Body surface breathing movement simulation device and target spot monitoring system based on binocular vision

Abstract

According to the body surface breathing movement simulation device and the target spot monitoring system based on binocular vision, the body surface breathing movement simulation device is simple in structure, the thoracico-abdominal body surface is simply divided into four blocks, and abdominal respiration of the human body and movement of the thoracico-abdominal body surface during the thoracico-respiration are simulated by controlling reciprocating movement of the four thoracico-abdominal body surface simulation plates. According to the device, rigid components are used, the lead screw stepping motor is used for directly driving the thoracico-abdominal body surface simulation board to move, higher repeatability is achieved, the motion precision is high, the motion control capacity is better, control is easier, and the cost of the whole system is low. The monitoring system can measure the distance of a placed body surface target spot in real time and draw a real-time displacement curve of the target spot, the system can monitor the motion state of a body surface breathing motion simulation device after the body surface breathing motion simulation device is combined with the system, and codes in a driving plate can be changed to correct the motion of a thoracico-abdominal body surface simulation plate if the requirements are not met, so that the operation is convenient. Therefore, the reliability of the body surface breathing movement simulation device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of body surface respiratory motion simulation, and in particular to a body surface respiratory motion simulation device and a target point monitoring system based on binocular vision. Background Art

[0002] The body surface breathing motion simulation device can be used to simulate the body surface movement state when the human body breathes. In the related art, some breathing motion simulation devices use air bags to expand and contract to simulate the deformation of the lungs to induce body surface movement. This will cause the simulated motion of the device to gradually become non-repeatable due to factors such as the error in the amount of air intake each time and the aging of elastic components such as air bags. Some breathing motion simulation devices use a rod group and a slider mechanism, which will reduce the accuracy of the simulated motion of the device. Some breathing motion simulation devices lack a monitoring feedback system and cannot guarantee the accuracy of the simulated motion of the device.

[0003] Therefore, it is necessary to optimize the respiratory motion simulation device and its monitoring system to improve the above problems. Summary of the invention

[0004] In order to achieve the above-mentioned purpose and other advantages of the present invention, the first purpose of the present invention is to provide a body surface respiratory motion simulation device, including multiple chest and abdomen body surface simulation boards, multiple drive motors, multiple motor drivers, a motor base, and a drive board; the motor driver is fixed on the motor base, and the multiple chest and abdomen body surface simulation boards are respectively fixed on the corresponding drive motors, the drive motor is electrically connected to the motor driver, and the motor driver is electrically connected to the drive board; wherein, The driving board is used to control the motor driver to achieve synchronous control of each of the driving motors; The plurality of driving motors are used to drive the plurality of chest and abdomen body surface simulation plates to expand or contract synchronously to simulate the respiratory movement of the human body surface.

[0005] Furthermore, there are four thoracic and abdominal surface simulation plates, namely a first thoracic and abdominal surface simulation plate, a second thoracic and abdominal surface simulation plate, a third thoracic and abdominal surface simulation plate, and a fourth thoracic and abdominal surface simulation plate.

[0006] Furthermore, the number of the drive motors is four, namely a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor. The first thoracic and abdominal surface simulation plate is fixed to the end of the first drive motor, the second thoracic and abdominal surface simulation plate is fixed to the end of the second drive motor, the third thoracic and abdominal surface simulation plate is fixed to the end of the third drive motor, and the fourth thoracic and abdominal surface simulation plate is fixed to the end of the fourth drive motor.

[0007] Furthermore, the number of the motor drivers is four, namely a first motor driver, a second motor driver, a third motor driver, and a fourth motor driver. The first drive motor is electrically connected to the first motor driver, the second drive motor is electrically connected to the second motor driver, the third drive motor is electrically connected to the third motor driver, and the fourth drive motor is electrically connected to the fourth motor driver.

[0008] Furthermore, there are two motor bases, namely a first motor base and a second motor base. The first motor base is fixedly connected to the second motor base. The first drive motor and the second drive motor are installed on the first motor base, and the third drive motor and the fourth drive motor are installed on the second motor base.

[0009] Furthermore, the driving motor is a screw stepper motor, and each of the screw stepper motors drives the corresponding chest and abdomen body surface simulation plate to expand outward or contract inward synchronously in the X, Y, and Z directions.

[0010] Furthermore, when the body surface respiratory motion simulation device is placed horizontally, the forward stroke vector of the screw stepper motor corresponds to the expansion of each chest and abdomen body surface simulation plate, and the reverse stroke vector of the screw stepper motor corresponds to the contraction of each first chest and abdomen body surface simulation plate.

[0011] Furthermore, the driving board controls the motor driver by changing the high and low levels of the corresponding pins according to programming instructions, thereby controlling the forward rotation, reverse rotation, speed and number of steps of each driving motor.

[0012] Furthermore, the programming instructions of the driving board can be changed to simulate the movement of the human body surface in different breathing states.

[0013] Furthermore, the body surface respiratory motion simulation device is used to simulate the respiratory motion state of the body surface during chest breathing and abdominal breathing of the human body.

[0014] Furthermore, when simulating human chest breathing, the number of steps of the two screw stepper motors on the first motor base is increased while the interval between each step is reduced. At this time, the outbound and return travel times of the four screw stepper motors remain consistent, and they expand or contract synchronously. When simulating abdominal breathing of the human body, the number of steps of the two screw stepper motors on the second motor base is increased while the interval time of each step is reduced. At this time, the outgoing and return time of the four screw stepper motors remain consistent, and they expand or contract synchronously.

[0015] Furthermore, the two motor bases each include a base and two motor mounting frames located on the base, an angle is formed between the two motor mounting frames, and the motor mounting frames are used to install corresponding drive motors.

[0016] Furthermore, a groove is provided on the base of one of the motor bases, and a convex block matching the groove is provided on the base of the other motor base, and the two motor bases are fixedly connected to the groove via the convex block.

[0017] The second object of the present invention is to provide a target monitoring system based on binocular vision, which is used to realize the monitoring of the above-mentioned device, including a binocular camera, multiple surface targets, a main controller, and a camera fixing device. The binocular camera is fixed on the camera fixing device, and the surface targets are arranged on the chest and abdomen surface simulation boards. The binocular camera is used to measure the real-time displacement of the surface targets on different chest and abdomen surface simulation boards. The main controller is used to draw the real-time displacement curve of the surface targets and observe the results to judge the movement state of the surface respiratory motion simulation device, realize the monitoring of the movement of the surface respiratory motion simulation device, and adjust the programming instructions of the driving board according to the monitoring results to meet the needs.

[0018] Furthermore, the camera fixing device includes a bracket and a fixing frame, the fixing frame is installed on the bracket, and the binocular camera is fixed to the fixing frame.

[0019] Furthermore, the bracket includes a base, a bracket stacking block, a support member, and a connecting rod. The fixed frame is installed on the support member through the connecting rod. The bracket stacking block is installed between the base and the support member. The bracket stacking block is used to adjust the height of the bracket to achieve the adjustment of the distance between the binocular camera and the body surface respiratory motion simulation device.

[0020] Furthermore, the fixing frame is provided with a plurality of holes, and the holes are used to adjust the baseline of the binocular camera.

[0021] Compared with the prior art, the present invention has the following beneficial effects: The body surface respiratory motion simulation device provided by the present invention has a simple structure, and the chest and abdomen body surface is simply divided into four parts. By controlling the reciprocating motion of four chest and abdomen body surface simulation plates, the movement of the chest and abdomen body surface during abdominal breathing and chest breathing of the human body is simulated. Compared with the respiratory motion simulation device that uses air bags and other elastic materials to simulate lung movement, the body surface respiratory motion simulation device provided by the present invention uses rigid components and uses a screw stepper motor to directly drive the chest and abdomen body surface simulation plates to move, which has stronger repeatability, high motion accuracy, better motion control ability, simpler control, and lower cost of the entire system.

[0022] The binocular vision-based target monitoring system designed in the present invention can measure the distance to the placed surface targets in real time and draw the real-time displacement curve of the targets. After the surface respiratory motion simulation device is combined with the system, the system can monitor the motion state of the surface respiratory motion simulation device. If the requirements are not met, the code in the driving board can be changed to correct the motion of the chest and abdomen surface simulation board, which increases the reliability of the surface respiratory motion simulation device.

[0023] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 Schematic diagram of the structure of the body surface respiratory motion simulation device of Example 1; Figure 2 This is a schematic diagram of the principle of the body surface respiratory motion simulation device of Example 1; Figure 3 Schematic diagram of the internal structure of the body surface respiratory motion simulation device of Example 1; Figure 4 This is a schematic structural diagram of a first motor base with a driving motor installed in Example 1; Figure 5 This is a structural schematic diagram of a second motor base with a drive motor installed in Example 1; Figure 6 This is a schematic structural diagram of the first motor base without the drive motor installed in Example 1; Figure 7 This is a schematic structural diagram of a second motor base without a drive motor installed in Example 1; Figure 8 Schematic diagram of the camera fixing device and binocular camera structure of Example 2.

[0025] In the figure: 1. chest and abdomen surface simulation board; 11. first chest and abdomen surface simulation board; 12. second chest and abdomen surface simulation board; 13. third chest and abdomen surface simulation board; 14. fourth chest and abdomen surface simulation board; 2. drive motor; 21. first drive motor; 22. second drive motor; 23. third drive motor; 24. fourth drive motor; 3. motor base; 31. first motor base; 311. groove; 312. first motor mounting bracket; 313. second motor mounting bracket; 32. second motor base; 321. bump; 322. third motor mounting bracket; 323. fourth motor mounting bracket; 4. camera fixing device; 41. fixing bracket; 42. connecting rod; 43. support member; 44. bracket stacking block; 45. base; 5. binocular camera; 51. first industrial camera; 52. second industrial camera. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. It should be noted that, under the premise of no conflict, the embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0027] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0028] The figure numbers in this application are only used to distinguish the various steps in the scheme, and are not used to limit the execution order of the various steps. The specific execution order is subject to the description in the specification.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0030] Aiming at the problem of how to simulate body surface movement when the human body performs respiratory movement, the present invention designs a body surface respiratory movement simulation device driven by a screw stepper motor, and measures the distance of the target placed on the body surface respiratory movement simulation device in real time based on a target monitoring system of binocular vision, draws the respiratory movement curve of the body surface respiratory movement simulation device, and checks whether the simulated movement of the device meets the requirements. If not, it can be adjusted to meet the requirements by changing the execution code of the driver board.

[0031] Example 1 A device for simulating body surface respiratory motion, such as Figure 1 , Figure 2 , Figure 3As shown, it includes multiple chest and abdomen surface simulation boards 1, multiple drive motors 2, multiple motor drivers, a motor base 3, and a drive board; the motor driver is fixed on the motor base, and the multiple chest and abdomen surface simulation boards are respectively fixed on the corresponding drive motors, the drive motor is electrically connected to the motor driver, and the motor driver is electrically connected to the drive board; wherein, The driving board is used to control the motor driver to achieve synchronous control of each driving motor; for example, a UNO R3 driving board may be used.

[0032] The plurality of driving motors are used to drive the plurality of chest and abdomen body surface simulation plates to expand or contract synchronously to simulate the respiratory movement of the human body surface.

[0033] In some embodiments, Figure 1 As shown, the number of the chest and abdomen surface simulation plates 1 is four, namely, a first chest and abdomen surface simulation plate 11, a second chest and abdomen surface simulation plate 12, a third chest and abdomen surface simulation plate 13, and a fourth chest and abdomen surface simulation plate 14. The shapes of the four chest and abdomen surface simulation plates are not limited to Figure 1 , Figure 3 As shown, the specific shape of the chest and abdomen surface simulation board can be designed according to actual usage requirements.

[0034] In some embodiments, Figure 4 , Figure 5 As shown, the number of the drive motors 2 is four, namely the first drive motor 21, the second drive motor 22, the third drive motor 23, and the fourth drive motor 24. The first thoracic and abdominal surface simulation plate is fixed to the end of the first drive motor, the second thoracic and abdominal surface simulation plate is fixed to the end of the second drive motor, the third thoracic and abdominal surface simulation plate is fixed to the end of the third drive motor, and the fourth thoracic and abdominal surface simulation plate is fixed to the end of the fourth drive motor.

[0035] Preferably, the driving motor is a screw stepper motor, and each of the screw stepper motors drives the corresponding chest and abdomen body surface simulation board to expand outward or contract inward synchronously in the three directions of X, Y, and Z. The screw stepper motor is small in size and can be easily assembled in a space the size of the human chest cavity; unlike an ordinary stepper motor, when the screw stepper motor is running, the screw only moves linearly and does not rotate, so there is no need to consider the problem of the chest and abdomen body surface simulation board rotating with the screw shaft when the motor is running.

[0036] In some embodiments, the number of motor drivers is four, namely a first motor driver, a second motor driver, a third motor driver, and a fourth motor driver. The first drive motor is electrically connected to the first motor driver, the second drive motor is electrically connected to the second motor driver, the third drive motor is electrically connected to the third motor driver, and the fourth drive motor is electrically connected to the fourth motor driver.

[0037] In some embodiments, Figure 3-Figure 5 As shown, there are two motor bases 3, namely a first motor base 31 and a second motor base 32. The first motor base is fixedly connected to the second motor base, the first drive motor and the second drive motor are installed on the first motor base, and the third drive motor and the fourth drive motor are installed on the second motor base.

[0038] When using the surface respiratory motion simulation device, the driver board is first programmed. If the UNO R3 driver board is used, Arduino can be used for programming directly, and other driver boards can also be selected according to actual conditions. After programming, the driver board changes the high and low levels of the corresponding pins according to the programming instructions to control the motor driver, thereby controlling the forward rotation, reverse rotation, speed and number of steps of each screw stepper motor. When simulating the human body surface respiratory motion, four chest and abdominal surface simulation boards need to expand or contract synchronously. The code of the driver board can be changed to make the four screw stepper motors synchronously forward or reverse rotation, and the number of steps and speed of each screw stepper motor can also be synchronized. In actual use, the program code can be changed as needed to control the movement speed and displacement size of each motor to simulate the surface motion of the human body in different respiratory states.

[0039] In some embodiments, when the body surface respiratory motion simulation device is placed horizontally, the forward stroke vector of the screw stepper motor corresponds to the expansion of each chest and abdomen body surface simulation plate, and the reverse stroke vector of the screw stepper motor corresponds to the contraction of each first chest and abdomen body surface simulation plate.

[0040] Optionally, when the body surface respiratory motion simulation device is placed horizontally, the forward vectors of the screw stepper motor are (-1, 1, 1), (1, 1, 1), (-1, -1, 1), (1, -1, 1), corresponding to the expansion of the first thoracic and abdominal body surface simulation plate, the expansion of the second thoracic and abdominal body surface simulation plate, the expansion of the third thoracic and abdominal body surface simulation plate, and the expansion of the fourth thoracic and abdominal body surface simulation plate; the reverse vectors are (1, -1, -1), (-1, -1, -1), (1, 1, -1), (-1, 1, -1), corresponding to the contraction of the first thoracic and abdominal body surface simulation plate, the contraction of the second thoracic and abdominal body surface simulation plate, the contraction of the third thoracic and abdominal body surface simulation plate, and the contraction of the fourth thoracic and abdominal body surface simulation plate. When the program is executed, each screw stepper motor can push the corresponding chest and abdominal body surface simulation board to expand outward or contract inward synchronously in the X, Y, and Z directions. Because the chest and abdominal body surface simulation board is directly connected to the end thread of the screw stepper motor, the reciprocating motion of the screw stepper motor will be directly transmitted to the chest and abdominal body surface simulation board. Compared with other motion transmission methods, the error is smaller. In addition, the motion of the chest and abdominal body surface simulation board can be changed by directly changing the motion parameters of the screw stepper motor, and the control is relatively simple.

[0041] The body surface respiratory motion simulation device can simulate the respiratory motion state of the body surface during human chest breathing and human abdominal breathing. When simulating human chest breathing, the number of steps of the two screw stepper motors on the first motor base 31 can be simply increased while reducing the interval time of each step. At this time, the outgoing and return time of the four screw stepper motors remain consistent, and can be expanded or contracted synchronously; when simulating human abdominal breathing, the number of steps of the two screw stepper motors on the second motor base 32 can be simply increased while reducing the interval time of each step. At this time, the outgoing and return time of the four screw stepper motors remain consistent, and can be expanded or contracted synchronously.

[0042] In some embodiments, the two motor bases each include a base and two motor mounting frames located on the base, with an angle formed between the two motor mounting frames, and the motor mounting frames are used to install corresponding drive motors.

[0043] like Figure 3 , Figure 4 , Figure 6 As shown, the first motor base 31 includes a first base, a first motor mounting frame 312, and a second motor mounting frame 313. There is an angle between the first motor mounting frame 312 and the second motor mounting frame 313. The first drive motor 21 is installed on the first motor mounting frame 312, and the second drive motor 22 is installed on the second motor mounting frame 313.

[0044] like Figure 3 , Figure 5 , Figure 7As shown, the second motor base 32 includes a second pedestal, a third motor mounting frame 322 , and a fourth motor mounting frame 323 . There is an angle between the third motor mounting frame 322 and the fourth motor mounting frame 323 . The third drive motor 23 is mounted on the third motor mounting frame 322 , and the fourth drive motor 24 is mounted on the fourth motor mounting frame 323 .

[0045] In some embodiments, a groove is provided on the base of one of the motor bases, and a protrusion matching the groove is provided on the base of the other motor base, and the two motor bases are fixedly connected to the groove via the protrusion.

[0046] like Figure 4-Figure 7 As shown, a groove 311 is provided on the first base of the first motor base 31, and a protrusion 321 is provided on the second base of the second motor base 32. Optionally, four screw stepper motor locking screws are fixed to the first motor base 31 and the second motor base 32, and then the protrusion of the second motor base 32 is inserted into the groove of the first motor base 31. The first chest and abdomen body surface simulation board 11, the second chest and abdomen body surface simulation board 12, the third chest and abdomen body surface simulation board 13, and the fourth chest and abdomen body surface simulation board 14 are respectively locked to the end threads of the screw stepper motor with nuts. The four screw stepper motors are connected to the four motor drivers, the four motor drivers are connected to the drive board, and finally the four motor drivers are connected to the power supply. At this time, the body surface respiratory movement simulation device is installed. This embodiment adopts a 220V to 24V power supply.

[0047] The present embodiment provides a body surface respiratory motion simulation device, which mainly uses a screw stepper motor, a motor base, a chest and abdomen body surface simulation board, a motor driver, a drive board and a power supply to simulate the body surface movement of the human body when breathing. The body surface respiratory motion simulation device provided by the present embodiment has a simple structure, and the chest and abdomen body surface is simply divided into four parts. By controlling the reciprocating motion of the four chest and abdomen body surface simulation boards, the movement of the chest and abdomen body surface during abdominal breathing and thoracic breathing of the human body is simulated. Compared with the respiratory motion simulation device that uses air bags and other elastic materials to simulate lung movement, the body surface respiratory motion simulation device provided by the present embodiment uses rigid components and uses a screw stepper motor to directly drive the chest and abdomen body surface simulation board to move, which has stronger repeatability, high motion accuracy, better motion control ability, simpler control, and lower cost of the entire system.

[0048] Example 2 A target monitoring system based on binocular vision is used to monitor the above device. For a detailed description of the device, please refer to the corresponding description in the above device embodiment, which will not be repeated here. The system includes a binocular camera, multiple body surface targets, a main controller, and a camera fixing device, such as Figure 8As shown, the binocular camera 5 is fixed on the camera fixing device 4, the surface target is arranged on the chest and abdomen surface simulation board, the binocular camera is used to measure the real-time displacement of the surface target on different chest and abdomen surface simulation boards, and the main controller is used to draw the real-time displacement curve of the surface target and observe the result to judge the movement state of the surface respiratory motion simulation device, realize the monitoring of the movement of the surface respiratory motion simulation device, and adjust the programming instructions of the driving board according to the monitoring results to meet the needs.

[0049] In some embodiments, Figure 8 As shown, the camera fixing device 4 includes a bracket and a fixing frame 41, the fixing frame is installed on the bracket, and the binocular camera is fixed to the fixing frame. The binocular camera includes a first industrial camera 51 and a second industrial camera 52.

[0050] like Figure 8 As shown, the bracket includes a base 45, a bracket stacking block 44, a support member 43, and a connecting rod 42. The fixing frame is installed on the support member through the connecting rod. The bracket stacking block is installed between the base and the support member. The bracket stacking block is used to adjust the height of the bracket to achieve the adjustment of the distance between the binocular camera and the body surface respiratory motion simulation device. Specifically, the height of the bracket can be increased by increasing the number of splicing of the bracket stacking blocks 44, thereby increasing the distance between the binocular camera and the body surface respiratory motion simulation device. In order to facilitate disassembly and assembly, the splicing of the bracket stacking blocks 44 adopts transition fit, and the splicing method is as follows Figure 8 shown.

[0051] like Figure 8 As shown, the fixing frame is provided with a plurality of holes, and the holes are used to adjust the baseline of the binocular camera. The baseline of the two cameras can be adjusted by adjusting the screw holes of the binocular camera 5 locked on the fixing frame 41.

[0052] The above two adjustment methods can be used to adjust the ranging area of ​​the target monitoring system based on binocular vision. The measured surface target can be set as a small blue round plastic sheet and pasted on the chest and abdomen surface simulation board. The surface target can be changed to other colors or other shapes according to actual needs. After changing it, just change the corresponding target recognition function in the code of the target monitoring system based on binocular vision. By measuring the real-time displacement of the surface targets on different chest and abdomen surface simulation boards, drawing the real-time displacement curve of the target, and observing the results, the movement state of the surface respiratory motion simulation device can be judged, and the movement of the surface respiratory motion simulation device can be monitored. Only one surface target can be pasted on each chest and abdomen surface simulation board, and multiple surface targets can be added according to needs. In the ranging code, multiple libraries in Python are used to process the data of the binocular camera and complete the ranging and real-time displacement curve drawing tasks. For example, the OpenCV platform can be used.

[0053] The present embodiment provides a target monitoring system based on binocular vision, and uses a body surface respiratory motion simulation device provided in Example 1. The system uses two industrial cameras and a camera fixing device for fixing the industrial cameras to complete real-time target distance measurement and respiratory motion curve drawing, thereby realizing the monitoring of the body surface respiratory motion simulation device. The target monitoring system based on binocular vision designed in the present embodiment can measure the distance of the placed body surface targets in real time and draw the real-time displacement curve of the targets. After combining the body surface respiratory motion simulation device with the system, the system can monitor the motion state of the body surface respiratory motion simulation device. If the requirements are not met, the code in the driver board can be changed to correct the motion of the chest and abdomen body surface simulation board, which increases the reliability of the body surface respiratory motion simulation device.

[0054] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0055] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

[0056] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0057] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the device embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the device embodiment.

[0058] The above description is only an embodiment of this specification and is not intended to limit one or more embodiments of this specification. For those skilled in the art, one or more embodiments of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of this specification shall be included in the scope of the claims of one or more embodiments of this specification.

Claims

1. A device for simulating body surface respiratory motion, characterized in that: It includes multiple chest and abdomen surface simulation boards, multiple drive motors, multiple motor drivers, a motor base, and a drive board; the motor driver is fixed on the motor base, and the multiple chest and abdomen surface simulation boards are respectively fixed on the corresponding drive motors, the drive motor is electrically connected to the motor driver, and the motor driver is electrically connected to the drive board; wherein, The driving board is used to control the motor driver to achieve synchronous control of each of the driving motors; The plurality of driving motors are used to drive the plurality of chest and abdomen body surface simulation plates to expand or contract synchronously to simulate the respiratory movement of the human body surface.

2. A body surface respiratory motion simulation device as claimed in claim 1, characterized in that: There are four thoracic and abdominal body surface simulation plates, namely a first thoracic and abdominal body surface simulation plate, a second thoracic and abdominal body surface simulation plate, a third thoracic and abdominal body surface simulation plate, and a fourth thoracic and abdominal body surface simulation plate.

3. A body surface respiratory motion simulation device as claimed in claim 2, characterized in that: There are four drive motors, namely a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor. The first thoracic and abdominal surface simulation plate is fixed to the end of the first drive motor, the second thoracic and abdominal surface simulation plate is fixed to the end of the second drive motor, the third thoracic and abdominal surface simulation plate is fixed to the end of the third drive motor, and the fourth thoracic and abdominal surface simulation plate is fixed to the end of the fourth drive motor.

4. A body surface respiratory motion simulation device as claimed in claim 3, characterized in that: There are four motor drivers, namely a first motor driver, a second motor driver, a third motor driver, and a fourth motor driver. The first drive motor is electrically connected to the first motor driver, the second drive motor is electrically connected to the second motor driver, the third drive motor is electrically connected to the third motor driver, and the fourth drive motor is electrically connected to the fourth motor driver.

5. A body surface respiratory motion simulation device as claimed in claim 4, characterized in that: There are two motor bases, namely a first motor base and a second motor base. The first motor base is fixedly connected to the second motor base. The first drive motor and the second drive motor are installed on the first motor base. The third drive motor and the fourth drive motor are installed on the second motor base.

6. A body surface respiratory motion simulation device as claimed in claim 5, characterized in that: The driving motor is a screw stepper motor, and each of the screw stepper motors drives the corresponding chest and abdomen body surface simulation board to expand outward or contract inward synchronously in the three directions of X, Y, and Z.

7. A body surface respiratory motion simulation device as claimed in claim 6, characterized in that: When the body surface respiratory motion simulation device is placed horizontally, the forward stroke vector of the screw stepper motor corresponds to the expansion of each chest and abdomen body surface simulation plate, and the reverse stroke vector of the screw stepper motor corresponds to the contraction of each first chest and abdomen body surface simulation plate.

8. A body surface respiratory motion simulation device as claimed in claim 1, characterized in that: The driving board controls the motor driver by changing the high and low levels of the corresponding pins according to programming instructions, thereby controlling the forward rotation, reverse rotation, speed and number of steps of each driving motor.

9. A body surface respiratory motion simulation device as claimed in claim 8, characterized in that: The programming instructions of the driving board can be changed to simulate the movement of the human body surface when the human body is in different breathing states.

10. The device for simulating body surface respiratory motion according to claim 1, characterized in that: The body surface respiratory motion simulation device is used to simulate the respiratory motion state of the body surface during chest breathing and abdominal breathing of the human body.

11. A body surface respiratory motion simulation device as claimed in claim 5, characterized in that: When simulating human chest breathing, the number of steps of the two screw stepper motors on the first motor base is increased while the interval between each step is reduced. At this time, the outbound and return travel times of the four screw stepper motors remain consistent, and they expand or contract synchronously. When simulating abdominal breathing of the human body, the number of steps of the two screw stepper motors on the second motor base is increased while the interval time of each step is reduced. At this time, the outgoing and return time of the four screw stepper motors remain consistent, and they expand or contract synchronously.

12. A body surface respiratory motion simulation device as claimed in claim 5, characterized in that: The two motor bases each include a base and two motor mounting frames located on the base, an angle is formed between the two motor mounting frames, and the motor mounting frames are used to mount corresponding drive motors.

13. A body surface respiratory motion simulation device as claimed in claim 12, characterized in that: A groove is provided on the base of one of the motor bases, and a convex block matching the groove is provided on the base of the other motor base, and the two motor bases are fixedly connected to the groove via the convex block.

14. A target monitoring system based on binocular vision, used to monitor the device according to any one of claims 1 to 13, characterized in that: It includes a binocular camera, multiple surface targets, a main controller, and a camera fixing device. The binocular camera is fixed on the camera fixing device. The surface targets are arranged on the chest and abdomen surface simulation board. The binocular camera is used to measure the real-time displacement of the surface targets on different chest and abdomen surface simulation boards. The main controller is used to draw the real-time displacement curve of the surface targets and observe the results to determine the movement state of the surface respiratory motion simulation device, realize the monitoring of the movement of the surface respiratory motion simulation device, and adjust the programming instructions of the driving board according to the monitoring results to meet the needs.

15. A target monitoring system based on binocular vision as claimed in claim 14, characterized in that: The camera fixing device comprises a bracket and a fixing frame, the fixing frame is installed on the bracket, and the binocular camera is fixed to the fixing frame.

16. A target monitoring system based on binocular vision as claimed in claim 15, characterized in that: The bracket includes a base, a bracket stacking block, a support member, and a connecting rod. The fixing frame is installed on the support member through the connecting rod. The bracket stacking block is installed between the base and the support member. The bracket stacking block is used to adjust the height of the bracket to achieve adjustment of the distance between the binocular camera and the body surface respiratory motion simulation device.

17. A target monitoring system based on binocular vision as claimed in claim 15 or 16, characterized in that: The fixing frame is provided with a plurality of holes, and the holes are used to adjust the baseline of the binocular camera.

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