A multi-degree-of-freedom artificial finger massage device for animal experiments

Abstract

The application discloses a multi-degree-of-freedom finger-simulating massage device for animal experiments, and aims to solve the problems of low action restoration, insufficient targeted intervention and poor parameter control precision of existing animal experiment massage equipment. The device comprises a base module, a mechanical arm module, a finger-simulating execution module, a pressure perception and conduction module, a driving module and a digital display control module. The finger-simulating execution module adopts a human hand double-finger demolding equal-ratio reduction structure, and is internally provided with a lesion positioning unit. Multi-dimensional movement is realized through a multi-joint series connection mechanical arm, and precise massage parameter regulation and control are realized through cooperation of a sensing closed loop control. The device can truly restore clinical massage methods, realizes targeted and precise intervention, guarantees experimental consistency and data reliability, and provides standardized experimental support for massage basic research.

Description

Technical Field

[0001] This invention relates to the field of animal experimental equipment technology, and in particular to a multi-degree-of-freedom finger-like massage device for animal experiments. Background Technology

[0002] Traditional Chinese massage (Tuina) is a core component of external therapies characteristic of Traditional Chinese Medicine (TCM). With its advantages of being non-invasive, safe, and having proven efficacy, it is widely used in various clinical fields such as bone and joint rehabilitation, neuromodulation, and the management of chronic internal diseases. It represents an important direction for the inheritance, innovation, and development of TCM. With the deep integration of evidence-based medicine and modern life sciences, clarifying the mechanism of action of Tuina therapy and establishing a standardized evaluation system for its efficacy have become core tasks for the modernization of Tuina as a discipline. Standardized animal model experiments are the core foundation and essential step for conducting research on the mechanism of action of Tuina and for translating clinical findings into practical applications.

[0003] In animal model experiments related to massage, traditional manual massage techniques suffer from inherent drawbacks such as significant variations in operator technique, uncontrollable force and trajectory parameters, poor experimental repeatability, and difficulty in ensuring consistency over long periods. These shortcomings fail to meet the stringent requirements of modern scientific research for accurate experimental data, standardized procedures, and traceable processes. Therefore, developing automated mechanical devices adapted to animal experimental scenarios and capable of accurately simulating clinical massage movements is a core necessity for addressing the pain points of manual operation, improving the standardization and data reliability of basic massage research, and is also a key research direction in the field of experimental equipment for traditional Chinese medicine.

[0004] Currently available automated massage equipment for animal experiments still suffers from significant technical shortcomings, failing to meet the core needs of basic massage research: First, insufficient motion dimensions and movement reproduction capabilities. Existing equipment mostly employs single-degree-of-freedom or a few fixed-angle motion structures, limiting motion trajectories to a single plane. This makes it impossible to reproduce the complex, multi-joint, multi-dimensional techniques of human massage, and difficult to accurately replicate the characteristics of clinical massage movements. Second, a lack of targeted intervention capabilities. Existing equipment lacks lesion localization functions, making it impossible to accurately identify the modeling injury sites in animal models. It can only achieve fixed-path massage across the entire area, resulting in insufficient targeted intervention. Third, a lack of closed-loop control capabilities for massage parameters. Existing equipment mostly adopts open-loop force control modes, failing to collect and feedback pressure and displacement signals during the massage process in real time. Insufficient force control precision easily leads to force deviations causing animal injury and cannot guarantee the consistency of massage interventions. This results in insufficient reliability and repeatability of experimental data, severely hindering in-depth research on the mechanisms of massage. Summary of the Invention

[0005] In view of the above problems, a multi-degree-of-freedom finger-like massage device for animal experiments is proposed to overcome or at least partially solve the above problems, comprising: The base module has a detachable fixing structure at the bottom that is adapted to the animal experimental table; The robotic arm module is rotatably connected to the base module and includes a shoulder rotation joint, an upper arm swing joint, an elbow rotation joint, a forearm swing joint, and a wrist rotation-flexion-extension joint connected in sequence. Angle sensors are provided for the shoulder rotation joint, upper arm swing joint, elbow rotation joint, forearm swing joint, and wrist rotation-flexion-extension joint. The proto-finger execution module is fixedly connected to the end of the robotic arm module. The proto-finger execution module adopts a structure that is demolded from the thumb and index finger of a human hand and scaled down proportionally to the experimental animal and human body. It includes a thumb component, an index finger component, and a two-finger coordinated adjustment mechanism. The thumb component includes a thumb body, a flexible thumb contact head, and a thumb tip flexion and extension swing mechanism. The index finger component includes an index finger body, a flexible index finger contact head, and an index finger tip flexion and extension swing mechanism. The flexible thumb contact head and the flexible index finger contact head are embedded with a microcurrent stimulation unit and a resistance receiving unit. The pressure sensing and transmission module is integrated into the flexible contact head of the analog finger actuator module, and includes a pressure sensing unit, a displacement sensing unit, and a resistance detection unit. The drive module, which is electrically connected to the robotic arm module and the analog finger execution module, includes a servo motor and drive circuitry. The digital display control module is electrically connected to the pressure sensing and transmission module and the drive module; it is used to receive pressure signals, motion displacement signals, and tissue resistance signals transmitted by the pressure sensing and transmission module, generate three-dimensional motion trajectory curves and motion control commands based on the received signals, and output the motion control commands to the drive module; the digital display control module includes a microprocessor, a digital display panel, an input unit, and a data storage unit.

[0006] Optionally, the detachable fixing structure of the base module can be any one of bolt clamping structure, vacuum adsorption structure, or threaded clamp structure, and a counterweight block is set inside the base module.

[0007] Optionally, the shoulder rotation joint of the robotic arm module has a rotation angle range of 0° to 360°, the upper arm swing joint and the lower arm swing joint of the robotic arm module have a swing angle range of -90° to 90°, and the wrist rotation flexion-extension compound joint of the robotic arm module supports 180° horizontal rotation and 90° vertical flexion-extension.

[0008] Optionally, the wrist rotation flexion-extension compound joint includes a wrist pitch joint and a wrist rotation joint, with the wrist pitch joint having an angle adjustment range of -60° to 60° and the wrist rotation joint having an angle adjustment range of 0° to 360°.

[0009] Optionally, the opening and closing angle adjustment range of the dual-finger coordinated adjustment mechanism of the simulated finger execution module is 0° to 60°, and the thumb fingertip flexion and extension swing mechanism and the index finger fingertip flexion and extension swing mechanism are equipped with micro servo motors, and the flexion and extension swing angle range of the thumb fingertip flexion and extension swing mechanism and the index finger fingertip flexion and extension swing mechanism is 0° to 45°.

[0010] Optionally, the swing frequency adjustment range of the thumb fingertip flexion and extension swing mechanism and the index finger fingertip flexion and extension swing mechanism is 0.5Hz to 5Hz, and the lateral swing angle range of the thumb fingertip flexion and extension swing mechanism and the index finger fingertip flexion and extension swing mechanism is -30° to 30°.

[0011] Optionally, the microcurrent stimulation unit outputs a constant current of 10μA, and the resistance receiving unit is electrically connected to the resistance detection unit.

[0012] Optionally, the pressure sensing unit has a detection range of 0N to 50N, and the displacement sensing unit collects the motion displacement data of the analog actuation module in real time.

[0013] Optionally, the shoulder rotation joint, upper arm swing joint, elbow rotation joint, forearm swing joint, wrist rotation flexion and extension compound joint, two-finger coordinated adjustment mechanism, thumb fingertip flexion and extension swing mechanism, and index fingertip flexion and extension swing mechanism are all equipped with corresponding independent servo motors, and each independent servo motor is equipped with an independent harmonic reducer; the transmission ratio of the harmonic reducer is 100:1.

[0014] Optionally, the input unit of the digital display control module adopts physical buttons or touch buttons. The digital display control module is equipped with a wireless communication unit that supports Bluetooth and WiFi communication protocols. The digital display panel displays the device's operating parameters in real time, and the data storage unit stores all experimental data from the device's operation.

[0015] This invention provides a multi-degree-of-freedom finger-like massage device for animal experiments. Through a multi-joint, multi-degree-of-freedom robotic arm coupled with a proportionally scaled-down finger-like execution structure, it can accurately reproduce the complex, multi-dimensional techniques of clinical massage, overcoming the shortcomings of existing equipment in terms of motion reproduction. It achieves precise lesion localization through an integrated microcurrent stimulation and resistance detection unit, improving the targeting of massage interventions. Through pressure and displacement sensing modules and a digital display closed-loop control system, it enables precise control of massage force and trajectory, ensuring consistency in experimental operations and data reliability. This provides standardized and highly adaptable experimental equipment support for basic research on the mechanism of massage action. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the use of a multi-degree-of-freedom finger-like massage device for animal experiments, provided by an embodiment of the present invention. Figure 2 This is a schematic diagram of a multi-degree-of-freedom finger-like massage device for animal experiments provided by an embodiment of the present invention. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] This invention provides a system for a multi-degree-of-freedom finger-like massage device for animal experiments, comprising a base module, a robotic arm module, a finger-like execution module, a pressure sensing and transmission module, a drive module, and a digital display control module. Specifically: The base module has a detachable fixing structure at the bottom that is adapted to the animal experimental table, providing fixed support for the multi-degree-of-freedom finger-like massage device used in animal experiments.

[0020] In a preferred embodiment of the present invention, the detachable fixing structure of the base module adopts any one of the following: bolt clamping structure, vacuum adsorption structure, and threaded clamp structure, and a counterweight is provided inside the base module.

[0021] In one or more embodiments of the present invention, the bottom of the base module is provided with a detachable fixing structure that can be adapted to an animal experimental table. The detachable fixing structure can be any one of a bolt clamping structure, a vacuum adsorption structure, or a threaded clamp structure, to adapt to animal experimental tables of different structures and sizes.

[0022] When the detachable fixing structure uses a bolt clamping structure, at least two sets of symmetrically distributed bolt through holes can be provided on the bottom edge of the base module. Clamping bolts and clamping plates are installed in these bolt through holes. By tightening the clamping bolts, the clamping plates are brought into contact with the edge of the animal experimental table, achieving rigid fixing of the base module to the animal experimental table. When the detachable fixing structure uses a vacuum adsorption structure, at least four arrayed vacuum suction cups can be provided on the bottom of the base module. The vacuum suction cups are connected to an external vacuum generator via air guide pipes. The vacuum generator extracts air from the vacuum suction cups to create negative pressure, causing the base module to adhere and fix to the flat surface of the animal experimental table. When the detachable fixing structure uses a threaded clamp structure, the bottom of the base module can be provided with internally threaded mounting holes. Fixing bolts that match the pre-set mounting holes on the animal experimental table are installed in these mounting holes. The fixing bolts are screwed into the internally threaded mounting holes of the base module through the mounting holes on the animal experimental table, thus fixing the base module.

[0023] In one or more embodiments of the present invention, the base module may adopt a hollow, closed, rigid metal shell structure. A counterweight mounting cavity is provided inside the base module, and a counterweight block is installed inside the counterweight mounting cavity. The counterweight block may be made of high-density cast iron and rigidly fixed to the inner wall of the bottom of the base module shell by multiple sets of fixing bolts. The weight of the counterweight block can be matched and set according to the maximum extension torque of the robotic arm module. This is used to lower the overall center of gravity of the multi-degree-of-freedom prosthetic finger massage device used in animal experiments, counteract the overturning torque generated during the movement of the robotic arm module and the prosthetic finger execution module, prevent displacement and shaking during device operation, and ensure the positional stability and motion accuracy of the device during operation.

[0024] The robotic arm module, rotatably connected to the base module, includes a shoulder rotation joint, an upper arm swing joint, an elbow rotation joint, a forearm swing joint, and a wrist rotation-flexion-extension joint connected in series. Angle sensors are provided for the shoulder rotation joint, upper arm swing joint, elbow rotation joint, forearm swing joint, and wrist rotation-flexion-extension joint.

[0025] In one or more embodiments of the present invention, the fixed end of the shoulder rotation joint of the robotic arm module can be rotatably connected to the top center of the base module through a bearing structure. The rotation axis of the shoulder rotation joint can be perpendicular to the support plane of the base module, realizing the circumferential rotation of the robotic arm module in the horizontal plane. The rotation output end of the shoulder rotation joint can be rigidly connected to the fixed end of the upper arm. The free end of the upper arm is provided with an upper arm swing joint. The rotation output end of the upper arm swing joint can be rigidly connected to the fixed end of the elbow rotation joint. The rotation output end of the elbow rotation joint can be rigidly connected to the fixed end of the forearm. The free end of the forearm is provided with a forearm swing joint. The rotation output end of the forearm swing joint can be rigidly connected to the fixed end of the wrist rotation flexion-extension compound joint. The rotation output end of the wrist rotation flexion-extension compound joint can be rigidly connected to the finger-like execution module, forming a multi-joint kinematic chain connected in sequence to achieve all-round movement in the coronal plane, sagittal plane, and horizontal plane, as well as the angle of their fusion, ensuring that the massage action covers all parts of the animal model.

[0026] Furthermore, angle sensors can be installed in the shoulder rotation joint, upper arm swing joint, elbow rotation joint, forearm swing joint, and wrist rotation-flexion-extension compound joint. The detection axis of the angle sensor can be coincided with the rotation axis of the corresponding joint. The angle sensor collects the real-time rotation angle value of the corresponding joint in real time. The signal output terminal of the angle sensor is electrically connected to the signal input terminal of the digital display control module, and the collected rotation angle value is transmitted to the digital display control module in real time.

[0027] The proto-finger execution module is fixedly connected to the end of the robotic arm module. The proto-finger execution module adopts a structure that is demolded from the human thumb and index finger and scaled down proportionally to the experimental animal and human body. It includes a thumb component, an index finger component, and a two-finger coordinated adjustment mechanism. The thumb component includes a thumb body, a flexible thumb contact head, and a thumb tip flexion and extension swing mechanism. The index finger component includes an index finger body, a flexible index finger contact head, and an index finger tip flexion and extension swing mechanism. The flexible thumb contact head and the flexible index finger contact head are embedded with a microcurrent stimulation unit and a resistance receiving unit.

[0028] In one or more embodiments of the present invention, the fixed end of the analog finger execution module can be rigidly fixedly connected to the rotation output end of the wrist rotation-flexion-extension compound joint of the robotic arm module by bolts, so as to ensure the motion synchronization between the analog finger execution module and the robotic arm module.

[0029] In practical applications, the basic structure of the finger-like execution module can be made in the following way: obtain the three-dimensional morphological data of the thumb and index finger of a healthy adult human through three-dimensional scanning, establish a three-dimensional digital model of the thumb and index finger, and then scale down the three-dimensional digital model proportionally according to the body proportions of experimental animals and humans. The basic structure of the finger-like execution module is then made through 3D printing technology to ensure that the shape of the finger-like execution module is consistent with the physiological shape of the human thumb and index finger.

[0030] The fixed end of the two-finger coordinated adjustment mechanism can be rigidly connected to the output end of the wrist rotation flexion-extension compound joint. The two adjustment output ends of the two-finger coordinated adjustment mechanism are rigidly connected to the thumb body of the thumb component and the index finger body of the index finger component, respectively. The two-finger coordinated adjustment mechanism can adjust the opening and closing angle between the thumb component and the index finger component by adjusting the relative distance between the two adjustment output ends.

[0031] The thumb assembly includes a thumb body, a flexible thumb contact head, and a thumb tip flexion-extension swing mechanism. The thumb body is a rigid support structure that simulates the bone structure of the human thumb. The fixed end of the thumb tip flexion-extension swing mechanism is rigidly connected to the tip of the thumb body, and the output end of the thumb tip flexion-extension swing mechanism is rigidly connected to the fixed end of the flexible thumb contact head. The thumb tip flexion-extension swing mechanism can drive the flexible thumb contact head to achieve flexion-extension swinging movements.

[0032] The index finger assembly includes an index finger body, an index finger flexible contact head, and an index finger tip flexion and extension swing mechanism. The index finger body is a rigid support structure that simulates the skeletal structure of the human index finger. The fixed end of the index finger tip flexion and extension swing mechanism is rigidly connected to the fingertip of the index finger body, and the output end of the index finger tip flexion and extension swing mechanism is rigidly connected to the fixed end of the index finger flexible contact head. The index finger tip flexion and extension swing mechanism can drive the index finger flexible contact head to achieve flexion and extension swing movements.

[0033] Both the thumb flexible contact head and the index finger flexible contact head have embedded microcurrent stimulation units and resistance receiving units in their internal cavities. The current output terminal of the microcurrent stimulation unit and the signal acquisition terminal of the resistance receiving unit can extend to the outer surface of the flexible contact head, ensuring that the current output by the microcurrent stimulation unit can be transmitted to the contacting animal tissue, and the resistance receiving unit can collect the resistance feedback signal of the animal tissue.

[0034] In a preferred embodiment of the present invention, the microcurrent stimulation unit outputs a constant current of 10μA, and the resistance receiving unit is electrically connected to the resistance detection unit.

[0035] Specifically, the microcurrent stimulation unit can have a built-in high-precision constant current source circuit that outputs a constant current of 10μA. This current value is adapted to the tolerance threshold of commonly used experimental animals such as mice, so that it will not cause electrical stimulation damage to the tissues of the experimental animals and can also ensure the accuracy of the resistance detection results.

[0036] The pressure sensing and transmission module is integrated into the flexible contact head of the analog finger actuator module, and includes a pressure sensing unit, a displacement sensing unit, and a resistance detection unit.

[0037] In one or more embodiments of the present invention, all components of the pressure sensing and transmission module are integrated into the internal cavities of the thumb flexible contact head and the index finger flexible contact head of the finger-like actuation module.

[0038] Specifically, the detection surface of the pressure sensing unit can be aligned with the pressing working surface of the flexible contact head. When the flexible contact head contacts the animal tissue and applies pressure, the pressure sensing unit collects the pressure value during the contact process in real time, generating a pressure signal. The fixed end of the displacement sensing unit can be connected to the rigid support end of the flexible contact head, and the detection end of the displacement sensing unit is connected to the pressing working surface of the flexible contact head. The displacement sensing unit collects the displacement change value of the flexible contact head during movement in real time, generating a motion displacement signal. The signal input end of the resistance detection unit is electrically connected to the signal output end of the resistance receiving unit inside the flexible contact head, and the signal output end of the resistance detection unit is electrically connected to the control end of the microcurrent stimulation unit. The resistance detection unit receives the animal tissue resistance feedback signal transmitted by the resistance receiving unit, processes and analyzes the resistance feedback signal, and generates a tissue resistance signal. The signal output ends of the pressure sensing unit, displacement sensing unit, and resistance detection unit are all electrically connected to the signal input end of the digital display control module, transmitting the generated pressure signal, motion displacement signal, and tissue resistance signal to the digital display control module in real time.

[0039] The drive module, which is electrically connected to the robotic arm module and the analog finger execution module, includes a servo motor and drive circuitry.

[0040] Specifically, the signal input terminal of the drive circuit of the drive module can be electrically connected to the control signal output terminal of the digital display control module, and the signal output terminal of the drive circuit is electrically connected to the control terminal of each servo motor. The drive circuit receives the motion control command output by the digital display control module, converts the motion control command into the corresponding drive current signal, transmits it to the corresponding servo motor, and controls the rotation angle, rotation speed and output torque of the servo motor.

[0041] In a preferred embodiment of the present invention, the shoulder rotation joint, upper arm swing joint, elbow rotation joint, forearm swing joint, wrist rotation flexion and extension compound joint, two-finger coordinated adjustment mechanism, thumb fingertip flexion and extension swing mechanism, and index fingertip flexion and extension swing mechanism are all equipped with corresponding independent servo motors, and each independent servo motor is equipped with an independent harmonic reducer; the transmission ratio of the harmonic reducer is 100:1.

[0042] The servo motors are divided into multiple groups, each corresponding to one of the shoulder rotation joint, upper arm swing joint, elbow rotation joint, forearm swing joint, and wrist rotation-flexion-extension compound joint of the robotic arm module. Each joint of the robotic arm module corresponds to an independent servo motor, and the output shaft of the servo motor is rigidly connected to the rotation input end of the corresponding joint, driving the corresponding joint to achieve the set rotational action. The servo motors are also corresponding to the two-finger coordinated adjustment mechanism, thumb fingertip flexion-extension swing mechanism, and index fingertip flexion-extension swing mechanism of the finger-like execution module. Each motion mechanism of the finger-like execution module corresponds to an independent servo motor, and the output shaft of the servo motor is rigidly connected to the power input end of the corresponding motion mechanism, driving the corresponding motion mechanism to achieve the set opening, closing, flexion-extension, and swinging actions.

[0043] Furthermore, each independent servo motor can be paired with an independent harmonic reducer. The output shaft of each independent servo motor can be rigidly connected to the input end of the corresponding harmonic reducer via a coupling. The output end of the harmonic reducer can be rigidly connected to the power input end of the corresponding joint or motion mechanism. The harmonic reducer adopts a fixed transmission ratio of 100:1, which can convert the high-speed, low-torque power output by the corresponding servo motor into low-speed, high-torque power. This adapts to the low-speed, high-precision motion requirements of the multi-degree-of-freedom finger-like massage device used in animal experiments, improves the motion control accuracy, position holding accuracy, and load capacity of the corresponding joint and motion mechanism, avoids insufficient torque and motion vibration during massage, and ensures accurate reproduction of massage movements.

[0044] In one or more embodiments of the present invention, the servo motor further includes a built-in torque detection unit, the signal output terminal of which is electrically connected to the drive control terminal of the servo motor. During the operation of the servo motor, the torque detection unit collects the real-time torque value of the servo motor output shaft, and the real-time torque value directly corresponds to the load on the motion mechanism driven by the servo motor.

[0045] When the load generated by the tissues of the experimental animal model changes, the torque detection unit feeds back the real-time torque value to the drive control terminal of the servo motor. Based on the feedback torque value, the drive control terminal dynamically adjusts the input drive current of the servo motor, thereby dynamically adjusting the output torque of the servo motor. When the detected real-time torque value exceeds a preset safety threshold, the servo motor immediately reduces its output torque or stops power output to prevent the corresponding motion mechanism from excessively pressing and damaging the animal model by the pseudo-finger actuator, ensuring operational safety during animal experiments.

[0046] The digital display control module is electrically connected to the pressure sensing and transmission module and the drive module; it is used to receive pressure signals, motion displacement signals, and tissue resistance signals transmitted by the pressure sensing and transmission module, generate three-dimensional motion trajectory curves and motion control commands based on the received signals, and output the motion control commands to the drive module; the digital display control module includes a microprocessor, a digital display panel, an input unit, and a data storage unit.

[0047] In one or more embodiments of the present invention, the first signal input terminal of the microprocessor of the digital display control module can be electrically connected to the signal output terminal of the pressure sensing and conduction module to receive pressure signals, motion displacement signals, and tissue resistance signals transmitted by the pressure sensing and conduction module; the signal output terminal of the microprocessor can be electrically connected to the signal input terminal of the drive circuit of the drive module to output motion control commands to the drive module. The microprocessor has pre-stored standard motion trajectory data and force parameter data of human massage movements, which can be used to analyze and process the received tissue resistance signals, identify the coordinates of the lesion site of the animal body, combine the received pressure signals, motion displacement signals, and pre-stored standard massage data to generate a three-dimensional motion trajectory curve adapted to the lesion site, and then convert the three-dimensional motion trajectory curve into motion control commands for the corresponding joints and corresponding motion mechanisms, and output them to the drive module.

[0048] The digital display panel can be electrically connected to the display signal output terminal of the microprocessor. The digital display panel displays the device operating parameters transmitted by the microprocessor in real time. The device operating parameters include joint rotation angle, massage pressure value, motion displacement data, lesion identification results, and running time. The input unit is electrically connected to the input signal input terminal of the microprocessor. The input unit receives parameter setting instructions input by the operator. The parameter setting instructions include massage force range, motion speed, running time, and massage mode selection. The input unit transmits the parameter setting instructions to the microprocessor. The data storage unit can be electrically connected to the data interaction terminal of the microprocessor. The data storage unit stores the parameter data of the entire device operation process transmitted by the microprocessor. The parameter data includes pressure signal data, motion displacement signal data, tissue resistance signal data, and motion control command data, which can be retrieved and analyzed for subsequent experimental data.

[0049] In a preferred embodiment of the present invention, the rotation angle range of the shoulder rotation joint of the robotic arm module is 0° to 360°, the swing angle range of the upper arm swing joint and the lower arm swing joint of the robotic arm module is -90° to 90°, and the wrist rotation flexion-extension compound joint of the robotic arm module supports 180° horizontal rotation and 90° vertical flexion-extension.

[0050] Specifically, the fixed end of the shoulder rotation joint of the robotic arm module can be coaxially assembled with the base module, and its rotation axis is perpendicular to the horizontal support plane of the base module. Fixed mechanical limiting structures are provided at both ends of the shoulder rotation joint's rotation stroke. The limiting points of these mechanical limiting structures correspond perfectly to the 0° and 360° rotation angle boundaries, preventing the joint from rotating beyond its range. This 0° to 360° rotation angle range allows the robotic arm module to rotate continuously in the full circumference in the horizontal plane, completely covering the entire operating area of ​​the animal experimental table and eliminating blind spots in massage operations.

[0051] Both the upper arm swing joint and the lower arm swing joint of the robotic arm module can be assembled with their rotation axes parallel to the horizontal support plane of the base module. The fixed end of the upper arm swing joint is rigidly connected to the rotation output end of the shoulder rotation joint, and the fixed end of the lower arm swing joint is rigidly connected to the power transmission end of the upper arm swing joint. The swing angle range of both the upper arm and lower arm swing joints is -90° to 90°. This swing angle range of -90° to 90° enables continuous lifting and lowering movements of the robotic arm module in the vertical plane, adapting to the body surface height of experimental animals of different sizes and meeting the pressure depth requirements of massage movements. The two joints work together to achieve continuous adjustment of the extension length of the robotic arm module.

[0052] The fixed end of the wrist rotation-flexion-extension joint of the robotic arm module can be rigidly connected to the rotation output end of the forearm swing joint. The rotation output end of the wrist rotation-flexion-extension joint is rigidly fixed to the prosthetic finger actuator module. The wrist rotation-flexion-extension joint has two sets of independent kinematic pairs: a horizontal rotation kinematic pair that achieves 180° horizontal rotation and a vertical flexion-extension kinematic pair that achieves 90° vertical flexion-extension. The two sets of kinematic pairs work independently to adjust the contact posture of the prosthetic finger actuator module, adapting to the curvature angles of different parts of the animal's body surface, ensuring a stable fit between the prosthetic finger actuator module and the animal's body surface, and meeting the posture adjustment requirements of massage movements.

[0053] In a preferred embodiment of the present invention, the wrist rotation flexion-extension compound joint includes a wrist pitch joint and a wrist rotation joint, wherein the angle adjustment range of the wrist pitch joint is -60° to 60°, and the angle adjustment range of the wrist rotation joint is 0° to 360°.

[0054] Specifically, the fixed end of the wrist rotation-flexion-extension compound joint can be rigidly connected to the rotation output end of the forearm swing joint of the robotic arm module, and the rotation output end of the wrist rotation-flexion-extension compound joint can be rigidly connected to the fixed end of the finger-like actuation module. The wrist rotation-flexion-extension compound joint can include a wrist pitch joint and a wrist rotation joint. Among them, the wrist pitch joint and the wrist rotation joint are two sets of independent motion units without motion interference.

[0055] The fixed end of the wrist pitch joint can be rigidly connected to the rotation output end of the forearm swing joint of the robotic arm module. The rotation axis of the wrist pitch joint is perpendicular to the extension direction of the forearm body of the robotic arm module. Fixed mechanical limit structures are set at both ends of the rotation stroke of the wrist pitch joint. The limit points of the fixed mechanical limit structures correspond perfectly to the angle boundaries of -60° and 60°, respectively, to prevent the wrist pitch joint from rotating beyond its range. By rotating, the wrist pitch joint drives the prosthetic finger actuator module at the end to complete pitch swing in a plane perpendicular to the extension direction of the forearm, adapting to the tilt angle of different parts of the experimental animal's body surface, ensuring that the prosthetic finger actuator module maintains a stable fit with the animal's body surface, and meeting the angle adjustment requirements of the massage action.

[0056] The fixed end of the wrist rotation joint can be rigidly connected to the rotation output end of the wrist pitch joint, and the rotation output end of the wrist rotation joint can be rigidly connected to the fixed end of the prosthetic finger actuator module. The rotation axis of the wrist rotation joint is coaxial with the extension direction of the forearm body of the robotic arm module. Circumferential limiting structures are set at both ends of the rotation stroke of the wrist rotation joint, which can adapt to the limiting requirements of 0° to 360° full circumferential rotation. By rotating, the wrist rotation joint drives the prosthetic finger actuator module to complete a full circumferential rotation around the forearm axis, adjusting the operating posture of the prosthetic finger actuator module to adapt to the massage direction requirements of different positions on the animal's body surface. The massage posture can be switched without adjusting the overall position of the robotic arm module.

[0057] In a preferred embodiment of the present invention, the opening and closing angle adjustment range of the dual-finger coordinated adjustment mechanism of the finger-like execution module is 0° to 60°, and the thumb fingertip flexion and extension swing mechanism and the index fingertip flexion and extension swing mechanism are equipped with a micro servo motor, and the flexion and extension swing angle range of the thumb fingertip flexion and extension swing mechanism and the index fingertip flexion and extension swing mechanism is 0° to 45°.

[0058] Specifically, the fixed end of the two-finger coordinated adjustment mechanism of the prosthetic finger execution module can be rigidly connected to the rotation output end of the wrist rotation-flexion-extension compound joint of the robotic arm module. The two independent adjustment output ends of the two-finger coordinated adjustment mechanism are rigidly connected to the thumb body of the thumb assembly and the index finger body of the index finger assembly, respectively. Fixed mechanical limiting structures are set at both ends of the opening and closing stroke of the two-finger coordinated adjustment mechanism. The limiting points of the fixed mechanical limiting structures correspond perfectly to the opening and closing angle boundaries of 0° and 60°, respectively, to prevent the two-finger coordinated adjustment mechanism from exceeding its range of opening and closing movements. The two-finger coordinated adjustment mechanism adjusts the relative distance between the thumb assembly and the index finger assembly through the relative rotation of the two adjustment output ends, adapting to the massage operation width requirements of different parts of the experimental animal.

[0059] The thumb and index finger flexion-extension swing mechanisms can be equipped with micro-servo motors. The power input end of the thumb mechanism can be rigidly connected to the output shaft of the corresponding micro-servo motor, and the fixed end of the micro-servo motor can be rigidly fixed to the thumb body of the thumb assembly. Similarly, the power input end of the index finger mechanism can be rigidly connected to the output shaft of the corresponding micro-servo motor, and the fixed end of the micro-servo motor can be rigidly fixed to the index finger body of the index finger assembly. The flexion-extension swing angle range of both mechanisms is 0° to 45°. Fixed mechanical limit structures are provided at both ends of the swing stroke of both mechanisms, with the limit points of the fixed mechanical limit structures completely corresponding to the 0° and 45° flexion-extension swing angle boundaries, respectively. The micro-servo motor receives the drive signal transmitted from the drive module, driving the corresponding finger flexion-extension swing mechanism to complete the flexion-extension swing action at the set angle, achieving standardized reproduction of clinical massage techniques.

[0060] In a preferred embodiment of the present invention, the swing frequency adjustment range of the thumb fingertip flexion and extension swing mechanism and the index fingertip flexion and extension swing mechanism is 0.5Hz to 5Hz, and the lateral swing angle range of the thumb fingertip flexion and extension swing mechanism and the index fingertip flexion and extension swing mechanism is -30° to 30°.

[0061] Specifically, the signal input terminals of all the matching micro servos can be electrically connected to the signal output terminals of the drive circuit of the drive module. The drive circuit of the drive module receives the frequency control command output by the digital display control module, converts the frequency control command into a pulse drive signal of the corresponding frequency, and transmits it to the corresponding matching micro servo. The micro servo, according to the received pulse drive signal, drives the thumb tip flexion and extension swing mechanism and the index finger tip flexion and extension swing mechanism to complete the reciprocating swing motion at the corresponding frequency. The swing frequency adjustment range of 0.5Hz to 5Hz can cover the operation frequency requirements of different clinical massage techniques and adapt to the parameter setting requirements of different animal experimental protocols.

[0062] The swing axes of the thumb and index finger flexion-extension swing mechanisms are perpendicular to the extension directions of the corresponding thumb and index finger bodies. Fixed mechanical limiting structures are installed at both ends of the lateral swing stroke of both mechanisms. The limiting points of these structures correspond perfectly to the lateral swing angle boundaries of -30° and 30°, respectively, preventing the mechanisms from swinging beyond their designated range.

[0063] The digital display control module can generate control commands for the corresponding lateral swing angle based on the preset massage operation parameters. Through the drive circuit of the drive module, it drives the corresponding matching micro servo motor to drive the thumb tip flexion and extension swing mechanism and the index finger tip flexion and extension swing mechanism to complete the lateral reciprocating swing at the set angle within the range of -30° to 30°, adjust the lateral coverage of the massage operation, and adapt to the size requirements of different operation areas of experimental animals.

[0064] In a preferred embodiment of the present invention, the pressure sensing unit has a detection range of 0N to 50N, and the displacement sensing unit collects the motion displacement data of the analog actuation module in real time.

[0065] Specifically, the pressure sensing unit has a detection accuracy of 0.01N. When the pressing surface of the flexible contact head contacts the tissue of the experimental animal and generates pressure, the pressure sensing unit converts the physical quantity of pressure generated during the contact process into a corresponding electrical signal, generates a pressure signal, and transmits it to the digital display control module in real time. The detection range of 0N to 50N can cover the full range of force requirements for animal experimental massage operations, and the detection accuracy of 0.01N can ensure the accuracy of massage force control and adapt to the force setting requirements of different body sizes of experimental animals and different massage techniques.

[0066] The displacement sensing unit collects the motion displacement data of the simulated finger execution module in real time. Throughout the entire process of the simulated finger execution module performing the massage action, the displacement sensing unit detects the relative position change between the pressing working surface of the flexible contact head and the rigid support end in real time, converts the physical quantity of position change into the corresponding electrical signal, generates the motion displacement data of the simulated finger execution module, and transmits the motion displacement data to the digital display control module in real time. The digital display control module can adjust the motion control parameters of the simulated finger execution module according to the received motion displacement data to ensure that the massage action meets the preset requirements.

[0067] In a preferred embodiment of the present invention, the input unit of the digital display control module adopts physical buttons or touch buttons, the digital display control module is equipped with a wireless communication unit, the wireless communication unit supports Bluetooth communication protocol and WiFi communication protocol, the digital display panel displays the device operating parameters in real time, and the data storage unit stores the full experimental data of the device operation.

[0068] Specifically, the input unit of the digital display control module can use physical buttons or touch buttons, and the signal output terminal of the input unit can be electrically connected to the signal input terminal of the microprocessor of the digital display control module. When the input unit uses physical buttons, the physical button array is installed on the outer surface of the housing of the digital display control module. The physical buttons include parameter setting buttons, start / stop control buttons, and mode selection buttons. The operator inputs parameter setting commands and control commands to the microprocessor of the digital display control module by pressing the physical buttons. When the input unit uses touch buttons, the touch buttons are integrated into the display area of ​​the digital display panel of the digital display control module, and the operator inputs corresponding commands through touch operation.

[0069] The digital display control module also includes a wireless communication unit. The signal interaction terminal of the wireless communication unit is electrically connected to the signal interaction terminal of the microprocessor of the digital display control module. The wireless communication unit supports Bluetooth and WiFi communication protocols. Through Bluetooth, the wireless communication unit can establish a short-range data connection with an external mobile terminal, enabling remote setting and status viewing of device operating parameters. It can also connect to the laboratory local area network to upload device operating data and receive remote control commands.

[0070] The signal input terminal of the digital display panel of the digital display control module can be electrically connected to the display signal output terminal of the microprocessor of the digital display control module. The digital display panel displays real-time parameters such as device operating parameters, massage pressure value, two-finger opening and closing angle, joint angle, lesion location result, and massage time. Among them, the device operating parameters include massage force value, joint rotation angle, running time, and device connection status. Operators can intuitively obtain the real-time operating status of the device through the digital display panel.

[0071] The signal interaction terminal of the data storage unit of the digital display control module is electrically connected to the signal interaction terminal of the microprocessor of the digital display control module. The data storage unit stores all experimental data during the operation of the device. The full experimental data includes pressure signal data, displacement signal data, control command data, and operating parameter data throughout the entire operation of the device, which can be retrieved and used by the operator for subsequent experimental data analysis.

[0072] This invention provides a multi-degree-of-freedom finger-like massage device for animal experiments. Through a multi-joint, multi-degree-of-freedom robotic arm coupled with a proportionally scaled-down finger-like execution structure, it can accurately reproduce the complex, multi-dimensional techniques of clinical massage, overcoming the shortcomings of existing equipment in terms of motion reproduction. It achieves precise lesion localization through an integrated microcurrent stimulation and resistance detection unit, improving the targeting of massage interventions. Through pressure and displacement sensing modules and a digital display closed-loop control system, it enables precise control of massage force and trajectory, ensuring consistency in experimental operations and data reliability. This provides standardized and highly adaptable experimental equipment support for basic research on the mechanism of massage action.

[0073] The above is the overall concept of the present invention. For ease of understanding, the present invention also provides the following embodiments: Reference Figure 1 , Figure 2 The operation process of the multi-degree-of-freedom finger-like massage device used in animal experiments is as follows: Step 1: Device debugging and parameter preset The multi-degree-of-freedom finger-like massage device for animal experiments is fixed to the flat operating area of ​​the animal testing table using a detachable and secure base module. During fixation, it is crucial to ensure that the supporting plane of the base module is completely flush with the table surface without any loosening or displacement. The counterweights inside the base module lower the overall center of gravity of the device, counteracting the overturning moment generated during movement and ensuring operational stability. Operators can preset the massage techniques, pressure range, movement speed, finger opening and closing angle, movement angle, movement frequency, angle adjustment precision, and massage time parameters for the experiment, based on the type and size of the experimental animal model, through the input unit of the digital display control module or the touch screen. The massage techniques include two preset standard clinical massage techniques: one-finger Zen massage and plucking massage. Simultaneously, pre-collected data on the coordinated thumb-index finger massage trajectory and pressure intensity are imported through the data interface of the digital display control module or the wireless communication module. The digital display control module supports two operating modes: fixed mode and custom mode. In fixed mode, the device directly calls the preset standard trajectory and force parameters corresponding to the one-finger massage or plucking technique. In custom mode, the operator can independently edit and set various operating parameters. The operator can remotely preset the device's operating parameters and debug the equipment by connecting to an external mobile terminal via Bluetooth or accessing the laboratory's local area network via WiFi through the digital display control module's wireless communication module.

[0074] Step 2: Lesion localization After anesthetizing the experimental animals, they are secured to the operating area of ​​the animal testing table using specialized fixtures, ensuring a perfect match between the animal's operating area and the device's effective range of motion. The operator remotely activates the device via the touchscreen display of the digital control module or an external terminal. Simultaneously, the microcurrent stimulation unit of the prosthetic finger execution module is activated, outputting a constant, weak 10μA probe current to the animal model's surface through a two-finger flexible contact head made of medical-grade silicone. Simultaneously, the drive module drives the robotic arm module, causing the prosthetic finger execution module to move slowly along a preset path on the animal model's surface. During this movement, the main control chip of the digital control module adjusts the angle according to preset precision, performing closed-loop control of the rotation angles of each joint of the robotic arm module. Angle sensors built into each joint of the robotic arm module collect rotation angle data in real time and transmit it to the main control chip. During movement, the resistance detection unit of the pressure sensing and transmission module collects tissue resistance signals from different parts of the animal model's surface in real time and transmits these signals to the digital control module via shielded wires. The main control chip of the digital display control module compares and analyzes the received tissue resistance signals, identifies the modeling damage sites where the resistance values ​​differ from those of normal tissue, i.e., the lesions, and marks and displays the coordinates of the lesions on the touch screen of the digital display control module.

[0075] Step 3: Massage Trajectory Generation The main control chip of the digital display control module, based on the information collected by the pressure sensing and transmission module about the movement trajectory, movement mode and pressure of the two fingers of the simulated finger execution module, combined with the operator's preset massage techniques, human hand massage data, angle adjustment accuracy requirements, and the lesion location results determined in step 2, first calculates and determines the motion parameters of each joint of the mechanical massage device, pressure output parameters, and angle adjustment parameters. Then, through the kinematic fitting algorithm, it generates a three-dimensional motion trajectory curve that is adapted to the lesion site of the animal model and matches the preset massage techniques. The three-dimensional motion trajectory curve includes the rotation angle, movement speed, start and stop position, and angle adjustment accuracy of each joint of the device throughout the entire process.

[0076] Step 4: Perform a two-finger coordinated massage The digital display control module converts the generated three-dimensional motion trajectory curve into corresponding motion control commands and outputs them to the drive module. The drive module, based on the received motion control commands, drives the corresponding servo motor through its built-in drive circuit. Each servo motor is equipped with a harmonic reducer with a transmission ratio of 100:1, which can convert the power output of the servo motor into low-speed, high-torque power suitable for massage movements, driving the joints of the robotic arm module to move in synergy, and driving the finger-simulating execution module to complete spatial movement according to the three-dimensional motion trajectory curve. At the same time, the drive module synchronously drives the two-finger coordinated adjustment mechanism, the thumb fingertip flexion and extension swing mechanism, and the index finger fingertip flexion and extension swing mechanism of the finger-simulating execution module to complete the corresponding actions, simulating the human thumb's individual massage action and the thumb and index finger's joint massage action, and reproducing the operation characteristics of the preset one-finger Zen massage method or plucking method. During the massage, the pressure sensing unit of the pressure sensing and transmission module collects massage pressure data in real time within the range of 0N to 50N, with a detection accuracy of up to 0.01N. The displacement sensing unit collects the motion displacement data of the simulated finger execution module in real time. All collected signals are fed back to the digital display control module in real time for parameter calibration. The servo motor has a torque feedback function, which can collect the output torque value in real time and dynamically adjust the output torque according to the load change. When the detected torque exceeds the preset safety threshold, the output torque is immediately reduced or the power output is stopped to avoid excessive pressure and damage to the animal model. The main control chip of the digital display control module compares and calibrates the feedback signal with the preset parameters, and dynamically adjusts the output parameters of the drive module according to the calibration results to ensure that the angle adjustment accuracy, pressure intensity and movement trajectory during the massage process fully meet the preset requirements. During operation, the operator can remotely start and stop the device and adjust the operating parameters in real time through the wireless communication module of the digital display control module.

[0077] Step 5: Massage Ends and Data Storage When the preset massage time ends and the massage procedure is completed, the digital display control module outputs a reset control command to the drive module. The drive module then drives all the joints and motion mechanisms of the robotic arm module and the finger-like execution module to reset to their initial positions. Simultaneously, the data storage unit of the digital display control module stores all experimental data from the entire massage process. This stored data includes pressure data, motion trajectory data, tissue resistance data, angle adjustment data, and massage technique parameters. Operators can retrieve and view the stored experimental data through the touchscreen display of the digital display control module, or remotely transmit the stored experimental data to external computers, mobile terminals, or other devices via Bluetooth or WiFi connection through the wireless communication module to complete the animal experiment.

[0078] The above provides a detailed description of a multi-degree-of-freedom finger-like massage device for animal experiments. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the invention. At the same time, those skilled in the art will recognize that, based on the ideas of the invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the invention.

Claims

1. A multi-degree-of-freedom finger-like massage device for animal experiments, characterized in that, The device includes: The base module has a detachable fixing structure at the bottom that is adapted to the animal experimental table; The robotic arm module, rotatably connected to the base module, includes a shoulder rotation joint, an upper arm swing joint, an elbow rotation joint, a forearm swing joint, and a wrist rotation-flexion-extension joint connected in sequence; each of the shoulder rotation joint, upper arm swing joint, elbow rotation joint, forearm swing joint, and wrist rotation-flexion-extension joint is equipped with an angle sensor. The proto-finger execution module is fixedly connected to the end of the robotic arm module. The proto-finger execution module adopts a structure that is demolded from the thumb and index finger of a human hand and scaled down proportionally to the experimental animal and human body. It includes a thumb assembly, an index finger assembly, and a dual-finger coordinated adjustment mechanism. The thumb assembly includes a thumb body, a flexible thumb contact head, and a thumb tip flexion-extension swing mechanism. The index finger assembly includes an index finger body, a flexible index finger contact head, and an index finger tip flexion-extension swing mechanism. The flexible thumb contact head and the flexible index finger contact head are internally embedded with a microcurrent stimulation unit and a resistance receiving unit. The pressure sensing and transmission module is integrated into the flexible contact head of the analog finger actuation module, and includes a pressure sensing unit, a displacement sensing unit, and a resistance detection unit. The drive module, electrically connected to the robotic arm module and the finger-like execution module, includes a servo motor and a drive circuit. The digital display control module is electrically connected to the pressure sensing and transmission module and the drive module; it is used to receive pressure signals, motion displacement signals, and tissue resistance signals transmitted by the pressure sensing and transmission module, generate three-dimensional motion trajectory curves and motion control commands based on the received signals, and output the motion control commands to the drive module; the digital display control module includes a microprocessor, a digital display panel, an input unit, and a data storage unit.

2. The apparatus according to claim 1, characterized in that, The detachable fixing structure of the base module adopts any one of the following: bolt clamping structure, vacuum adsorption structure, and threaded clamp structure. The base module is equipped with a counterweight.

3. The apparatus according to claim 2, characterized in that, The shoulder rotation joint of the robotic arm module has a rotation angle range of 0° to 360°, the upper arm swing joint and the lower arm swing joint of the robotic arm module have a swing angle range of -90° to 90°, and the wrist rotation-flexion-extension compound joint of the robotic arm module supports 180° horizontal rotation and 90° vertical flexion-extension.

4. The apparatus according to claim 3, characterized in that, The wrist rotation flexion-extension compound joint includes a wrist pitch joint and a wrist rotation joint. The angle adjustment range of the wrist pitch joint is -60° to 60°, and the angle adjustment range of the wrist rotation joint is 0° to 360°.

5. The apparatus according to claim 4, characterized in that, The opening and closing angle adjustment range of the dual-finger coordinated adjustment mechanism of the simulated finger execution module is 0° to 60°. The thumb fingertip flexion and extension swing mechanism and the index finger fingertip flexion and extension swing mechanism are equipped with a micro servo motor. The flexion and extension swing angle range of the thumb fingertip flexion and extension swing mechanism and the index finger fingertip flexion and extension swing mechanism is 0° to 45°.

6. The apparatus according to claim 5, characterized in that, The swing frequency adjustment range of the thumb fingertip flexion and extension swing mechanism and the index fingertip flexion and extension swing mechanism is 0.5Hz to 5Hz, and the lateral swing angle range of the thumb fingertip flexion and extension swing mechanism and the index fingertip flexion and extension swing mechanism is -30° to 30°.

7. The apparatus according to claim 6, characterized in that, The microcurrent stimulation unit outputs a constant current of 10μA, and the resistance receiving unit is electrically connected to the resistance detection unit.

8. The apparatus according to claim 7, characterized in that, The pressure sensing unit has a detection range of 0N to 50N, and the displacement sensing unit collects the motion displacement data of the analog actuation module in real time.

9. The apparatus according to claim 8, characterized in that, The shoulder rotation joint, upper arm swing joint, elbow rotation joint, forearm swing joint, wrist rotation flexion and extension compound joint, two-finger coordinated adjustment mechanism, thumb fingertip flexion and extension swing mechanism, and index fingertip flexion and extension swing mechanism are all equipped with corresponding independent servo motors, and each of the independent servo motors is equipped with an independent harmonic reducer; the transmission ratio of the harmonic reducer is 100:

1.

10. The apparatus according to claim 9, characterized in that, The input unit of the digital display control module uses physical buttons or touch buttons. The digital display control module is equipped with a wireless communication unit that supports Bluetooth and WiFi communication protocols. The digital display panel displays the device's operating parameters in real time, and the data storage unit stores all experimental data from the device's operation.

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