse acquisition hand and a control module, a slidable hand pillow and a control module, characterized in that: The pulse playback device is composed of a lower computer main control module, a pulse fluctuation generating device, a simulated hand and cun, guan, and chi pressure detecting module, a liquid pipeline pressure detecting and feedback control module, and a simulated blood reservoir. The pulse fluctuation generating device, the simulated hand and cun, guan, and chi pressure detecting module, and the liquid pipeline pressure detecting and feedback control module are connected through simulated blood vessels, and simulated blood flows in the simulated blood vessels; the lower computer main control module is electrically connected to the pulse fluctuation generating device, the simulated hand and cun, guan, and chi pressure detecting module, and the liquid pipeline pressure detecting and feedback control module respectively; the lower computer main control module is communicatively connected to the upper computer and the display module; the pulse collecting hand and control module, the slidable hand pillow and the control module are all electrically connected to the lower computer main control module.

2. The TCM pulse diagnosis teaching and assessment device according to claim 1, characterized in that: The pulse collecting hand and control module are composed of a palm, an index finger, a middle finger, a ring finger, a finger side swing mechanism, and a main control module. The collecting fingers of the index finger, middle finger, and ring finger are composed of finger tips, simulated bones, simulated tendons, continuous joints, and a motion controller. The finger motion controller is composed of a stepping motor and a capstan. One section of the simulated tendon is fixed on the finger tips, and the other section is connected to the capstan. The finger side swing mechanism and the motion controller are controllably connected to the main control module to control the index finger and ring finger of the collecting hand to swing to both sides. The pulse sensor is installed on the finger tips of the collecting hand, and the collected pulse information signal is connected to the main control module. The main control module is connected to the main control module of the lower computer.

3. The TCM pulse diagnosis teaching and assessment device according to claim 1 or 2, characterized in that: The slidable hand rest and control module are composed of a flexible hand rest, a lead screw, a slide rail and a stepper motor. The flexible hand rest is installed on the slide rail slider. The two side surfaces of the upper end of the flexible hand rest are protruding towards the human radius and are provided with "bumps" to mark the closed position; an airbag is installed inside the flexible hand rest; the stepper motor and the airbag are controllably connected to the main control module, and the expansion degree of the airbag is adjusted through the control module to facilitate adjustment of the wrist position of the person being tested.

4. The TCM pulse diagnosis teaching and assessment device according to claim 3, characterized in that: The pulse playback device, wherein the pulse pulsation generating device comprises a simulated blood vessel (21), a simulated blood vessel (22) and a cardiac contraction and relaxation simulation mechanism, wherein the simulated blood vessel (21) is arranged in the circuit of the simulated blood vessel (22), and the cardiac contraction and relaxation simulation mechanism comprises a bellows (30) and an oscillator (32); the bellows (30) is composed of an elastic tube body, a liquid storage chamber, an upper plug (28) and a lower plug (31); the upper plug (28) of the bellows is fixed on a fastening platform (29) and communicated with the simulated blood vessel (22) through a liquid path interface (27); the lower plug (31) of the bellows is fixed to the oscillator (32) through a connecting rod; the oscillator (32) is controllably connected to the main control module of the lower computer; the oscillator (32) is arranged on a fixed base (33), and the bellows (30) and the oscillator (32) are positioned and connected together through the fastening platform (29) and the fixed base (33).

5. The TCM pulse diagnosis teaching and assessment device according to claim 1, 2 or 4, characterized in that: The simulated hand (19) is composed of a silicone hand and hand skin, and an injection-molded arm, with a simulated blood vessel embedded therein. The front end side of the injection-molded arm has a protrusion that simulates the radial styloid process to facilitate the positioning of the joint. The wrist of the simulated hand (19) and the simulated blood vessel (21) are used to set up an Cun, Guan, and Chi pressure detection module (20), and the pressure sensor output signal of the Cun, Guan, and Chi pressure detection module (20) is connected to the main control module.

6. The TCM pulse diagnosis teaching and assessment device according to claim 1, 2 or 4, characterized in that: The Cun-Guan-Chi pressure detection module (20) is composed of a Cun-Guan-Chi pressure detection plate (38), a pressure sensor (37) and a latex module (35); the latex module (35) is buckled on the Cun-Guan-Chi pressure detection plate (38), a simulated blood vessel placement groove (36) is provided on the latex module, and a simulated blood vessel (21) connected to the simulated blood vessel (22) is placed in the simulated blood vessel placement groove (36), and four grooves are provided below the latex module (35), dividing the latex module into five small modules, and a pressure sensor is correspondingly arranged on the Guan-Chi pressure detection plate (38) and at each small module position.

7. The TCM pulse diagnosis teaching and assessment device according to claim 1, 2 or 4, characterized in that: The liquid pipeline pressure detection and feedback control module is composed of a liquid pipeline pressure detection sensor (23), a liquid pipeline control valve I (24), a liquid pipeline control valve II (26), a hydraulic control pump (25), and a simulated blood reservoir (34). The liquid pipeline pressure detection sensor (23) is connected to the simulated blood vessel (22); the liquid pipeline control valve I (24) is arranged in the simulated blood vessel (22) circuit at the outlet of the hydraulic control pump (25); the liquid pipeline control valve II (26) is arranged in the pipeline from the simulated blood vessel (22) to the blood reservoir (34); the liquid inlet of the hydraulic control pump (25) is arranged in the simulated blood reservoir (34); the liquid pipeline control valve I (24), the liquid pipeline control valve II (26) and the hydraulic control pump (25) are controllably connected to the lower computer main control module; the output signal of the liquid pipeline pressure detection sensor (23) is connected to the lower computer main control module.

8. A TCM pulse diagnosis teaching and assessment system according to any one of claims 1 to 7, characterized in that: The upper computer system of the TCM pulse diagnosis teaching and evaluation equipment is built with pulse diagnosis teaching and evaluation system software based on digital twins, which mainly includes the history of TCM pulse diagnosis, pulse formation mechanism and pulse elements, pulse diagnosis commonly used finger manipulation teaching and simulation training, common TCM pulse teaching and simulation training, clinical common TCM pulse teaching and simulation training, TCM pulse teaching and simulation training, TCM pulse teaching effect evaluation, etc., which conducts TCM pulse diagnosis teaching, simulation training and evaluation in a panoramic, multi-perspective and real experience; among them, "History of Chinese Medicine Pulse Diagnosis" introduces the origin, formation and development of Chinese medicine pulse diagnosis, pulse diagnosis classics, the significance of pulse diagnosis, Chinese medicine theory of pulse formation, Chinese medicine pulse diagram and pulse image, and basic knowledge of objective research on Chinese medicine pulse diagnosis in the form of pictures and texts, mainly to enable students to have a comprehensive and holistic understanding of Chinese medicine pulse diagnosis; "Pulse Formation Mechanism and Pulse Elements" uses 3D animation and human-computer interaction to demonstrate the pulse formation mechanism, focusing on the pulse wave formed by the superposition of the forward wave propagated along the artery generated by the contraction of the heart and the reflected wave reflected from the periphery, and reflects the role of qi, blood, blood vessels and the five internal organs; the 3D model of forearm anatomy is used to present the mechanical and histomorphological differences of different pulse signals, and the 3D video animation is used to highly restore the different pulse elements that are difficult to observe in the real world. The eight elements of pulse position, pulse number, pulse length, pulse width, pulse strength, uniformity, fluency and tension are interpreted with audio, subtitles and traditional pulse diagrams to help students intuitively and vividly understand the connotation of the eight elements of pulse; "Teaching and Simulation Training of Common Finger Movements in Pulse Diagnosis" uses 3D animation and human-computer interaction, and is accompanied by audio and subtitles to demonstrate 12 common finger movements in TCM pulse diagnosis: lifting, pressing, taking the middle, searching, pushing, following, total pressing, single pressing, leaning forward, leaning back, manipulating, and vertical. Students can choose any finger movement to simulate and train on the pulse collection hand, and can place their arms on a flexible hand pillow to feel the finger movement of TCM pulse diagnosis, and see the pulse graph detected by the pulse simulation hand in real time on the display; "Common TCM Pulse Conditions Teaching and Simulation Training" uses 3D animation and human-computer interaction, and demonstrates 28 common TCM pulse conditions and 260 combined pulse conditions with audio and subtitles. Students can choose any pulse condition to simulate and train on the pulse condition simulation hand, and feel the pulse condition fluctuations. At the same time, the monitor displays the pulse diagram simulated on the pulse condition simulation hand in real time. "Teaching and Simulation Training of TCM Pulse Conditions for Common Clinical Diseases" uses 3D animation and human-computer interaction, and is accompanied by audio and subtitles to demonstrate TCM pulse conditions for more than 1,000 common clinical diseases. Students can choose any pulse condition to simulate and train on the pulse simulation hand, and personally feel the pulse fluctuations. At the same time, the pulse diagram simulated on the pulse simulation hand is displayed in real time on the monitor. "Evaluation of the Teaching Effectiveness of TCM Pulse Diagnosis" adopts the form of "knowledge question bank, random generation of test papers, random distribution of test papers, regular collection and scoring" to conduct TCM pulse diagnosis teaching examination. The knowledge question bank is divided into knowledge-based questions, practical questions and clinical application questions. The knowledge-based questions are presented in the form of pictures, texts, etc., to assess students' mastery of TCM pulse diagnosis knowledge points; the practical question bank mainly assesses students' mastery of TCM pulse diagnosis in the form of TCM pulse diagnosis finger manipulation and pulse simulation diagnosis practice operations; clinical application questions mainly simulate and replay TCM pulse of common clinical diseases on the pulse simulation hand, and students make judgments according to the basic requirements of TCM pulse diagnosis, mainly assessing students' flexible application of TCM pulse diagnosis; the evaluation adopts online real-time assessment and scoring, and teachers can check and supervise students' completion. At the same time, students can also complete the submission of experiments and assessment questions online, check their own learning and training effects, and view their personal experimental results and teachers' comments.

9. The TCM pulse diagnosis teaching and assessment system according to claim 8, characterized in that: The pulse diagnosis teaching and assessment system software includes a teacher computer system and a student computer system, which has two working states: online and stand-alone. When online, after the student computer receives the teacher computer's command, the keyboard is locked and can only be controlled by the teacher computer. It is usually used in teaching tests; after the online state is released, the student computer can set and operate each pulse condition by itself; The teacher computer system has two states: clear screen and display. When the screen is cleared, the pulse diagrams are not displayed on the student computers, which is suitable for pulse diagnosis tests. The teacher computer issues commands for different pulse patterns to test students' understanding of the pulse names and diagrams of each pulse pattern. When the clear screen state is released, each student computer can display the pulse diagram. It has a pulse editing function. After logging in as an administrator, the pulse parameters can be adjusted and saved through the "pulse editing" function, which greatly enriches the performance of the pulse.

10. The TCM pulse diagnosis teaching and assessment system according to claim 8 or 9, characterized in that: Its workflow is: (1) System startup self-test: After the system is turned on, the liquid pipeline pressure detection and feedback control module controls the operation of the liquid control valve I, liquid control valve II, and hydraulic control pump, drives the simulated blood in the liquid circuit to circulate, discharges the bubbles in the pipeline that may affect the pulse playback effect through the liquid circulation, and detects whether there is leakage in the liquid system; detects whether the pulse collection hand and the flexible hand pillow are in the initial position, and whether the pressure value of each pressure sensor is normal; (2) The teacher computer selects online or stand-alone working mode; When the teacher computer is working online, it mainly teaches and simulates the history of TCM pulse diagnosis, the mechanism of pulse formation and pulse elements, commonly used finger manipulation techniques for pulse diagnosis, common TCM pulse patterns, common clinical diseases TCM pulse patterns, and teaching effect evaluation of TCM pulse diagnosis. When the teacher computer is working alone, each student computer can be used by students to learn the history of TCM pulse diagnosis, the mechanism of pulse formation and pulse elements, and simulate the commonly used finger manipulation techniques for pulse diagnosis, common TCM pulse patterns, and common clinical diseases TCM pulse patterns. (3) If the teacher or student computer is conducting teaching and simulation training on TCM pulse diagnosis finger manipulation techniques: ① The learner chooses whether to detect "left hand" or "right hand". After the selection, the lower computer main control module controls the sliding handrest module to automatically move to the "left hand" or "right hand" position; ② The learner places his hand on the flexible hand pillow, with the radial protrusion of the hand facing the "radial protrusion" mark on the flexible hand pillow, and adjusts the expansion degree of the air bag inside the flexible hand pillow to make the pulse collection position accurate; ③The pulse collecting hand moves to the detection position, and the index finger, middle finger, and ring finger of the collecting hand are pressed to the learner's Cun, Guan, and Chi positions. The index finger, middle finger, and ring finger of the collecting hand are radially fine-tuned, and the radial artery fluctuation signal is detected in real time. The index finger, middle finger, and ring finger of the collecting hand are adjusted to the position where the radial artery pulse fluctuation is the largest; ④ The pulse acquisition hand simulates 12 common finger manipulation techniques of TCM pulse diagnosis, such as lifting, pressing, taking the middle, searching, pushing, following, total pressing, single pressing, leaning forward, leaning back, manipulating, and vertically, according to the control instructions of the upper computer, collects pulse information in real time, and uploads it to the upper computer teaching and evaluation system after AD conversion by the lower computer main control module; ⑤ The upper computer teaching and evaluation system receives the pulse information, displays the pulse signal in real time, calculates various parameters of the pulse chart and the pulse pressure, and compares them with the pulse diagnosis standard to determine what kind of pulse or combined pulse it is; ⑥ After a finger movement simulation training is completed, the lower computer main control module controls the pulse collection hand and the flexible hand pillow to return to the initial position and wait for the next simulation training; (4) If the teacher or student computer is used for teaching and simulation training of TCM pulse: ① The upper computer teaching and evaluation system selects the simulated pulse, pre-processes the pulse data, and sends the basic pulse data and the pulse data at each pulse sampling position and pulse sampling pressure segment to the lower computer main control module, which is ready to simulate and replay the pulse; ② The lower computer main control module controls the liquid pipeline pressure detection and feedback control module to adjust the "blood pressure" in the simulated blood vessel to the "static pressure value" of the reproduced pulse data. After the simulated blood vessel reaches the "static pressure value", the pulse pulsation generating device is controlled to work, and the pulse is simulated and reproduced at the simulated hand Cun Guan Chi position; ③ The lower computer main control module receives the pulse position and pulse pressure detected by the Cun, Guan, and Chi pressure detection module in real time, extracts the corresponding pulse data fragment in the replayed pulse data according to the pulse position and pulse pressure, controls the pulse pulsation generating device to work, and replays the pulse at the simulated hand Cun, Guan, and Chi positions, and repeats this process until the main control module detects that the pulse position and pulse pressure have not changed, and the replay end main control module automatically determines that the simulation and replay are finished; ④ During the simulation and re-release pulse work, the liquid pipeline pressure detection and feedback control module always monitors the pressure changes in the liquid circuit in real time. When the pressure in the liquid circuit exceeds or falls below 25% of the "static pressure value" of the re-release pulse, the re-release device will shut down automatically and alarm at the same time to prevent pipe burst and leakage; ⑤ After the simulation and playback are completed, the bellows in the pulse pulsation generating device returns to a normal state, and the pressure in the simulated blood vessel returns to a predetermined initial value, waiting for the next pulse data segment to be played back; (5) If the teacher computer conducts TCM pulse diagnosis assessment, the teacher computer selects the "online" working mode, and defines a set of assessment papers in the "Pulse Diagnosis Assessment" module of the TCM Pulse Diagnosis Teaching and Assessment System, and sends them to each student computer. After the student computer receives the test paper, the student "answers the questions", and the system records, stores, and judges the "answering" process and operation process, and issues an assessment grade: excellent, good, qualified, or unqualified; (6) If the teacher's computer is editing the pulse condition, the pulse diagnosis finger manipulation simulation module, the Chinese medicine pulse three parts and nine Hou simulation, and the playback module automatically return to their positions. The teacher logs in as an administrator and adjusts and saves the pulse condition parameters through the "Pulse Condition Editing" function. The adjustment content includes frequency, pulse pressure, pulse amplitude and pulse characteristics: the frequency can be adjusted in the range of 0-99, the pulse pressure can be adjusted in the range of 0-99, the pulse amplitude can be adjusted in the range of 0-99, and the three parts of Cun, Guan and Chi have eight types of pulse characteristics in each part, and the adjusted pulse condition parameters are saved; (7) When students are conducting TCM pulse diagnosis training, the pulse diagnosis finger manipulation simulation module, TCM pulse three parts and nine Hou simulation, and playback module control the pulse acquisition hand to simulate the commonly used TCM pulse manipulation, three parts and nine Hou pulse simulation, playback simulation, and playback of common TCM pulse and TCM pulse of common clinical diseases according to the students' learning progress and needs in the "Pulse Diagnosis Teaching and Evaluation System"; (8) After completing the TCM pulse diagnosis finger manipulation, TCM pulse learning and simulation training, the user exits the "Pulse Diagnosis Teaching and Assessment System", the system is initialized, the pulse collection hand and the flexible hand pillow return to the initial position, the bellows in the pulse pulsation generating device returns to normal state, and the simulated blood vessel pressure returns to the predetermined initial value.

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