Method for automatically positioning pulse-taking point
By adopting an automated positioning system in traditional Chinese medicine pulse diagnosis technology, using plane multi-contact detection depth mechanism and depth vision sensor, the accurate positioning problem of relying on hand feeling and experience in the existing technology is solved, and more efficient and accurate pulse point positioning is achieved .
Patent Information
- Application Number
- CN202311057714.1
- 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 feel and experience of the pulse severing person, and it is difficult to accurately locate the wrist pulse point. Especially the control of the spacing and pulse strength of the three diagnosis points is limited by personal proficiency and low work efficiency.
The plane multi-contact detection depth mechanism, depth vision sensor, two controllable linear motion mechanisms and wrist limiting mechanism are used to automatically locate the pulse cutting point of the radial styloid process. Through the cooperation of computer-controlled motion mechanism and depth vision sensors, precisely identify and locate pulse points and other pulse points.
Automatic positioning of wrist pulse cutting points is achieved, reducing the influence of human factors, improving positioning accuracy and work efficiency, and reducing the dependence on the experience of pulse cutting personnel.
Smart Images
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Abstract
Description
[0001] Technical field: Pulse point positioning in the field of traditional Chinese medicine diagnosis Background Art
[0002] Taking the pulse on the wrist 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 pulse point and rely on the pulse feel of the pulse taker. 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 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 pulse taker's feel; both methods are limited by the personal proficiency and practical experience of the pulse taker, especially the spacing between the three diagnosis points, and the control of the sinking, floating and middle pulse strength depends on the experience of the pulse taker, which is very affected by human factors, and the pulse point is not easy to find accurately, and the work efficiency is low. Summary of the invention
[0003] The present invention adopts a planar multi-contact depth detection mechanism, a depth vision sensor (015), two controllable linear motion mechanisms, and a wrist limit mechanism to achieve the purpose of automatically locating the pulse point of the radial styloid process. The relationship between the actual pulse point and the radial styloid process point of the wrist is known from traditional Chinese medicine data. The pulse point is on the inner side of the radial styloid process point of the wrist, and the distance is from the radial styloid process point of the wrist to one-fourth of the wrist width, that is, one finger width of the measured person, so that the wrist pulse point can be located. The inch pulse point and the foot pulse point are respectively one finger width forward and backward from this point. BRIEF DESCRIPTION OF THE DRAWINGS
[0004] 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 1 and Figure 2 In:
[0005] (001) is a thin columnar body; (002) is a flexible film; (003) is a constraint structure; (004) is a suspension structure; (005) is a flexible film seal; (010) is a moving part of a left-right controllable linear motion mechanism; (012) is a fixed part of a left-right controllable linear motion mechanism; (015) is a depth vision sensor; (016) is a bracket of (015); (017) is a bracket of an up-down controllable linear motion mechanism; (019) is a work surface; (022) is a wrist ulnar side limit bracket; (026) is a wrist radial side limit bracket; (100) is a downward moving pressure sensor; (110) is a moving part of an up-down controllable linear motion mechanism; (112) is a fixed part of an up-down controllable linear motion mechanism; (200) is a pressure sensor installed on (026); DETAILED DESCRIPTION
[0006] 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 install it in 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 made of a flexible film (003). 02) is fixed to the four frames in a sealed manner; a pocket-shaped flexible film sealing body (005) below a horizontally placed transparent plate (018) is filled with a light-transmitting liquid by using a suspension structure (004); 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 vertical movement distance below, and is assembled with the suspension ring (013) of the suspension structure (004) below the suspension ring (013) of the structural structure (003). 4) The flexible film seal (005) and the suspension structure (004) are suspended and moved up and down by sliding friction. A pressure sensor (100) is installed between the contact surface of the flexible 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 columns (001); a fixed component (012) of a left and right controllable linear motion mechanism is connected to the work table (019), and the moving component of the mechanism is connected to the wrist radial side limit bracket (026) and the bracket is installed with A pressure sensor (200); a fixed component (112) of a vertically controllable linear motion mechanism is connected to a moving component (010) of a horizontally controllable linear motion mechanism via a wrist radial side limit bracket (026); the moving component (110) of the vertically controllable linear motion mechanism is connected to the outer side of a suspension structure (004); the signals of the position sensors, pressure sensors, and depth vision sensors (015) contained in 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 (028) are connected to a computer.
[0007] Here are the steps:
[0008] 1. The computer sends a command: 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 radius side and the bracket (022) on the wrist ulna side is the maximum,
[0009] 2. The computer sends a command: control the moving part (110) of the up-and-down controllable linear motion mechanism to be at the uppermost position,
[0010] 3. With the palm facing upward, the ulnar side of the wrist is against the edge of the limit bracket (022) arranged 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) arranged on the ulnar side of the wrist.
[0011] 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 (200) as: P (the same below),
[0012] 5. If P is less than the pressure that the wrist can withstand, go to "4." Otherwise, proceed to the next step.
[0013] 6. The computer sends a command to control the moving part (010) of the left and right controllable linear motion mechanism to stop moving (assuming that the coordinates of the lower right corner of the operating table are (0, 0)) and records the coordinates of the left starting point of the image in the left and right directions that are linked to the moving part: Sx, and defines: Sx, Sy is the coordinates of the left rear starting point of the image,
[0014] 7. The computer sends instructions 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), which is recorded as: Pm,
[0015] 8. If Pm is less than the pressure that the wrist can withstand, go to "6." Otherwise, proceed to the next step.
[0016] 9. The computer sends a command to control the moving part (110) of the up-and-down controllable linear motion mechanism to stop moving.
[0017] 10. The computer sends a command to input the three-dimensional image of the depth vision sensor (015), and the coordinates of the joint pulse point are calculated by the 3D image recognition software according to the structure of the oblique surface measured inside the radial styloid process of the wrist: (XT, YT),
[0018] 11. Calculate the width of the wrist from the radial side limit plate to the ulnar side of the wrist and set it as W. If the distance from the coordinate (0, 0) to the contact surface between the ulnar side of the wrist and the limit plate is Ws, and Sx ≤ Ws,
[0019] Then: The width of the wrist from the radial styloid process to the ulnar side limit plate W = (Sx-Ws+XT),
[0020] Therefore, the coordinates of each point are: Guanmai point: (((Sx+XT+(W / 4)), (Sy+YT));
[0021] Cun pulse point: (((Sx+XT+(W / 4)), ((Sy+YT)+(W / 4)));
[0022] Radius pulse point: (((Sx+XT+(W / 4)), ((Sy+YT)-(W / 4)).
[0023] There are mature products available for selection for 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, characterized in that: The planar multi-contact depth detection mechanism, the depth vision sensor, the two controllable linear motion mechanisms, and the wrist limit mechanism are used to automatically locate the pulse point of the radial styloid process, and the pulse point position is output after calculation; Definition: Place the palm upward on the workbench, with the palm upward, the fingers pointing forward, and the two 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 pocket-shaped flexible film seal under a horizontally placed transparent plate is filled with a light-transmitting liquid by a suspension structure, and the bag mouth is sealed with the periphery of the transparent plate. The film seal is assembled in soft contact with the inner side of the suspension structure on all sides, and the bottom of the film seal is assembled with the upper end of the thin column bundle with a distance for up and down movement, and is suspended up and down with the constraint structure at the bottom of the suspension structure. The relative movement is assembled by sliding friction, and a pressure sensor is installed between the contact surface of the flexible film sealing body and the suspension structure; 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; a fixed component of a left-right controllable linear motion mechanism is connected to the workbench, and the moving component of the mechanism is connected to a limit bracket on the radial side of the wrist. The bracket is installed with a pressure sensor, and a fixed component of an 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 outside of the suspension structure; a limit bracket is set 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; 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 the computer.
2. A method for automatically locating a pulse point 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 to form a column bundle in the vertical direction and to be loaded into a constraint structure that constrains the columns to slide and rub only in the vertical direction. The width of the constraint structure should be greater than or equal to Wo, and the length should be greater than 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 point 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 point 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 point as claimed in claim 1, characterized in that: The fixed component of a left-right controllable linear motion mechanism is connected to the work surface, the moving component of the mechanism is connected to the wrist radial side limit bracket, the bracket is equipped with a pressure sensor, and the fixed component of an 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 outside of the suspension structure.
6. A method for automatically locating a pulse point as claimed in claim 1, characterized in that: The implementation steps are as follows: (1) The computer sends instructions to 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. (2) The computer sends instructions: Control the moving parts of the upper and lower controllable linear motion mechanism to the uppermost position, (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 instructions to control the moving parts of the left and right controllable linear motion mechanisms to move toward the radial side of the wrist and input the measured value of the pressure sensor, which is recorded 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 a command to control the moving parts of the left and right controllable linear motion mechanism to stop moving (assuming that the coordinates of the lower right corner of the operating table are (0, 0)) and records the coordinates of the left starting point of the image of the moving parts in the left and right directions: Sx. Define: Sx, Sy is the coordinates of the left rear starting point of the image, (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 dense body and the suspension structure 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 coordinates of the joint pulse point are calculated by 3D image recognition software based on the structure of the oblique surface measured inside the radial styloid process of the wrist: (XT, YT). (11) Calculate the width of the wrist from the radial side limit plate to the ulnar side of the wrist and set it as W. If the distance from the coordinate (0, 0) to the contact surface between the ulnar side of the wrist and the limit plate is Ws, and Sx ≤ Ws, then: The width of the wrist from the radial styloid process to the limit plate W = (Sx-Ws+XT), Therefore, the coordinates of each point are: Guanmai 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))).