Method for automatically positioning pulse-taking point and detecting pulse condition
Through the combination of planar multi-contact detection depth mechanism and depth vision sensor, the automated positioning of traditional Chinese medicine pulse diagnosis is achieved, solving the problem of relying on experience and hand feeling in the existing technology, and improving the accuracy and efficiency of pulse diagnosis.
Patent Information
- Application Number
- CN202311057582.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-21
- Publication Date
- 2025-02-21
AI Technical Summary
The existing traditional Chinese medicine pulse diagnosis technology relies on the experience and feel of the examiner, and it is difficult to accurately locate the wrist incision diagnosis point and detect pulse patterns, which is limited by personal proficiency and physical differences.
The plane multi-contact detection depth mechanism, positioning the cover plate hole and depth vision sensor are adopted, combined with three controllable linear motion mechanisms and wrist limit mechanisms to automatically position the pulse point and detect the pulse pattern.
Through automated positioning technology, the accuracy and consistency of pulse diagnosis points are improved, the influence of human factors is reduced, and work efficiency is improved.
Smart Images
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Abstract
Description
[0001] Technical field: Palpation positioning and pulse detection 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 plane multi-contact depth detection mechanism to cooperate with a positioning mask hole (031) and a depth vision sensor (015) to locate the pulse diagnosis point of the radial styloid process, and then uses the plane multi-contact depth detection mechanism to cooperate with a detection mask hole (032), a depth vision sensor (015) and three controllable linear motion mechanisms and a wrist limit mechanism to achieve the purpose of automatically locating the pulse point and detecting the pulse. According to traditional Chinese medicine data, the relationship between the actual pulse diagnosis point and the wrist radial styloid point is known. The pulse point is on the inner side of the wrist radial styloid point, and the distance is from the wrist radial styloid point to one quarter of the wrist width, that is, one finger width of the measured person, so that the wrist pulse point can be located, and the inch pulse point and the foot pulse point are respectively one finger width forward and backward from this point.
[0004] BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 It is a front view of the structural relationship between the plane multi-contact depth detection mechanism, the positioning mask hole, the depth vision sensor, and the radial styloid process of the wrist; Figure 2 yes Figure 1 A top view of Figure 3 It is a structural diagram of a mask plate, a positioning mask plate hole, and a detection mask plate hole; Figure 1 , Figure 2 and Figure 3 In:
[0005] (001) is a thin columnar body; (002) is a flexible film; (003) is a restraining structure; (004) is a suspension structure;
[0006] (005) is a flexible film seal; (010) is a moving part of a left-right controllable linear motion mechanism;
[0007] (012) is a fixed component of the left and right controllable linear motion mechanism; (015) is a depth vision sensor;
[0008] (016) is a bracket of (015); (017) is a bracket of an up-and-down controllable linear motion mechanism; (019) is a work surface;
[0009] (022) is a wrist ulnar side limit bracket; (026) is a wrist radial side limit bracket; (027) is a telescopic spring;
[0010] (028) is an electromagnet; (030) is a mask plate; (031) is a positioning mask plate hole; (032) is a detection mask plate hole;
[0011] (100) is a pressure sensor; (110) is a moving part of the up-and-down controllable linear motion mechanism;
[0012] (112) is a fixed part of the up-and-down controllable linear motion mechanism; (210) is a moving part of the front-and-back controllable linear motion mechanism;
[0013] (212) is a fixed component of the front and rear controllable linear motion mechanism; DETAILED DESCRIPTION
[0014] Definition: Place the palm upward on the workbench, with the palm upward, the fingers pointing forward, and the sides of the wrist as left and right (the same below); Planar multi-contact depth detection mechanism: Use multiple thin cylinders (001) of the same length and size made of hard materials, form a column bundle in the vertical direction and put it into a constraint structure (003) that constrains it to slide and rub only in the vertical direction. The width of the structure should be greater than or equal to Wo (Definition Wo is: one-fourth of the size from the radial styloid process to the ulnar side of the wrist of the largest adult, the same below), and the length should be greater than 3*Wo. The bottom plane is sealed with a flexible film (002) and four frames. The suspension structure (004) is used to fill a pocket-shaped flexible film sealing body (005) below a horizontally placed transparent plate (018) with a light-transmitting liquid, the bag opening is sealed around the transparent plate (018), the film sealing body (005) is assembled with the inner side of the suspension structure (004) in soft contact with each other, the sealing body (005) is assembled with the upper end of the thin columnar body bundle with a distance for up and down movement, and is assembled with the suspension ring (013) of the suspension structure (004) in a suspended manner with the suspension ring (014) of the structural structure (003) in a sliding friction manner, and the flexible film sealing body (005) is assembled with the suspension ring (013) of the suspension structure (004) in a suspended manner with the suspension ring (014) of the structural structure (003) in a sliding friction manner. A pressure sensor (100) is installed between the contact surface of the thin film seal (005) and the suspension structure (004); a depth vision sensor (015) is installed above the transparent plate (018) by a bracket (016), and its viewing angle range can cover the upper end surface of all the thin columnar bodies (001); a fixed component (012) of a left and right controllable linear motion mechanism is connected to the workbench (019), and the moving component of the mechanism is connected to one end of the left and right telescopic springs (027), and the other end of the telescopic spring (027) is connected to the wrist radial side limit bracket (026); an electromagnet is installed at the bottom of the bracket (028) and is in sliding cooperation with the fixed component (012) of the left and right controllable linear motion mechanism; a limit bracket (022) is arranged on the ulnar side of the wrist, the front edge of the bracket is inside the front inner edge of the constraint structure (003), and the bracket is installed on the work surface (019), and a pressure sensor is installed at one of the two ends of the telescopic spring (027); a fixed component (112) of the up and down controllable linear motion mechanism is connected to the moving component (010) of the left and right controllable linear motion mechanism through the bracket (017), and the moving component (110) of the up and down controllable linear motion mechanism is connected to the outer side of the suspension structure (004);The fixed parts (axle bracket, dual-axis output stepper motor housing bracket) (212) of a front-to-back controllable linear motion mechanism (taking a synchronous belt pulley mechanism as an example) are connected to the front (or rear) outer side, and the moving parts (synchronous belt) (210) are connected to the shielding plate (030). The shielding plate (030) is slidably matched with the film on the bottom plane of the constraint structure (003) by the mechanism, and the shielding plate hole (031) is positioned, one size is greater than or equal to the bottom inner frame of the constraint structure (003), and at least one detection shielding plate hole (032) has a front-to-back size of three times the maximum adult index finger width, and a left-right size is greater than or equal to the adult wrist artery width; the signals of the position sensors, pressure sensors, and depth vision sensors (015) contained in each controllable linear motion mechanism are connected to the computer, and the drive signals of each controllable linear motion mechanism and the drive signals of the electromagnet (028) are connected to the computer. ;
[0015] Here are the steps:
[0016] 1. The computer sends instructions: control the electromagnet (028) to be in a released state, control the moving parts (010) of the left and right controllable linear motion mechanism so that the distance between the bracket (026) on the wrist radial side and the bracket (022) on the wrist ulna side is the maximum, control the moving parts (110) of the up and down controllable linear motion mechanism to be in the uppermost position, and control the center of the positioning mask plate hole (031) connected to the moving parts (210) of the front and back controllable linear motion mechanism to coincide with the center of the bottom inner frame of the structure (003),
[0017] 2. Setting: P(i), i = 0, 1, 2, P(0), P(1), P(2) are the pressure values of floating, middle, and sinking pulse points respectively.
[0018] 3. With the palm facing upward, the ulnar side of the wrist is against the edge of the limit bracket (022) provided on the ulnar side of the wrist and the first transverse line of the wrist is at the front edge of the limit bracket (022) provided on the ulnar side of the wrist.
[0019] 4. The computer sends a command to control the moving part (010) of the left and right controllable linear motion mechanism to move toward the radial side of the wrist and inputs the measured value of the pressure sensor installed at one of the two ends of the telescopic spring (027) as: P, (the same below)
[0020] 5. If P is less than the pressure that the human wrist can withstand, go to "4." Otherwise, proceed to the next step.
[0021] 6. The computer sends a command to control the moving parts (010) of the left and right controllable linear motion mechanism to stop moving and drives the electromagnet (027) to attract.
[0022] 7. The computer sends a command to control the moving part (110) of the up-and-down controllable linear motion mechanism to move downward and inputs the measured value of the pressure sensor (100) installed between the contact surface of the flexible film sealing body (005) and the suspension structure (004) as: Pm,
[0023] 8. If Pm is less than the pressure that the wrist can withstand, go to "6." Otherwise, proceed to the next step.
[0024] 9. The computer sends a command to control the moving part (110) of the up-and-down controllable linear motion mechanism to stop moving.
[0025] 10. The computer sends a command to input the three-dimensional image of the depth vision sensor (015), and the coordinate position of the pulse point is calculated by the 3D image recognition software according to the structure of the oblique surface measured inside the radial styloid process of the wrist.
[0026] 11. The computer sends instructions to control the moving part (110) of the up-and-down controllable linear motion mechanism to rise to the highest point.
[0027] 12. The computer sends instructions to control the moving parts (010) (210) of the left and right, front and back controllable linear motion mechanism so that the center of the detection mask hole (032) coincides with the coordinate position of the central pulse point.
[0028] 13.Set i=0,
[0029] 14. The computer sends a command to control the moving part (110) of the up-and-down controllable linear motion mechanism to move downward, and inputs the measured value of the pressure sensor (100) installed between the contact surface of the flexible film sealing body (005) and the suspension structure (004) as Pm.
[0030] 15. If Pm<P(i), jump to "14.", otherwise go to the next step.
[0031] 16. The computer sends instructions to record the pulsation value in the plane of the detection mask hole (032) in the depth vision sensor (015) according to the preset sampling interval and number of times,
[0032] 17.i=i+1, if i=3, then “end the program”, otherwise jump to execution “14.”.
[0033] There are mature products available for selection for each of the above-mentioned controllable linear motion mechanisms, pressure sensors, depth vision sensors and 3D image recognition software.
Claims
1. A method for automatically locating a pulse point and detecting a pulse condition, characterized in that: The planar multi-contact depth detection mechanism is used to cooperate with the positioning mask plate hole and the depth vision sensor to locate the pulse diagnosis point of the radial styloid process, and the planar multi-contact depth detection mechanism is used to cooperate with the detection mask plate hole, the depth vision sensor and three controllable linear motion mechanisms and the wrist limit mechanism to realize automatic positioning of the pulse diagnosis point and detection of the pulse condition; Definition: Place the palm upward on the workbench, with the palm upward, the fingers pointing forward, and the sides of the wrist as left and right (the same below); use multiple thin columns of the same length and size made of hard materials to form a column bundle in the vertical direction and put it into a constraint structure that constrains it to slide and rub only in the vertical direction. The width of the constraint structure should be greater than or equal to Wo (Wo is defined as: one-fourth of the size from the radial styloid process to the ulnar side of the wrist of the largest adult, the same below), and the length should be greater than 3*Wo. The bottom plane is fixed to the four frames in a sealed manner with a flexible film; a suspension structure is used to fix a hole under a horizontally placed transparent plate The bag-shaped flexible film seal is filled with light-transmitting liquid, the bag mouth is sealed with the periphery of the transparent plate, the film seal is assembled with the inner side of the suspension structure in soft contact, the lower part of the film seal is assembled with the upper end of the thin columnar body bundle with a distance for up and down movement, and is assembled with the constraint structure under the suspension structure to form a suspension mode for up and down relative movement by sliding friction, and a pressure sensor is installed between the contact surface of the flexible film seal and the suspension structure; a depth vision sensor is installed above the transparent plate, and its viewing angle range can cover the upper end faces of all thin columns; a fixed component of a left and right controllable linear motion mechanism is used with a workbench The moving part of the mechanism is connected to one end of the left and right telescopic springs, and the other end of the telescopic spring is connected to the limit bracket on the radial side of the wrist. An electromagnet is installed at the bottom of the bracket and is in sliding cooperation with the fixed part of the left and right controllable linear motion mechanism. A pressure sensor is installed at one of the two ends of the telescopic spring; a limit bracket is arranged on the ulnar side of the wrist, and the front edge of the bracket is within the front inner edge of the constraint structure and is installed on the workbench; a fixed part of an up-and-down controllable linear motion mechanism is connected to the moving part of the left and right controllable linear motion mechanism, and the moving part of the up-and-down controllable linear motion mechanism is connected to the outer side of the suspension structure; a front-and-back controllable linear motion mechanism is used to control the moving part of the left and right controllable linear motion mechanism. The fixed part of the linear motion mechanism is connected to the outside of the constraint structure, the moving part is connected to the shield plate and makes the shield plate slide forward and backward on the film of the bottom plane of the constraint structure, and the size of a positioning shield plate hole of the shield plate is greater than or equal to the bottom inner frame of the constraint structure; the front and back dimensions of at least one detection shield plate hole of the shield plate are three times the width of the index finger of the largest adult, and the left and right dimensions are greater than or equal to the width of the wrist artery of an adult; the signals of the position sensors, pressure sensors, and depth vision sensors of each controllable linear motion mechanism are connected to a computer, and the drive signals of each controllable linear motion mechanism and the drive signals of the electromagnet are connected to a computer.
2. A method for automatically locating a pulse point and detecting a pulse condition as claimed in claim 1, characterized in that: The method comprises using a plurality of thin columns of the same length and size made of hard material, forming a plurality of column bundles in the vertical direction and installing them into a structure that constrains the sliding friction force only in the vertical direction. The width of the structure should be greater than or equal to Wo, and the length should be greater than or equal to 3*Wo. The bottom plane is fixed to the four frames in a sealing manner with a flexible film.
3. A method for automatically locating a pulse feeling point and detecting a pulse condition as claimed in claim 1, characterized in that: The described suspension structure is used to fill a pocket-shaped flexible film seal under a horizontally placed transparent plate with a light-transmitting liquid, the bag opening is sealed around the transparent plate, the film seal is assembled on all sides in soft contact with the inner side of the suspension structure, and the film seal is assembled with the upper end of the thin columnar body bundle with a distance for up and down movement, and is assembled with the restraint structure in a suspension manner below the suspension structure so as to move up and down relative to each other by sliding friction (the use of a light-transmitting flexible film full seal is also within the scope of this right).
4. A method for automatically locating a pulse feeling point and detecting a pulse condition as claimed in claim 1, characterized in that: A depth vision sensor is installed above the transparent plate, and its viewing angle range can cover the upper end surfaces of all thin columns.
5. A method for automatically locating a pulse feeling point and detecting a pulse condition as claimed in claim 1, characterized in that: The fixed component of the left-right controllable linear motion mechanism is connected to the work surface, the moving component of the mechanism is connected to one end of the left-right telescopic spring, and the other end of the telescopic spring is connected to the wrist radial side limit bracket. An electromagnet is installed at the bottom of the bracket and is slidably matched with the fixed component of the left-right controllable linear motion mechanism. A pressure sensor is installed at one of the two ends of the telescopic spring. The fixed component of the up-down controllable linear motion mechanism is connected to the moving component of the left-right controllable linear motion mechanism, and the moving component of the up-down controllable linear mechanism is connected to the outer side of the suspension structure.
6. A method for automatically locating a pulse point and detecting a pulse condition as claimed in claim 1, characterized in that: The fixed part of the front-to-back controllable linear motion mechanism is connected to the front (or rear) outer side of the constraint structure, and the moving part is connected to the end of the shielding plate. The mechanism enables the shielding plate to slide forward and backward on the film of the bottom plane of the constraint structure, and the shielding plate hole is positioned, the size of which is greater than or equal to the bottom inner frame of the constraint structure. There is at least one detection shielding plate hole, the front-to-back size is: three times the width of the index finger of the largest adult, and the left-right size is: greater than or equal to the width of the adult wrist artery.
7. A method for automatically locating a pulse point and detecting a pulse condition as claimed in claim 1, characterized in that: The implementation steps are as follows: (1) The computer issues instructions: control the electromagnet to be in the released state, control the moving parts of the left and right controllable linear motion mechanisms so that the distance between the bracket on the radial side of the wrist and the bracket on the ulnar side of the wrist is the largest, control the moving parts of the upper and lower controllable linear motion mechanisms to be in the uppermost position, and control the center of the positioning mask plate hole connected to the moving parts of the front and rear controllable linear motion mechanisms to coincide with the center of the bottom inner frame of the constraint structure. (2) Setting: P(i), i = 0, 1, 2, P(0), P(1), P(2) are the pressure values of floating, middle, and sinking pulse points respectively, (3) With the palm facing upward, the ulnar side of the wrist is against the edge of the limit bracket set on the ulnar side of the wrist, and the first transverse line of the wrist is at the front edge of the limit bracket set on the ulnar side of the wrist. (4) The computer sends a command to control the moving parts of the left and right controllable linear motion mechanisms to move toward the radial side of the wrist and inputs the measured value of the pressure sensor installed at one of the two ends of the telescopic spring as P (the same below). (5) If P is less than the pressure value that the human wrist can withstand, jump to "(4)", otherwise proceed to the next step. (6) The computer sends instructions to control the moving parts of the left and right controllable linear motion mechanisms to stop moving and drive the electromagnets to attract. (7) The computer sends instructions to control the moving parts of the up-and-down controllable linear motion mechanism to move downward and inputs the measured value of the pressure sensor installed between the contact surface of the flexible film seal and the suspension structure, which is set as Pm (the same below). (8) If Pm is less than the pressure value that the human wrist can withstand, jump to "(7)", otherwise proceed to the next step. (9) The computer sends instructions to control the moving parts of the upper and lower controllable linear motion mechanism to stop moving. (10) The computer sends a command to input the three-dimensional image of the depth vision sensor, and the coordinate position of the pulse point is calculated by 3D image recognition software based on the structure of the oblique surface measured inside the radial styloid process of the wrist. (11) The computer sends instructions to control the moving parts of the up-and-down controllable linear motion mechanism to rise to the highest point. (12) The computer sends instructions to control the moving parts of the left and right, front and back controllable linear motion mechanism so that the center of the detection mask hole coincides with the coordinate position of the central pulse point. (13) Set i=0, (14) The computer sends instructions to control the moving parts of the up-and-down controllable linear motion mechanism to move downward, and inputs the measured value Pm of the pressure sensor installed between the contact surface of the flexible film seal and the suspension structure. (15) If Pm<P(i), jump to "(14)", otherwise execute the next step. (16) The computer issues instructions to record the pulsation value in the plane of the mask hole detected by the depth vision sensor according to the preset sampling interval and number of times. (17) i=i+1, if i=3, then "end the program", otherwise jump to execution "(14)".