Percussion hammer device for quantitative analysis

Abstract

The invention relates to a novel medical instrument, in particular to a multifunctional quantitative percussion hammer which has five core functions of equipment master control, strength detection, motion parameter detection, body state detection and automatic knocking. The five core devices comprise a main control chip device, a piezoresistor device, a laser ranging device, a motion parameter sensor and a steering engine. The force, displacement, speed and acceleration of deep reflection can be comprehensively evaluated, and the purpose of effective and accurate quantification of deep reflection is truly achieved from the perspective of multiple variables. In addition, the tendon is automatically beaten by a machine, errors caused by different manual forces can be eliminated, and meanwhile, the device has the characteristics of power utilization safety and electromagnetic compatibility, meets the special requirements of the clinical neurology department, does not cause the change of muscle local current, does not cause the obvious change of cell discharge, and can be evaluated and verified by an electromyogram. The method possibly has great clinical applicability and research value, and particularly has great significance in differential diagnosis of nervous system diseases.

Description

Technical Field

[0001] The invention is a novel medical device, which is a multifunctional quantitative percussion hammer, and can quantify deep reflexes from a multivariate perspective. Background Art

[0002] In the work of clinical medical staff, commonly used neurological physical examinations are very important. They can often help doctors to make a localized qualitative diagnosis and play an irreplaceable role in the diagnosis and treatment of neurological diseases. The reaction caused by stimulating the periosteum and tendons is completed through deep sensory organs and is called deep reflexes. Deep reflexes can help regulate the coordination and balance of the body. Clinically, they generally include biceps reflex, triceps reflex, radial periosteum reflex, knee reflex, and ankle reflex. There are six clinical grades of deep reflexes: 0: disappeared; +-: can only be induced when strengthened; 1+: exists but reduced; 2+: normal; 3+: enhanced; 4+: clonus.

[0003] With the widespread clinical application of deep reflexes, a tool specifically used to examine deep reflexes has emerged - the percussion hammer. Common percussion hammers are usually composed of a hard rubber head, a hammer head fixing frame, and a metal hammer handle. However, the percussion hammers currently used in the market and hospitals can only be rated for qualitative observation, and lack a comprehensive quantitative research method. In addition, different doctors have different percussion forces, which will cause errors and are difficult to calibrate. Even the same doctor will have similar errors when performing multiple examinations before and after. The evaluation is highly subjective, and it is difficult to compare and evaluate the severity and recovery of many diseases with deep reflex changes. In addition, due to the large error in observing the movement amplitude with the naked eye, some weak reactions may even be ignored, and the significance of differential diagnosis of neurological diseases that cause deep reflex changes is only at the qualitative level.

[0004] A recent electronic measurement device for knee-jerk reflex combines the application of sensors (CN 107184184A). However, it can only be applied to knee-jerk reflex, and the types of quantitative information for evaluating deep reflexes are very limited, and the above-mentioned error problem of traditional percussion hammers has not been solved. In addition, this electronic measuring instrument ignores a core issue of quantification: that is, deep reflexes should be quantified by force. Therefore, we designed and invented a percussion hammer device for quantitative analysis, which can comprehensively evaluate the force, displacement, velocity, and acceleration of deep reflexes, and achieve effective and accurate quantification of deep reflexes from a multivariate perspective, aiming to improve clinical and research value, in the hope of improving the differential diagnosis and deeper understanding of neurological diseases among medical personnel. Summary of the invention

[0005] One of the purposes of the present invention is to provide a percussion hammer device for quantitative analysis, which can achieve effective and accurate quantification of deep reflexes from a multivariate perspective.

[0006] The second purpose of the present invention is to provide a percussion hammer device for quantitative analysis, to improve clinical and research value, in the hope of improving the differential diagnosis and deeper understanding of nervous system diseases by medical personnel.

[0007] To achieve the first objective, the technical solution adopted by the present invention is: a percussion hammer device for quantitative analysis, which is composed of the following parts:

[0008] 1. Equipment main control part: The main function is to receive data from various sensors and analyze and process the data. Module components: (1)STM32F103RCT6,TQFP64,FLASH:256K,RAM:48K (2) One standard JTAG / SWD download port (3) One LED power indicator (4) Two LED status indicators (5) One SPI FLASH chip, W25X16, with a capacity of 2M bytes (6) An OLED screen module interface (7) A miniUSB port can power the system board and reserve USB communication function (8) A boot mode configuration interface (9) A 32.768 crystal oscillator for use with the built-in RTC or for calibration (10) A 2.4G wireless communication module (NRF24L01) interface (11) A reset button that can be used to reset the MCU and OLED (12) Three function keys, of which WK_UP also has a wake-up function (13) 8M crystal oscillator (up to 72M through internal PLL of the chip) (14)LM1117-3.3V voltage regulator chip, providing a maximum current of 800mA (15) Port expansion pin 13x2-way + 2-way (16) Reserved serial port download interface, convenient for connecting to 5V development board, and can download programs via serial port (17) 4 3.5mm positioning holes around the periphery (18) Power supply mini-USB cable (19) Function expansion connection DuPont line

[0009] 2. Automatic tapping part: The main function is to hit the tendon and apply a constant force so that the sensor receives the reaction force. Module components: (1) Signal line: receives control signals from the microcontroller (2) Potentiometer: It can measure the position of the output shaft and is the feedback part of the entire servo mechanism. (3) Internal controller: processes signals from external control, drives the motor, and processes feedback position signals (4) Motor: As an actuator, it outputs speed, torque, and position (5) Transmission mechanism / servo system: This mechanism scales the motor output stroke to the final output angle based on a certain transmission ratio. (6)Fully thickened metal gears (7) Double ball bearings: smooth and wear-resistant (8) Alumina middle shell: high hardness, good heat dissipation (9) 18T output gear: suitable for steering wheel and rudder arm (10) Carbon brush motor (11) Two reinforcing screws (12) Two copper sleeves: fix the shaft rod, high-speed movement without gear swing (13) Thickened shaft (2.0, 2.5, 3.0) (14) Silicone wire: more stable current and better heat dissipation

[0010] 3. Force detection part: The main function is to detect the force of the percussion hammer. Module components: (1) Thin film pressure sensor (2) Controller (3) Linear voltage conversion module (4) Pressure transmitter (5) VCC module power supply positive electrode (6) GND module power supply negative pole (7) DO high and low level signal output (8)AO analog voltage signal output (9) AO-RES amplification adjustment potentiometer (10) DO-RES comparison threshold adjustment potentiometer

[0011] 4. Motion parameter detection part: The main function is to detect the acceleration, angular velocity, angle, position trajectory, etc. of the percussion hammer. Module components: (1)IM948 module (2) Integrated ARM 32-bit DSP processor (3) BLE5.0 Bluetooth (4) High-precision accelerometer (5) Gyroscope (6) Magnetometer (7) Thermobarometer

[0012] 5. Body state detection part: The main function is to detect the displacement of the patient's limbs after being knocked, with a resolution of 1mm. Module components: (1) Serial laser ranging module ATK-MS53L1M (2) SH1.0 single-head to DuPont rehearsal cable - 6P (ⅡC clock line, ⅡC data line, UART input line, UART output line, ground line, module power line)

[0013] To achieve the second objective, the present invention adopts a technical solution: a percussion hammer device for quantitative analysis, comprising the following brief steps:

[0014] (1) Connection lines: The main control board is connected to the servo line, the IM948 module line, the thin film pressure sensor receiving end (screen) line, and the distance receiving end (screen) line.

[0015] (2) Device limb placement: Place the transmitter sensing device at a fixed distance to the position where the limb movement is strongest, place a fixed film pressure sensor, place a fixed motion parameter sensor, and place a fixed posture digital sensor.

[0016] (3) Impact control: Place the servos and limbs in certain positions and use a computer to control the impact.

[0017] (4) Data collection: Use a variety of sensors to measure and record the changes in the patient's physical condition after the tapping.

[0018] (5) Device debugging: Adjustments are made based on the actual tendon reflex situation, including the position distance, strength, direction angle of the servo, and the degree of fit and fixation of each device.

[0019] (6) Electromyography: Ensure that there are no significant changes in muscle discharge.

[0020] (7) The various parameter data of the patient's deep reflections are further quantified, and after correction and adjustment, the intensity of each deep reflection is determined through a multimodal program algorithm.

[0021] (8) Establish China’s first large database and model to facilitate in-depth analysis of patients’ deep reflexes and promote it globally.

[0022] The beneficial effects of the present invention are:

[0023] (1) Through this improved percussion hammer device, the force, displacement, velocity, and acceleration of deep reflexes are comprehensively evaluated, truly achieving the purpose of accurate quantification of deep reflexes from a multivariate perspective.

[0024] (2) The tendon is struck automatically by a machine, eliminating errors caused by different human strength.

[0025] (3) The device complies with electrical safety requirements, has electromagnetic compatibility characteristics, meets the special requirements of clinical neurology, does not cause changes in local muscle currents, does not cause significant changes in cell discharges, and can be verified through electromyography evaluation.

[0026] (4) It may have great clinical significance and research value, especially helping medical personnel to have a deeper understanding of neurological diseases and assist in their differential diagnosis. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 To provide a design process for improving the percussion hammer device.

[0028] Figure 2 This is a simplified design diagram of an improved percussion hammer device.

[0029] Figure 3 This is a brief design diagram of the device's main control, (a) the main control's structural composition and (b) the main control's circuit settings.

[0030] Figure 4 This is a brief design diagram of the automatic knocking part, (a) the internal structure of the servo and (b) the external structure of the servo.

[0031] Figure 5 This is a brief design diagram of the force detection part. (a) The external structure and use of the pressure sensor.

[0032] Figure 6 This is a brief design diagram of the motion parameter detection part, (a) the external structure of the attitude digital sensor (b) the 3D reconstruction display of the attitude digital sensor (c) the use of the attitude digital sensor.

[0033] Figure 7 This is a brief design diagram of the body status detection part, (a) the structure of the laser ranging module (b) the schematic diagram of the laser ranging module (c) the use of the laser ranging module. DETAILED DESCRIPTION

[0034] This embodiment is implemented by the following technical scheme. The present invention is a multifunctional quantitative percussion hammer, which includes five core functions: equipment main control, force detection, motion parameter detection, body state detection, and automatic percussion; and five core devices: main control chip device, varistor device, laser ranging device, acceleration sensor, and servo.

[0035] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] Various embodiments and examples are disclosed below, and different structures of the present invention are shown through the accompanying drawings. For ease of understanding, the components and settings of specific examples are described in detail. These examples are for reference only and do not limit the scope of the present invention. Those skilled in the art should appreciate that the application of other processes or materials is also feasible. For example: For the sensor force measuring module, it is suitable for measuring the presence or absence of pressure and the trend of change. The capture of precise numerical values ​​can still be improved, because if the mounting surface is a curved surface with a large curvature, the bending of the sensing area will be subjected to force, which will affect the accuracy of the sensor to a certain extent. It is proposed to improve the setting of a more stable gasket and adopt a more fine-precision mechanical sensing device.

[0037] The specific implementation includes 8 steps:

[0038] (1) Connection lines: When integrating the signal detection and control system, you first need to connect the main control board to the servo drive line control board (RXD-TXD, TXD-RXD, GND-GND) to ensure that the servo can receive the control signal and perform precise motion control according to the instructions. At the same time, the motion parameter IM948 module line must be connected to enable the main control board to communicate with the module, thereby realizing the transmission and processing of motion parameter data. Next, connect the receiving end screen line of the thin film pressure sensor to the main control board to sense and display the pressure data collected by the sensor in real time. Finally, connect the receiving end screen line of the attitude digital sensor to the main control board, and connect the device module to the serial port hardware to monitor and transmit the display of body posture position data. Use the USB interface to connect the main control board, and install the drivers of all devices on the computer in advance.

[0039] (2) Device placement on limbs: In order to ensure that the device can accurately detect the signals generated by limb movement, it is necessary to place the sensing device at the corresponding position and ensure that it is tightly and stably fixed to the three device test transmitting ends so as to accurately capture the changes in muscle deep reflex activity. At the same time, it is necessary to fix the thin film pressure sensor at the most frequent and intense part of the limb tendon activity so as to accurately sense the pressure exerted by the limb on the sensor; fix the motion parameter sensor at the far end of the measured limb so as to accurately capture the axis velocity, acceleration, angle, and position trajectory of the three axes XYZ on the display screen. Use Velcro to bind it horizontally at the tendon. The motion parameter device is connected to a Bluetooth device so that information can be collected remotely by the computer host. In addition, the posture digital sensor also needs to be properly fixed at the far end of the measured limb, and the laser device is fixed at 30 cm with a tripod to stably record the movement posture and position information of the limb.

[0040] (3) Hitting control: In order to simulate the reaction of the limbs when they are impacted, the servo and the limbs need to be placed at a certain distance, and a handheld wooden board is glued and fixed under the servo to simulate the hitting action. After the servo is placed, the computer is controlled, a certain force value is input, the power is turned on, and the computer action group instructions are input to control the servo to automatically hit the limbs, so that they automatically move away and stop after hitting, without causing a secondary collision with the limbs, and the response of the limbs when they are impacted is detected.

[0041] (4) Quantity collection: 1) According to the pressure sensor, the pressure applied to an object or surface can be directly measured, and the reaction force can be presented in numerical form and read directly. 2) According to the posture digital sensor, the spatial position and posture of the limbs can be measured. After the module is connected to the USB-TTL serial port module, turn on the host computer, select the corresponding serial port, baud rate 2400-921600bps, return rate 0.1Hz-100Hz, measurement mode normal, reset after calibration, and automatically collect waveform and distance information. 3) According to the motion parameter sensor, the axis speed and acceleration of the three axes of XYZ are calculated, and finally converted into the total speed and total acceleration according to the formula. These acceleration values ​​can also be further used to calculate the speed and displacement of the object on each axis. Integrate the acceleration data to obtain the speed information; then integrate the speed data to obtain the displacement information; take the square root of the speed of the XYZ axis to obtain the total speed and total acceleration information. Data information such as angle and position trajectory can also be obtained. In addition, it is necessary to pay attention to the noise and drift of motion parameter sensors during use, which may affect the accuracy of the calculation results. Therefore, in practical applications, filtering and calibration techniques are usually used to improve the accuracy of calculations.

[0042] (5) Device debugging: Before conducting actual tests, the device needs to be fully debugged, which is a key step to ensure that the entire system works accurately. Adjustments should be made based on the actual deep reflex situation to ensure that the equipment can accurately simulate the reflex action. The debugging indicators include the position distance of the servo, the applied force, the direction angle, and the fit and fixation of each device. Avoid secondary collisions caused by the servo being too close after the servo hits. In addition, ensure that the hitting force is just enough to cause deep reflexes, achieve precise control of the hitting action, and avoid the system's insufficient force causing the inability to stably and accurately detect small changes in the limbs. It is also necessary to avoid different resultant forces caused by angle deviations caused by bone structures. At the same time, check and adjust the fit and fixation of the film pressure sensor to ensure that it can stably sense pressure changes in actual use to ensure the accuracy of the test, thereby obtaining reliable test results and reducing system errors.

[0043] (6) Electromyography: When testing with related devices, it is necessary to ensure that the testing process will not significantly affect the electrical activity of the muscles. Due to the insulating rubber wire, the device will basically not significantly affect the electrical activity of the muscles, but it is still necessary to monitor it in advance (note that it is only required during the physical development process, not in the practical stage). When monitoring and recording the electrical signals of the muscles, it is necessary to ensure that the release and changes of these signals are not interfered with. Tap twice, once without placing the fitting device, and once with the fitting device. The electromyography simultaneously captures the muscle electrical signals within 2 cm proximal and distal to the location where the fitting device is placed. Pay attention to observe whether there are significant changes in the three indicators of nerve conduction velocity, latency, and amplitude (within the normal range of changes in the three indicators). In this way, relatively accurate data can be obtained, thereby reflecting the actual muscle reaction.

[0044] (7) Determine the strength of deep reflexes: Use a variety of sensors to measure and record the changes in the patient's physical state after tapping. These data will be quantified and used to analyze the various parameters of the patient's deep reflexes. By adjusting and correcting relevant parameters and using multimodal program algorithms, the strength of the patient's deep reflexes can be determined, providing an important basis for medical diagnosis.

[0045] (8) Establish and promote the database: First, the present invention selects a leading medical center as a pilot and conducts comprehensive training, including technical operation, data collection and analysis methods; provides necessary technical support and equipment to ensure that the medical center can effectively implement and operate the system; conducts preliminary data collection and analysis in the medical center to verify the effectiveness and accuracy of the system. Then, establish cooperative relationships with medical institutions across the country and select appropriate sub-centers for promotion; conduct standardized training in each sub-center to ensure the consistency of technical operation and data quality; deploy corresponding technologies and equipment in sub-centers across the country and provide continuous technical support and maintenance; collect and integrate data from different sub-centers to establish a nationwide large database and deep reflection model. Finally, establish cooperative relationships with international medical institutions and research institutions to promote the technology and database; conduct training on a global scale, promote implementation experience and technical support; establish an international data sharing platform to promote medical research and cooperation on a global scale; and continuously upgrade and optimize the technology based on global usage and feedback to meet the needs of different regions and countries.

[0046] The present invention effectively integrates the prior art with the new technology or new method to ensure the best effect. The parts not elaborated in detail belong to the prior art.

[0047] The protection scope of the present invention is clear and flexible to accommodate possible technical improvements and implementation adjustments. Although the above content describes the specific embodiments of the present invention in conjunction with the drawings, the feasibility and operability need to be re-evaluated by those skilled in the art, and various modifications can be made to the specific embodiments without departing from the principles and essence of the present invention. The scope of the present invention is limited only by the attached claims.

Claims

1. The present invention is a multifunctional quantitative percussion hammer, which includes five core devices, a main control chip device, a varistor device, a laser ranging device, a motion parameter sensor, and a servo. The product is mainly controlled by an STM32 single-chip microcomputer, and realizes the deep reflection in-depth quantitative analysis function by controlling the peripheral force detection circuit, acceleration detection circuit, body state detection circuit, and automatic percussion circuit. The present invention has four main functions. The first is that it can automatically tap the tendon with a constant force, the second is that it can quantitatively measure the reaction force of the deep reflection, the third is that it can quantitatively measure the relative displacement of the limb movement, and the fourth is that it can quantitatively measure the speed, acceleration, angle and other dynamic parameters of various states of limb movement. The device is intended to use a stainless steel alloy shell with strong electrical conductivity and a material with strong sound wave propagation as the body. The product is clean, smooth, free of foreign matter, light in weight and compact in structure.

2. For the main control part of the device (main control module), we use the STM32F103RCT6 minimum system board, and plan to connect four external functional modules. The system board consists of a 1.44-inch LCD screen (CPT, CPT panel), 4 IO drivers, using STM32 routines and ST7735 drivers. The STM32F103xx large-capacity enhanced series products provide 6 different package forms ranging from 64 pins to 144 pins. Depending on the different package forms, the peripheral configurations in the device are not the same. These rich peripheral configurations make the STM32F103xx large-capacity enhanced series microcontrollers suitable for a variety of applications: including motor drive and application control, medical and handheld devices. Using high-performance Cortex TM -M332-bit RISC core, operating frequency is 72MHz, built-in high-speed memory (up to 512K bytes of flash memory and 64K bytes of SRAM), rich enhanced I / O ports and peripherals connected to two APB buses. All models of devices include 3 12-bit ADCs, 4 general-purpose 16-bit timers and 2 PWM timers, as well as standard and advanced communication interfaces: up to 2 I2C interfaces, 3 SPI interfaces, 2 I2S interfaces, 1 SDIO interface, 5 USART interfaces, a USB interface and a CAN interface. The power supply voltage is 2.0V to 3.6V, and a series of power saving modes ensure the requirements of low-power applications. At the same time, it has multiple pins, including 3.3V power supply input, power supply communication system ground, screen module SPI data input, screen module SPI clock signal input, screen module SPI chip select signal input, screen module reset input, screen module command / data signal input selection, and backlight control signal input.

3. For the automatic tapping part, we use the TD-8115MG servo device (RC servo) and connect it to the core master microcontroller (STC51 / STM32) to complete the module function. The position of the motor output shaft is continuously sampled and measured by the internal potentiometer and compared with the target position set by the microcontroller; according to the corresponding deviation, the control device adjusts the actual position of the motor output shaft to match the target position. This forms a closed-loop control system. The gearbox reduces the speed of the motor, thereby increasing the output torque on the output shaft. The output of the servo is controlled by sending a standard PWM (Pulse width modification) signal (cycle is 20ms, high level time 0.5-2.5ms) to the signal line of the servo. For example: when we send a signal with a pulse width of 1.5 milliseconds (ms) to the servo, the output shaft of the servo will move to the middle position (90 degrees); when the pulse width is 1ms, the output shaft of the servo will move to the minimum position (0 degrees); when the pulse width is 2ms, the output shaft of the servo will move to the minimum position (180 degrees). Rated speed: 0.17rpm, rotation angle: 90 degrees, excitation mode: permanent magnet. It performs automatic striking action vertically, with the characteristics of large torque, high precision, multiple angles and good physical properties.

4. For the force detection part, we use a thin film pressure sensor, through a piezoresistor and a high-precision ADC, connected to the core main control microcontroller (STC51 / STM32) to complete the module function. This module adopts the principle of resistance strain. When the pressure changes, the resistance changes. The voltage conversion module can convert the resistance value into an analog voltage value and output it to the microcontroller (STM32). The STM32 is connected to the AO pin to obtain the pressure estimation value routine. In addition, a 12-way Bluetooth main control plus an onboard LCD display and a computer serial port display are used. At the same time, data can be uploaded to electronic products via Bluetooth transmission. This module also includes a covering flexible gasket, which is placed in the center of the sensor module sensor, so that the sensing area and the sensor are effectively in contact and the force is fully captured, improving the performance of each part.

5. For the motion parameter detection part, we use a ten-axis IMU attitude digital sensor, using the IM948 module, connected to the core master microcontroller (STC51 / STM32) to complete the module function. Micro vibrations can be used for multi-dimensional numerical measurement of attitudes. Using a 3-axis gyroscope (X-axis to the right, Y-axis forward, and Z-axis vertical to the chip), BLE5.0 Bluetooth, and TTL serial communication to connect to the computer host computer, the three-dimensional position can be captured after motion recognition, and the three-axis angular velocity, three-axis acceleration (including gravity and gravity removal), three-dimensional acceleration (aligned reference system), three-axis angle, three-dimensional spatial position, and other data such as temperature, pressure, and altitude can be measured. The biggest advantage of this module is that it can perform multi-dimensional real-time and stable measurements, and then use a 3D view to intuitively monitor the angle, quaternion, and real-time status of the spatial position trajectory. After being detected by the integrated magnetometer, there will be no magnetic field interference. It has the characteristics of 8dBm transmission power, considerable transmission distance, good impedance function, and low power consumption. The acceleration range is ±16g, and the angular velocity range is ±2000° / s. In addition, it also supports ADC and GPIO function expansion.

6. For the body state detection part, we use the serial laser ranging module MS53L1M, including the distance test transmitter and receiver, and connect the core master microcontroller (STC51 / STM32) to complete the module function. The module comes with lens optical filtering, supports serial communication, supports Modbus multi-connection, supports serial data active and query output, and comes with positioning holes for easy installation. The resolution of the ranging module can reach 1mm, the measurement range is 40mm-8000mm, and the accuracy can reach ±2-4%. Connect the computer host computer TOF through the USB to TTL module. The biggest advantage of this module is that it supports setting multiple modes (longest distance mode, strongest signal mode, four-target output multi-point measurement mode, can detect the distance changes of multiple objects, set different module addresses, and read the measured distances of all modules through the UART communication interface.

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