Method for positioning diagnosis point based on automatic measurement of wrist radial styloid process

Abstract

The invention relates to a method for automatically measuring a positioning diagnosis point of a wrist radial styloid process, in particular to a method for measuring and calculating the specific position of a wrist rear radial neck protrusion by adopting a multi-contact time point detection and visual detection combined mode, and the edge of the contact side of a multi-contact point and the radius of a wrist enables the contour of the wrist radial neck protrusion to be formed. And calculating the coordinates of the convex points of the wrist, radius and neck through image recognition.

Description

[0001] Technical field: Positioning of wrist incision points in the field of traditional Chinese medicine diagnosis Background Art

[0002] Wrist palpation is one of the important methods in TCM diagnosis. At present, TCM pulse diagnosis locates the wrist palpation point according to traditional experience and a large number of practical training methods. For example, from the wrist transverse line vertically to the radial styloid process, the length of one inch and nine points is divided into three equal parts, corresponding to the inch pulse, the guan pulse and the chi pulse palpation points respectively; there are also points on the posterior radial styloid process of the wrist as the guan pulse point, about one finger in the direction of the wrist transverse line as the cun pulse point, and about one finger away from the guan pulse point as the chi pulse point; the length of one inch and nine points is not a fixed value, and must be controlled according to the physical differences of each person; and the radial styloid process behind the wrist is not obvious due to individual differences, such as people with thick subcutaneous fat, which depends on the feel of the palpator; both methods are limited by the personal proficiency and practical experience of the palpator, and are greatly affected by human factors. The palpation point is not easy to find accurately, and the work efficiency is low. Summary of the invention

[0003] The present invention adopts a multi-contact simultaneous detection mechanism and a visual sensor (12) to measure and calculate the specific position of the radial styloid process of the wrist (16); the multi-contact simultaneous detection mechanism is composed of a moving part (06) of a left-right controllable linear motion mechanism connected to a fixed structure (04) in which a sealing body (05) made of a liquid wrapped in a flexible film material is installed, and a plurality of hard material sheets (01) with parallel left and right sides and the same size are aligned and stacked front and back so that the gaps between the planes of each sheet (01) and the outermost gaps between the stacked sheets (01) are small. The contact surfaces of the gaps between the brackets installed on both sides and in contact with each other form a sliding friction fit, and a mechanism is used to limit all the sheets (01) to only left and right movements, and the pressure generated in the sealing body (05) due to the movement is transmitted to the computer by a sensor (18). The moving mechanism controlled by the computer makes the squeezing pressure generated by the movement within the safe range of the human wrist (16). A visual sensor (12) is installed on the operating table, and the field of view of the visual sensor (12) can cover the edges of all the sheets (01) contacting the radial side of the measured wrist (16). The calculation results of the computer are connected to the output device.

[0004] When the sealing body (05) squeezes all the thin sheets (01), each thin sheet (01) will stop moving when it encounters a hard surface because the sealing body (05) is flexible. Therefore, the edge of each thin sheet (01) in contact with the radial side of the wrist (16) forms a contour with the radial styloid process of the wrist (16). The visual sensor obtains the contour map and calculates the coordinates of the radial styloid process point of the wrist (16) through the image recognition software. Since the non-radial side of the wrist (16) is positioned by the limiting structure, the coordinates are known. The relationship between the actual diagnosis point and the radial styloid process point of the wrist (16) is known from the traditional Chinese medicine data. The Guanmai point is on the side of the radial styloid process point of the wrist (16). In the X direction, the distance is from the radial styloid process point of the wrist (16) to one-fourth of the width of the wrist (16), that is, one finger width of the measured person. Therefore, the Guanmai diagnosis point of the wrist (16) can be located. The cunmai diagnosis point and the chimai diagnosis point are respectively one finger width forward and backward from this point. This process can better solve the measurement and positioning problems of people with thick subcutaneous tissue and unclear radial styloid process points of the wrist (16). BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Figure 1 This is a front view of the relationship between the multi-touch simultaneous detection mechanism and the visual sensor. Figure 2 It is a top view of the positional relationship between the multi-contact simultaneous detection mechanism and the wrist being tested; Figure 1 and Figure 2 In:

[0006] (01) is a thin sheet; (02) is a limit slider of each (01); (03) is a bracket for fixing (19), (20) and (04); (04) is a fixed structure for supporting (05); (05) is a liquid wrapped in a sealing body made of a flexible film material; (06) is a moving part of a left-right controllable linear motion mechanism; (07) is a bracket of (04); (08) is a screw rod of (06); (09) is a bracket of (08); (1 0) is the fixed part of the controllable linear motion mechanism of (06); (11) is the limit bracket of (16); (12) is the visual sensor; (13) is the bracket of (12); (14) is the operating table; (15) is the support pillow of (16); (16) is the wrist; (17) is the motor of (06); (18) is the pressure sensor; (19) is the front bracket of (02); (20) is the rear bracket of (02); (21) is the slide slot hole of (01); DETAILED DESCRIPTION

[0007] With the palm facing upward and placed horizontally on the workbench, the following definitions are made: the finger direction is forward as the positive Y axis, the right side of the wrist (16) is recorded as the positive X axis, and the palm direction is upward as the positive Z axis (the same below). The implementation method is to take the motor screw module as an example; a hole (21) is made in the middle of each thin sheet (01) to limit its X-axis movement range, and the thickness of all the thin sheets (01) superimposed can cover the radial styloid process of the wrist. A limit slider (02) is installed in the hole to limit the movement of the thin sheet (01) in the Z and X axis directions, and the clearance in the Z axis direction is a sliding fit; in the Y of the limit slider (02), A bracket (19) and a bracket (20) are respectively installed at both ends of the axial direction, and the distance between the brackets at the two ends is such that the gap between the planes of each sheet (01) is limited and the contact surface between the two brackets forms a sliding friction fit, and the bottom of the bracket (19) and the bracket (20) are installed on the bracket (03); a sealing body (05) made of a flexible film material is installed in the fixed structure (04), and the bottom of the fixed structure (04) is connected and installed with the fixed bracket (03); a pressure sensor (18) is installed between the sealing body made of the flexible film material and the inner wall of the fixed structure (04); The visual sensor (12) is installed on the operating table (14) of the whole machine through a fixed bracket (13), and the field of view of the visual sensor (12) can cover the edge of each thin sheet (01) in contact with the radial side of the measured wrist (16); the support pillow (15) and the wrist limit bracket (11) are installed on the operating table (14) of the whole machine, the front and rear dimensions of the limit bracket (11) should be equal to the thickness of the superposition of all thin sheets (01), and the installation makes the middle lines of the two dimensions overlap; the motor (17) shaft is connected to the lead screw (08), and the other end of the lead screw (08) is supported by a bracket (09) , the lead screw (08) is assembled with the lead screw slider of the moving part (06), the lead screw slider is connected to the cavity (04) via the bracket (07), the lead screw slider of the moving part (06) is assembled with the lead screw slide groove of the fixed structure (10) in the X-axis direction, and the non-sliding surface of the fixed structure (10) is installed on the operating table (14) of the whole machine; the measurement signal of the visual sensor (12) and the measurement signal of the pressure sensor (18) are connected to the input end of the computer, the output end of the computer is connected to the motor (17) via the motor driver, and the calculation result information of the computer is connected to the output device;

[0008] There are currently a large number of mature products available for the image recognition software and various sensors involved in the above.

[0009] Constraints:

[0010] 1) The height of each sheet (01) is ≥ the thickness of the wrist (16) of a person of maximum physique;

[0011] 2) Number of slices (01) ≥ (the dimension from the transverse line of the wrist (16) to the posterior radial styloid process of the wrist (16) of a person of maximum physique) / (divided by the thickness of the slice);

[0012] 3) The matching relationship between the limit slider (02) and the slide slot hole (21) in the thin sheet (01) is that the X-axis motion length is ≥ the dimension from the most convex point of the radial stem of the wrist (16) of a person with the largest physique to the most concave point under the most anterior transverse line of the wrist (16);

[0013] Implementation steps:

[0014] 1. Move (manually or by computer command to control the motor) the lead screw slider (06) so that the distance between the lead screw slider (06) and the limit bracket (11) is at the maximum;

[0015] 2. Place the wrist (16) with the palm facing upward on the support pillow (15) and place the non-radial styloid side of the wrist (16) close to the limiting bracket (11) so that the front transverse line of the wrist (16) is at the front edge of the limiting bracket (11);

[0016] 3. Start the computer to send instructions to control the movement of the moving parts of the linear motion mechanism so that the sealing body (05) squeezes each sheet (01) to move toward the radius of the wrist (16) and at the same time the computer sends instructions to measure the value P of the input pressure sensor (18);

[0017] 4. If P < the maximum acceptable value of the human wrist (16), jump to "3.", otherwise proceed to the next step.

[0018] 5. The computer sends a command to stop the motor (17);

[0019] 6. The computer receives visual image information from the visual sensor (12), and calculates the position of the radial styloid process in the image of the edge curve formed by the contact between each sheet (01) and the wrist (16) through the image recognition software, and records it as (XT, YT);

[0020] 7. Calculate the width of the wrist (16) from the radial styloid to the limit plate (11), assuming that the coordinates of the lower right corner of the operating table are (0, 0), define Sx, Sy as the coordinates of the lower left starting point of the image, if the distance from the coordinates (0, 0) to the contact surface between the limit plate and the non-radial side of the wrist is Wo, and Sx ≤ Wo, then: the width of the wrist from the radial styloid to the limit plate is set to W, then: W = (Sx-Wo+XT);

[0021] 8. Pulse point coordinate calculation: Pulse point: (((Sx+XT+(W / 4)), (Sy+YT));

[0022] Cun pulse point: (((Sx+XT+(W / 4)), ((Sy+YT)+(W / 4)));

[0023] Radius pulse point: (((Sx+XT+(W / 4)), ((Sy+YT)-(W / 4)));

[0024] 9. The coordinates of each pulse point are output via computer output device.

Claims

1. A method for locating the incision point based on automatic measurement of the radial styloid process of the wrist, characterized in that: The multi-contact simultaneous detection mechanism and the visual sensor are used to measure and calculate the specific position of the radial styloid process of the wrist; the multi-contact simultaneous detection mechanism is composed of a flexible rightward (leftward when measuring the right hand) extrusion mechanism formed by connecting the moving parts of a left-right controllable linear motion mechanism with a structure in which a sealing body made of a liquid wrapped in a flexible film material is installed in a fixed structure, and a plurality of hard material thin sheets with parallel left and right sides and the same size are aligned in parallel left and right and stacked front and back so that the gaps between the planes of each sheet and the gaps between the brackets installed on the outermost sides of the stacked sheets and in contact with each other form a sliding friction fit, and a mechanism is used to limit all sheets to only left-right movement, and the pressure generated in the sealing body due to the movement is transmitted to a computer by a sensor, and the moving mechanism of the controllable linear motion mechanism controlled by the computer makes the extrusion pressure generated by the movement amount within the safe range of the human wrist, a visual sensor is installed on the operating table so that the field of view of the visual sensor can cover the edges of all sheets in contact with the radial side of the measured wrist, and the calculation results of the computer are connected to the output device.

2. A method for locating the incision point based on automatic measurement of the radial styloid process of the wrist as described in 1., characterized in that: The structure is composed of a moving part of a left-right controllable linear motion mechanism connected with a fixed structure in which a sealing body made of a liquid wrapped in a flexible film material is installed.

3. A method for locating the incision point based on automatic measurement of the radial styloid process of the wrist as described in 1., characterized in that: The four sides of multiple thin sheets with parallel upper and lower sides, parallel left and right sides and the same size are aligned and stacked, and the gaps between the planes of each thin sheet and the gap contact surfaces between the brackets installed on the outermost sides of the stacked thin sheets and contacting each other form a sliding friction fit.

4. A method for locating the incision point based on automatic measurement of the radial styloid process of the wrist as described in 1., characterized in that: The implementation steps are as follows: (1) The computer sends instructions to control the distance between the moving mechanism and the limit bracket to be the maximum. (2) Place your palm upward and place the non-radial styloid side of your wrist against the wrist limit bracket so that the front horizontal line of your wrist is at the front edge of the wrist limit bracket. (3) The computer sends a command to control the moving mechanism to squeeze all the sheets through the sealing body and move them toward the radial side of the wrist. The pressure generated in the sealing body due to this movement is recorded as: P (the same below) and transmitted to the computer through a sensor. (4) If P < human wrist safety value, jump to "(3)", otherwise execute the next step. (5) The computer sends a command to control the moving mechanism to stop moving. (6) The computer receives the video image information from the video sensor, and uses the image recognition software to calculate the edge curve formed by the contact between each sheet and the hand, i.e., the wrist radial styloid curve, and calculates the position coordinates of the wrist radial styloid point in the image, which are marked as: (XT, YT). (7) Calculate the width of the wrist from the radial styloid to the limit plate. Assume that the coordinates of the lower right corner of the operating table are (0, 0). Define Sx and Sy as the coordinates of the lower left starting point of the image. If the distance from the coordinates (0, 0) to the contact surface between the limit plate and the non-radial side of the wrist is Wo, and Sx ≤ Wo, then the width of the wrist from the radial styloid to the limit plate is W, then: W = (Wo-Sx+XT), (8) Pulse point coordinate calculation: Pulse point: (((Sx+XT+(W / 4)), (Sy+YT)), Cun pulse point: (((Sx+XT+(W / 4)), ((Sy+YT)+(W / 4))), Radius pulse point: (((Sx+XT+(W / 4)), ((Sy+YT)-(W / 4))), (9) The coordinates of each pulse point are output via a computer output device.

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