Magnetic field scanning device combined with traditional chinese medicine diagnosis and path planning system

Abstract

The application discloses a magnetic field scanning device combined with traditional Chinese medicine diagnosis and a path planning system thereof, and belongs to the technical field of medical equipment. The device comprises a support main body, a physiological parameter acquisition unit, a scanning detection assembly and a positioning support mechanism. The positioning support mechanism provides rigid support and inhibits vibration through a positioning lock unit, and a sliding conductive unit maintains electrical connection. The path planning system comprises data acquisition, path generation, motion control and feedback calibration modules. A three-dimensional model of a body surface is combined with a traditional Chinese medicine meridian database to generate a differentiated path, coordinate locking operation and dynamically adjust parameters. The application solves the problems of lack of traditional Chinese medicine combination, large interference and low efficiency of existing devices, realizes effective combination of high-sensitivity magnetic field detection and traditional Chinese medicine diagnosis, and provides objective quantitative indexes for traditional Chinese medicine diagnosis.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a magnetic field scanning device and its path planning system that integrates traditional Chinese medicine diagnosis. Background Technology

[0002] Traditional Chinese medicine diagnostics, as a core component of my country's traditional medicine, possesses a unique theoretical system and clinical value. Meanwhile, the integration of modern science and technology, particularly physics and biomedical engineering, has provided new perspectives and tools for detecting human health status. In recent years, advancements in quantum sensing technology, atomic magnetometers, and high-sensitivity magnetoresistive sensors have made it possible to detect weaker biomagnetic field signals in relatively relaxed environments, and related equipment is being explored towards miniaturization and cost reduction.

[0003] However, current technologies lack equipment that effectively combines high-sensitivity biomagnetic field detection with the holistic diagnostic theory of Traditional Chinese Medicine (TCM), making it difficult to provide objective and visualized TCM diagnostic parameters. Existing magnetic field scanning equipment typically lacks specific scanning strategies for TCM meridians and acupoints, thus failing to effectively address vibration interference caused by minute human displacement or respiration during the scanning process, affecting the accuracy of data acquisition and diagnostic reference value. Summary of the Invention

[0004] This application provides a magnetic field scanning device and its path planning system that combine traditional Chinese medicine diagnosis, in order to solve the problem that existing technologies lack equipment that can effectively combine high-sensitivity biomagnetic field detection with the holistic syndrome differentiation theory of traditional Chinese medicine, and thus cannot provide objective and visualized TCM syndrome differentiation parameters.

[0005] In a first aspect, this application provides a magnetic field scanning device that integrates with traditional Chinese medicine diagnosis, comprising: The supporting structure consists of a platform and a backplate that are fixed perpendicularly to each other. The platform serves as the standing base for the subject, while the backplate acts as a moving support track for the scanning and detection components. The structural design of the platform and backplate ensures the overall stability of the device, allowing the subject to be scanned in an upright posture.

[0006] The physiological parameter acquisition unit, located on the supporting body, is used to collect the basic physiological and body posture data of the subject.

[0007] The scanning and detection assembly includes a mobile carrier and a magnetic field detection sensor. The mobile carrier is slidably connected to the support body, and the magnetic field detection sensor is mounted on the mobile carrier.

[0008] A positioning support mechanism is located between the support body and the moving carrier, and includes a positioning locking unit and a sliding conductive unit. The positioning support mechanism is configured to provide rigid support when the moving carrier is in a preset position, and the sliding conductive unit is configured to maintain electrical connection during the sliding of the moving carrier.

[0009] The above technical solution effectively suppresses vibration interference caused by human respiration or minor displacement by setting a positioning support mechanism between the supporting body and the mobile carrier and using a positioning locking unit to provide rigid support at a preset position to lock the mobile carrier. At the same time, the sliding conductive unit maintains a tight electrical connection during the sliding process, avoiding contact interruption caused by vibration, and ensuring the stability of power supply and signal transmission of the scanning detection component. Thus, it realizes an effective combination of high-sensitivity biomagnetic field detection and the holistic diagnosis theory of traditional Chinese medicine, providing objective and quantitative biological indicators for traditional Chinese medicine diagnosis.

[0010] Secondly, this application provides a magnetic field scanning path planning system that integrates traditional Chinese medicine diagnosis, the system comprising: The data acquisition module uses a magnetic field scanning device to acquire the body shape characteristics and basic physiological parameters of the subjects collected by the physiological parameter acquisition unit.

[0011] The path generation and optimization module is connected to the data acquisition module and is used to combine body feature data with the database of traditional Chinese medicine meridian and acupoint theory to plan the scanning path and obtain the scanning path instruction set.

[0012] The motion control module is signal-connected to the path generation and optimization module, and electrically connected to the stepper motor and electric telescopic rod. It is used to parse the scanning path instruction set, control the moving carrier to move along the scanning motion trajectory, and coordinate the positioning and locking unit to perform locking operations at preset positions. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0014] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0015] Figure 1 A schematic diagram of the magnetic field scanning device combining traditional Chinese medicine diagnosis provided in the embodiments of this application. Figure 1 ; Figure 2 A schematic diagram of the magnetic field scanning device combining traditional Chinese medicine diagnosis provided in the embodiments of this application. Figure 2 ; Figure 3 A schematic diagram of the magnetic field scanning device combining traditional Chinese medicine diagnosis provided in the embodiments of this application. Figure 3 ; Figure 4 A schematic diagram of the magnetic field scanning device combining traditional Chinese medicine diagnosis provided in the embodiments of this application. Figure 4 ; Figure 5 A schematic diagram of the magnetic field scanning device combining traditional Chinese medicine diagnosis provided in the embodiments of this application. Figure 5 ; Figure 6 A block diagram of the path planning system for a magnetic field scanning device combined with traditional Chinese medicine diagnosis provided in the embodiments of this application; Figure 7 A module block diagram of the path planning system for a magnetic field scanning device combining traditional Chinese medicine diagnosis provided in the embodiments of this application. Figure 2 ; Figure 8 A flowchart illustrating the workflow of the path generation and optimization module in the path planning system of the magnetic field scanning device combining traditional Chinese medicine diagnosis provided in this application embodiment; Figure 9 A flowchart of the control logic of the motion control module in the path planning system of the magnetic field scanning device combined with traditional Chinese medicine diagnosis provided in the embodiments of this application; Figure 10 A schematic diagram of adaptive control of the feedback calibration module in the path planning system of the magnetic field scanning device that combines traditional Chinese medicine diagnosis, provided in an embodiment of this application; Figure 11 A flowchart of the path planning method for a magnetic field scanning device that combines traditional Chinese medicine diagnosis, provided in an embodiment of this application.

[0016] 1. Platform; 101. Gravity-sensing pedal; 2. Backplate; 201. Slide rail; 202. Positive conductive rail; 203. Negative conductive rail; 204. Stepper motor; 2041. Lead screw module; 2042. Slide rod; 3. Annular slider; 301. Positive conductive slider; 3011. Conductive metal spring; 3012. Arc-shaped conductive metal sheet; 302. Negative conductive slider; 4. Magnetic scanning probe; 5. Mounting slot; 501. Electric telescopic rod; 502. Pad; 6. Path planning system; 601. Data acquisition module; 602. Path generation and optimization module; 603. Motion control module; 604. Feedback calibration module; 6041. Signal quality assessment unit; 605. Central controller; 6051. Human-machine interface; 606. Multimodal data fusion module. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0018] It should be noted that, in the description of this application, 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 a process, method, article, or apparatus. The terms "first," "second," etc., in this application are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0019] In related technologies, the detection of meridians and acupoints in Traditional Chinese Medicine (TCM) largely relies on the doctor's personal experience and lacks objective data support. While existing magnetic field scanning devices can detect weak magnetic fields, they often use a uniform scanning method and do not differentiate for specific meridian areas in TCM theory, resulting in low scanning efficiency and difficulty in accurately capturing lesion information. In addition, the mechanical vibrations generated during dynamic scanning can easily interfere with the acquisition of weak magnetic field signals, affecting diagnostic accuracy.

[0020] Based on this, this application provides a magnetic field scanning device and path planning system that integrates traditional Chinese medicine (TCM) diagnosis. This device combines TCM meridian theory with three-dimensional scanning technology through a path planning system, enabling differentiated scanning of different regions; it achieves switching between dynamic movement and static acquisition through a positioning locking unit, eliminating vibration interference; and it achieves adaptive signal quality control through a feedback calibration module. This embodiment solves the problems of low scanning efficiency, unstable signal quality, and lack of integration with TCM theory in existing equipment.

[0021] Firstly, the technical solutions provided in the embodiments of this application are described below. This embodiment provides a magnetic field scanning device combined with traditional Chinese medicine diagnosis, such as... Figures 1 to 5 As shown, the device specifically includes a support body, a physiological parameter acquisition unit, a scanning and detection component, and a positioning support mechanism.

[0022] Regarding the support structure: The support structure specifically includes a platform 1 and a backplate 2 that are fixed perpendicularly to each other. Platform 1 serves as the standing base for the subject, while backplate 2 serves as the moving support track for the scanning and detection components. The structural design of platform 1 and backplate 2 ensures the overall stability of the device, facilitating the subject to be scanned in an upright posture.

[0023] A physiological parameter acquisition unit, located on the supporting structure, is used to collect the subject's basic physiological and postural data. Specifically, the physiological parameter acquisition unit is a gravity-sensing pedal 101, which is fixedly installed at the top of the platform 1. In this embodiment, the gravity-sensing pedal 101 not only supports the subject's weight but also collects the subject's basic physiological parameters, including at least weight, center of gravity distribution, and pressure center trajectory. This data is transmitted to the path planning system via electrical connection, serving as the basis for subsequent personalized path planning.

[0024] The scanning and detection assembly includes a moving carrier and a magnetic field sensor. The moving carrier is slidably connected to the supporting body, and the magnetic field sensor is mounted on the moving carrier. Specifically, the moving carrier is an annular slider 3, which is slidably connected to a back plate 2. A stepper motor 204 is fixedly mounted on the top of the back plate 2. The output end of the stepper motor 204 is driven by a lead screw module 2041 via a coupling. The lead screw module 2041 is threadedly connected to one end of the annular slider 3. Simultaneously, a slide rod 2042 is fixed inside the back plate 2, and the annular slider 3 is slidably connected to the slide rod 2042. By driving the lead screw module 2041 to rotate through the stepper motor 204, and cooperating with the limiting action of the slide rod 2042, the annular slider 3 can be controlled to move vertically up and down along the back plate 2. The magnetic field sensor is a magnetic scanning probe 4, which is fixedly embedded inside the annular slider 3. When the subject stands on platform 1 with their back facing back panel 2, the magnetic scanning probe 4 rises and falls with the annular slider 3 to detect the extremely weak magnetic field signal of the subject's whole body.

[0025] A positioning support mechanism is located between the support body and the moving carrier, and includes a positioning locking unit and a sliding conductive unit. The positioning support mechanism is configured to provide rigid support when the moving carrier is in a preset position, and the sliding conductive unit is configured to maintain electrical connection during the sliding of the moving carrier.

[0026] The positioning and locking unit includes a mounting groove 5, an electric telescopic rod 501, a pad 502, and a slide 201.

[0027] Specifically, a mounting groove 5 extends outward from one side of the back plate 2. An electric telescopic rod 501 is fixedly installed inside the mounting groove 5, and a pad 502 is fixedly installed at the output end of the electric telescopic rod 501. A sliding groove 201 is provided on the inner side of the back plate 2, and one end of the sliding groove 201 extends into the mounting groove 5.

[0028] In this embodiment, the electric telescopic rod 501 is configured to drive the pad 502 to move along the slide groove 201. When the annular slider 3 completes a single scan and returns to its highest position, the electric telescopic rod 501 extends, pushing the pad 502 out along the slide groove 201, so that the bottom of the pad 502 contacts the bottom of the annular slider 3, thereby achieving rigid support and positioning of the annular slider 3. This design effectively suppresses vibration interference caused by human breathing or minor displacement, ensuring the stability of the magnetic field scanning device during static acquisition periods. In addition, when the electric telescopic rod 501 extends to its maximum length, the pad 502 does not completely disengage from the slide groove 201, and the slide groove 201 restricts the displacement of the pad 502, ensuring the stability of the support.

[0029] Furthermore, the sliding conductive unit includes a conductive rail, a conductive slider, an elastic component, and a conductive contact piece.

[0030] Specifically, the back plate 2 conceals a positive conductive rail 202 and a negative conductive rail 203. The annular slider 3 is equipped with a positive conductive slider 301 and a negative conductive slider 302, both of which have the same structure, with an internal conductive metal structure and an outer shell made of insulating material.

[0031] Taking the positive conductive slider 301 as an example, a conductive metal spring 3011 (elastic component) is fixedly installed on its inner side, and an arc-shaped conductive metal sheet 3012 (conductive contact sheet) is fixed on one side of the conductive metal spring 3011. The conductive metal spring 3011 is always in a compressed state, forcing the arc-shaped conductive metal sheet 3012 to make close contact with the positive conductive rail 202.

[0032] When the annular slider 3 slides up and down, the positive conductive slider 301 slides along the positive conductive rail 202. Since the conductive metal spring 3011 is always compressed, it forces the arc-shaped conductive metal piece 3012 to contact the positive conductive rail 202. Thus, even if the positive conductive slider 301 vibrates during its up-and-down movement, the conductive metal spring 3011 prevents the arc-shaped conductive metal piece 3012 from losing contact with the positive conductive rail 202 for an extended period. This ensures the stability of the power supply to the internal circuit of the annular slider 3. The circuit conduction principle of the negative conductive slider 302 is similar. Because of the elastic component, even if vibration occurs, the conductive contact piece remains in close contact with the conductive rail, avoiding prolonged contact loss due to vibration. This maintains electrical connection during the sliding of the moving carrier, ensuring the stability of the power supply to the internal circuit of the annular slider 3.

[0033] In summary, this embodiment, through the synergistic effect of its components, not only achieves stable detection of extremely weak magnetic fields on the human body, but also solves the vibration interference problem through the positioning and locking unit and the stability problem of mobile power supply through the sliding conductive unit, providing a reliable hardware foundation for scanning combined with traditional Chinese medicine diagnosis.

[0034] The following describes the overall working principle of the magnetic field scanning device that combines traditional Chinese medicine diagnosis: The patient stands on the gravity-sensing pedal 101 of platform 1 with their back facing the back panel 2. A magnetic scanning probe 4 is embedded in an annular slider 3 slidably connected to the inside of the back panel 2. The annular slider 3 and the magnetic scanning probe 4 are controlled to rise and fall along the back panel 2 by a stepper motor 204 driving a lead screw module 2041 and a sliding rod 2042 for limiting, thereby achieving a very weak magnetic field scan of the human body.

[0035] The positive conductive slider 301 of the annular slider 3 slides along the positive conductive rail 202 inside the back plate 2. At the same time, the negative conductive slider 302 slides along the negative conductive rail 203. The conductive metal spring 3011 inside it always compresses the arc-shaped conductive metal sheet 3012 to ensure close contact with the conductive rail, avoid contact failure due to vibration, and ensure stable power supply.

[0036] After a single scan is completed, the annular slider 3 rises to its highest position, and the electric telescopic rod 501 extends to push the pad 502 out of the slide groove 201. The bottom of the pad 502 contacts the bottom of the annular slider 3 to support and lock its position, preventing slippage. The slide groove 201 further restricts the movement of the pad 502 to ensure stable support.

[0037] It should be noted that the above content is a simplified description of the embodiments provided in this application.

[0038] This embodiment provides a path planning system for a magnetic field scanning device that integrates with traditional Chinese medicine diagnosis, such as... Figure 6 and Figure 7 As shown. This system aims to effectively combine high-sensitivity biomagnetic field detection with the holistic diagnostic theory of Traditional Chinese Medicine. Specifically, the system includes a data acquisition module 601, a path generation and optimization module 602, and a motion control module 603.

[0039] The data acquisition module 601 serves as the input terminal of the path planning system, its function being to acquire the subject's basic physiological parameters and body shape characteristics. Specifically, this module acquires data through the physiological parameter acquisition unit (such as a gravity-sensing pedal) in the magnetic field scanning device. The basic physiological parameters include at least weight, center of gravity distribution, and pressure center trajectory acquired by the gravity-sensing pedal; the body shape characteristics include at least height, shoulder width, and torso outline. This data provides a quantitative basis for subsequent personalized path planning.

[0040] The path generation and optimization module 602 is connected to the data acquisition module 601. Its function is to combine the individual data of the subject with the database of traditional Chinese medicine meridian and acupoint theory to generate a precise scanning path.

[0041] In practical implementation, the path generation and optimization module 602 generates an initial three-dimensional spiral scanning path based on basic physiological parameters and body shape characteristics, combined with a database of traditional Chinese medicine meridian and acupoint theories. Subsequently, the smoothness and energy efficiency of this initial path are optimized to obtain the final scanning path instruction set.

[0042] In some embodiments, the TCM meridian and acupoint theory database is used to provide standardized meridian paths, acupoint location information, and regional priority information for scanning path planning. This database is not simply a collection of acupoint coordinates, but a composite database including meridian pathway information under a standard human body model, acupoint spatial coordinate information, anatomical landmark information, regional weight information, and individual difference correction parameters.

[0043] In some embodiments, the basic data sources of the TCM meridian and acupoint theory database include standard literature on TCM meridians and acupoints and modern human anatomical positioning information. This database forms a standard meridian atlas based on classical TCM meridian and acupoint theory, and establishes a standardized body surface positioning framework by combining bony landmarks, soft tissue contours, and typical body shape parameters from modern human anatomy. The standard meridian atlas includes at least a portion of the meridian paths from the twelve primary meridians, the Ren meridian, and the Du meridian, as well as the names, sequence relationships, and three-dimensional coordinate information of the acupoints corresponding to the meridian paths under a standard human body model. The database also includes correction parameters related to individual body shape differences. These correction parameters characterize the offset patterns of meridian paths and acupoint positions relative to the standard human body model under different heights, shoulder widths, trunk lengths, limb proportions, thoracic curvatures, and bony landmark spacing conditions. Through the above settings, the TCM meridian and acupoint theory database not only provides standardized meridian atlases but also provides morphological constraints and correction basis for mapping the standard atlases to individual three-dimensional body surface models.

[0044] Furthermore, the path generation and optimization module 602 is configured to execute a differentiated resolution planning strategy: when generating the initial three-dimensional spiral scan path, the scanning range is divided into multiple regions, and different scan resolution levels are matched to different regions. Specifically, for specific meridian areas or organ projection areas related to the subject's constitution identification in traditional Chinese medicine theory, a high-resolution scan level is set, and a denser sampling array is planned; for non-critical areas, a standard or low-resolution scan level is set. This configuration effectively optimizes scanning efficiency while ensuring diagnostic validity.

[0045] In some embodiments, the path generation and optimization module 602 receives body feature data sent by the data acquisition module 601 and constructs a three-dimensional model of the subject's body surface. The body feature data may include height, weight, shoulder width, chest contour, back contour, trunk length, relative limb positions, and body surface point cloud data, contour data, or depth data acquired by the physiological parameter acquisition unit and / or external modeling unit.

[0046] Let the set of body surface points in a standard human body model be:

[0047] The set of points on the body surface in the three-dimensional model of the subject's body surface is as follows:

[0048] in, Represents the first in the standard human body model Individual markers, This represents the first element in the three-dimensional model of the subject's body surface. Individual surface points.

[0049] In some embodiments, the path generation and optimization module 602 first establishes an initial correspondence between the standard human body model and the subject's three-dimensional body surface model based on bony landmarks, contour extreme points, or preset anatomical feature points. The anatomical feature points may include one or more of the following: neck-shoulder transition point, acromion location point, sternal midline reference point, spinal midline reference point, costal arch boundary point, and iliac crest reference point. Based on this initial correspondence, an initial coordinate transformation relationship is established from the standard human body model to the subject's three-dimensional body surface model to complete the initial alignment of the standard atlas.

[0050] In some embodiments, in order to map a standardized meridian map onto a three-dimensional body surface model with individual differences, the path generation and optimization module 602 first performs a global coordinate transformation and then performs a local elastic registration to obtain an individualized meridian path.

[0051] Let a point in a standard human body model The coordinates after global transformation are Then the global coordinate transformation can be expressed as:

[0052] in, These are the scaling transformation coefficients. For rotation matrix, The translation vector is used to eliminate differences in overall height, width, posture, and orientation. The scale transformation coefficients, rotation matrix, and translation vector are determined based on the anatomical feature point matching results between the standard human body model and the three-dimensional model of the subject's body surface.

[0053] After completing global alignment, further flexible registration is performed on local differences in body surface morphology. Let the meridian pathway points in the standard human body model be... The final mapping location on the individual's body surface is Then the mapping relationship can be expressed as:

[0054] in, This is a local elastic deformation term used to characterize non-rigid offsets caused by differences in individual chest curvature, shoulder and back contours, soft tissue thickness, and local surface curvature.

[0055] In some embodiments, the local elastic deformation term The path is determined based on the local neighborhood differences between the surface of the standard human body model and the surface of the three-dimensional model of the subject's body. Preferably, the path generation and optimization module 602 uses anatomical feature points as anchor points and the local curvature, normal vector direction, and neighborhood distance of the body surface point cloud as constraints to perform segmented stretching, compression, and smooth offset on the standard meridian path, so that the mapped meridian path maintains the continuity of the standard meridian map of traditional Chinese medicine in the overall direction and conforms to the actual body surface contour of the subject in local positions.

[0056] Furthermore, in some embodiments, the flexible registration satisfies at least one of the following constraints: First, the order of adjacent nodes along the meridian path remains unchanged; Secondly, the topological relationship between key acupoints and their corresponding anatomical landmarks remains unchanged; Third, the meridian pathways are continuous as a whole and the curvature changes smoothly; Fourth, the normal distance between the meridian path and the body surface of the subject does not exceed the preset tolerance range.

[0057] In this way, standardized meridian maps can be mapped to individualized meridian paths that are adapted to the individual body surface characteristics of the test subject, avoiding problems such as scanning path deviation, inaccurate node landing points, or insufficient coverage of key acupoints caused by directly applying standard maps.

[0058] In some embodiments, after completing the mapping from the standard meridian path to the individual's three-dimensional body surface model, the path generation and optimization module 602 further determines the individualized acupoint locations and discretizes the meridian path according to the scanning accuracy requirements to generate scanning nodes.

[0059] Let the continuous path after mapping the standard meridian path be:

[0060] in, This represents the meridian pathways in a standard human body model. This represents the individualized meridian pathways mapped onto the body surface of the test subject.

[0061] For any acupoint in the standard acupoint set Its coordinates in the standard model are After mapping, its position in the individual's body table is:

[0062] In some embodiments, the path generation and optimization module 602 generates and optimizes the individualized meridian path. The scan is discretized into several scanning nodes according to a preset step size, and denser sampling is performed at key acupoints, key meridian segments, and areas with significant curvature changes, thereby forming a differentiated scanning node distribution. Preferably, key acupoints, source points, front points, back-shu points, or acupoints highly related to the target diagnostic area correspond to higher scanning resolution, while ordinary areas in the meridian connection lines correspond to lower scanning resolution.

[0063] If a meridian segment has a large local curvature, obvious surface undulations, or historical data shows that the signal changes in that area are more sensitive, the path generation and optimization module 602 will automatically reduce the spacing between scanning nodes in that area; if a certain area has a relatively flat surface and low diagnostic importance, the node spacing will be appropriately increased to balance scanning accuracy and scanning efficiency.

[0064] In some embodiments, the path generation and optimization module 602 generates a scan path instruction set based on the discretized scan nodes. The scan path instruction set includes at least the node position, access order, node dwell time, scan resolution level, and control parameters for whether to perform a positioning lock operation.

[0065] Let the first The number of scanning nodes is The corresponding scan path instruction can be represented as:

[0066] in, Indicates the spatial location of the node. Indicates the order of access. Indicates the time spent at the node. This indicates the scan resolution level corresponding to that node. This indicates whether the positioning locking unit should be triggered to perform a locking operation when the node is reached.

[0067] Furthermore, all node instructions constitute the scan path instruction set:

[0068] in, This represents the total number of nodes scanned.

[0069] In some embodiments, when generating the scanning path instruction set, the path generation and optimization module 602 can also optimize the access order of scanning nodes by combining principles such as shortest movement distance, optimal scanning time, priority coverage of key areas, and reservation of local rescans. Therefore, the scanning path instruction set not only reflects the spatial distribution of meridians and acupoints, but also embodies individual differences on the body surface, the importance of the diagnostic area, and subsequent acquisition and control requirements.

[0070] The motion control module 603 is signal-connected to the path generation and optimization module 602, and is also electrically connected to the stepper motor and the electric telescopic rod. Its main function is to parse the scanning path instruction set and generate corresponding control signals to precisely drive the hardware to execute the scanning action.

[0071] In this embodiment, after parsing the instruction set, the motion control module 603 precisely drives the stepper motor to drive the annular slider (moving carrier) to perform vertical lifting and lowering movements, while controlling the extension and retraction of the electric telescopic rod to adjust the position of the pad, thereby achieving dynamic support and path locking during the scanning process.

[0072] This module is also configured to coordinate the timing of the stepper motor's angular displacement pulses with the extension and retraction of the electric telescopic rod, specifically including: At the beginning and end of the upward or downward movement of the annular slide, the electric telescopic rod is retracted to disengage the pad from the annular slide, ensuring that the moving carrier can move smoothly. When the annular slider is determined to have reached a preset scanning node, such as completing a single scan and returning to its highest position, the electric telescopic rod is extended, causing the pad to pop out and contact the bottom of the annular slider, forming a rigid support. This action effectively suppresses vibration interference caused by human breathing or minor displacement, ensuring the stability of the scanning device at a specific position.

[0073] In summary, this embodiment achieves intelligent planning and precise execution of scanning paths through the coordinated work of data acquisition, path generation optimization, and motion control, closely integrating modern magnetic field detection technology with traditional Chinese medicine diagnostic theory.

[0074] This embodiment acquires the subject's physiological parameters and body shape characteristics through the data acquisition module 601, and combines them with the TCM meridian and acupoint theory database using the path generation and optimization module to generate a differentiated three-dimensional spiral scanning path. The motion control module 603 coordinates the timing of the stepper motor and the electric telescopic rod to achieve dynamic support and path locking, thereby realizing personalized and precise planning and execution of the scanning path. While optimizing scanning efficiency, it effectively suppresses vibration interference and successfully combines high-sensitivity biomagnetic field detection with the TCM holistic syndrome differentiation theory, providing objective and quantitative biological indicators for TCM syndrome differentiation and promoting the modernization and scientification of TCM diagnosis.

[0075] In some embodiments, see Figure 8 The specific workflow of the path generation and optimization module 602 has been defined and expanded in detail.

[0076] Specifically, the path generation and optimization module 602 is configured to perform the following steps: First, the system receives the subject's body shape data from the data acquisition module 601 and constructs a three-dimensional model of the subject's body surface. This body shape data includes at least height, shoulder width, and torso outline. This step aims to eliminate the influence of individual body shape differences on acupoint location, transforming two-dimensional body surface data into a three-dimensional spatial model through 3D modeling technology, providing accurate basic model data for personalized path planning.

[0077] Subsequently, a database of traditional Chinese medicine meridian and acupoint theories is invoked to map standard meridian paths onto a 3D model of the body surface. This process utilizes a built-in standard TCM meridian model and, through coordinate transformation and elastic registration algorithms, maps the standard meridian atlas onto the subject's personalized 3D model, achieving precise positioning of TCM meridian and acupoints on the subject's body surface.

[0078] Next, based on the required magnetic field scanning accuracy, the standard meridian path is discretized into several scanning nodes, and a scanning path instruction set is generated. The scanning path instruction set includes node positions and movement sequence, which guides the mobile carrier to access each key acupoint in sequence.

[0079] Finally, when generating the initial scan path, the scan range is divided into multiple scan regions, and different scan resolution levels are matched to different regions according to their diagnostic importance. Specifically, for key meridian areas or organ projection areas that are related to the identification of the subject's constitution in traditional Chinese medicine theory, a high-resolution scan level is set, and a denser sampling array is planned; for non-critical areas, a standard or low-resolution scan level is set to optimize scan efficiency while ensuring diagnostic effectiveness.

[0080] This embodiment achieves personalized scanning paths by constructing a customized 3D model and combining it with traditional Chinese medicine meridian theory for path mapping, thus realizing individualized and disease-specific scanning paths. Simultaneously, by introducing a differentiated resolution matching strategy, limited scanning time and computational resources are concentrated on the areas with the highest diagnostic value, significantly optimizing scanning efficiency while ensuring diagnostic effectiveness. This effectively solves the problems of insufficient focus and low efficiency caused by the uniform force applied in traditional scanning methods.

[0081] In some embodiments, see Figure 9 The specific control logic of the motion control module 603 is defined in detail.

[0082] Specifically, the motion control module 603 is configured to perform the following steps: First, the scanning path instruction set is parsed, and control instructions are output to drive the stepper motor to rotate. The stepper motor drives the lead screw module to rotate, converting the rotational motion into linear motion, which drives the annular slider to slide along the slide bar.

[0083] Subsequently, the position coordinates of the annular slider are acquired in real time to determine whether the preset scanning node has been reached. The specific determination process can be achieved by reading the encoder feedback signal or the grating ruler position data, calculating the deviation between the current coordinates and the target node coordinates, and determining that the node has been reached when the deviation is less than a preset threshold.

[0084] When the annular slider is determined to have reached the preset scanning node, a locking command is sent to the positioning and locking unit. In response to the locking command, the electric telescopic rod extends, pushing the pad along the slide groove to the support position, providing rigid support and positioning for the annular slider. This step aims to eliminate mechanical transmission backlash and vibration, ensuring the magnetic field detection sensor is in an absolutely stationary state.

[0085] After the positioning and locking unit completes locking, it triggers the magnetic scanning probe to collect the magnetic field data of the current node. Once the magnetic field data collection is complete, an unlocking command is generated. In response to the unlocking command, the electric telescopic rod retracts, causing the pad to reset and releasing the constraint on the annular sliding member.

[0086] Finally, the stepper motor is started, driving the moving carrier to the next scanning node, and the above steps are repeated until all scanning tasks are completed.

[0087] This embodiment achieves refined control logic for movement, locking, data acquisition, and unlocking through the coordinated operation of the motion control module 603 and the positioning and locking unit. This technique effectively eliminates the interference of vibrations generated by motor operation and mechanical transmission components on the acquisition of weak magnetic fields, ensuring that the moving carrier is in an absolutely stationary state during data acquisition. This significantly improves the signal-to-noise ratio and acquisition accuracy of the magnetic field signal, providing a high-quality data foundation for the analysis of the magnetic field of traditional Chinese medicine meridians.

[0088] In some embodiments, a feedback calibration module 604 is also included, see [link to documentation]. Figure 10 The adaptive control process of the feedback calibration module 604 is described in detail.

[0089] Specifically, the feedback calibration module 604 is signal-connected to both the magnetic scanning probe and the motion control module 603, and is configured to perform the following steps: First, the system receives signal quality data collected by the magnetic scanning probe in real time and dynamically adjusts the motion speed, acceleration, and scanning dwell time issued by the motion control module 603 based on the signal quality data. Specifically, the feedback calibration module 604 monitors the strength and signal-to-noise ratio of the magnetic field signal in real time. When a decrease in signal quality is detected (such as a sudden increase in environmental noise or poor contact), it automatically generates a deceleration command or an extended dwell time command. By reducing the sampling rate, it achieves higher data quality, ensuring the capture of effective information.

[0090] Subsequently, a prediction model based on machine learning algorithms is used to proactively predict the potential signal anomaly risk at the next scanning position based on the currently acquired signal characteristics, thus obtaining the predicted risk signal. Specifically, the prediction model is trained based on the mapping relationship between signal characteristics and noise interference from a large amount of historical scanning data, enabling it to identify potential interference trends. For example, when a specific frequency interference component is detected to gradually increase, the model predicts that severe signal distortion may occur at the next node.

[0091] Finally, based on the predicted risk signal, a fine-tuning command is sent to the motion control module 603. This command includes reducing the motion speed or increasing the number of repeated samplings to proactively avoid potential signal distortion points. This proactive control strategy transforms the traditional "post-event correction" into "pre-event prevention," effectively avoiding invalid scanning in known high-risk areas.

[0092] This embodiment introduces a machine learning-based feedback calibration mechanism to achieve adaptive dynamic adjustment of scanning parameters and proactive risk avoidance. This technique can effectively cope with the complex electromagnetic environment changes on the subject's body surface, significantly improving the reliability of acquired data and diagnostic accuracy while ensuring scanning efficiency.

[0093] In some embodiments, the feedback calibration module 604 is not only used to adjust the scanning process based on the real-time signal quality of the current scanning node, but also to make a forward prediction of the signal anomaly risk that may occur in subsequent scanning nodes based on the signal change trend of the current node and its predecessor nodes, generate a predicted risk signal, and send the predicted risk signal to the central controller to coordinate the motion control module 603, the positioning locking unit and the data acquisition module 601 to actively intervene in the subsequent scanning process.

[0094] In some embodiments, the prediction model is a supervised learning model, a semi-supervised learning model, or a fusion model combining rule constraints and machine learning trained based on historical scan data. Preferably, it is a prediction model capable of outputting continuous risk scores and / or discrete risk levels. The prediction model may employ one or more of the following: logistic regression model, support vector machine model, random forest model, gradient boosting tree model, and shallow neural network model. Preferably, to balance interpretability and prediction accuracy, the prediction model adopts a two-stage structure of rule selection and machine learning scoring. Rule selection is used to remove obviously stable nodes or directly label significantly abnormal nodes, while machine learning scoring is used to perform refined risk prediction on boundary state nodes.

[0095] In some embodiments, the training dataset for the prediction model originates from a historical scanning database generated by the device of the present invention under different body surface locations, different body postures, different body surface curvatures, different scanning path parameters, and different environmental interference conditions. Each training sample in the historical scanning database includes at least: the original magnetic field time series of the current scanning node and several preceding nodes, preprocessed magnetic field feature parameters, actuator motion state parameters, positioning and locking state parameters, detection spacing parameters, and corresponding actual signal quality annotation results. The actual signal quality annotation results can be determined based on at least one of the following conditions: local signal-to-noise ratio is lower than a preset threshold, baseline drift exceeds a preset tolerance, power frequency or specific frequency interference components exceed limits, resampling consistency is insufficient, whether local rescanning is triggered, and whether valid data is missing. By annotating the above historical samples, a mapping relationship between signal features, motion states, and subsequent abnormal results can be established for training the prediction model.

[0096] In some embodiments, the actuator motion state feature vector It includes at least the velocity and acceleration of the moving vehicle near the current node, as well as the time spent at the node, and can be expressed as:

[0097] in, Indicates movement speed. Indicates acceleration. Indicates the dwell time. The locking state and detection spacing feature vector. At least include a positioning lock status marker. and the detection distance between the magnetic field detection sensor and the body surface , can be represented as:

[0098] By jointly modeling the characteristics of magnetic field signals, temporal variations, mechanical motion, and detection spacing, the prediction model can simultaneously consider the combined effects of signal source changes, environmental interference changes, surface morphology changes, and mechanical execution disturbances on the sampling quality of subsequent nodes.

[0099]

[0100]

[0101]

[0102] in, This indicates the adjusted movement speed between nodes. This indicates the adjusted stay time. This indicates the adjusted node spacing. , , This is the adjustment coefficient. Therefore, when the predicted risk increases, the system automatically slows down, delays, and increases the local sampling density, thus completing preventative control before the anomaly actually occurs.

[0103] In some embodiments, the magnetic field detection sensor is a highly sensitive magnetic field detection device for detecting extremely weak biomagnetic fields on the human body surface, and its detection sensitivity preferably reaches [value missing]. Level, further optimization to reach Level or close to The sampling frequency is set according to the scanning mode and the characteristics of the target signal changes, preferably meeting the real-time acquisition requirements of node-level magnetic field changes. The magnetic field detection sensor can be a single-axis, dual-axis, or triaxial magnetic field detection sensor, preferably a triaxial magnetic field detection sensor, to acquire information on the changes in the magnetic field of the target area on the body surface in multiple directions. A preset detection distance is maintained between the detection sensor and the surface of the object being examined. The detection spacing, as one of the input features of the prediction model, is used to characterize the impact of surface undulations and micro-motions of the actuator on sampling stability.

[0104] In some embodiments, the electric telescopic rod is used to adjust the relative height between the magnetic field detection sensor and the body surface. Its response speed preferably meets the real-time height compensation requirements during scanning, and its travel range preferably covers the detection spacing adjustment requirements under different body surface curvatures, different detection areas, and different posture conditions. The stepper motor is used to drive the moving carrier along the scanning path. Its motion resolution and start-stop control accuracy preferably meet the scanning path tracking accuracy requirements to ensure that the moving carrier can accurately reach each scanning node planned by the path generation and optimization module 602. Furthermore, the telescopic speed of the electric telescopic rod, the current position deviation, and the running speed and acceleration of the stepper motor can all be used as actuator state parameters input into the prediction model. This allows the prediction model to not only identify abnormal trends at the pure signal level but also potential anomalies caused by mechanical start-stop impacts, telescopic adjustment lag, sudden changes in local body surface height, or insufficient locking.

[0105] In some embodiments, see Figure 7 The path planning system also includes a multimodal data fusion module 606, which is electrically connected to the magnetic field data output by the feedback calibration module 604 and the physiological parameter data output by the data acquisition module 601.

[0106] Specifically, the multimodal data fusion module 606 is used to perform spatiotemporal registration and correlation analysis between the extremely weak magnetic field scanning data and the traditional Chinese medicine observation and inquiry data to generate a comprehensive TCM digital diagnostic reference report. The report includes a quantitative assessment of the functional status of the human body's organs, a visualization map of potential imbalance tendencies, and a probability analysis related to TCM syndrome types.

[0107] In some embodiments, see Figure 7 The path planning system also includes: a central controller 605, a data acquisition module 601, a path generation and optimization module 602, a motion control module 603, and a feedback calibration module 604, all of which are integrated inside the central controller 605.

[0108] Specifically, the central controller 605 includes a human-machine interface 6051, which is used to display physiological parameters acquired by the data acquisition module 601, a preview of the scanning path planned by the path generation and optimization module 602, and real-time scanning progress. It also allows the operator to manually select or intervene in the scanning mode, which includes at least a fully automatic intelligent mode, a semi-automatic guided mode, and a manual precise positioning mode.

[0109] The following describes the working principle of a magnetic field scanning path planning system that integrates traditional Chinese medicine diagnosis: The data acquisition module 601 acquires physiological parameters such as the subject's weight and center of gravity distribution, as well as body shape characteristics such as height and shoulder width, through the gravity sensing pedal 101 and other means. Based on the above data and combined with the database of traditional Chinese medicine meridian and acupoint theory, the path generation and optimization module 602 divides the scanning range of the annular slider 3 into partitions and matches different resolutions to generate an initial three-dimensional spiral scanning path, and outputs an instruction set after smoothness and energy efficiency optimization.

[0110] Then, the motion control module 603 parses the instructions and coordinates the angular displacement pulse of the stepper motor 204 with the extension and retraction timing of the electric telescopic rod 501: the annular slide 3 retracts the pad 502 between the start and end of the lifting and lowering phase, and when the annular slide 3 completes a single scan and reaches the highest point again, the pad 502 extends to form a rigid support, suppressing vibration interference caused by breathing or displacement, and ensuring scanning stability.

[0111] Then, the feedback calibration module 604 receives the magnetic field signal strength and signal-to-noise ratio data of the magnetic scanning probe 4 in real time. Based on the prediction model established by machine learning, it anticipates the risk of signal attenuation or noise and dynamically adjusts the motion speed, acceleration or increases repeated sampling to achieve adaptive precision closed-loop control.

[0112] Throughout the process, the central controller 605 integrates all modules and provides a human-machine interface 6051, supporting fully automatic, semi-automatic, or manual mode switching and monitoring. The multimodal data fusion module 606 performs spatiotemporal registration and analysis of magnetic field data with traditional Chinese medicine data such as observation and inquiry, ultimately generating a comprehensive diagnostic reference report containing quantitative assessment of organ function, imbalance tendency map, and syndrome probability, assisting in accurate identification by traditional Chinese medicine practitioners.

[0113] Thirdly, the path planning method for the magnetic field scanning device combined with traditional Chinese medicine diagnosis provided in the embodiments of this application can be found in [reference needed]. Figure 11 Specifically, it includes the following steps: Step 1: Data Acquisition Steps: Obtain the subject's physical characteristics and basic physiological parameters.

[0114] Step 2: Path Generation and Optimization Steps: Receive the subject's body shape data and construct a three-dimensional model of the subject's body surface; The system calls upon a database of TCM meridian and acupoint theories to map and generate standard meridian paths onto a three-dimensional model of the body surface. Based on the accuracy requirements of magnetic field scanning, the standard meridian path is discretized into several scanning nodes, and a scanning path instruction set is generated, which includes the node position and movement sequence. When generating the initial scan path, the scan range is divided into multiple scan regions, and different scan resolution levels are matched to different regions according to the importance of the diagnosis.

[0115] Step 3: Motion positioning control steps: Parse the scan path instruction set and output control instructions to drive the stepper motor to rotate; The stepper motor drives the lead screw module to rotate, which in turn drives the moving carrier to slide along the slide bar. The location coordinates of the mobile carrier are acquired in real time to determine whether it has reached the preset scanning node; When it is determined that the mobile carrier has reached the preset scanning node, a locking command is sent to the positioning and locking unit.

[0116] Step 4: Lock-up Scan Control Steps: In response to the locking command, the electric telescopic rod is driven to extend, pushing the pad block to move along the slide to the support position, providing rigid support and positioning for the moving carrier; After the positioning and locking unit completes locking, it triggers the magnetic field detection sensor to collect the magnetic field data of the current node; Once the magnetic field data acquisition is complete, an unlock command will be generated. In response to the unlock command, the electric telescopic rod is retracted, causing the pad to reset. The stepper motor is started, driving the moving carrier to the next scanning node.

[0117] Step 5: Feedback calibration steps: It receives signal quality data collected by the magnetic field detection sensor in real time and adjusts the movement speed, acceleration and scanning dwell time according to the signal quality data; By using a prediction model based on machine learning algorithms, the risk of signal anomalies that may occur at the next scanning position can be predicted based on the characteristics of the currently acquired signal, and the predicted risk signal can be obtained. Based on the predicted risk signal, a fine-tuning instruction is issued, which may include reducing the movement speed or increasing the number of repeated samplings.

[0118] It should be noted that the magnetic field scanning device combining traditional Chinese medicine diagnosis provided in the above embodiments is only illustrated by the division of the above functional modules when performing a whole-body scan of the subject and combining it with traditional Chinese medicine diagnosis. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above. In addition, the path planning method provided in the above embodiments and the magnetic field scanning device embodiment combining traditional Chinese medicine diagnosis belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0119] In addition, this embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to realize the path planning method of the magnetic field scanning device combined with traditional Chinese medicine diagnosis provided in the above embodiment.

[0120] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to realize the path planning method for a magnetic field scanning device combined with traditional Chinese medicine diagnosis provided in the above embodiment.

[0121] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0122] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0123] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0124] The above description is only a specific implementation of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A magnetic field scanning device integrating traditional Chinese medicine diagnosis, comprising a supporting body, characterized in that, Also includes: A physiological parameter acquisition unit, located on the supporting body, is used to collect the basic physiological and body posture data of the subject. The scanning and detection assembly includes a mobile carrier and a magnetic field detection sensor, wherein the mobile carrier is slidably connected to the support body, and the magnetic field detection sensor is disposed on the mobile carrier; A positioning support mechanism is disposed between the support body and the mobile carrier, and includes a positioning locking unit and a sliding conductive unit. The positioning support mechanism is configured to provide rigid support when the mobile carrier is in a preset position, and the sliding conductive unit is configured to maintain electrical connection during the sliding of the mobile carrier.

2. The magnetic field scanning device combining traditional Chinese medicine diagnosis according to claim 1, characterized in that, The supporting structure includes: The physiological parameter acquisition unit is fixedly installed on the top of the platform. The physiological parameter acquisition unit is a gravity-sensing pedal; The backplate is fixedly and perpendicularly to the platform and slidably connected to the mobile carrier. The mobile carrier is a ring-shaped sliding component; The magnetic field detection sensor is fixed to the inner side of the annular slider; The magnetic field detection sensor is a magnetic scanning probe; A stepper motor is fixed to the top of the back plate; The lead screw module is connected to the output end of the stepper motor via a coupling and is threaded to the end of the annular slide near the back plate. A sliding rod is disposed inside the back plate along its length and is fixedly connected to one end of the back plate.

3. The magnetic field scanning device combining traditional Chinese medicine diagnosis according to claim 1, characterized in that, The positioning and locking unit includes: The mounting groove is fixedly connected to the outwardly extending side of the support body; An electric telescopic rod is fixed inside the mounting groove. The pad is fixedly connected to the output end of the electric telescopic rod; A sliding groove is formed on the side wall opposite to the supporting body, and one end of the sliding groove extends to the mounting groove. The electric telescopic rod is configured to drive the pad block to move along the slide groove to support the moving carrier.

4. The magnetic field scanning device combining traditional Chinese medicine diagnosis according to claim 1, characterized in that, The sliding conductive unit includes: A conductive rail is disposed inside the support body along its length. A conductive slider is disposed on the moving carrier and slides along the conductive rail. The internal structure of the conductive slider is a conductive metal structure, and its outer shell is an insulating material. An elastic component is disposed inside the conductive slider, and a conductive contact piece is fixed on one side of the elastic component. The elastic component is made of conductive metal. The conductive contact piece contacts the conductive rail.

5. A path planning system for a magnetic field scanning device combined with traditional Chinese medicine diagnosis as described in any one of claims 1-4, characterized in that, include: The data acquisition module acquires the body shape characteristics and basic physiological parameters of the subject collected by the physiological parameter acquisition unit through the magnetic field scanning device. The path generation and optimization module is connected to the data acquisition module by signal, and is used to combine the body feature data with the TCM meridian and acupoint theory database to plan the scanning path and obtain the scanning path instruction set. The motion control module is signal-connected to the path generation and optimization module, and to the stepper motor and electric telescopic rod. It is used to parse the scanning path instruction set, control the moving carrier to move along the scanning motion trajectory, and coordinate the positioning and locking unit to perform locking operations at preset positions.

6. The path planning system according to claim 5, characterized in that, The path generation and optimization module is configured to perform the following steps: Receive the body shape feature data of the subject sent by the data acquisition module, and construct a three-dimensional model of the subject's body surface; The traditional Chinese medicine meridian and acupoint theory database is invoked to map and generate standard meridian paths on the three-dimensional body surface model. Based on the required magnetic field scanning accuracy, the standard meridian path is discretized into several scanning nodes, and a scanning path instruction set is generated, which includes the node positions and movement sequence.

7. The path planning system according to claim 5, characterized in that, The path generation and optimization module is also configured to perform the following steps: When generating the initial scan path, the scan range is divided into multiple scan regions; Different scan resolution levels are matched to different regions based on their diagnostic importance.

8. The path planning system according to claim 5, characterized in that, The motion control module is configured to perform the following steps: The scan path instruction set is parsed, and control instructions are output to drive the stepper motor to rotate; The stepper motor drives the lead screw module to rotate, which in turn drives the annular slider to slide along the slide rod. The position coordinates of the annular slider are acquired in real time to determine whether the preset scanning node has been reached; When it is determined that the annular slider has reached the preset scanning node, a locking command is sent to the positioning and locking unit.

9. The path planning system according to claim 8, characterized in that, The motion control module is also configured to perform the following steps: In response to the locking command, the electric telescopic rod is driven to extend, pushing the pad block to move along the slide groove to the support position, thereby providing rigid support and positioning for the annular slide member; After the positioning and locking unit completes locking, the magnetic scanning probe is triggered to collect the magnetic field data of the current node; Once the magnetic field data acquisition is complete, an unlock command will be generated. In response to the unlocking command, the electric telescopic rod is retracted, causing the pad to reset. The stepper motor is started, driving the mobile carrier to move to the next scanning node.

10. The path planning system according to claim 5, characterized in that, Also includes: A feedback calibration module is connected to both the magnetic scanning probe and the motion control module, and the feedback calibration module is configured to perform the following steps: The system receives signal quality data collected by the magnetic scanning probe in real time and adjusts the motion speed, acceleration, and scanning dwell time issued by the motion control module based on the signal quality data. By using a prediction model based on machine learning algorithms, the risk of signal anomalies that may occur at the next scanning position can be predicted based on the characteristics of the currently acquired signal, and the predicted risk signal can be obtained. Based on the predicted risk signal, a fine-tuning command is sent to the motion control module.

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