Method for positioning diagnosis point and automatically measuring pulse condition by using depth vision

Abstract

According to the invention, a multi-contact simultaneous detection mechanism and a depth vision sensor are adopted to measure and calculate the specific position of the wrist radial styloid process; a computer is used for controlling the six controllable linear motion mechanisms to position pulse diagnosis points; the mechanism is used for automatically adapting to the height difference and the distance of three pulse diagnosis points on the plane and controlling the up-down position and the pressure; a pulse sensor is installed on the three-pulse diagnosis point mechanism to collect pulse condition information so as to achieve the method of automatically measuring the pulse condition.

Description

[0001] Technical field: wrist pulse diagnosis point positioning and pulse measurement 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 is based on traditional experience and a large number of practical training methods to locate the wrist palpation point and rely on the feel of the palpator to perceive the pulse. 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 is also a point 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 palpator's feel; both methods are limited by the personal proficiency and practical experience of the palpator, especially the spacing between the three diagnosis points, and the control of the sinking, floating and middle palpation strength depends on the experience of the palpator, which is very affected by human factors, and the palpation point is not easy to find, and the work efficiency is low. Summary of the invention

[0003] The present invention adopts a multi-contact point simultaneous detection mechanism and a depth vision sensor (015) to measure and calculate the specific position of the radial styloid process of the wrist; uses a computer to control six controllable linear motion mechanisms to locate the pulse diagnosis points; automatically adapts the height difference and spacing of the three pulse diagnosis points in the plane and controls the upper and lower positions and pressures; a pulse sensor (200) is installed on the three pulse diagnosis point mechanisms to collect pulse image information to realize the method of automatically measuring the pulse image; the multi-contact point simultaneous detection mechanism is composed of a moving part (110) of a left and right (defined as: the first left and right, the same below) controllable linear motion mechanism and a structure in which a sealing body (008) made of a liquid wrapped in a flexible film material is installed, forming a flexible rightward (measure the right hand to the left) squeeze structure A pressing mechanism, and a plurality of hard material thin sheets (001) with parallel left and right sides and the same size, aligned in parallel left and right sides and stacked front and back so that the gaps between the planes of each thin sheet (001) and the gaps between the brackets installed on the outermost sides of the stacked thin sheets (001) form a sliding friction fit, and a mechanism is used to limit all thin sheets (001) to only left and right movement, and a mechanism in which the field of view of the depth vision sensor can cover the thin sheet (001) and all thin sheets (001) on the radial side of the wrist (023) to be measured; a moving part (610) of a vertically controllable linear motion mechanism for automatically adapting to the height difference and spacing of the three pulse diagnosis points on the plane and controlling the up and down position and pressure A structure in which a liquid is wrapped in a sealing body (808) made of a flexible film material is installed in a fixed structure (707), and the fixed structure (707) is connected to a moving part (610) of a vertically controllable linear motion mechanism via a bracket (614), and three moving parts of the vertically movable mechanism equipped with a pulsation sensor (200) and at least two front-to-back (defined as: the second and third front-to-back, the same below) controllable linear motion mechanisms are installed in a suspended manner below the sealing body (808) in the fixed structure (707), wherein the fixed parts of the two lower moving mechanisms are respectively connected to the moving parts (410) (510) of the second and third front-to-back controllable linear motion mechanisms, so that the moving parts of the two vertically movable mechanisms are connected to the moving parts (410) (510) of the second and third front-to-back controllable linear motion mechanisms. The components are respectively installed in two long holes in the front-to-back direction below the fixed structure of the fixed sealing body, and another fixed component of the up-and-down moving mechanism equipped with a pulsation sensor is connected to the fixed structure of the second and third front-to-back controllable linear motion mechanisms. The moving components of the up-and-down moving mechanism of the pulsation sensor are installed in the hole below the fixed structure (707) of the fixed sealing body by sliding friction. The fixed components (412) (512) of the second and third front-to-back controllable linear motion mechanisms are connected to the fixed components (612) of the up-and-down controllable linear motion mechanisms through brackets (505) (314), and are connected to the moving components of a front-to-back (defined as: the first front-to-back, the same below) controllable linear motion mechanism to control the front-to-back positions of the three pulse diagnosis points in the plane;The moving part (210) of another left-right (defined as: second left-right, the same below) controllable linear motion mechanism is connected to the fixed part (312) of the first front-back controllable linear motion mechanism through the bracket (214) and then through (405) to form a left-right positioning mechanism for three pulse diagnosis points on the plane; the driving system of the six controllable linear motion mechanisms is connected to the computer; the pressure sensors (100) and (300) between the two sealing bodies (008) and (808) and the respective fixed structures (007) and (808) are connected to the computer; each pulsation sensor (200) is connected to the computer, and the result of each pulsation sensor (200) is given through the output device of the computer. ;

[0004] Working principle:

[0005] When the sealing body (008) squeezes all the thin sheets (0001) to the right, each thin sheet (001) will stop moving when it encounters a hard surface because the sealing body (007) is flexible. Therefore, the edge of each thin sheet (001) in contact with the radial side of the wrist (023) forms a contour with the radial styloid process of the wrist (023). The distance between each point of the contour measured by the depth vision sensor can be used to calculate the coordinates of the radial styloid process point of the wrist (023). Because the non-radial side of the wrist (023) is positioned by a limiting structure, the coordinates are known. The relationship between the actual diagnosis point and the radial styloid point of the wrist (023) is known from traditional Chinese medicine data. The Guanmai point is on the left and right side of the radial styloid point of the wrist (023). The distance is one-fourth of the width from the radial styloid point of the wrist (023) to the non-radial side of the wrist (023), which is one finger width of the person being measured. Therefore, the Guanmai diagnosis point of the wrist (023) can be located. The Cunmai diagnosis point and the Chimai diagnosis point are one finger width forward and backward from this point respectively. The pulsation sensor (261)(262)(263) is used to record the data of each pulse diagnosis point, and the pressure sensor (300) and the upper and lower controllable linear motion mechanism are used to control the pressure size to realize the control of the sinking, floating and middle force of the diagnosis point. The flexible downward pressure mechanism can automatically adapt to the height difference of the three diagnosis points in the plane, so that the pulse data measurement is more accurate, and the problem of measuring people with thick subcutaneous tissue is better solved. After calculation, it can better solve the problem of measuring people with unclear radial styloid process at the wrist (023), thereby achieving the purpose of automatically positioning and measuring pulse for more people. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is the front view of the whole mechanism in standby state. Figure 2 This is a top view of the positional relationship between the multi-contact simultaneous detection mechanism and the wrist being tested. Figure 3 It is the left view of each mechanism with pulsation sensor installed. Figure 4 is a top view of each mechanism equipped with a pulsation sensor, Figures 1 to 4 In:

[0007] (001) is a thin sheet; (003) is a hole in (001); (004) is a limit block for each (001); (006) is a bracket for fixing (104), (204), and (007); (007) is a fixed structure for driving (008) to move left and right; (008) is a liquid wrapped in a sealing body made of a flexible film material; (015) is a depth vision sensor; (019) is an operating surface; (021) is a wrist support pillow; (022) is a wrist non-radial side support; (023) is a wrist; (100) is a horizontal pressure sensor; (104) is a rear bracket for fixing (004); (109) is a motor for a first left and right controllable linear motion mechanism; (110) is an operating mechanism for the first left and right controllable linear motion mechanism. moving part; (111) is the lead screw of the first left-right linear motion mechanism; (112) is the fixed part of the first left-right controllable linear motion mechanism; (120) is the bracket for fixing (112); (200) is the pulsation sensor; (204) is the front bracket for fixing (004); (209) is the motor of the second left-right controllable linear motion mechanism; (210) is the moving part of the second left-right controllable linear motion mechanism; (211) is the lead screw of the second left-right controllable linear motion mechanism; (212) is the fixed part of the second left-right controllable linear motion mechanism; (214) is the connecting piece between the moving part of the second left-right controllable linear motion mechanism and (405); (261) is the rear point sleeve; (262) is the midpoint sleeve; (263) is Front point bushing; (280) is the signal lead wire of (200); (300) is the pressure sensor of the up-and-down motion mechanism; (309) is the motor of the first front-and-back controllable linear motion mechanism; (310) is the moving part of the first front-and-back controllable linear motion mechanism; (311) is the lead screw of the first front-and-back controllable linear motion mechanism; (312) is the fixed part of the first front-and-back controllable linear motion mechanism; (314) is a bracket connecting (310), (512), and (612); (320) is a bracket of (311); (401) is a bracket of (403) and (019); (403) is a bracket of (212); (405) is a bracket of (312); (409) is a second front-and-back controllable linear motion mechanism The motor of the mechanism; (410) is the moving part of the second front-to-back controllable linear motion mechanism; (411) is the lead screw of the second front-to-back controllable linear motion mechanism; (412) is the fixed part of the second front-to-back controllable linear motion mechanism; (420) is the bracket of (411); (505) is the fixed structure of (412)(512); (509) is the motor of the third front-to-back controllable linear motion mechanism; (510) is the moving part of the third front-to-back controllable linear motion mechanism; (511) is the lead screw of the third front-to-back controllable linear motion mechanism; (512) is the fixed part of the third front-to-back controllable linear motion mechanism; (520) is the bracket of (511); (609) is the motor of the up-down controllable linear motion mechanism;(610) is a moving part of a mechanism capable of up and down controllable linear motion; (611) is a lead screw of the mechanism capable of up and down controllable linear motion; (612) is a fixed part of the mechanism capable of up and down controllable linear motion; (614) is a connecting structure between (610) and (707); (707) is a fixed structure that drives (808) to move up and down; (808) is a liquid wrapped in a sealing body made of a flexible film material; DETAILED DESCRIPTION

[0008] With the palm facing upward and placed horizontally on the work surface, the definition is: the finger direction is forward as the positive axis Y, the wrist (16) is right as the positive axis X, and the palm direction is upward as the positive axis Z (the same below); as one of the specific implementation methods, take the motor screw motion scheme as an example, in which the default motor is a controllable stepper motor:

[0009] A hole (003) is made in the middle of each thin sheet (001) to limit its range of movement in the X-axis direction. The thickness of all thin sheets (001) can cover the wrist radius stem. A limit slider (004) is installed in the hole to limit the thin sheet (001) to move only in the Y-axis direction, and the clearance in the Z-axis direction is a sliding fit; a bracket (104) and a bracket (204) are respectively installed at both ends of the limit slider (004) in the Y-axis direction, and the distance between the brackets at the two ends is so as to limit the gap between the planes of each thin sheet (001) and to form a sliding friction fit with the contact surface between the two brackets. The bottom of the bracket (104) and the bracket (204) are installed on the bracket (006); liquid is wrapped in a flexible film material. The sealing body (008) is installed in the fixing mechanism (007), and the bottom of the fixing mechanism (007) is connected to the fixing bracket (006) for installation; a pressure sensor (100) is installed between the sealing body (008) made of flexible film material and the inner wall of the fixing mechanism (007); the fixing bracket (006) is connected to the slider of the moving component (110) of the first left-right controllable linear motion mechanism through the bracket (114); the motor (109) of the first left-right controllable linear motion mechanism is connected to the lead screw (111) of the first left-right controllable linear motion mechanism, and the other end of the lead screw is supported by the bracket (120); the nut, slider, and the first left-right controllable linear motion mechanism of the moving component (110) of the first left-right controllable linear motion mechanism are connected to the slider; the first left-right controllable linear motion mechanism of the moving component (110) of ... The lead screw (111) and the fixed component (112) of the first left-right controllable linear motion mechanism are assembled; the fixed component (112) of the first left-right controllable linear motion mechanism and the motor (109) of the first left-right controllable linear motion mechanism are installed on the operating surface (019); the depth vision sensor (015) is installed on the bracket (022); the moving component (310) of the first front-back controllable linear motion mechanism is connected to the bracket (314), the fixed component (312) of the first front-back controllable linear motion mechanism is connected to the bracket (405), and the bracket (405) is connected to the bracket (614) connected to the moving component (210) of the second left-right controllable linear motion mechanism; the second left-right controllable linear motion mechanism The motor (209) of the mechanism is connected to the lead screw (211) of the second left-right controllable linear motion mechanism; the nut, slider, lead screw (211) of the second left-right controllable linear motion mechanism and the fixed component (212) slide rail of the moving component (212) of the second left-right controllable linear motion mechanism are assembled; the fixed component (212) slide rail of the second left-right controllable linear motion mechanism and the motor (209) of the second left-right controllable linear motion mechanism are installed on the operating surface (019) via the bracket (403) and then via (401); the nut, slider, lead screw (311) of the first front-back controllable linear motion mechanism and the fixed component (312) slide rail of the moving component (310) of the first front-back controllable linear motion mechanism are assembled;The motor (309) of the first front-to-back controllable linear motion mechanism is connected to the lead screw (311) of the first front-to-back controllable linear motion mechanism, and the other end of the lead screw is supported by a bracket (320); the field of view of the depth vision sensor (015) is installed to cover the stacking thickness of all sheets (001) and the height should be greater than the thickness of the wrist (023) to be measured; the wrist support pillow (021) and the limit bracket (022) of the wrist to be measured are installed on the operating table (019) of the whole machine, the front and back dimensions of the limit bracket (023) should be equal to the stacking thickness of all sheets (001), and the installation makes the middle lines of the two dimensions overlap; the nut, slider, The lead screw (411) and the fixed component (412) of the second front-to-back controllable linear motion mechanism are assembled together; the motor (409) of the second front-to-back controllable linear motion mechanism is connected to the lead screw (411) of the second front-to-back controllable linear motion mechanism; the fixed component (412) of the second front-to-back controllable linear motion mechanism is connected to the bracket (314) via the bracket (505); the nut, the slider, the lead screw (511) and the fixed component (512) of the moving component (510) of the third front-to-back controllable linear motion mechanism are assembled together; the motor (509) of the third front-to-back controllable linear motion mechanism is connected to the lead screw (511) of the third front-to-back controllable linear motion mechanism; The slide rails of the fixed components (512) of the three front-to-rear controllable linear motion mechanisms are connected to the bracket (314) via the bracket (505); the nut, slider, lead screw (611) of the up-and-down controllable linear motion mechanism and the slide rails of the fixed components (612) are assembled; the motor (609) of the up-and-down controllable linear motion mechanism is connected to the lead screw (611) of the up-and-down controllable linear motion mechanism; the slide rails of the fixed components (612) of the up-and-down controllable linear motion mechanism are connected to the bracket (314); three pulsation sensors (200) are installed in their respective fixed shafts and are vertically mounted with the shaft sleeves, wherein the rear point shaft sleeve (261) is connected to the moving shaft of the third front-to-rear controllable linear motion mechanism. The middle point bushing (262) is connected to the brackets (420) and (520) of the second and third front and rear controllable linear motion mechanism lead screws via the bracket (514), and the front point bushing (263) is connected to the slider of the moving part (410) of the third front and rear controllable linear motion mechanism; above the bottom hole of the fixed structure (707), a flange plate with an anti-falling function is installed on the top of each fixed shaft to form a sliding fit and vertical lifting, and the hole at the bottom of the fixed structure (707) is made into: the axis position of the fixed shaft (261) and (263) is an oblong hole, and the axis of the fixed shaft (262) is a round hole, and the length of the oblong hole matches the motion stroke of the second and third front and rear controllable linear motion mechanisms;A sealing body (808) made of a flexible film material and wrapped in liquid is installed inside the fixed structure (707), a pressure sensor (300) is installed between the sealing body and the fixed structure (707), and the fixed structure (707) is connected to the moving part (610) of the upper and lower controllable linear motion mechanism via a bracket (614); the measurement signal of the depth vision sensor (015) and the measurement signal of the pressure sensors (100), (200), (300) are connected to the input end of the computer, the output end of the computer is connected to the motors of the controllable linear motion mechanisms via the motor drivers, and the calculation result information of the computer is connected to the output device;

[0010] Constraints:

[0011] 1) The number of slices (001) is greater than or equal to (the dimension from the transverse line of the wrist (023) of a person of maximum physique to the posterior radial styloid process of the wrist (023)) / (divided by the thickness of the slice);

[0012] 2) The matching relationship between the limit slider (004) and the slide slot hole (003) in the thin sheet (001) is that the left and right movement length is ≥ the dimension from the most convex point of the radial stem of the wrist (023) of a person with the largest physique to the most concave point under the most anterior transverse line of the wrist (023);

[0013] Implementation steps:

[0014] 1. The computer commands control the first left-right controllable linear motion mechanism so that the distance between its moving part (110) and the limit bracket (022) is the maximum, the moving part (210) of the second left-right controllable linear motion mechanism is moved to the rightmost position (the right hand is the leftmost position), and the moving part (610) of the up-down controllable linear motion mechanism is moved to the highest position;

[0015] 2. Place the palm upward on the wrist support (021) and place the non-radial styloid process side of the wrist (023) close to the limiting bracket (022) so that the frontmost horizontal line of the wrist (023) is at the front edge of the limiting bracket (022);

[0016] 3. Preset: Array Pc(k), k = 0, 1, 2 and the acceptable maximum value of the human wrist (023) is Pmaix, the pressure value of the floating pulse palpation is Pc(0), the pressure value of the middle pulse palpation is Pc(1), and the pressure value of the deep pulse palpation is Pc(2);

[0017] 4. The computer sends a command to drive the first left-right controllable linear motion mechanism moving part (110) to move, so that the sealing body (008) squeezes each sheet (001) to move toward the radius of the wrist (023) and at the same time the computer sends a command to measure the value (set as P, the same below) P of the input pressure sensor (100);

[0018] 5. If P < the maximum acceptable value of the human wrist (023), jump to "4.", otherwise proceed to the next step.

[0019] 6. The computer issues an instruction to stop the operation of the first left-right controllable linear motion mechanism (210);

[0020] 7. The computer receives the depth and front and back values ​​of at least one row of each row from the depth vision sensor (015), and the depth value is recorded as X i , the values ​​before and after are recorded as Y i , and get the array: (X0, Y0), (X1, Y1)...(X i , Y i )...(X n , Y n ), where: 0≤i≤n;

[0021] 8. The position of the radial styloid process in the measurement plane calculated by the curve pattern recognition software is recorded as (XT, YT).

[0022] 9. Calculate the width of the wrist (023) from the radial styloid to the limit plate (022), assuming that the coordinates of the lower right corner of the operating table are (0, 0), define Sx, Sy as the coordinates of the measurement starting point, 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 Wo≤Sx, then: the width of the wrist from the radial styloid to the limit plate is set to W, then: W=(Wo-Sx+XT);

[0023] 10. Calculation of pulse point coordinates: pulse point: (((Sx-XT+(W / 4)), (Sy+YT));

[0024] Cun pulse point: (((Sx-XT+(W / 4)), ((Sy+YT)+(W / 4)));

[0025] Radius pulse point: (((Sx-XT+(W / 4)), (((Sy+YT)-(W / 4)));

[0026] 11. According to computer data, the computer output drives the first front-to-back and second left-to-right motors (309) and (209), and drives the second front-to-back and third front-to-back motors (409) and (509) so that the distances and coordinates of the three pulse diagnosis points meet the "10." relationship;

[0027] 12. The computer controls the moving parts of the up and down controllable linear motion mechanism to move downward and measures the pressure from the pressure sensor and records it as Pm;

[0028] 13. If Pm < Pc(k), then: jump to "12.", otherwise go to the next step;

[0029] 14. The computer controls the moving parts of the up and down controllable linear motion mechanism to stop moving;

[0030] 15. The computer sends a command to input the measured values ​​of the three pulsation sensors, records them, and executes k=k+1;

[0031] 16. If k=3, then: "End the program", otherwise jump to "12.".

[0032] The pulse information measured by the three pulse sensors is recorded by the computer and outputted via the output device, thereby achieving the purpose of automatically locating the pulse diagnosis point and automatically measuring the pulse.

[0033] There are currently a large number of mature products available for the curve graphic recognition software and various sensors involved in the above.

Claims

1. A method for locating diagnosis points with depth vision and automatically measuring pulse condition, characterized in that: The method comprises the following steps: using a multi-contact point simultaneous detection mechanism and a depth vision sensor to measure and calculate the specific position of the radial styloid process of the wrist, using a computer to control at least six controllable linear motion mechanisms, automatically adapting to the height difference and spacing of three pulse diagnosis points in a plane and controlling the upper and lower positions and pressures, and installing a pulse sensor on the three pulse diagnosis point mechanism to collect pulse information to realize automatic measurement of the pulse image; the multi-contact point simultaneous detection mechanism is composed of a flexible rightward (measure the right hand to the left) squeezing mechanism formed by connecting the moving parts of a left and right (defined as: the first left and right, the same below) controllable linear motion mechanism and a structure in which a sealing body made of a flexible film material wrapped in liquid is installed in a fixed structure, and a plurality of hard material sheets with at least left and right sides parallel and of the same size, and the left and right sides are parallel to each other. The thin sheets are stacked front to back and the gaps between the planes of the thin sheets and the gaps between the brackets installed on the outermost sides of the stacked thin sheets form a sliding friction fit, and a mechanism is used to limit all the thin sheets to only move left and right, and a mechanism is used for the field of view of the depth vision sensor to cover the thin sheets and all the thin sheets on the radial side of the measured wrist; the mechanism automatically adapts to the height difference and spacing of the three pulse diagnosis points in the plane and controls the up and down and pressure, and the moving parts of the up and down controllable linear motion mechanism are connected to a structure in which a liquid is wrapped in a sealing body made of a flexible film material, and the fixed structure is connected to the moving parts of the up and down controllable linear motion mechanism through the bracket, and the sealing body in the fixed structure is installed in a suspended manner below There are three moving parts with up-and-down moving mechanisms equipped with pulsation sensors and at least two front-and-rear (defined as: second front-and-rear, third front-and-rear, the same below) controllable linear motion mechanisms, wherein two fixed parts of the up-and-down moving mechanisms equipped with pulsation sensors are respectively connected to the moving parts of the second front-and-rear and third front-and-rear controllable linear motion mechanisms, and the moving parts of the two up-and-down moving mechanisms are respectively installed in two long holes in the front-and-rear direction below the fixed structure of the fixed sealing body by sliding friction, and another fixed part of the up-and-down moving mechanism equipped with a pulsation sensor is connected to the fixed structure of the second front-and-rear and third front-and-rear controllable linear motion mechanisms, and the moving parts of the up-and-down moving mechanism of the pulsation sensor are installed in the hole below the fixed structure of the fixed sealing body by sliding friction. The fixed parts of the second front-to-back and third front-to-back controllable linear motion mechanisms are connected to the fixed parts of the upper and lower controllable linear motion mechanisms via brackets, and are connected to the moving parts of the first front-to-back controllable linear motion mechanism to form a front-to-back positioning mechanism for three pulse diagnosis points in the plane; the moving structure of another left-to-right (defined as: the second left-to-right, the same below) controllable linear motion mechanism is connected to the fixed structure of another front-to-back (defined as: the first front-to-back, the same below) controllable linear motion mechanism to form a left-to-right positioning mechanism for three pulse diagnosis points in the plane; the driving systems of the six controllable linear motion mechanisms are connected to a computer; the pressure sensors between the two sealing bodies and their respective fixed structures are connected to a computer; each pulsation sensor is connected to a computer, and the results of each pulsation sensor are given via an output device of the computer.

2. A method for locating a diagnosis point with depth vision and automatically measuring a pulse condition as claimed in claim 1, characterized in that: The flexible rightward (right-hand-to-left) extrusion mechanism is composed of a moving part of the first left-right controllable linear motion mechanism connected to a structure in which a sealing body made of a flexible film material wrapped in liquid is installed in a fixed structure, and a plurality of hard material sheets with at least left and right sides parallel and the same size are stacked front and back with the left and right sides aligned in parallel so that the gaps between the planes of each sheet and the contact surfaces of the gaps between the respective contacting brackets installed on the outermost sides of the stacked sheets form a sliding friction fit, and a mechanism is used to limit all sheets to only left and right movement.

3. A method for locating diagnosis points with depth vision and automatically measuring pulse condition as claimed in claim 1, characterized in that: The field of view of the depth vision sensor can cover the structure of the thin slice and all the thin slices on the radial side of the measured wrist.

4. A method for locating diagnosis points with depth vision and automatically measuring pulse condition as claimed in claim 1, characterized in that: The moving parts of the up-and-down controllable linear motion mechanism are connected to a structure in which a liquid is wrapped in a sealing body made of a flexible film material. The fixed structure is connected to the moving parts of the up-and-down controllable linear motion mechanism via a bracket, and three moving parts of the up-and-down moving mechanism equipped with pulsation sensors are installed in a suspended manner below the sealing body in the fixed structure.

5. A method for locating diagnosis points with depth vision and automatically measuring pulse condition as claimed in claim 1, characterized in that: The at least two front-to-back controllable linear motion mechanisms, wherein the fixed parts of the two up-and-down moving mechanisms equipped with pulsation sensors are respectively connected to the moving parts of the second and third front-to-back controllable linear motion mechanisms, so that the moving parts of the two up-and-down moving mechanisms are respectively installed in the two long holes in the front-to-back direction below the fixed structure of the fixed sealing body with sliding friction, and the fixed part of the other lower moving mechanism equipped with a pulsation sensor is connected to the fixed structure of the second and third front-to-back controllable linear motion mechanisms, and the moving parts of the up-and-down moving mechanisms of the pulsation sensors are installed in the holes below the fixed structure of the fixed sealing body with sliding friction, and the fixed parts of the second and third front-to-back controllable linear motion mechanisms are connected to the fixed parts of the up-and-down controllable linear motion mechanisms via brackets.

6. A method for locating diagnosis points with depth vision and automatically measuring pulse condition as claimed in claim 1, characterized in that: The implementation steps are as follows: (1) The computer commands control the first left-right controllable linear motion mechanism so that the distance between its moving part and the limit bracket is the maximum, the moving part of the second left-right controllable linear motion mechanism is moved to the far right (the right hand is the far left), and the moving part of the up-down controllable linear motion mechanism is moved to the highest position; (2) Place your palm upward on the wrist support and place the non-radial styloid side of your wrist close to the limit bracket so that the front crease of the wrist is at the front edge of the limit bracket; (3) Preset: The maximum acceptable value of the human wrist is Pmaix, array Pc(k), (k=0, 1, 2), the pressure value of the floating pulse palpation is Pc(0), the pressure value of the middle pulse palpation is Pc(1), and the pressure value of the deep pulse palpation is Pc(2); (4) Start the computer to send instructions to drive the moving parts of the first left and right controllable linear motion mechanism to move, so that the sealing body squeezes each sheet and moves toward the wrist radius. At the same time, the computer sends instructions to measure the value of the input pressure sensor (set as P, the same below) P; (5) If P < Pmaix, jump to "(4)", otherwise execute the next step. (6) The computer issues an instruction to stop the operation of the first left and right controllable linear motion mechanism. (7) The computer receives the depth and front and back values ​​of at least one row from the depth vision sensor. The depth value is recorded as X i , the values ​​before and after are recorded as Y i , and get the array: (X0, Y0), (X1, Y1)...(X i , Y i )...(X n , Y n ), where: 0≤i≤n; (8) Substitute the array (:X0, Y0), (X1, Y1)...(X i , Y i )...(X n , Y n ) dot matrix pattern, the position of the radial styloid process in the measurement plane is calculated by pattern recognition software and recorded as (XT, YT); (9) Calculate the width of the wrist from the radial styloid process to the stop plate: Assume: the coordinates of the lower right corner of the operating table are (0, 0), assume: the moving parts of the first front-to-back controllable linear motion mechanism are measured and recorded from the rear end, define: Sx, Sy are the measurement original point, coordinates, if the distance from the coordinate (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 process to the limit plate is set to W, then: W = (Wo-Sx+XT); (10) Pulse point coordinate calculation: Key points: (((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))), If the measurement and recording are started from the front end, YT will be a negative value; (11) According to the computer data, the computer output drives the first front-to-back and second left-to-right motor-controlled linear motion mechanism moving parts, and drives the second front-to-back and third front-to-back controllable linear motion mechanism moving parts so that the distances and coordinates of the three pulse diagnosis points meet the calculation relationship of "(10)"; (12) The computer controls the moving parts of the up-and-down controllable linear motion mechanism to move downward and measures the pressure from the pressure sensor, which is recorded as Pm; (13) If Pm < Pc(k), then: jump to "(12)", otherwise execute the next step; (14) The computer controls the moving parts of the upper and lower controllable linear motion mechanism to stop moving; (15) The computer sends instructions to input the measured values ​​of the three pulsation sensors, records them, and executes k=k+1. (16) If k=3, then: "End the program", otherwise jump to "(12)".

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