Remote real-time pulse feeling system based on near-end control and use method thereof

Abstract

The invention belongs to the technical field of medical instruments, and relates to a remote real-time pulse feeling device based on near-end control and a using method thereof.The remote real-time pulse feeling device based on near-end control comprises a near-end pulse searching device, a near-end pulse feeling device, a man-machine remote interaction device and a far-end synchronous pulse searching and feeling device. The use method of the remote real-time pulse feeling device based on near-end control comprises the following steps: S1, initializing a near-end device and a far-end device; s2, adjusting a pulse acquisition position; s3, inputting pulse sampling pressure; s4, collecting pulse information; and S5, reproducing the pulse information by the near-end pulse feeling device. Real-time change of the position of a far-end pulse sampling point is achieved through the near-end pulse searching device, collection of near-end pressing finger force and pulse reproduction are achieved through the near-end pulse feeling device, and collection of pulse vibration data under the current pressing finger force condition is achieved through the far-end synchronous pulse searching and feeling device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a remote real-time pulse diagnosis system based on proximal control and a method for using the system. Background Art

[0002] Pulse diagnosis is one of the four diagnostic methods. Doctors can make a preliminary judgment on the patient's physical health and symptoms by perceiving the characteristics of the pulse wave and combining it with the theory of traditional Chinese medicine. At present, due to the imbalance of medical standards in different regions, some remote areas have untimely or inaccurate medical treatment due to limited medical standards. The current remote pulse diagnosis device can be used as an effective solution. Most of the current remote pulse diagnosis devices rely on the operation of machines to achieve machine pulse finding, pulse diagnosis and artificial intelligence to diagnose and give conclusions. Due to the lack of real-time participation of doctors, it may lead to one-sided diagnosis or deviation in the effectiveness and accuracy of the diagnosis results.

[0003] Most of the current remote pulse diagnosis devices can initially realize the function of TCM remote pulse diagnosis, but it is difficult to realize the function of pulse finding, and it is even more difficult to adjust the pulse finding according to the different acupuncture points of different people. At the same time, its pulse image reproduction device can only realize the frequency of its pulse but not the strength information of the pulse beating, and its sensor is a flexible sensor, and the repeatability of its signal acquisition results is poor. Another remote pulse diagnosis device that can realize automatic pulse finding and pulse collection, and diagnose and analyze the pulse through artificial intelligence, because there is no doctor's leadership and participation, its pulse collection position and pulse diagnosis results will have corresponding errors.

[0004] Therefore, there is an urgent need for a new type of remote real-time pulse diagnosis system, which is based on proximal control throughout the pulse diagnosis process and makes appropriate judgments by sensing the pulse beating information. Summary of the invention

[0005] In view of the problem that the existing pulse diagnosis devices are difficult to adjust the pulse sampling point in real time and there are large deviations in the pulse reproduction process, the first aspect of the present invention provides a remote real-time pulse diagnosis system based on proximal control, which realizes proximal and distal synchronous control through a proximal pulse finding device and a distal synchronous pulse finding and diagnosis device to find a suitable pulse sampling point and collect pulse vibrations. The collected pulse signal is then transmitted using a wireless network and reproduced through the proximal pulse diagnosis device, thereby preserving and reproducing the finger pressure of the user during the pulse diagnosis process to the greatest extent.

[0006] The present invention provides a remote real-time pulse diagnosis system based on proximal control, which includes a proximal pulse finding device, a proximal pulse diagnosis device, a human-computer remote interaction device, and a remote synchronous pulse finding and diagnosis device, characterized in that: the proximal pulse finding device includes a shell support frame, a first linear slide rail, a second linear slide rail, a third linear slide rail, a first limit block, a second limit block, a wrist support, a first distance measuring plate, a second distance measuring plate, a first positioning sensor, and a second positioning sensor, the first ranging plate and the second ranging plate are respectively embedded in the inner layer of the shell support frame, the first linear slide rail and the second linear slide rail are respectively installed at the first mounting end and the second mounting end of the shell support frame, the third linear slide rail is respectively connected to the first linear slide rail and the third linear slide rail through the first limit block and the second limit block, the wrist support is installed on the third linear slide rail, and the first positioning sensor and the second positioning sensor are installed on the first mounting surface and the second mounting surface of the second end of the wrist support; the proximal pulse diagnosis device includes a mounting base, a first crank slider reproduction component, a second crank slider reproduction component, and a second crank slider reproduction component. The present component and the third crank slider reproduction component, the first mounting end, the second mounting end and the third mounting end of the mounting base are respectively connected to the first crank slider reproduction component, the second crank slider reproduction component and the third crank slider reproduction component, the first crank slider reproduction component, the second crank slider reproduction component and the third crank slider reproduction component have the same structure, respectively include an eccentric disk crank vibration module, a connecting frame and a linear module, the eccentric disk crank vibration module is connected to the first end of the linear module through the connecting frame; the remote synchronous pulse finding and diagnosis device includes a first linear module, a second linear module, a third linear module, a pressure electric push rod module, a connecting piece, and a pulse acquisition component, the first linear module and the second linear module are parallel to each other, the first end and the second end of the third linear module are respectively connected to the first end of the first linear module and the first end of the second linear module, the pressure electric push rod module is connected to the pulse acquisition component through the connecting piece, and the second end of the connecting piece is installed on the third linear module.

[0007] Preferably, the proximal pulse diagnosis device also includes a bionic shell, the eccentric disk crank vibration module includes a push rod, an eccentric disk and a first stepper motor, the push rod is connected to the mounting shaft of the first surface of the eccentric disk by a groove, the linear module includes a limit plate, a linear slide rail, a slider, a lead screw, a second stepper motor and a second stepper motor fixing frame, the linear slide rail is installed on the first mounting surface of the limit plate, the first mounting end of the lead screw is connected to the stepper motor, and the second mounting end of the lead screw is fixed to the first end of the limit plate; the first end and the second end of the first stepper motor are respectively connected to the connecting frame and the second surface of the eccentric disk, the second stepper motor is installed between the second mounting end of the limit plate and the second mounting end of the second stepper motor fixing frame, the first crank slider reproduction assembly, the second crank slider reproduction assembly and the third crank slider reproduction assembly have the same structure.

[0008] Preferably, the first linear slide, the second linear slide and the third linear slide constitute a first planar workspace, the wrist rest can move in the first planar workspace by relying on the first linear slide, the second linear slide and the third linear slide, the third linear slide is perpendicular to the first linear slide and the second linear slide, the first linear slide and the second linear slide are parallel to each other, the first end of the wrist rest is a planar support surface, the second end of the wrist rest is a rectangular structure, and the wrist rest can move along the third linear slide.

[0009] Preferably, the pressure-applying electric push rod module includes a first electric push rod assembly, a second electric push rod assembly, a third electric push rod assembly and a push rod module connector, the first electric push rod module includes an electric push rod and an electric push rod linear module, the first electric push rod module, the second electric push rod assembly and the third electric push rod assembly have the same structure, the pulse acquisition assembly includes a first pulse acquisition sensor, a second pulse acquisition sensor and a third pulse acquisition sensor, and the first electric push rod assembly is connected to the first pulse acquisition sensor.

[0010] Preferably, according to the claim, the remote real-time pulse diagnosis system based on proximal control is characterized in that a pressure acquisition sensor assembly is provided on the surface of the bionic shell of the proximal pulse diagnosis device, cyclic AD sampling is performed by the sensor, the acquisition frequency is 5ms / time, mean filtering is used to eliminate fluctuation interference, each collected data is packaged into a string of data sequences, and the pressure signal is transmitted to the output end through wireless transmission for force value matching.

[0011] The proximal pulse finding device also includes a dustproof shell and a protective rubber sleeve, the dustproof shell covers the shell support frame, the protective rubber sleeve is located at the first end of the dustproof shell, the first ranging plate and the second ranging plate are perpendicular to each other and correspond to the first positioning sensor and the second positioning sensor respectively.

[0012] Preferably, the proximal pulse diagnosis device has the highest and lowest positions of the push rod known according to the geometric relationship between the eccentric disk and the push rod during the mechanism design, and sends the amplitude of the data sequence to the second stepper motor in real time. The second stepper motor compensates according to the corresponding amplitude information to achieve the final required amplitude. Under the joint action of the first stepper motor and the second stepper motor, the pulse curve is fitted. The output displacement expression of the second stepper motor is X i =Y i ±(RD)*cosθ

[0013] Where X i is the output displacement of the second stepper motor, Y i is the pulse wave intensity of the pulse wave to be processed at a certain relative time, R is the radius of the eccentric disk, D is the distance between the eccentric axis of the eccentric disk and the rotation center, and θ is the rotation angle output by the first stepper motor.

[0014] Preferably, the proximal pulse finding device also includes a dustproof shell and a protective rubber sleeve, the dustproof shell covers the shell support frame, the protective rubber sleeve is located at the first end of the dustproof shell, the first ranging plate and the second ranging plate are perpendicular to each other and correspond to the first positioning sensor and the second positioning sensor respectively.

[0015] Preferably, the remote synchronous pulse finding and pulse diagnosis device also includes a remote pulse finding component housing and a remote pulse diagnosis component housing, the first end of the remote pulse diagnosis component housing is connected to the second end of the remote pulse finding component housing, the central part of the remote pulse diagnosis component housing has a square through hole, the first linear module, the second linear module and the third linear module constitute a second planar working space, and the second planar working space is the same size as the first planar working space.

[0016] The second aspect of the present invention provides a method for using a remote real-time pulse diagnosis system based on proximal control, and the specific operation steps are as follows:

[0017] S1, initialization of the proximal and distal devices: pressing the pressure collection sensor of the proximal pulse diagnosis device, moving the wrist support of the proximal pulse finding device to the zero position, starting the system, and synchronizing the position information of the pulse image collection component of the distal synchronous pulse finding device with the wrist support position;

[0018] S2. Pulse collection position adjustment: Observe the real-time indication position of pulse collection displayed on the human-machine remote interaction device, and continue to move the position of the wrist support in the proximal pulse finding device until the pulse collection position on the human-machine remote interaction device reaches the appropriate pulse collection point. The adjustment method is as follows:

[0019] When the proximal pulse diagnosis device is at the initial position, the distance between the first positioning sensor and the first distance measuring plate is X=x 1 , the distance between the second positioning sensor and the second distance measuring board is Y=y 1 , when moving to a certain position, the distance between the first positioning sensor and the first distance measuring board is X=x 2 , the second positioning sensor detects the distance Y=y between the second distance measuring board in real time 2 , when x 1 <x 2 When the pulse image acquisition component of the remote synchronous pulse finding and diagnosis device moves in the second plane workspace toward the positive direction of the x-axis, and vice versa, when the y-axis moves to the negative direction. 1 <y 2 When the pulse image acquisition component of the remote synchronous pulse finding and diagnosis device moves in the positive direction of the y-axis in the second plane workspace, and vice versa, it moves in the negative direction of the y-axis, and the position offset Dx=x 2 -x 1 , D y =y 1 -y 2 As the specific numerical value of the pulse acquisition component moving in the second plane workspace.

[0020] S3, input of pulse pressure: after the pulse point is confirmed, the user presses the pressure collection sensor of the proximal pulse diagnosis device with appropriate force, and the wireless network transmits the pressure signal to the remote synchronous pulse finding and diagnosis device;

[0021] S4. Collection of pulse information: After receiving the pressure signal, the pulse information collection component contacts the pulse point, converts the pulse signal into a voltage signal, and transmits it to the proximal pulse diagnosis device in real time.

[0022] S5. Reproduction of pulse information by the proximal pulse diagnosis device: The proximal pulse diagnosis device processes the digital signal transmitted by the remote synchronous pulse finding and diagnosis device, simulates the vibration of the pulse through the vibration of the push rod, and completes the remote pulse diagnosis process.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] 1. A remote real-time pulse diagnosis system based on proximal control provided by the present invention can realize the real-time pulse finding process at the proximal and distal ends. The signal is transmitted through a wireless network, and the movement of the proximal pulse finding device in the first plane workspace drives the position change of the remote synchronous pulse finding and diagnosis device in the second plane workspace. The position of the pulse sampling point is adjusted according to the actual situation, thereby improving the accuracy and effectiveness of the remote pulse diagnosis process.

[0025] 2. A remote real-time pulse diagnosis system based on proximal control provided by the present invention can realize real-time pulse diagnosis process at both proximal and distal ends. The proximal pulse diagnosis device can collect the force information of proximal finger pressing, and transmit it to the remote synchronous pulse finding and diagnosis device through a wireless network for real-time pressure adjustment. At the same time, the remote synchronous pulse finding and diagnosis device collects the pulse information under corresponding pressure and transmits it back to the proximal pulse diagnosis device, thus realizing the real-time data transmission at both ends, that is, the force of pulse diagnosis can be changed at any time during the pulse diagnosis process, and the changes in the pulse beating caused by the changes in the applied pressure can be felt in real time.

[0026] 3. The remote real-time pulse diagnosis system based on proximal control provided by the present invention can realize the conversion of the collected pulse electrical signal into a vibrating mechanical signal, thus solving the shortcomings of most current hydraulic pulse diagnosis devices, such as large size, high noise and easy leakage of liquid.

[0027] 4. The remote real-time pulse diagnosis system based on proximal control provided by the present invention has information storage capability, and can save and record the finger strength information of the doctor's pulse diagnosis and the pulse beat information of the patient, providing digital teaching materials and big data raw data for subsequent traditional Chinese medicine pulse diagnosis teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is an overall schematic diagram of the remote real-time pulse diagnosis system based on proximal control of the present invention;

[0029] Figure 2 A schematic diagram of a proximal pulse finding device of a remote real-time pulse diagnosis system based on proximal control of the present invention;

[0030] Figure 3 A schematic diagram of a proximal pulse diagnosis device of a remote real-time pulse diagnosis system based on proximal control according to the present invention;

[0031] Figure 4 It is a schematic diagram of a first crank slider reproducing component of a proximal pulse diagnosis device of a remote real-time pulse diagnosis system based on proximal control of the present invention;

[0032] Figure 5 It is a schematic diagram of a remote synchronous pulse finding and diagnosing device of a remote real-time pulse diagnosing system based on proximal control of the present invention;

[0033] Figure 6The transmission of the proximal position signal during the pulse finding process of the proximal pulse finding device and the remote synchronous pulse finding device of the remote real-time pulse diagnosis system based on proximal control of the present invention;

[0034] Figure 7 The transmission of the proximal pressure signal during the pulse diagnosis process of the proximal pulse diagnosis device and the remote synchronous pulse-finding device of the remote real-time pulse diagnosis system based on proximal control of the present invention;

[0035] Figure 8 The invention relates to the transmission of the remote pulse signal during the pulse diagnosis process of the proximal pulse diagnosis device and the remote synchronous pulse-finding device of the remote real-time pulse diagnosis system based on proximal control;

[0036] Fig. 9 The flowchart of the remote real-time pulse diagnosis system based on proximal control of the present invention;

[0037] Fig.10 It is a flow chart of the position synchronization algorithm in the pulse-finding process of the proximal pulse-finding device and the remote synchronous pulse-finding device of the remote real-time pulse-finding system based on proximal control of the present invention;

[0038] Fig.11 Any set pulse wave during the application of the remote real-time pulse diagnosis system based on proximal control of the present invention;

[0039] Fig.12 The proximal pulse diagnosis device of the remote real-time pulse diagnosis system based on proximal control of the present invention is applied in Fig.11 The motion parameters of the ejector needle under the conditions of the set pulse wave shown;

[0040] Fig.13 It is a schematic diagram of the application of adaptive pulse wave of the proximal pulse diagnosis device of the remote real-time pulse diagnosis system based on proximal control of the present invention.

[0041] Main figure marks: proximal pulse finding device 1, proximal pulse diagnosis device 2, human-computer remote interaction device 3, remote synchronous pulse finding and diagnosis device 4, dustproof shell 11, shell support frame 12, linear slide rail assembly 13, first linear slide rail 131, second linear slide rail 132, third linear slide rail 133, first limit block 134, second limit block 135, wrist support 14, first distance measuring plate 151, second distance measuring plate 152, first positioning sensor 161, second positioning sensor 162, protective rubber sleeve 17, bionic shell 21, mounting base 22, first crank slider reproduction assembly 23, second crank slider reproduction assembly 24, third crank slider reproduction assembly 25, pressure acquisition sensor assembly 26, eccentric disk crank vibration module 231, connecting frame 232, linear module 23 3. Push rod 2311, eccentric disc 2312, first stepper motor 2313, limit plate 2331, slide rail 2332, slider 2333, lead screw 2334, second stepper motor 2335, second stepper motor fixing bracket 2336, distal pulse finding component housing 41, distal pulse diagnosis component housing 42, first linear module 43, second linear module 44, third linear module 45, pressure electric push rod module 46, first electric push rod assembly 461, second electric push rod assembly 462, third electric push rod assembly 463, push rod module connector 464, electric push rod 4611, electric push rod linear module 4612, connector 47, pulse acquisition component 48, first pulse acquisition sensor 481, second pulse acquisition sensor 482, third pulse acquisition sensor 483. DETAILED DESCRIPTION

[0042] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0043] The existing remote pulse diagnosis devices are difficult to achieve near-end control participation or difficult to obtain real-time feedback, such as Figure 1 As shown, the present invention realizes synchronization of mobile operation through a proximal pulse finding device 1 and a distal synchronous pulse finding and diagnosing device 4, and the human-machine remote interaction device 3 can observe the positional relationship between the pulse image acquisition sensor of the distal synchronous pulse finding and diagnosing device 4 and the patient's wrist in real time to determine a suitable pulse collection point; the three-finger pressure of the user during pulse diagnosis collected by the proximal pulse diagnosing device 2 is transmitted to the distal synchronous pulse finding and diagnosing device 4 via a wireless network as a start signal of the device, and the pulse image acquisition sensor of the distal synchronous pulse finding and diagnosing device collects pulse vibration data under the current pressure, and the collected pulse data is transmitted to the proximal pulse diagnosing device 2 via the wireless network for reproduction.

[0044] The proximal pulse finding device 1 comprises a dustproof housing 11, a pulse finding component support frame 12, a protective rubber sleeve 18, a linear guide rail component 13, a wrist support 14, a first distance measuring plate 151, a second distance measuring plate 152, a first positioning sensor 161, and a second positioning sensor 162. Figure 2 As shown, the linear slide rail assembly 13 constitutes a first planar workspace, wherein the working direction of the first linear slide rail 131 and the second linear slide rail 132 is defined as the y direction of the first planar workspace, and the working direction of the third linear slide rail 133 is defined as the x direction of the first planar workspace. The first end and the second end of the third linear slide rail 133 are respectively connected to the first linear slide rail 131 and the second linear slide rail 132 via a first limit block 134 and a second limit block 135. The wrist rest 14 is installed on the third linear slide rail 133. The wrist rest 14 can move freely along the working direction of the third linear slide rail 133 and can move freely along the y direction of the first planar workspace along with the third linear slide rail 133. The first linear slide rail 131 and the second linear slide rail 132 are respectively located at the first mounting end and the second mounting end of the pulse-finding component support frame 12, the exterior of the pulse-finding component support frame 12 is covered by the dustproof shell 11, the first ranging plate 151 and the second ranging plate 152 are respectively embedded in the interior of the pulse-finding component support frame 12 along the x-direction and the y-direction of the planar working space, the protective rubber sleeve 18 is located, the first end of the wrist rest 14 is a planar supporting surface, and the second end is a rectangular parallelepiped structure, the first positioning sensor 161 and the second positioning sensor 162 are installed on the first mounting surface and the second mounting surface of the second end of the wrist rest, and the first positioning sensor 161 and the second positioning sensor 162 correspond to the first ranging plate 151 and the second ranging plate 152 respectively;

[0045] The proximal pulse diagnosis device 2 includes a pulse diagnosis bionic housing 21, a mounting base 22, a first crank slider reproduction component 23, a second crank slider reproduction component 24, and a third crank slider reproduction component 25. Figure 3 As shown, the first mounting end, the second mounting end and the third mounting end of the mounting base 22 are respectively connected to the first crank slider replica assembly 23, the second crank slider replica assembly 24 and the third crank slider replica assembly 25, and the first crank slider replica assembly 23, the second crank slider replica assembly 24 and the third crank slider replica assembly 25 have the same structure. Figure 4As shown, taking the first crank slider reproduction component 23 as an example, it includes an eccentric disk crank vibration module 231, a connecting frame 232 and a linear module 233, the eccentric disk crank vibration module 231 is connected to the first end of the linear module 233 through the connecting frame 232, the eccentric disk crank vibration module 231 includes a push rod 2311, an eccentric disk 2312 and a first stepper motor 2313, the push rod 2311 is connected to the mounting shaft of the first surface of the eccentric disk by a slot, and the linear module 233 is connected to the first end of the eccentric disk 2312 by a slot. The module 233 includes a limit plate 2331, a slide rail 2332, a slider 2333, a lead screw 2334, a second stepper motor 2335 and a second stepper motor fixing bracket 2336. The slide rail 2332 is installed on the first mounting surface of the limit plate 2331. The first mounting end of the lead screw 2334 is connected to the output shaft of the stepper motor, and the second mounting end is fixed to the first end of the limit plate 2331. The surface of the bionic housing 21 is installed with a pressure collection sensor assembly 26.

[0046] The remote synchronous pulse finding and pulse diagnosis component 4 includes a remote pulse finding component housing 41, a remote pulse diagnosis component housing 42, a first linear module 43, a second linear module 44, a third linear module 45, a pressure electric push rod module 46, a connecting piece 47, and a pulse condition acquisition component 48. Figure 5 As shown, the first linear module 43, the second linear module 44 and the third linear module 45 constitute a second planar working space of the same size as the first planar working space composed of the linear slide rail assembly 13 in the proximal pulse finding device 1, and the first linear module 43 and the second linear module 44 are parallel to the y direction of the second planar working space, and the third linear module 45 is parallel to the x direction of the second planar working space, and the x direction and the y direction of the second planar working space are perpendicular to each other, and a square through hole is opened in the central part of the distal pulse diagnosis component housing 42, and the first linear module 43, the second linear module 44, and the third linear module 45 are located at the edge of the square hole of the distal pulse diagnosis component housing, the second end of the connecting member 47 is connected to the third pulse finding slide rail 433, and the pulse condition acquisition component 48 and the pressure electric push The rod module 46 is connected through a push rod collection connecting piece 47, and the pressure-applying electric push rod module 46 includes a first electric push rod assembly 461, a second electric push rod assembly 462, a third electric push rod assembly 463 and a push rod module connecting piece 464. The first electric push rod assembly 461, the second electric push rod assembly 462 and the third electric push rod assembly 463 have the same push rod module structure. The push rod collection connecting piece 47 includes a first push rod collection connecting piece 471, a second push rod collection connecting piece 472 and a third push rod collection connecting piece 473. The pulse collection sensor assembly 48 includes a first pulse collection sensor 481, a second pulse collection sensor 482 and a third pulse sensor 483. The pulse collection sensor assembly 483 is used to collect the vibration data of the pulse on the one hand and the pressure applied to the pulse collection point on the other hand.

[0047] like Figure 6-Figure 8As shown, the signal transmission format of the position information of the wrist rest in the first plane workspace in the proximal pulse finding device of the remote real-time pulse diagnosis system based on proximal control of the present invention is frame header→position offset in the x direction→position offset in the y direction→frame tail; the signal transmission format of the finger force collection data of the proximal pulse diagnosis device transmitted to the remote synchronous pulse finding and diagnosis device is: frame header→first finger force collection data→second finger force collection data→third finger force collection data→frame tail; the signal transmission format of the pulse vibration data collected by the remote synchronous pulse finding and diagnosis device transmitted to the proximal pulse diagnosis device is: frame header→first pulse image collection data→second pulse image collection data→third pulse image collection data→frame tail; wherein the existence of the frame header and the frame tail is to prevent data loss and ensure data integrity, and the first finger force data, the second finger force data and the third finger force data collected in the pressure collection sensor 46 are respectively transmitted to the first pulse image collection sensor 481, the second pulse sensor 482 and the third pulse sensor 483.

[0048] like Fig. 9 As shown, the second aspect of the present invention provides an application method of a remote real-time pulse diagnosis system based on proximal control, and the specific operation steps are as follows:

[0049] S1, initial synchronization of proximal and distal information: the user places the wrist on the working end of the proximal pulse finding device 1, places the three fingers for pulse diagnosis on the pressure collection sensor 26 of the proximal pulse diagnosis device, moves the wrist support 14 of the proximal pulse finding device to the initial position of the first plane working space, starts the system, and moves the pulse image collection group 48 of the distal synchronous pulse finding and diagnosis device to the initial position of the second plane working space, and the pulse image collection group 48 and the wrist support 14 have the same initial position;

[0050] S2, adjustment of the remote pulse collection position: observe the real-time indication position of the pulse collection displayed in the human-machine remote interaction device 3, move the position of the wrist support 14 in the proximal pulse finding device by the wrist, and drive the slide rail module of the remote synchronous pulse finding and diagnosing device remotely through the wireless network with the position information of the wrist support in the first plane space, so as to realize the accurate control of the selection of the pulse collection position, and the adjustment method is as follows:

[0051] When the proximal pulse diagnosis device 2 is located at the initial position, the distance between the first positioning sensor 161 and the first distance measuring plate 151 is X=x 1 , the distance between the second positioning sensor 162 and the second distance measuring plate 152 is Y=y 1 , when moving to a certain position, the distance between the first positioning sensor and the first distance measuring board is X=x 2 , the second positioning sensor detects the distance Y=y between the second distance measuring board in real time 2 , when x 1 <x 2When the pulse image acquisition component 48 of the remote synchronous pulse finding and diagnosing device moves in the second plane workspace toward the positive direction of the x-axis, and vice versa, when the y-axis moves to the negative direction. 1 <y 2 When the pulse image acquisition component 48 of the remote synchronous pulse finding and diagnosis device moves in the second plane workspace toward the positive direction of the y-axis, and vice versa, moves toward the negative direction of the y-axis, and the position offset Dx=x 2 -x 1 , D y =y 1 -y 2 As the specific numerical value of the pulse condition acquisition component 18 moving in the second plane workspace.

[0052] S3, finger force acquisition and pressure synchronization of the proximal pulse diagnosis device on the doctor's side: the user places three fingers on the pressure acquisition sensor 26 of the proximal pulse diagnosis device. When the pressure acquisition sensor detects the pressure signal, it sends a start signal to the remote synchronous pulse finding and diagnosis device through the wireless network, so that the pressure electric push rod assembly 46 moves downward. When the pulse acquisition sensor contacts the patient, it will collect pressure information in real time. When the value of the pressure information is equal to the value of the finger force information collected by the proximal pulse diagnosis device, a closing signal is sent to the pressure electric push rod assembly to achieve finger force acquisition and pressure synchronization of the proximal pulse diagnosis device on the doctor's side;

[0053] S4. The remote synchronous pulse finding and diagnosis device collects pulse information: The pulse sensor collects the patient's pulse signal under a pressure equal to the finger force. The pulse sensor contacts the patient's pulse point and converts the pulse beating signal into a voltage signal. The voltage signal acquisition device converts the voltage signal from an analog signal to a digital signal, thereby realizing the remote synchronous pulse finding and diagnosis device collecting pulse information.

[0054] S5. Reproduction of pulse information by the proximal pulse diagnosis device: The proximal pulse diagnosis device processes the digital signal transmitted by the remote synchronous pulse diagnosis device, and realizes the conversion from the digital signal to an electrical signal and finally to a force signal of the vibration of the push rod through the crank slider reproduction component, thereby simulating the vibration of the pulse through the vibration of the push rod.

[0055] The following is a further description of a remote real-time pulse diagnosis system based on proximal control of the present invention in conjunction with an embodiment:

[0056] The present invention determines a consistent pulse sampling point through the mutual cooperation between a proximal pulse finding device 1 and a distal synchronous pulse finding and diagnosing device 4, transmits the pulse data collected by the distal synchronous pulse finding and diagnosing device 4 to the proximal pulse diagnosing device 2 via a wireless network, and the proximal pulse diagnosing device realizes the mechanical reproduction of the collected pulse data, thereby achieving the purpose of remote pulse diagnosis.

[0057] When the wrist support 14 is located at the initial position of the first plane workspace, the distance between the first positioning sensor 161 and the second positioning sensor 162 at the second end of the wrist support and the first distance measuring plate 151 and the second distance measuring plate 152 is X=x 1 、Y=y 1 , the position information is displayed in real time on the human-machine remote interaction device 3, and at the same time, the pressure electric push rod module 44 of the remote synchronous pulse finding and diagnosis device 4 is remotely driven through the wireless network to move synchronously in the second plane workspace composed of the first pulse finding slide rail 431, the second pulse finding slide rail 432 and the third pulse finding slide rail 433, and the distance between the pressure electric push rod module 44 and the edge of the second plane workspace is X, Y, observe the position relationship between the pulse image collection component 46 and the best pulse collection point in the human-machine remote interaction device 3, and adjust the position of the wrist rest in the first plane workspace, such as Fig.10 As shown, the distance between the first positioning sensor 161 and the first distance measuring plate 151 is X=x 2 The second positioning sensor 162 detects the distance Y=y between the second distance measuring plate 152 in real time. 2 , according to x 1 With x 2 The quantitative relationship determines the positive and negative movement direction in the remote pulse diagnosis device. 1 <x 2 When x 1 >x 2 When the linear module moves in the negative direction, the position offset Dx is set to x 2 -x 1 , D y =y 1 -y 2 Real-time D x , D y It is sent to the second plane workspace as the specific value of the linear module movement and drives the pulse acquisition component of the remote synchronous pulse finding and diagnosis device 4. When it reaches the best pulse collection point, it stops moving.

[0058] After confirming the pulse sampling point, the pressure collection sensor 26 of the near-end pulse diagnosis device is pressed with appropriate strength, and the pressure sensor 26 collects the pressure information applied by the user, and sends a start signal to the first pressure electric push rod 461, the second pressure electric push rod 462 and the third pressure electric push rod 463 of the pressure electric push rod module in the far-end synchronous pulse diagnosis device 4 through the wireless network to make it move, and when the first pulse sampling sensor 481, the second pulse sampling sensor 482 and the third pulse sampling sensor 483 of the pulse acquisition component contact the patient, the pressure information will be collected in real time, and when the numerical value of the pressure information is equal to the numerical value of the finger force information, the pressure electric push rod module 46 of the pressure component is closed. The first pulse acquisition sensor, the second pulse acquisition sensor and the third pulse acquisition sensor can collect pulse signals under this pressure. The pulse signal collected is sent to the first crank slider reproducing component 23, the second crank slider reproducing component 24 and the third crank slider reproducing component 25 of the near-end pulse diagnosis device through the wireless network, so that it simulates and reproduces the pulse waveform.

[0059] like Figure 11-13 As shown, after the proximal pulse diagnosis device 2 obtains the pulse electrical signal, the first crank slider reproduction component 23, the second crank slider reproduction component 24 and the third crank slider reproduction component 25 will perform corresponding reproduction movements according to their respective input signals. Taking the movement of the first crank slider reproduction component 23 in the reproduction process as an example, the eccentric disk crank vibration module is responsible for outputting the fitted pulse force signal, the first stepper motor 2313 is responsible for realizing the periodic parameters of the pulse signal, and the second stepper motor 2335 is responsible for realizing the pulse force value interval and force signal curve fitting compensation. The pulse waveform has a known data value Y for each data point Ti. i , T i-k With T i+k There are K data points separated by a distance, and their data are Y i-k With Y i+k , ABC are the numerical ranges of the pulse force, the average pulse period is T, and the highest peak value of a single period is H 1 and relative time T 1 , the second highest peak value H of a single cycle 2 and relative time T 2 First, the average cycle T is sent to the first stepper motor 2313 to realize cycle control, and the highest peak value H1 and relative time T 1 , the second highest peak value H 2 and relative time T 2 Sent to the second motor as the highest value and the second highest value judgment, send the data value of each data point to the second stepper motor, and give the second stepper motor 2335 a certain position output target. The position relationship of the crank slider reappears the component. The radius of the eccentric disk is R, the eccentric wheelbase rotation center is D, and the known data value Y i , according to Xi =Y i ±(RD)*cosθ, the output displacement of the second stepper motor is obtained, and X i The signal is sent to the second stepper motor, and the two motors work together to achieve the corresponding curve fitting, and finally the vibration of the pulse is simulated through the vibration of the push rod.

[0060] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A remote real-time pulse diagnosis system based on proximal control, comprising a proximal pulse finding device, a proximal pulse diagnosis device, a human-computer remote interaction device, and a remote synchronous pulse finding and diagnosis device, characterized in that: The proximal pulse finding device comprises an outer shell support frame, a first linear slide rail, a second linear slide rail, a third linear slide rail, a first limit block, a second limit block, a wrist rest, a first distance measuring plate, a second distance measuring plate, a first positioning sensor and a second positioning sensor, wherein the first distance measuring plate and the second distance measuring plate are respectively embedded in the inner layer of the outer shell support frame, the first linear slide rail and the second linear slide rail are respectively installed at the first mounting end and the second mounting end of the outer shell support frame, the third linear slide rail is respectively connected to the first linear slide rail and the third linear slide rail through the first limit block and the second limit block, the wrist rest is installed on the third linear slide rail, and the first positioning sensor and the second positioning sensor are installed on the first mounting surface and the second mounting surface of the second end of the wrist rest; The proximal pulse diagnosis device comprises a mounting base, a first crank slider replica assembly, a second crank slider replica assembly and a third crank slider replica assembly, wherein the first mounting end, the second mounting end and the third mounting end of the mounting base are respectively connected to the first crank slider replica assembly, the second crank slider replica assembly and the third crank slider replica assembly, the first crank slider replica assembly, the second crank slider replica assembly and the third crank slider replica assembly have the same structure, and respectively comprise an eccentric disk crank vibration module, a connecting frame and a linear module, wherein the eccentric disk crank vibration module is connected to the first end of the linear module via the connecting frame; The remote synchronous pulse finding and diagnosis device includes a first linear module, a second linear module, a third linear module, a pressure electric push rod module, a connecting piece and a pulse acquisition component. The first linear module and the second linear module are parallel to each other. The first end and the second end of the third linear module are respectively connected to the first end of the first linear module and the first end of the second linear module. The pressure electric push rod module is connected to the pulse acquisition component through the connecting piece, and the second end of the connecting piece is installed on the third linear module.

2. The remote real-time pulse diagnosis system based on proximal control according to claim 1 is characterized in that: The proximal pulse diagnosis device also includes a bionic shell, the eccentric disk crank vibration module includes a push rod, an eccentric disk and a first stepper motor, the push rod is connected to the mounting shaft of the first surface of the eccentric disk by a groove, the linear module includes a limit plate, a slide rail, a slider, a lead screw, a second stepper motor and a second stepper motor fixing frame, the slide rail is installed on the first mounting surface of the limit plate, the first mounting end of the lead screw is connected to the stepper motor, and the second mounting end of the lead screw is fixed to the first end of the limit plate; the first end and the second end of the first stepper motor are respectively connected to the connecting frame and the second surface of the eccentric disk, the second stepper motor is installed between the second mounting end of the limit plate and the second mounting end of the second stepper motor fixing frame, the first crank slider reproduction assembly, the second crank slider reproduction assembly and the third crank slider reproduction assembly have the same structure.

3. The remote real-time pulse diagnosis system based on proximal control according to claim 1 is characterized in that: The first linear slide, the second linear slide and the third linear slide constitute a first planar working space, the wrist rest can move in the first planar working space by relying on the first linear slide, the second linear slide and the third linear slide, the third linear slide is perpendicular to the first linear slide and the second linear slide, the first linear slide and the second linear slide are parallel to each other, the first end of the wrist rest is a planar supporting surface, the second end of the wrist rest is a rectangular structure, and the wrist rest can move along the third linear slide.

4. The remote real-time pulse diagnosis system based on proximal control according to claim 1 is characterized in that: The pressure-applying electric push rod module includes a first electric push rod assembly, a second electric push rod assembly, a third electric push rod assembly and a push rod module connector. The first electric push rod assembly includes an electric push rod and an electric push rod linear module. The first electric push rod assembly, the second electric push rod assembly and the third electric push rod assembly have the same structure. The pulse acquisition assembly includes a first pulse acquisition sensor, a second pulse acquisition sensor and a third pulse acquisition sensor. The first electric push rod assembly is connected to the first pulse acquisition sensor.

5. The remote real-time pulse diagnosis system based on proximal control according to claim 1 is characterized in that: The bionic shell surface of the proximal pulse diagnosis device is provided with a pressure acquisition sensor assembly, which performs cyclic AD sampling through the sensor with an acquisition frequency of 5ms / time. Mean filtering is used to eliminate fluctuation interference, and each collected data is packaged into a string of data sequences. The pressure signal is transmitted to the output end through wireless transmission for force value matching.

6. The remote real-time pulse diagnosis system based on proximal control according to claim 1 is characterized in that: The proximal pulse diagnosis device has the highest and lowest positions of the push rod known according to the geometric relationship between the eccentric disk and the push rod during the mechanism design, and sends the amplitude of the data sequence to the second stepper motor in real time. The second stepper motor compensates according to the corresponding amplitude information to achieve the final required amplitude. Under the joint action of the first stepper motor and the second stepper motor, the pulse curve is fitted. The output displacement expression of the second stepper motor is X i =Y i ±(RD)*cosθ Where X i is the output displacement of the second stepper motor, Y i is the pulse wave intensity of the pulse wave to be processed at a certain relative time, R is the radius of the eccentric disk, D is the distance between the eccentric axis of the eccentric disk and the rotation center, and θ is the rotation angle output by the first stepper motor.

7. The remote real-time pulse diagnosis system based on proximal control according to claim 1 is characterized in that: The proximal pulse finding device also includes a dustproof shell and a protective rubber sleeve, the dustproof shell covers the shell support frame, the protective rubber sleeve is located at the first end of the dustproof shell, the first ranging plate and the second ranging plate are perpendicular to each other and correspond to the first positioning sensor and the second positioning sensor respectively.

8. The remote real-time pulse diagnosis system based on proximal control according to claim 1 is characterized in that: The remote synchronous pulse finding and pulse diagnosis device also includes a remote pulse finding component housing and a remote pulse diagnosis component housing. The first end of the remote pulse diagnosis component housing is connected to the second end of the remote pulse finding component housing. The central part of the remote pulse diagnosis component housing has a square through hole. The first linear module, the second linear module and the third linear module constitute a second planar working space. The second planar working space has the same size as the first planar working space.

9. A method for using the remote real-time pulse diagnosis system based on proximal control according to any one of claims 1 to 8, characterized in that: The specific steps include: S1, initialization of the proximal and distal devices: pressing the pressure collection sensor of the proximal pulse diagnosis device, moving the wrist support of the proximal pulse finding device to the zero position, starting the system, and synchronizing the position information of the pulse image collection component of the distal synchronous pulse finding device with the wrist support position; S2. Pulse collection position adjustment: Observe the real-time indication position of pulse collection displayed on the human-machine remote interaction device, and continue to move the position of the wrist support in the proximal pulse finding device until the pulse collection position on the human-machine remote interaction device reaches the pulse collection point. The adjustment method is as follows: When the proximal pulse diagnosis device is in the initial position, the distance between the first positioning sensor and the first ranging board is X = x1, and the distance between the second positioning sensor and the second ranging board is Y = y1. When it moves to a certain position, the distance between the first positioning sensor and the first ranging board is X = x2, and the second positioning sensor detects the distance Y = y2 from the second ranging board in real time. When x1 < x2, the pulse acquisition component of the distal synchronous pulse diagnosis device moves in the positive x-axis direction in the second plane working space, and vice versa in the negative x-axis direction. Similarly, when y1 < y2, the pulse acquisition component of the distal synchronous pulse diagnosis device moves in the positive y-axis direction in the second plane working space, and vice versa in the negative y-axis direction. Set the position offset Dx = x2 - x1, D y = y1 - y2 as the specific value for the movement of the pulse acquisition component in the second plane working space; S3, input of pulse pressure: after the pulse point is confirmed, the user presses the pressure collection sensor of the proximal pulse diagnosis device with appropriate force, and the wireless network transmits the pressure signal to the remote synchronous pulse finding and diagnosis device; S4, collection of pulse information: after receiving the pressure signal, the pulse information collection component contacts the pulse collection point, converts the pulse signal into a voltage signal, and transmits it to the proximal pulse diagnosis device in real time; S5. Reproduction of pulse information by the proximal pulse diagnosis device: The proximal pulse diagnosis device processes the digital signal transmitted by the remote synchronous pulse finding and diagnosis device, simulates the vibration of the pulse through the vibration of the push rod, and completes the remote pulse diagnosis process.

Images