Acupoint positioning method, device and equipment
By using a pre-set acupoint location model and mixed reality devices, combined with multi-dimensional sensors, precise acupoint location was achieved, solving the problem of reliance on experience in traditional methods and improving the accuracy and safety of acupoint location.
Patent Information
- Application Number
- CN202511452060.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-11
- Publication Date
- 2025-11-21
Smart Images
Figure CN120983263A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of medical treatment, in particular to a method, device and equipment for acupoint positioning. BACKGROUND
[0002] In the traditional field of Chinese medicine acupuncture, the accuracy of acupoint positioning plays a decisive role in treatment effect. Acupuncture stimulates specific acupoints of the human body to regulate meridian qi and blood, so as to achieve the purpose of preventing and treating diseases. Once the acupoint positioning deviates, it is difficult to stimulate meridian qi and harmonize yin and yang, and even may cause adverse consequences, such as injury to important organs, blood vessels or nerves, etc.
[0003] Traditional acupoint positioning methods mainly include body surface marker method, bone degree measurement method and finger measurement method, etc. These positioning methods need to rely on the skill and experience of practitioners to make corresponding adjustments in the face of complex situations in actual application, such as changes in human body shape, changes in human body posture, skin texture interference, etc. However, with the development of intelligent medical equipment of traditional Chinese medicine, whether it is the research and development of traditional Chinese medicine rehabilitation instruments, moxibustion robots, or massage robots, etc., the accurate positioning of acupoints is the core. The great dependence of the above-mentioned traditional acupoint recognition and positioning methods on the skill and experience of practitioners makes it difficult for traditional acupoint positioning to combine with modern medical diagnosis standards, which limits the further development of intelligent medical equipment of traditional Chinese medicine.
[0004] Therefore, it is an urgent problem to provide a method capable of accurately positioning the position of acupoints. SUMMARY
[0005] To this end, in order to solve the above-mentioned problems, the present application provides an acupoint positioning method, device and equipment.
[0006] To this end, according to a first aspect, the present application provides an acupoint positioning method, comprising the following steps:
[0007] Obtaining acupoint information of a plurality of acupoints to be positioned of a target human body, and human body measurement data of the target human body;
[0008] Based on a preset acupoint positioning model, obtaining first calculation position information of the plurality of acupoints to be positioned of the target human body according to the human body measurement data; the first calculation position information is projected on the target human body by a preset mixed reality device;
[0009] acquire actual position information of a first gradient acupoint in the plurality of acupoints to be located; the first gradient acupoint, the second gradient acupoint and the third gradient acupoint are divided according to evaluation of positioning difficulty of each acupoint based on a preset evaluation index system, and the positioning difficulty of the first gradient acupoint, the second gradient acupoint and the third gradient acupoint increases in turn; the actual position information of the first gradient acupoint is position information of a qi reaction generated when the corresponding first gradient acupoint is stimulated; and the actual position information is acquired by a preset mixed reality device;
[0010] adjust positions of a second gradient acupoint and a third gradient acupoint in the plurality of acupoints to be located according to the actual position information of the first gradient acupoint, to obtain second calculation position information; and the second position information is projected on a target human body by a preset mixed display device.
[0011] Optionally, the acupoint positioning method further comprises the following steps:
[0012] acquire actual position information of the second gradient acupoint; the actual position information of the second gradient acupoint is position information of a qi reaction generated when the corresponding second gradient acupoint is stimulated;
[0013] compare the actual position information of the second gradient acupoint with corresponding second calculation position information, and generate positioning warning information of the third gradient acupoint when an error between the two reaches a preset threshold.
[0014] Optionally, the preset evaluation index system comprises a body surface marker explicitness index, a body surface marker stability index, a measurement rule standardization degree index and an anatomical structure judgment level index.
[0015] Optionally, whether the acupoint generates a qi reaction when stimulated is obtained according to acquired biological characteristic signal change data of the target human body.
[0016] Optionally, the biological characteristic signal change data comprises at least two of temperature change data, skin blood flow change data, electromyographic signal change data, skin electric signal change data, electroencephalographic signal change data and tissue resistance value change data.
[0017] Optionally, whether the acupoint generates a qi reaction when stimulated is obtained according to acquired force amplitude change data of a needle body.
[0018] Optionally, the acupoint positioning method further comprises the following steps:
[0019] optimize and train a preset acupoint positioning model according to human body measurement data corresponding to a plurality of target human bodies and the actual position information of the first gradient acupoint.
[0020] According to a second aspect, an embodiment of the present application provides an acupoint positioning device, comprising:
[0021] The first information acquisition module is configured to acquire acupoint information of a plurality of to-be-positioned acupoints of the target human body and anthropometric data of the target human body.
[0022] The first position calculation module is configured to obtain first calculation position information of the plurality of to-be-positioned acupoints of the target human body based on a preset acupoint positioning model and the anthropometric data, and project the first calculation position information on the target human body by using a preset mixed reality device.
[0023] The second information acquisition module is configured to acquire actual position information of a first gradient acupoint in the plurality of to-be-positioned acupoints, wherein the first gradient acupoint, a second gradient acupoint and a third gradient acupoint are obtained by evaluating positioning difficulty of each acupoint according to a preset evaluation index system, and the positioning difficulty of the first gradient acupoint, the second gradient acupoint and the third gradient acupoint increases in turn; and the actual position information of the first gradient acupoint refers to position information of a gas reaction generated when the corresponding first gradient acupoint is stimulated, and the actual position information is acquired by using a preset mixed reality device.
[0024] The second position calculation module is configured to adjust positions of the second gradient acupoint and the third gradient acupoint in the plurality of to-be-positioned acupoints according to the actual position information of the first gradient acupoint, and obtain second calculation position information, wherein the second position information is projected on the target human body by using a preset mixed reality device.
[0025] According to a third aspect, an acupoint positioning device is provided, including at least one processor and a memory connected with the at least one processor, and the memory stores computer instructions, and the processor executes the computer instructions to perform the method in the first aspect or any one of the implementation manners of the first aspect.
[0026] According to a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the method in the first aspect or any one of the implementation manners of the first aspect.
[0027] The technical solution provided by the present application has the following advantages:
[0028] The acupoint positioning method provided by the application, by inputting the human body measurement data of the target human body into the preset positioning model to obtain the first calculation position information of a plurality of to-be-positioned acupoints, the first calculation position information itself has relatively high accuracy (especially for the first gradient acupoint with lower positioning difficulty, the accuracy is higher), so that when the first calculation position information is projected onto the target human body, the positioning and stimulation of the first gradient acupoint according to the projection point is already relatively accurate positioning basis; then by obtaining the actual position information of the first gradient acupoint when the first gradient acupoint produces the qi reaction, the calculation position of the second gradient acupoint and the third gradient acupoint with higher positioning difficulty is adjusted, so that the accuracy of the calculation position information of the second gradient acupoint and the third gradient acupoint can also be greatly improved, and finally the method can realize accurate positioning of acupoints based on objective and quantitative standards and judgments. BRIEF DESCRIPTION OF DRAWINGS
[0029] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.
[0030] Figure 1 A method flowchart of the acupoint positioning method provided by the embodiment of the present application;
[0031] Figure 2 Another method flowchart of the acupoint positioning method provided by the embodiment of the present application;
[0032] Figure 3 A principle block diagram of an acupoint positioning device provided by the embodiment of the present application;
[0033] Figure 4 A hardware structure schematic diagram of an acupoint positioning device provided by the embodiment of the present application. DETAILED DESCRIPTION
[0034] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.
[0035] In the description of the present application, it should be noted that the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0036] Embodiment 1
[0037] Figure 1 A flowchart of an acupoint positioning method in an embodiment of the present application is shown, specifically, as shown in the figure, the method can include the following steps: Figure 1
[0038] S100: Obtain acupoint information of a plurality of to-be-positioned acupoints of a target human body, and human body measurement data of the target human body.
[0039] In this embodiment, the human body measurement data can include body shape data, skeletal profile data and body surface feature data of the target human body; specifically, the body shape data such as height, weight, dimension, etc. can be directly measured, the skeletal profile data can be obtained by three-dimensional scanning, and the body surface feature data can be obtained by using a camera, a laser radar system, etc.
[0040] In this embodiment, the acupoint information of the plurality of to-be-positioned acupoints can be obtained by searching in a preset acupoint information database based on an operator manually inputted to-be-positioned acupoint name. Those skilled in the art should understand that the inputted to-be-positioned acupoint name here can be the accurate name of the acupoint, can be part of the displayed multiple acupoints, can be the to-be-stimulated acupoint name extracted from the inputted treatment manual, etc., and the specific input method is not limited in this embodiment.
[0041] S200: Obtain first calculation position information of the plurality of to-be-positioned acupoints of the target human body based on a preset acupoint positioning model according to the human body measurement data.
[0042] In this embodiment, the first calculation position information is projected on the target human body by the preset mixed reality device. Specifically, the mixed reality device captures the posture change and spatial position of the target human body in real time, and then projects the virtual projection of the to-be-positioned acupoint on the target human body based on the first calculation position information.
[0043] Specifically, the preset acupoint positioning model can be obtained according to acupoint positioning rules and a plurality of acupoint positioning samples, and the acupoint positioning samples each include human body measurement data and acupoint actual position information data of the corresponding human body; the acupoint actual position information here is also the position information of the corresponding acupoint when the acupoint produces a qi reaction, which is the same as the acupoint actual position information mentioned in the following step S300.
[0044] Specifically, the preset acupoint positioning model can be a multi-modal neural network model. In actual implementation, the human body measurement data can be input into a fully connected neural network for processing, and the acupoint positioning rules can be input into a Transformer neural network or an LSTM neural network for encoding. Then, the output vectors of the two branches are spliced, and the spliced vector is input into a plurality of fully connected layers to output the position information.
[0045] S300: Obtain actual position information of a first gradient acupoint in the plurality of acupoints to be positioned.
[0046] In this embodiment, the first gradient acupoint, the second gradient acupoint, and the third gradient acupoint are obtained by evaluating the positioning difficulty of each acupoint according to a preset evaluation index system. The positioning difficulty of the first gradient acupoint, the second gradient acupoint, and the third gradient acupoint increases in turn. For example, the first gradient acupoint can include Hegu, Neiguan, and Zusanli, the second gradient acupoint can include Jiache, Yangxi, and Fengshi, and the third gradient acupoint can include Furou, Huantiao, and Zhengan.
[0047] Specifically, the preset evaluation index system can include a body surface marker explicitness index, a body surface marker stability index, a measurement rule standardization degree index, and an anatomical structure judgment level index. In actual implementation, an evaluation weight can be set for each index, so as to calculate the weighted sum of all index values and divide the acupoints into gradients according to the weighted sum.
[0048] It should be noted that the implementation of the method in this embodiment also needs to consider safety. Therefore, not all acupoints of the human body are divided into the above three gradients. For some acupoints near important organs of the human body and with high operation risk (such as Dantian and Qiduan), they are not within the target acupoint range of the method in this embodiment, and therefore, they are not divided into the above three gradients.
[0049] In this embodiment, the actual position information of the first gradient acupoint refers to the position information of the gas reaction generated when the corresponding first gradient acupoint is stimulated. The actual position information is obtained by a preset mixed reality device.
[0050] Specifically, the first gradient acupoint is stimulated based on the projection of the corresponding first calculated position information. It should be noted that the accurate position of an acupoint is an acupoint area with a small range, rather than only an acupoint point. Since the first gradient acupoint is an acupoint with stable positioning markers, clear positioning rules, and low operation risk, the first gradient acupoint can be stimulated based on the projection of the first calculated position information. Of course, before using the preset acupoint positioning model to calculate the acupoint position, the preset acupoint positioning model also needs to pass the calculation accuracy verification requirement.
[0051] Specifically, the actual position information is collected by a multi-dimension fusion sensor in the mixed reality device; in specific implementation, the multi-dimension fusion sensor can be a fusion of multiple cameras and multiple laser radars.
[0052] As an optional implementation of the present embodiment, whether the acupoint produces a qi reaction when stimulated can be obtained according to the collected biological characteristic signal change data of the target human body.
[0053] Specifically, the biological characteristic signal change data includes at least two of temperature change data, skin blood flow change data, electromyographic signal change data, skin electric signal change data, electroencephalographic signal change data, and tissue resistance value change data. For example, the temperature change data can be collected by an infrared thermal imager, the skin blood flow change data can be collected by a laser Doppler blood flow instrument, the electromyographic signal change data can be collected by an electromyograph, the skin electric signal change data can be collected by a skin electric instrument, the electroencephalographic signal change data can be collected by an electroencephalograph, and the tissue resistance value change data can be collected by a body composition analyzer; of course, the above examples are only examples for facilitating the understanding of those skilled in the art, and in actual application, various biological characteristic signal change data can be obtained based on any existing device capable of collecting corresponding data, and the above examples do not constitute any limitation.
[0054] As an optional implementation of the present embodiment, whether the acupoint produces a qi reaction when stimulated can also be obtained according to the collected force amplitude change data of the needle body.
[0055] Specifically, the force amplitude change data of the needle body can be collected based on a needle body micro force sensor.
[0056] S400: adjusting the positions of the second gradient acupoint and the third gradient acupoint in the several to-be-positioned acupoints according to the actual position information of the first gradient acupoint to obtain second calculation position information.
[0057] In the present embodiment, the second position information is projected on the target human body by the preset mixed display device.
[0058] Specifically, the position adjustment is also based on the preset acupoint positioning model, that is, by inputting the actual position information of the first gradient acupoint into the preset acupoint positioning model, the positions of the second gradient acupoint and the third gradient acupoint in the several to-be-positioned acupoints are adjusted to obtain the second calculation position information.
[0059] As an optional implementation of the present embodiment, as shown in Figure 2 As shown in
[0060] S500: Obtain the actual location information of the second-gradient acupoints.
[0061] Specifically, the actual location information of the second-gradient acupoints refers to the location information of the corresponding second-gradient acupoints when they are stimulated to produce a Qi-de-reaction.
[0062] The specific details of this step can be understood by referring to the detailed explanation of step S300 above, and will not be repeated here.
[0063] S600: Compare the actual location information of the second gradient acupoint with the corresponding second calculated location information, and generate the location warning information of the third gradient acupoint when the error between the two reaches a preset threshold.
[0064] Specifically, this positioning warning information is used to remind the operator that there is a certain deviation between the projected position of the third-gradient acupoint and its actual position, and to operate with caution.
[0065] As an optional specific implementation of this embodiment, the acupoint location method in this embodiment may further include the following steps:
[0066] S700: Optimize and train the preset acupoint positioning model based on anthropometric data corresponding to multiple target human bodies and the actual location information of the first gradient acupoints.
[0067] This invention also provides an acupoint positioning device, such as... Figure 3 As shown, the device includes: a first information acquisition module 100, a first position calculation module 200, a second information acquisition module 300, and a second position calculation module 400; wherein,
[0068] The first information acquisition module 100 is used to acquire acupoint information of several acupoints to be located on the target human body, and human body measurement data of the target human body.
[0069] The first position calculation module 200 is used to obtain the first calculated position information of several acupoints to be located on the target human body based on a preset acupoint positioning model and human body measurement data; the first calculated position information is projected onto the target human body by a preset mixed reality device;
[0070] The second information acquisition module 300 is used to acquire the actual location information of the first-gradient acupoints among a number of acupoints to be located; the first-gradient acupoints, second-gradient acupoints, and third-gradient acupoints are classified after evaluating the location difficulty of each acupoint according to a preset evaluation index system, and the location difficulty of the first-gradient acupoints, second-gradient acupoints, and third-gradient acupoints increases in that order; the actual location information of the first-gradient acupoints refers to the location information of the corresponding first-gradient acupoints when they are stimulated to produce a Qi-de-reaction; the actual location information is acquired through a preset mixed reality device;
[0071] The second position calculation module 400 is used to adjust the positions of the second and third gradient acupoints among a number of acupoints to be located based on the actual position information of the first gradient acupoints, so as to obtain the second calculated position information; the second position information is projected onto the target human body by a preset mixed display device.
[0072] The specific functions of each module in this device can be understood by referring to the content of the above method, and will not be repeated here.
[0073] The acupoint location method and apparatus in this embodiment first inputs the anthropometric data of the target human body into a preset location model to obtain the first calculated position information of several acupoints to be located. This first calculated position information itself has relatively high accuracy (especially for the first-gradient acupoints with lower location difficulty, the accuracy is even higher). Thus, after the first calculated position information is projected onto the target human body, the location and stimulation of the first-gradient acupoints based on the projection points already have a relatively accurate location basis. Then, by obtaining the actual position information of the first-gradient acupoints that produce a Qi response when stimulated, the calculated positions of the second-gradient and third-gradient acupoints with higher location difficulty are adjusted. This greatly improves the accuracy of the calculated position information of the second-gradient and third-gradient acupoints. Finally, this method can achieve precise acupoint location based on objective and quantitative standards and judgments.
[0074] Example 2
[0075] This invention also provides an acupoint positioning device, such as... Figure 4 As shown, the device may include a processor 41 and a memory 42, wherein the processor 41 and the memory 42 may be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.
[0076] Processor 41 can be a central processing unit (CPU). Processor 41 can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.
[0077] The memory 42, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the program instructions / modules corresponding to the acupoint positioning method in Embodiment 1 of the present application. The processor 41 executes various functions and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory 42, i.e. implements the acupoint positioning method in Embodiment 1 of the above method.
[0078] The memory 42 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; and the data storage area can store data created by the processor 41 and the like. In addition, the memory 42 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory 42 can optionally include a memory remotely arranged with respect to the processor 41, and these remote memories can be connected to the processor 41 through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
[0079] The one or more modules are stored in the memory 42 and, when executed by the processor 41, perform the acupoint positioning method in Embodiment 1 as shown. Figures 1-2 The acupoint positioning method in Embodiment 1 as shown.
[0080] The specific details of the above acupoint positioning device can be understood by referring to the corresponding related descriptions and effects in Embodiment 1 as shown, which will not be repeated here. Figures 1 to 2 The specific details of the above acupoint positioning device can be understood by referring to the corresponding related descriptions and effects in Embodiment 1 as shown, which will not be repeated here.
[0081] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The program can be stored in a computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD), etc. The storage medium can also include a combination of the above-mentioned types of memories.
[0082] Obviously, the above embodiments are merely example for clearly illustrating but not limitation to the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments need not and can not be enumerated. The obvious changes or variations derived from the above description are still within the protection scope of the present application.
Claims
1. An acupoint positioning method, characterized in that, The method comprises the following steps: Obtaining acupoint information of a plurality of to-be-positioned acupoints of a target human body and body measurement data of the target human body; Obtaining first calculation position information of the plurality of to-be-positioned acupoints of the target human body according to the body measurement data based on a preset acupoint positioning model; The first calculation position information is projected on the target human body by a preset mixed reality device; Obtaining actual position information of a first gradient acupoint in the plurality of to-be-positioned acupoints; The first gradient acupoint, the second gradient acupoint and the third gradient acupoint are obtained according to a preset evaluation index system by evaluating the positioning difficulty of each acupoint, and the positioning difficulty of the first gradient acupoint, the second gradient acupoint and the third gradient acupoint increases in turn; the actual position information of the first gradient acupoint refers to position information of a qi reaction generated when the corresponding first gradient acupoint is stimulated; and the actual position information is obtained by the preset mixed reality device; Adjusting the positions of the second gradient acupoint and the third gradient acupoint in the plurality of to-be-positioned acupoints according to the actual position information of the first gradient acupoint to obtain second calculation position information; and the second position information is projected on the target human body by the preset mixed reality device.
2. The acupoint positioning method according to claim 1, characterized in that, Further comprising the following steps: Obtaining actual position information of the second gradient acupoint; the actual position information of the second gradient acupoint refers to position information of a qi reaction generated when the corresponding second gradient acupoint is stimulated; Comparing the actual position information of the second gradient acupoint with the corresponding second calculation position information, and generating positioning warning information of the third gradient acupoint when the error between the two reaches a preset threshold.
3. The acupoint positioning method according to claim 1 or 2, characterized in that, The preset evaluation index system comprises a body surface marker explicitness index, a body surface marker stability index, a measurement rule standardization degree index and an anatomical structure judgment level index.
4. The acupoint positioning method according to claim 1 or 2, characterized in that, Whether the acupoint generates a qi reaction when stimulated is obtained according to collected biological characteristic signal change data of the target human body.
5. The acupoint positioning method according to claim 4, characterized in that, The biological characteristic signal change data comprises at least two of temperature change data, skin blood flow change data, electromyographic signal change data, skin electric signal change data, electroencephalographic signal change data and tissue resistance value change data.
6. The acupoint positioning method according to claim 1 or 2, characterized in that, Whether the acupoint generates a qi reaction when stimulated is obtained according to collected force amplitude change data of a needle body.
7. The acupoint positioning method according to any one of claims 1-6, characterized in that, Further comprising the following steps: Optimizing and training the preset acupoint positioning model according to the body measurement data and the actual position information of the first gradient acupoint of a plurality of target human bodies.
8. An acupoint positioning device, characterized in that, The method comprises the following steps: A first information acquisition module is configured to obtain acupoint information of a plurality of to-be-positioned acupoints of a target human body and body measurement data of the target human body; A first position calculation module is configured to obtain first calculation position information of the plurality of to-be-positioned acupoints of the target human body according to the body measurement data based on a preset acupoint positioning model; The first calculation position information is projected on the target human body by a preset mixed reality device; A second information acquisition module is configured to obtain actual position information of a first gradient acupoint in the plurality of to-be-positioned acupoints; The first gradient acupoint, the second gradient acupoint and the third gradient acupoint are obtained by evaluating the positioning difficulty of each acupoint according to a preset evaluation index system, and the positioning difficulty of the first gradient acupoint, the second gradient acupoint and the third gradient acupoint increases in turn; the actual position information of the first gradient acupoint is the position information of the gas reaction generated when the corresponding first gradient acupoint is stimulated; the actual position information is obtained by the preset mixed reality device; The second position calculation module is configured to adjust the positions of the second gradient acupoint and the third gradient acupoint in the plurality of acupoints to be positioned according to the actual position information of the first gradient acupoint, and obtain second calculation position information; the second position information is projected on the target human body by the preset mixed display device.
9. An acupoint positioning device, characterized by Comprise: At least one processor; And a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method of any one of claims 1-7.
10. A computer readable storage medium having stored thereon computer instructions, wherein, The instructions are executed by the processor to implement the steps of the method of any one of claims 1-7.