Intelligent bionic pulse diagnosis device and system for remote traditional Chinese medicine diagnosis and treatment

Abstract

The application discloses an intelligent bionic pulse diagnosis device and system for remote traditional Chinese medicine diagnosis and treatment, and belongs to the technical field of traditional Chinese medicine diagnosis and treatment. The intelligent bionic pulse diagnosis device and system for remote traditional Chinese medicine diagnosis and treatment comprises a shell with a cushion at the upper end, three pulse diagnosis devices for detection are horizontally arranged at the upper end of the cushion, a connecting disc is arranged at the upper end of each pulse diagnosis device, and an infrared laser lamp is arranged at the upper end of the connecting disc. The application solves the problem that the existing pulse diagnosis device cannot timely adjust the placement position of the user's hand when performing remote pulse diagnosis, and the adjustment of the pulse diagnosis device is difficult. The rotation of the connecting disc can adjust the positions of the pulse diagnosis device and the infrared laser lamp. The high-brightness red dot displayed by the infrared laser lamp can help the user to know the contact position after the subsequent pulse diagnosis device is pressed down. According to the picture captured by the camera, the position of the infrared laser lamp is directly adjusted, and then the position of the pulse diagnosis device is adjusted.

Description

Technical Field

[0001] This invention relates to the field of traditional Chinese medicine diagnosis and treatment technology, specifically to an intelligent bionic pulse diagnosis device and system for remote traditional Chinese medicine diagnosis and treatment. Background Technology

[0002] The remote TCM pulse diagnosis device is an innovative medical device that combines modern technology with TCM pulse diagnosis theory. By simulating TCM fingers, it accurately captures the patient's pulse information and converts it into digital signals for transmission. Doctors at the remote end can receive and analyze this pulse data and make diagnoses based on TCM theory, thus breaking geographical limitations and realizing remote TCM pulse diagnosis. This device not only improves the convenience and efficiency of TCM diagnosis and treatment, but also provides strong support for the modernization and international development of TCM.

[0003] Chinese Patent CN108324256A discloses a novel intelligent pulse diagnosis device that can be fumigated, including a pulse diagnosis device, a fumigation device, a blood pressure measuring device, a body temperature measuring device, a display screen, and a controller. The pulse diagnosis device has three parts, mainly including a pulse diagnosis probe, a pulse diagnosis air rod, and a motor connecting plate. The pulse diagnosis probe is shaped like a fingertip and is hollow inside, with a pressure-sensitive sensor in the middle. This invention has a reasonable design and a high degree of automation. It enhances the accuracy of pulse diagnosis through traditional Chinese medicine fumigation, pulse diagnosis probe, and constant temperature control device.

[0004] When the aforementioned pulse diagnosis device is used for remote pulse diagnosis, medical staff cannot remotely control the position of the user's hand, nor can they adjust the position of the user's hand in a timely manner. This makes it difficult to adjust the pulse diagnosis device. When the pulse is diagnosed remotely, medical staff cannot directly observe and change the position of the pulse diagnosis device based on the position of the hand, which affects the efficiency of subsequent diagnosis. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent bionic pulse diagnosis device and system for remote TCM diagnosis and treatment. The rotation of the connecting plate can adjust the position of the pulse diagnosis device and the infrared laser light. The bright red dot displayed by the infrared laser light can help the user understand the contact position after the pulse diagnosis device is pressed down. Based on the image captured by the camera, the position of the infrared laser light can be directly adjusted, thereby adjusting the position of the pulse diagnosis device. This can handle remote TCM diagnosis and treatment without requiring remote instructions from the user to adjust the position and angle of their hands, facilitating efficient and accurate subsequent treatment and solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent bionic pulse diagnosis device and system for remote TCM diagnosis and treatment, comprising a shell with a pad at the top, three pulse diagnosis devices for detection arranged horizontally at the top of the pad, a connecting plate at the top of each pulse diagnosis device, an infrared laser lamp at the top of the connecting plate, a connecting frame at one end of the connecting plate, and a motor between the connecting frame and the connecting plate. A sliding rod is horizontally slidably connected through the top of each of the three connecting frames, a storage frame is provided outside the sliding rod, and storage compartments are provided on both sides and at the top of the storage frame. A second telescopic rod is horizontally arranged inside each of the three storage compartments. The extension of the three second telescopic rods can respectively push the corresponding connecting frame. The change in the position of the connecting frame directly changes the position of the pulse diagnosis device, providing a basis for adjusting the position of the pulse diagnosis device.

[0007] Preferably, each of the three storage compartments has a first sliding rail facing the sliding rod, and each of the three connecting frames has an extension piece extending towards the first sliding rail. The extension pieces are welded and fixed to the corresponding second telescopic rod inside the storage compartment. A first telescopic rod is provided on one side of the storage frame. The extension of the first telescopic rod can push and make the three pulse diagnosis devices, after being adjusted in position, contact the wrist position.

[0008] Preferably, the upper end of the storage frame is provided with a bracket, and the other side of the lower end of the bracket is rotatably connected to a camera via a connecting shaft. The rotation of the camera can adjust the shooting direction, and the camera can capture the position of the user's wrist to assist in the adjustment of the position of the pulse diagnosis device.

[0009] Preferably, a third telescopic rod is provided at the middle position of the lower end of the bracket, and a first pressing plate, a second pressing plate and a third pressing plate are provided sequentially at the lower end of the third telescopic rod. The extension of the third telescopic rod can push and press down the third pressing plate, which can be wrapped and supported on the outer wall of the user's palm.

[0010] Preferably, the lower end of the first pressing piece is recessed on both sides with a second sliding rail, and the lower end of the second pressing piece is recessed in the middle with a third sliding rail. The third sliding rail and the second sliding rail are vertically distributed, and sliding along the second sliding rail and the third sliding rail respectively can adapt to the position of the hand facing different directions, and can provide corresponding alarms.

[0011] Preferably, the second pressing piece is provided with a first sliding block facing the second sliding rail, and the third pressing piece is provided with a second sliding block facing the third sliding rail. Springs are welded to both sides of the first and second sliding blocks, and the elasticity of the springs can actively enable the third and second pressing pieces to reset.

[0012] Preferably, pressure sensors are provided at the edges of the second and third sliding rails. The detection position of the pressure sensor is welded and fixed to one end of the spring, so that the pressure can be detected by the pressure sensor after the spring contracts.

[0013] Preferably, a main unit is provided on one side of the first telescopic rod, and a buzzer is provided on the upper end of one side of the main unit. The buzzer is electrically connected to the pressure sensor. After the pressure sensor detects a change in pressure, it can determine that a change in hand position has occurred. The pressure sensor then sends an activation signal to the buzzer, which can alert the user that a change in hand position has occurred.

[0014] Preferably, the host computer is equipped with a controller configured to perform the following vascular viscoelasticity measurement steps:

[0015] Step (a): Control the infrared laser and the corresponding optical receiving module, and use optical coherence tomography (OCT) or optical time-of-flight (ToF) technology to determine the effective tissue thickness of the tested vascular region under the current pressure. ;

[0016] Step (b): Control the third telescopic rod to perform a dynamic mechanical analysis (DMA) program on the basis of the current static pressing, and apply a small-amplitude sinusoidal vibration displacement. ,in The preset vibration frequency, It represents the displacement amplitude;

[0017] Step (c): Acquire the corresponding reaction force signal through the pressure sensor. and analysis Relative to displacement signal Phase delay Force amplitude response ;

[0018] Step (d): Calculate the loss modulus used to characterize the viscous energy dissipation properties of vascular tissue. The calculation formula is as follows:

[0019]

[0020] in, Loss modulus (unit: Pascal), characterizing the viscous properties of the tissue; The amplitude of the reaction force (unit: Newton, N); The applied displacement amplitude (unit: meters, m); The phase delay of the reaction force relative to the displacement (dimensionless); Effective tissue thickness (in meters, m) as measured in step (a); The effective contact area between the tablet and the skin (unit: square meters, m²).

[0021] Step (e): The controller determines the loss modulus based on the loss modulus. The numerical value helps to distinguish pulses with different viscoelastic characteristics, such as slippery pulse and hesitant pulse.

[0022] Preferably, the host computer is equipped with a visual servo controller.

[0023] The infrared laser light is configured as a structured light projector to project speckle or coded patterns onto the wrist area to be tested.

[0024] The camera is used to capture patterns reflected in the wrist area at high frequency;

[0025] The visual servo controller is configured as follows:

[0026] When the third telescopic rod applies or changes pressure, causing tissue deformation, the pixel displacement field of the captured pattern is analyzed in real time using a digital image correlation (DIC) algorithm or an optical flow analysis algorithm.

[0027] Based on the pixel displacement field, the lateral drift vector of the pulse diagnosis device relative to the radial artery axis is calculated. ;

[0028] When the magnitude of the drift vector When the preset accuracy threshold is exceeded, a compensation control signal is generated;

[0029] The compensation control signal is sent to the motor, driving the connecting frame to make fine adjustments along the sliding rod to achieve... Real-time compensation ensures that the pulse diagnosis device is always precisely aligned with the radial artery axis during the pressurization process.

[0030] The intelligent bionic pulse diagnosis system for remote TCM diagnosis and treatment consists of a communication module, a driver module, a recognition module, and a recording module, among which:

[0031] The communication module is used to upload the original pulse wave data of the pulse diagnosis device, the camera video stream, and the status of the host.

[0032] The drive module is used to execute instructions from remote physicians, to start the drive motor, and to drive the drive motor to swap the positions of the infrared laser lamp and the pulse diagnosis device.

[0033] The recognition module is used to identify the data detected by the pulse diagnosis device, reducing diagnostic differences caused by different subjective feelings of physicians;

[0034] The recording module is used to record every remote diagnosis and treatment process in its entirety and with all data. The complete record provides an immutable chain of evidence for the medical process.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] 1. The pulse diagnosis device and infrared laser lamp of this invention can be mirror-connected to the outer wall of the connecting plate. The rotation of the connecting plate can adjust the position of the pulse diagnosis device and the infrared laser lamp. After the laser emitted by the infrared laser lamp shines on the wrist, a red dot can be displayed. The bright red dot can help the user understand the contact position after the pulse diagnosis device is pressed down. Based on the image captured by the camera, the position of the infrared laser lamp can be directly adjusted, thereby adjusting the position of the pulse diagnosis device. This can be used for remote TCM diagnosis and treatment without the need for remote instruction to the user to adjust the position and angle of the hand. The user only needs to place the hand on the pad, and the medical staff can remotely drive the second telescopic rod and motor to adjust the position of the pulse diagnosis device, which can facilitate efficient and accurate subsequent treatment.

[0037] 2. In this invention, after the user's wrist rests on the upper end of the pad with the third pressure plate facing towards it, the extension of the third telescopic rod can push and position the third pressure plate in the user's palm, which can fix and restrict the user's hand. After the hand shakes, the third pressure plate shakes within the third sliding rail via the second sliding block, while the second pressure plate shakes within the second sliding rail via the first sliding block. The sliding of the first and second sliding blocks can be achieved by the spring squeezing and pulling the pressure sensor, which can detect whether the user's hand shakes after being pressed, thus effectively improving the efficiency of subsequent diagnosis and treatment. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall external structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the internal structure of the storage frame of the present invention;

[0040] Figure 3 This is a schematic diagram showing the positional relationship of the infrared laser lamps in this invention;

[0041] Figure 4 This is a cross-sectional view of the positional relationship of the first sliding rail of the present invention;

[0042] Figure 5 This is a cross-sectional view showing the motor position relationship of the present invention;

[0043] Figure 6 This is a schematic diagram showing the positional relationship of the third pressing piece in this invention;

[0044] Figure 7 This is a cross-sectional view showing the positional relationship of the second sliding rail of the present invention;

[0045] Figure 8 This is a cross-sectional view showing the positional relationship of the third sliding rail of the present invention;

[0046] Figure 9 This is a schematic diagram of the remote diagnosis and treatment system of the present invention.

[0047] In the diagram: 1. Outer shell; 2. Main unit; 3. Bracket; 4. Camera; 5. Connecting shaft; 6. First telescopic rod; 7. Storage frame; 8. Connecting frame; 9. Connecting plate; 10. Pulse diagnosis device; 11. Pad; 12. First pressing plate; 13. Second pressing plate; 14. Third pressing plate; 15. First sliding rail; 16. Storage compartment; 17. Second telescopic rod; 18. Extension plate; 19. Infrared laser light; 20. Sliding rod; 21. Threaded rod; 22. Motor; 23. Second sliding rail; 24. First sliding block; 25. Spring; 26. Pressure sensor; 27. Third sliding rail; 28. Second sliding block; 29. ​​Third telescopic rod; 30. Buzzer. Detailed Implementation

[0048] The present invention will be further described below with reference to specific embodiments.

[0049] like Figure 1 As shown, this embodiment of the intelligent bionic pulse diagnosis device and system for remote TCM diagnosis and treatment includes a shell 1. A sheet-like pad 11 is provided on the upper end of the shell 1, and the pad 11 is fixedly connected to the upper end of the shell 1 by glue. The pre-reserved pad 11 allows the user to easily place it on the upper end of the shell 1 manually. Three pulse diagnosis devices 10 for detection are arranged horizontally on the upper end of the pad 11. When the pulse diagnosis device 10 contacts the user's wrist for detection, the sensor built into the pulse diagnosis device 10 performs the detection.

[0050] To facilitate the adjustment of the position of the pulse diagnosis device 10, each of the three pulse diagnosis devices 10 is provided with a connecting plate 9 at its upper end. An infrared laser lamp 19 is provided at the upper end of the connecting plate 9. A connecting frame 8 is provided at one end of the connecting plate 9, and a motor 22 is provided between the connecting frame 8 and the connecting plate 9. The center of the output shaft of the motor 22 is fixedly connected to the center of the connecting plate 9. The rotation of the motor 22 can drive the connecting plate 9 to rotate, and the rotation of the connecting plate 9 can directly drive the infrared laser lamp 19 and the pulse diagnosis device 10 to rotate.

[0051] Furthermore, a sliding rod 20 is horizontally provided through the upper end of the three connecting frames 8. The outside of the sliding rod 20 is slidably connected to the through position of the connecting frame 8. The position of the lower infrared laser lamp 19 and the pulse diagnosis device 10 can be adjusted by sliding the connecting frame 8 along the sliding rod 20.

[0052] To facilitate the adjustment of the position of the connecting bracket 8, a storage frame 7 is provided on the outside of the sliding rod 20, such as... Figure 2 , Figure 3 and Figure 4 As shown, storage compartments 16 are provided on both sides and the top of the storage frame 7. Second telescopic rods 17 are horizontally arranged inside each of the three storage compartments 16. First sliding rails 15 are provided on the side of each of the three storage compartments 16 facing the sliding rod 20. Extension pieces 18 are provided on each of the three connecting frames 8 extending toward the position of the first sliding rail 15. The extension pieces 18 are welded and fixed to the corresponding second telescopic rods 17 inside the storage compartments 16. The extension of the second telescopic rods 17 can push the connecting frames 8 by the extension pieces 18, so that the connecting frames 8 can slide outside the sliding rod 20, and the position of the lower connecting frame 8 can be directly adjusted.

[0053] In order to allow the storage frame 7 to be expanded and contracted, a first telescopic rod 6 is provided on one side of the storage frame 7. The extension of the first telescopic rod 6 can push and longitudinally move the pulse diagnosis device 10, so that the pulse diagnosis device 10 can be moved longitudinally after the position is adjusted.

[0054] In order to enable remote TCM diagnosis and treatment, and to facilitate the adjustment of the pulse diagnosis device 10 based on the laser emitted by the infrared laser lamp 19, a bracket 3 is provided at the upper end of the storage frame 7, and a camera 4 is provided on the other side of the lower end of the bracket 3. The outer wall of the camera 4 is rotatably connected to the bracket 3 through a connecting shaft 5. The rotation of the camera 4 can be aimed at the wrist position placed on the upper end of the pad 11.

[0055] A third telescopic rod 29 is provided at the middle position of the lower end of the bracket 3. A first pressing plate 12 is provided at the lower end of the third telescopic rod 29, and a second pressing plate 13 is provided at the lower end of the first pressing plate 12. Figure 6 As shown, a third pressing plate 14 is provided at the lower end of the second pressing plate 13. After the user's palm is placed on the upper end of the pad 11 with the third pressing plate 14 facing the third pressing plate 14, the extension of the third telescopic rod 29 can push the third pressing plate 14 so that the third pressing plate 14 can press on the user's palm.

[0056] When pressing the palm, in order to detect the user's hand shaking and remind the user not to shake their hand, the second sliding rail 23 is provided in the recesses on both sides of the lower end of the first pressing plate 12, and the third sliding rail 27 is provided in the middle recess of the lower end of the second pressing plate 13. The third sliding rail 27 and the second sliding rail 23 are vertically distributed. When the hand shakes and causes a positional shift, the second pressing plate 13 can slide along the second sliding rail 23, and the third pressing plate 14 can slide along the third sliding rail 27.

[0057] It is worth mentioning that, such as Figure 7 and Figure 8As shown, the second pressing piece 13 is provided with a first sliding block 24 facing the second sliding rail 23, and the third pressing piece 14 is provided with a second sliding block 28 facing the third sliding rail 27. Springs 25 are welded to both sides of the first sliding block 24 and the second sliding block 28. The elasticity of the springs 25 can actively keep the first sliding block 24 and the second sliding block 28 in the center position. After rebounding, the second pressing piece 13 and the third pressing piece 14 can rebound and reset.

[0058] In this embodiment, pressure sensors 26 are provided at the edges of the second sliding rail 23 and the third sliding rail 27. The detection position of the pressure sensor 26 is welded and fixed to one end of the spring 25. When the spring 25 detects a change in pressure due to the change in the position of the second pressing piece 13 and the third pressing piece 14, the pressure sensor 26 can give the user a reminder signal after detecting the position change. A main unit 2 is provided on one side of the first telescopic rod 6. A buzzer 30 is provided at the upper end of one side of the main unit 2. The buzzer 30 is electrically connected to the pressure sensor 26. After the pressure sensor 26 detects a change in pressure value, it gives a start signal to the buzzer 30, which can then emit a sound to remind the user.

[0059] To accommodate the tilt of the wrist, such as Figure 5 As shown, a threaded rod 21 is vertically arranged on the side of the connecting frame 8. The upper and lower ends of the threaded rod 21 are rotatably connected to the interior of the connecting frame 8. The threaded rod 21 passes through and extends to the upper and lower ends of the motor 22. The outside of the threaded rod 21 is threadedly engaged with the through position of the motor 22. By rotating the threaded rod 21, the motor 22 and the pulse diagnosis device 10 can be driven to adjust their longitudinal horizontal position, and the horizontal position of the pulse diagnosis device 10 can be adjusted additionally.

[0060] Furthermore, the host (2) is internally equipped with a controller, which is configured to perform the following vascular viscoelasticity measurement steps:

[0061] Step (a): Control the infrared laser lamp (19) and the corresponding optical receiving module, and use optical coherence tomography (OCT) or optical time-of-flight (ToF) technology to determine the effective tissue thickness of the tested vascular region under the current pressure. ;

[0062] Step (b): Control the third telescopic rod (29) to perform a dynamic mechanical analysis (DMA) procedure on the basis of the current static pressing, and apply a small-amplitude sinusoidal vibration displacement. ,in The preset vibration frequency, It represents the displacement amplitude;

[0063] Step (c): Acquire the corresponding reaction force signal through the pressure sensor (26). and analysis Relative to displacement signal Phase delay Force amplitude response ;

[0064] Step (d): Calculate the loss modulus used to characterize the viscous energy dissipation properties of vascular tissue. The calculation formula is as follows:

[0065]

[0066] in, Loss modulus (unit: Pascal), characterizing the viscous properties of the tissue; The amplitude of the reaction force (unit: Newton, N); The applied displacement amplitude (unit: meters, m); The phase delay of the reaction force relative to the displacement (dimensionless); Effective tissue thickness (in meters, m) as measured in step (a); The effective contact area between the compression tablet (12, 13 or 14) and the skin (unit: square meters, m²).

[0067] Step (e): The controller determines the loss modulus based on the loss modulus. The numerical value helps to distinguish pulses with different viscoelastic characteristics, such as slippery pulse and hesitant pulse.

[0068] This embodiment provides an advanced method for quantitatively measuring the viscoelasticity of vascular tissue. This method is integrated into an intelligent bionic pulse diagnosis device, aiming to objectively quantify the subjective descriptions of pulse flow, tension, and hesitancy in traditional Chinese medicine pulse diagnosis. In TCM theory, the viscoelastic characteristics of the pulse are crucial for distinguishing key pulse types such as slippery and hesitant pulses. A slippery pulse is often described as "flowing smoothly, like beads rolling on a plate," corresponding to low viscous damping and good elastic recovery characteristics in biomechanics; while a hesitant pulse is described as "slow and difficult to move, like scraping bamboo with a light knife," corresponding to high viscous damping and energy dissipation. This device, by integrating high-precision optical detection technology and dynamic mechanical analysis methods, can accurately measure the viscoelastic response of vascular tissue under minute stimuli, thereby providing crucial and standardized diagnostic data support for remote physicians.

[0069] The realization of this function relies on the precise scheduling of the host's internal controller, as well as the coordinated operation of key components such as the infrared laser, the third telescopic rod, and the pressure sensor. Its detailed working principle covers multiple continuous and interrelated steps, including precise optical measurement of tissue thickness, application of dynamic mechanical excitation, acquisition and analysis of tissue response signals, and calculation of viscoelastic parameters.

[0070] The viscoelasticity measurement process is initiated after the pulse diagnosis device has been accurately positioned at the radial artery pulsation point of the patient's radial artery and a certain static pre-pressure (e.g., simulating a certain depth in the superficial, middle, and deep pulse diagnosis) has been applied.

[0071] First, a crucial prerequisite for measurement is accurately obtaining the effective tissue thickness of the tested vascular region under the current pressure. This parameter is critical because the mechanical response depends not only on the material's inherent properties but also on its structural morphology. To normalize the macroscopically measured mechanical response in subsequent calculations and thus obtain the material properties of the tissue itself, this thickness value must be known in real time. This device employs a non-invasive optical measurement technique to achieve this goal. The controller activates the infrared laser lamp and its associated optical receiving module mounted on the connection plate.

[0072] The system employs optical coherence tomography (OCT) or optical time-of-transit (TOT) techniques for high-precision depth detection. If OCT is used, its operating principle is based on low-coherence optical interferometry. A low-coherence broadband light beam emitted from an infrared laser is split into two paths by a beam splitter: one beam serves as the probe beam directed towards the wrist tissue; the other beam serves as the reference beam directed towards a precisely controllable reference mirror within the system. As the probe beam penetrates the tissue, it is reflected or scattered at tissue interfaces with different refractive indices (such as the epidermis, dermis, fat layer, and blood vessel walls). The reflected signal light carries information about the tissue depth. The optical receiving module combines these reflected beams with the reference beam to generate an interference signal. Due to the use of a low-coherence light source, noticeable interference fringes are only produced when the optical path difference between the probe and reference beams is very close (within the coherence length of the light source). The controller precisely drives the reference mirror to move, continuously changing the optical path of the reference beam and simultaneously recording the intensity changes of the interference signal. By performing complex signal processing, such as Fast Fourier Transform, on the interference signal, a reflectance distribution map of different interfaces along the tissue depth direction can be obtained, thereby reconstructing a tomographic image of the tissue. The controller analyzes this image and can accurately identify the distance from the skin surface to the superior wall of the radial artery with micrometer-level resolution, thus calculating the effective tissue thickness of the measured area under the current pressure state. This measurement ensures that the measured thickness value is the true value after actual pressure deformation.

[0073] If optical time-of-flight technology is used, the principle is to determine the distance by measuring the time it takes for a light pulse to travel through the tissue. An infrared laser emits a laser pulse with an extremely short duration and concentrated energy. After entering the tissue, this pulse is reflected at different interfaces. An optical receiving module (usually a high-speed, high-sensitivity photodetector) detects these reflected light pulses. The controller is equipped with a highly accurate time measurement circuit that precisely records the start time of laser emission and the time of receiving the reflected pulse. Since the speed of light in biological tissue can be considered known (the average refractive index of the tissue needs to be considered), the system can calculate the distance the light travels by calculating the time difference between the emission and reception times, i.e., the time of flight of the photon, and thus determine the effective thickness of the tissue. Regardless of the technology used, this device achieves accurate and rapid acquisition of key geometric parameters without contacting the blood vessel itself.

[0074] After accurately obtaining the effective tissue thickness, the controller enters the dynamic mechanical analysis stage. This is the core step in determining viscoelasticity, aiming to explore the mechanical response characteristics of vascular tissue under alternating stress. The controller instructs the third telescopic rod to execute a preset dynamic mechanical analysis program. As a high-precision linear displacement actuator, the third telescopic rod superimposes a small-amplitude sinusoidal vibration displacement on the existing static pressing foundation.

[0075] This sinusoidal vibration displacement is precisely generated according to a preset vibration frequency and displacement amplitude. The vibration frequency is typically chosen to cover the main frequency range and harmonic components of the human physiological pulse wave to ensure the physiological relevance of the measurement, as the viscoelasticity of biological tissues is often related to the loading frequency. The displacement amplitude is strictly controlled within a very small range, typically from micrometers to sub-millimeters. This is done to ensure that the tissue is in the linear viscoelastic response zone, meaning that the applied stress and the resulting strain are linearly related. This simplifies the analysis model and does not cause tissue damage or physiological discomfort. Driven by the controller, the third telescopic rod drives the pressure plate below to perform high-frequency, minute up-and-down reciprocating motions. This mechanical vibration is transmitted through the skin to the subcutaneous tissue and the radial artery wall, causing the vessel wall and surrounding tissues to undergo periodic compression and relaxation deformation.

[0076] While applying dynamic displacement excitation, the system needs to acquire the tissue's reaction force signal to this excitation in real time. This task is accomplished by a highly sensitive pressure sensor. When the third telescopic rod applies a sinusoidal displacement, the tested tissue, due to its inherent viscoelastic properties, will generate a corresponding reaction force. This reaction force signal also presents as a sinusoidal waveform.

[0077] The key is that biological tissues are complex, viscoelastic materials. When subjected to alternating loads, viscoelastic materials exhibit a phase difference between stress and strain. Specifically, if the tissue is purely elastic, the reaction force changes synchronously with the displacement; that is, the reaction force is at its maximum when the displacement is at its maximum, with no time delay between the two. If the tissue is purely viscous, the reaction force changes synchronously with the displacement velocity, resulting in a 90-degree phase delay between the reaction force and the displacement. For viscoelastic tissues, the phase delay between the reaction force and the displacement ranges from zero to 90 degrees. The magnitude of this phase delay directly reflects the proportion of the viscous component (responsible for energy dissipation) to the elastic component (responsible for energy storage). The greater the viscosity, the more energy is dissipated within the tissue, and the greater the phase delay.

[0078] The controller performs precise signal processing and analysis on the acquired reaction force signals. The core objective of the analysis is to determine two key parameters: first, the amplitude response of the reaction force, i.e., the maximum value of the reaction force fluctuation, which reflects the overall stiffness of the tissue resisting deformation (including elastic and viscous contributions); and second, the phase delay of the reaction force relative to the displacement signal. The controller typically employs advanced digital signal processing algorithms such as lock-in amplification, fast Fourier transform, or cross-correlation analysis to accurately extract these two parameters while effectively filtering out interference from physiological signals and environmental noise.

[0079] After obtaining basic data such as effective tissue thickness, applied displacement amplitude, reaction force amplitude, and phase delay, the controller can calculate the core parameter, namely the loss modulus, which characterizes the viscous energy dissipation properties of vascular tissue. The loss modulus is a physical quantity that describes the amount of energy dissipated as heat in each cycle under alternating load, and it directly characterizes the viscous properties of the tissue.

[0080] The calculation of loss modulus involves converting macroscopic mechanical measurement data into standardized material mechanics parameters. First, the system calculates the apparent dynamic stiffness of the tissue, which is the ratio of the amplitude of the reaction force to the amplitude of the applied displacement. This ratio represents the magnitude of the force required to resist a unit displacement deformation under the current measurement conditions. Second, to isolate the contribution of the viscous component from the apparent stiffness, phase delay information is utilized. According to viscoelastic theory, the loss modulus is proportional to the apparent stiffness multiplied by the sine of the phase delay. A larger sine of the phase delay indicates a higher proportion of viscous components and greater energy dissipation. Therefore, multiplying the apparent stiffness by the sine of the phase delay yields an intermediate quantity related to energy dissipation. Finally, to make this intermediate quantity an intrinsic material parameter (i.e., modulus) unaffected by measurement geometry, geometric normalization is required. This is done by multiplying the above product by the effective tissue thickness and dividing by the effective contact area between the pressure pad and the skin. The effective contact area can be determined through pre-calibration or via an integrated array of contact sensors. After this series of calculations, the final value obtained is the loss modulus, and its unit is the same as the pressure unit.

[0081] The calculated loss modulus value provides a powerful tool for the objectification of pulse diagnosis in Traditional Chinese Medicine (TCM). Based on the calculated loss modulus value, the controller can assist remote physicians in differential diagnosis of pulse patterns. For example, when the measured loss modulus is significantly higher than the normal reference range, it may indicate high viscous damping of the patient's blood vessels and excessive energy dissipation, consistent with the characteristics of a choppy pulse, potentially suggesting qi stagnation, blood stasis, or deficiency of essence and blood. Conversely, a lower loss modulus indicates low viscous damping of the blood vessels and less energy dissipation, consistent with the characteristics of a slippery pulse. Through this quantitative viscoelastic analysis, this device greatly improves the objectivity and accuracy of remote TCM diagnosis, overcoming the limitations of traditional pulse diagnosis that relies on the physician's subjective finger sensation, and providing an innovative technological path for the modernization and standardization of TCM pulse diagnosis.

[0082] Furthermore, the host (2) is equipped with a visual servo controller;

[0083] The infrared laser lamp (19) is configured as a structured light projector for projecting speckle or coded patterns onto the wrist area to be tested.

[0084] The camera (4) is used to capture the pattern reflected in the wrist area at high frequency;

[0085] The visual servo controller is configured as follows:

[0086] When the third telescopic rod (29) applies or changes pressure, causing tissue deformation, the pixel displacement field of the captured pattern is analyzed in real time using the digital image correlation (DIC) algorithm or optical flow analysis algorithm.

[0087] Based on the pixel displacement field, the lateral drift vector of the pulse diagnosis device (10) relative to the radial artery axis is calculated. ;

[0088] When the magnitude of the drift vector When the preset accuracy threshold is exceeded, a compensation control signal is generated;

[0089] The compensation control signal is sent to the motor (22), driving the connecting frame (8) to make fine adjustments along the sliding rod (20) to achieve... Real-time compensation ensures that the pulse diagnosis device (10) is always precisely aligned with the radial artery axis during the pressurization process.

[0090] This embodiment further provides a real-time alignment technology solution for a pulse diagnosis device based on visual servo control. This solution aims to address a key challenge in traditional Chinese medicine pulse diagnosis: when applying different levels of pressure (e.g., from superficial to deep pressure), uneven deformation of wrist tissue and potential skin slippage cause the lateral position of the pulse diagnosis probe relative to the radial artery axis to drift, severely affecting the accuracy and consistency of pulse signal acquisition. Especially in remote diagnosis scenarios, physicians cannot directly observe and correct this drift in real time; therefore, a system capable of automatically tracking and compensating for this displacement is crucial. This solution integrates a visual servo controller, a structured light projector (configured with an infrared laser), and a high-frequency camera to construct a closed-loop feedback control system. This system achieves real-time monitoring and dynamic compensation of the pulse diagnosis device's position during pressure application, ensuring its precise alignment with the radial artery axis at all times.

[0091] The core of this visual servo control system is the visual servo controller integrated within the host unit. It is responsible for processing visual information, calculating drift, and generating control commands. The system's hardware includes an infrared laser light configured as a structured light projector and a high-frequency camera.

[0092] The system works based on machine vision and advanced image processing algorithms, especially digital image correlation algorithms or optical flow analysis algorithms, to track minute displacements and deformations on tissue surfaces with high precision.

[0093] The entire system's workflow begins with the projection of structured light. In this scheme, an infrared laser is configured as the structured light projector. Its function is to project patterns with specific spatial structures onto the wrist area to be tested. These patterns are typically designed as speckle patterns or coded patterns with high contrast and rich features. Speckle patterns are usually generated by passing a laser beam through a diffuser, forming randomly distributed bright and dark spots with high randomness and local uniqueness. Coded patterns are carefully designed grids, stripes, or other geometric shapes. These patterns projected onto the skin surface are equivalent to artificially adding a large number of high-density visual markers to the skin. Since the skin surface itself may lack sufficient texture features for accurate tracking, these artificial patterns greatly enhance the feature richness of the image, providing the necessary information input for subsequent image analysis algorithms. Using infrared light as the light source also reduces interference from ambient light and is invisible to the human eye, thus not interfering with the user experience.

[0094] Working in conjunction with the structured light projector is a high-frequency capture camera. This camera is mounted on a bracket, looking down at the wrist region being measured. It is configured to continuously capture the structured light pattern reflected back from the wrist region at a high frame rate. The high frame rate is crucial for capturing rapid changes during dynamic processes, ensuring the system can respond in real-time to tissue deformation and displacement. The image sequence captured by the camera is transmitted in real-time to a vision servo controller for processing.

[0095] The core of visual servo control lies in real-time analysis of tissue deformation and calculation of the drift vector. During pulse diagnosis, when the third telescopic lever applies or changes pressure, the wrist tissue undergoes complex non-rigid deformation. This deformation occurs not only in the vertical direction of the applied pressure but also causes compression and displacement of the tissue in the horizontal direction, potentially causing the pulse diagnosis device to deviate from its initial alignment with the radial artery. The task of the visual servo controller is to precisely quantify this change.

[0096] To achieve this goal, the visual servo controller employs digital image correlation (DIR) algorithms or optical flow analysis algorithms to analyze the pixel displacement field of the captured pattern. Taking DIR as an example, its working principle is to determine the displacement field of the object's surface by comparing the grayscale distribution patterns of corresponding regions in two images (a reference image and the deformed image). Specifically, the algorithm first selects a region of interest in the reference image (usually the initial state image before pressure is applied) and divides it into several small sub-regions (or pixel blocks). Then, in the deformed image, the algorithm searches for the region whose grayscale pattern best matches the reference sub-region using an efficient optimization search algorithm (such as the Newton-Raphson method) or by calculating the correlation coefficient. Because the projected pattern provides rich and unique texture features, the matching process is very robust and accurate. By accurately determining the positional coordinate changes of each sub-region before and after deformation, the displacement vector of that sub-region can be obtained. This matching can typically achieve sub-pixel accuracy. After calculating for all sub-regions, the pixel displacement field of the entire region of interest is obtained. This is a two-dimensional vector field describing the motion of every point on the skin surface.

[0097] If an optical flow analysis algorithm is used, its principle is based on the temporal changes and correlations of pixel brightness in an image sequence to determine the velocity field of an object's motion. The optical flow algorithm assumes that the brightness of a point in the image remains constant over a short period (the constant brightness assumption). By solving the optical flow constraint equations and analyzing the motion trajectories of pixels between adjacent frames, the algorithm can estimate the instantaneous velocity vector of each pixel, thus obtaining the motion field (optical flow field) of the entire image. The optical flow field also reflects the motion information of the wrist surface and is suitable for scenarios with high real-time requirements.

[0098] After obtaining the pixel displacement field or optical flow field, the visual servo controller needs to convert this two-dimensional image information into physical displacement information in three-dimensional space and calculate the lateral drift vector of the pulse diagnosis device relative to the radial artery axis. This calculation process requires the system's geometric calibration information. Through camera calibration, a precise mapping relationship between the pixel coordinate system and the actual physical coordinate system can be established, thereby converting pixel displacement into actual physical displacement. Furthermore, since the displacement on the skin surface is not entirely equivalent to the displacement of the deep radial artery, the controller may need to incorporate biomechanical models or learning-based algorithms to infer the relative positional change of the pulse diagnosis device relative to the deep radial artery axis from the displacement on the skin surface. Through analysis of the pixel displacement field, the system can identify and track the movement trajectory of the feature region representing the radial artery axis during the pressurization process. By comparing the current position of the pulse diagnosis device with the tracked radial artery axis position, the controller finally obtains a precise lateral drift vector. This vector accurately indicates the direction and distance of the pulse diagnosis device's deviation from the target blood vessel.

[0099] After obtaining the lateral drift vector, the system enters the closed-loop feedback control and compensation phase. The vision servo controller continuously monitors the magnitude of the drift vector, i.e., the distance of the offset. The system presets an accuracy threshold, which defines the maximum allowable alignment error, typically set at the sub-millimeter level based on the accuracy requirements of pulse diagnosis.

[0100] Once the magnitude of the drift vector exceeds a preset accuracy threshold, the controller immediately determines that the current alignment is unacceptable and generates a compensation control signal. The generation of the compensation control signal is based on a feedback control strategy, such as a proportional-integral-derivative (PID) control algorithm. The controller calculates the required corrective motion based on the magnitude and direction of the drift vector, aiming to bring the drift vector as close to zero as possible.

[0101] This compensation control signal is then sent to the motor positioned between the connecting frame and the connecting plate. Upon receiving the control signal, the motor immediately starts and drives the connecting frame to make precise fine adjustments along the sliding rod. The movement of the connecting frame directly causes the pulse diagnosis device to make precise horizontal displacement. For example, if the pulse diagnosis device is detected to have drifted a certain distance towards the ulnar side, the controller will instruct the motor to drive the connecting frame to move the same distance towards the radial side to compensate. Due to the high dynamic performance of the entire system (including image acquisition, processing, control signal generation, and motor response), this compensation process can be completed in a very short time.

[0102] This process is a continuously iterative closed-loop feedback control loop. From image capture, displacement field analysis, drift calculation to compensation execution, the entire loop is completed in a very short time, achieving real-time dynamic suppression of drift. Regardless of changes in applied pressure, tissue deformation, or minute movements of the patient's wrist, the system can dynamically adjust the position of the pulse diagnostic device to ensure it is always locked in the optimal measurement position, precisely aligned with the radial artery axis.

[0103] For a further understanding of the contents of this invention, please refer to Figure 9 This embodiment provides the following technical solution:

[0104] The intelligent bionic pulse diagnosis system for remote TCM diagnosis and treatment consists of a communication module, a drive module, a recognition module, and a recording module. The communication module is used to upload the original pulse wave data of the pulse diagnosis device 10, the video stream of the camera 4, and the status of the host 2. It also receives control commands from remote physicians, realizing remote palpation through observation, auscultation, inquiry, and palpation. This allows high-quality TCM resources to cover a wider range of areas and ensures that the experience of remote physicians adjusting the pulse diagnosis position under video guidance is smooth, just like operating on-site.

[0105] The drive module is used to accurately execute instructions from remote physicians, to start the drive motor 22, to drive the infrared laser lamp 19 and the pulse diagnosis device 10 to switch positions, and when the pulse diagnosis device 10 contacts the patient's detection position, the drive of the motor 22 can keep the position of the pulse diagnosis device 10 fixed.

[0106] The identification module is used to identify the data detected by the pulse diagnosis device 10, reducing diagnostic differences caused by different subjective feelings of physicians. It has auxiliary capabilities and provides physicians with a strong reference opinion, especially in complex cases. It can help physicians broaden their thinking and focus on key points. It can also be used for teaching and training young physicians.

[0107] The recording module is used to record every remote diagnosis and treatment process in its entirety and with complete data. The complete record provides an immutable chain of evidence for the medical process, making it traceable in case of disputes. It forms a structured electronic medical record, which facilitates the management and long-term tracking of patient health records. At the same time, the massive amount of standardized diagnosis and treatment data is an extremely valuable scientific research resource that can be used to deepen the study of pulse patterns. Furthermore, engineers and physicians can replay the diagnosis and treatment process, analyze the operation procedures and diagnostic logic, and continuously optimize system performance and treatment plans.

[0108] Working principle: When using the device for remote TCM diagnosis and treatment, the user places their palm facing the third pressure plate 14 on the top of the pad 11. Activating the third telescopic rod 29 extends the first pressure plate 12, the second pressure plate 13, and the third pressure plate 14, ultimately bringing the lower end of the third pressure plate 14 into contact with the user's palm. The two sides of the third pressure plate 14 rest on the side of the little finger and the web of the hand, respectively, providing a restrictive force to the user's hand. When the hand is in position, the third pressing plate 14 can slide along the third sliding rail 27, and the second pressing plate 13 can slide along the second sliding rail 23. During the sliding of the second pressing plate 13 and the third pressing plate 14, the spring 25 compresses the pressure sensor 26, which sends an activation signal to the buzzer 30. The activation of the buzzer 30 can remind the user of the change in hand position. After the hand is fixed, the camera 4 rotates around the connecting shaft 5 and captures the wrist. The infrared laser lights 19 on the surfaces of the three connecting plates 9 are activated. The laser light generated by the infrared laser lights 19 will directly illuminate the user's wrist, forming a red position. The user can adjust according to the red position. The three connecting frames 8 are activated in accordance with the second telescopic rod 17 inside the storage compartment 16, so that the connecting frame 8 slides along the first sliding rail 15. The sliding adjusts the infrared laser lights 19 to the corresponding pulse diagnosis position. After the position is adjusted, the motor 22 is started and the connecting plates 9 are rotated. The rotation of the connecting plates 9 drives the infrared laser lights 19 and the pulse diagnosis device 10 to switch positions, so that the pulse diagnosis device 10 is aligned with the lower end of the position to be contacted and diagnosed. The extension of the first telescopic rod 6 pushes the storage frame 7, the connecting frame 8 and the pulse diagnosis device 10 to move vertically downward, so that the pulse diagnosis device 10 contacts and fits the wrist. The rotation of the threaded rod 21 can adjust the pulse diagnosis device 10 and the infrared laser lights 19 vertically independently, adjusting the pulse diagnosis device 10 to adapt to the tilt of the user's wrist, and the pulse diagnosis is performed by contacting the pulse diagnosis position with the pulse diagnosis device 10.

[0109] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0110] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. An intelligent bionic pulse diagnosis device for remote TCM diagnosis and treatment, comprising a shell (1) with a pad (11) at the upper end, characterized in that, Three pulse detection devices (10) for detection are arranged horizontally at the upper end of the pad (11). Each pulse detection device (10) has a connecting plate (9) at its upper end. An infrared laser lamp (19) is arranged at the upper end of the connecting plate (9). A connecting frame (8) is arranged at one end of the connecting plate (9), and a motor (22) is arranged between the connecting frame (8) and the connecting plate (9). A sliding rod (20) is slidably arranged horizontally through the upper end of the three connecting frames (8). A storage frame (7) is arranged outside the sliding rod (20). Storage compartments (16) are provided on both sides and the top of the storage frame (7). A second telescopic rod (17) is horizontally arranged inside each of the three storage compartments (16). A bracket (3) is provided at the top of the storage frame (7). A camera (4) is rotatably connected to the other side of the lower end of the bracket (3) via a connecting shaft (5). A third telescopic rod (29) is provided in the middle of the lower end of the bracket (3). A first pressing plate (12), a second pressing plate (13), and a third pressing plate (14) are sequentially arranged at the lower end of the third telescopic rod (29). The third pressing piece (14) has a second sliding rail (23) recessed on both sides of the lower end of the first pressing piece (12), and a third sliding rail (27) recessed in the middle of the lower end of the second pressing piece (13). The third sliding rail (27) and the second sliding rail (23) are perpendicularly distributed. The second pressing piece (13) has a first sliding block (24) facing the second sliding rail (23), and the third pressing piece (14) has a second sliding block (28) facing the third sliding rail (27). The first sliding block (24) Springs (25) are welded to both sides of the second sliding block (28). Pressure sensors (26) are provided at the edges of the second sliding rail (23) and the third sliding rail (27). The detection position of the pressure sensor (26) is welded and fixed to one end of the spring (25). A first telescopic rod (6) is provided on one side of the storage frame (7). A main unit (2) is provided on one side of the first telescopic rod (6). A controller is provided inside the main unit (2). The controller is configured to perform the following vascular viscoelasticity measurement steps: Step (a): Control the infrared laser lamp (19) and the corresponding optical receiving module, and use optical coherence tomography or optical time-of-pass technology to determine the effective tissue thickness of the tested vascular region under the current pressure. ; Step (b): Control the third telescopic rod (29) to perform a dynamic mechanical analysis program on the basis of the current static pressing, and apply a small-amplitude sinusoidal vibration displacement. ,in The preset vibration frequency, It represents the displacement amplitude; Step (c): Acquire the corresponding reaction force signal through the pressure sensor (26). and analysis Relative to displacement signal Phase delay Force amplitude response ; Step (d): Calculate the loss modulus used to characterize the viscous energy dissipation properties of vascular tissue. The calculation formula is as follows: in, Loss modulus, characterizing the viscous properties of the tissue; The amplitude of the reaction force; The applied displacement amplitude; This refers to the phase delay of the reaction force relative to the displacement; The effective tissue thickness measured in step (a); The effective contact area between the compression tablet (12, 13, or 14) and the skin; Step (e): The controller determines the loss modulus based on the loss modulus. The numerical value helps to distinguish pulses with different viscoelastic characteristics.

2. The intelligent bionic pulse diagnosis device for remote TCM diagnosis and treatment according to claim 1, characterized in that, Each of the three storage compartments (16) is provided with a first sliding rail (15) facing the sliding rod (20). Each of the three connecting frames (8) is provided with an extension piece (18) extending towards the position of the first sliding rail (15), and the extension piece (18) is welded and fixed to the corresponding second telescopic rod (17) inside the storage compartment (16).

3. The intelligent bionic pulse diagnosis device for remote TCM diagnosis and treatment according to claim 2, characterized in that, A buzzer (30) is provided on the upper side of one side of the host (2), and the buzzer (30) is electrically connected to the pressure sensor (26).

4. The intelligent bionic pulse diagnosis device for remote TCM diagnosis and treatment according to claim 3, characterized in that, The host (2) is equipped with a visual servo controller; The infrared laser lamp (19) is configured as a structured light projector for projecting speckle or coded patterns onto the wrist area to be tested. The camera (4) is used to capture the pattern reflected in the wrist area at high frequency; The visual servo controller is configured as follows: When the third telescopic rod (29) applies or changes pressure, causing tissue deformation, a digital image correlation algorithm or optical flow analysis algorithm is used to analyze the pixel displacement field of the captured pattern in real time. Based on the pixel displacement field, the lateral drift vector of the pulse diagnosis device (10) relative to the radial artery axis is calculated. ; When the magnitude of the drift vector When the preset accuracy threshold is exceeded, a compensation control signal is generated; The compensation control signal is sent to the motor (22), driving the connecting frame (8) to make fine adjustments along the sliding rod (20) to achieve... Real-time compensation ensures that the pulse diagnosis device (10) is always precisely aligned with the radial artery axis during the pressurization process.

5. An intelligent bionic pulse diagnosis system for remote TCM diagnosis and treatment, applied in the intelligent bionic pulse diagnosis device for remote TCM diagnosis and treatment as described in claim 1, characterized in that, The intelligent bionic pulse diagnosis system for remote TCM diagnosis and treatment consists of a communication module, a driver module, a recognition module, and a recording module, among which: The communication module is used to upload the original pulse wave data of the pulse diagnosis device (10), the video stream of the camera (4), and the status of the host (2); The drive module is used to execute instructions from the remote physician, to start the drive motor (22), and to drive the infrared laser lamp (19) and the pulse diagnosis device (10) to switch positions. The identification module is used to identify the data detected by the pulse diagnosis device (10), reducing the diagnostic differences caused by the different subjective feelings of the physicians; The recording module is used to record every remote diagnosis and treatment process in its entirety and with all data. The complete record provides an immutable chain of evidence for the medical process.

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