CN105877999A - Device and method for automatically searching for calibrated cavity positions - Google Patents

Abstract

The present invention is a device and method for automatically finding calibrated acupoints, comprising a mechanical arm 1, a marking tool 2, a photosensitive camera lens 3, an image recognition analysis component 4, a control component 5, a driving motor 6 of the mechanical arm, and a sensor 7; The lens 3 is connected with the image recognition and analysis component 4 , the image recognition and analysis component 4 and the sensor 7 are both connected with the control component 5 , and the control component 5 is connected with and controls the driving motor 6 of the mechanical arm. The marking tool 2 is pressed against the human skin to form a graphic imprint 8 . The photosensitive photographic lens 3 shoots and recognizes the image information of the graphic imprint 8, and the image recognition analysis component 4 analyzes the difference between the photographed image information and the standard graphic information, and calculates the spatial position value of the photosensitive photographic lens 3 and the preset value. According to the numerical difference of the predetermined spatial position to be reached, the control component 5 drives the mechanical arm 1 to move towards the predetermined spatial position according to the information of the numerical difference and the information recorded by the sensor 7.

Description

A device and method for automatically finding calibrated acupoints

technical field

The invention belongs to the technical field of finding and determining acupoints, in particular to a device and method for automatically finding marked acupoints.

Background technique

The specific location of acupoints is important information for the treatment and health care of patients in traditional Chinese medicine. Only when you are ready to find the specific location of acupoints can you use the treatment methods of traditional Chinese medicine for corresponding treatment and health care, such as acupuncture, moxibustion, cupping, etc. With the development of science and technology, people have invented a lot of modern treatment equipment, and acupoint therapy has gradually evolved to be replaced by manual operation by automatic machines. However, electromechanical treatment equipment needs to be aimed at the acupuncture points to complete the treatment. At this time, it is extremely important to find the acupuncture points automatically and accurately. Since the acupoints and meridians of the human body are not clearly and intuitively displayed on the human body, and the differences in people also make standardized acupoint data not widely applicable, so all kinds of acupoint treatment equipment still need human to operate to find the acupoints, and cannot be automated.

Contents of the invention

The object of the present invention is to provide a device and method for fully automatically finding marked acupoints and meridians. Using image recognition technology and computer technology, the treatment equipment can automatically and accurately find the marked acupoints and meridians, thereby improving the efficiency of acupoint therapy. level of automation.

A device for automatically finding calibrated acupoints according to the present invention, including a mechanical arm of a therapeutic instrument, is characterized in that it also includes a marking tool, a photosensitive camera lens, an image recognition analysis component, a sensor, a driving motor of a mechanical arm, and a control component; The photographic lens is connected to the image recognition and analysis component, the image recognition and analysis component is connected to the control component, the sensor is connected to the control component, and the control component is connected to and controls the driving motor of the mechanical arm.

The marking tool includes a reflective material. After the reflective material is pressed against the human body, a graphic imprint of a certain shape is formed on the skin of the human body. The reflective material can be washed away; the reflective material can reflect light of a special color to a special light source, or can Can reflect light different from skin color and can be recognized by optoelectronic devices. The photosensitive photographic lens captures and recognizes the image information of the graphic imprint, and transmits it to the image recognition and analysis component, which analyzes the difference between the captured image information and the standard graphic information.

The image recognition and analysis component includes a numerical value and error calculation module. This module can calculate the difference between the spatial position value of the photosensitive photographic lens and the preset spatial position value to be reached, and transmit it to the control component, and then the control component drives the mechanical arm to move towards the appropriate spatial position.

The photosensitive camera lens is installed on the front end of the mechanical arm. Usually the front end of the mechanical arm is the head part of the acupuncture point therapy equipment, and the photosensitive camera lens is installed with the head part. By determining the position of the photosensitive camera lens, the position of the head part can be determined, so that the head part of the treatment device can Align the acupuncture points.

The driving motor of the mechanical arm can drive the mechanical arm in three-dimensional space to change the position and angle.

The photosensitive camera lens is a CCD or CMOS photosensitive camera lens.

A method for automatically finding marked acupoints according to the present invention is characterized in that it comprises the following steps:

The first step is to pre-set one or more standard graphics in the image recognition and analysis component, and correspond the standard graphics information to a specific spatial position value or movement trajectory value;

In the second step, the operator uses a marking tool to print the same graphic imprint as the aforementioned standard graphic on the patient's acupuncture points or meridians;

The third step is to place the patient in an environment illuminated by ordinary light sources or special light sources, aim the photosensitive camera lens at the graphic imprints on the patient's acupoints or meridians to take pictures, and the captured image information is automatically transmitted to the image recognition and analysis component;

In the fourth step, the image recognition analysis component compares and analyzes the captured image information and the preset standard graphic information, and calculates the current spatial position value of the photosensitive camera lens and the preset spatial position value, or the preset spatial position value. The difference between the set movement trajectory values;

The fifth step is that the image recognition analysis component transmits the information of the numerical difference to the control component, and the control component controls the driving motor of the mechanical arm, moves the mechanical arm, and reduces the spatial position of the photosensitive camera lens according to the information of the numerical difference and the information recorded by the sensor The difference between the value and the preset spatial position value, or the preset movement track value;

The sixth step is to repeat the third step to the fifth step until the image information captured by the photosensitive camera lens is the same as the preset standard graphic information or within the allowable error range. At this time, the spatial position value of the photosensitive camera lens is the same as the preset value. The value of the set standard space position is the same, or the value of the preset movement track is the same, so that the mechanical arm is adjusted to the exact position;

In the seventh step, the mechanical arm stays at the acupuncture point or moves along the meridian track. After the treatment is completed, the device stops; For marked ones, just repeat steps 3 to 6; if the next acupoint or meridian to be treated is not marked in step 2, repeat steps 2 to 6.

The standard figure may be a square or a circle or a triangle or a polygon or an irregular figure or a line.

Description of drawings

Fig. 1 is a schematic diagram of the device and method for automatically finding the marked acupoints.

detailed description

Fig. 1 shows a preferred embodiment of the present invention, and described a kind of device for automatically finding marked acupoints includes a mechanical arm 1 of a therapeutic instrument, a marking tool 2, a photosensitive camera lens 3, an image recognition analysis component 4, and a control component 5 , the drive motor 6 of the mechanical arm, the sensor 7; the photosensitive photographic lens 3 is connected with the image recognition analysis component 4, the image recognition analysis component 4, the sensor 7 are all connected with the control component 5, and the control component 5 is connected and controls the drive motor 6 of the mechanical arm , the photosensitive camera lens 3 is mounted on the front end of the mechanical arm 1 .

The marking tool 2 has a reflective substance, and after pressing the human body, it can form a graphic imprint 8 on the human skin. The photosensitive photographic lens 3 captures and recognizes the image information of the graphic imprint 8, transmits it to the image recognition and analysis component 4, analyzes the difference between the photographed image information and the standard graphic information, and calculates the spatial position value of the photosensitive photographic lens 3 and The value difference of the preset spatial position to be reached is transmitted to the control component 5, and then the mechanical arm 1 is driven to move towards the predetermined spatial position according to the information of the value difference and the information recorded by the sensor 7.

Described a kind of method of automatically finding marked acupoints, comprises the following steps:

In the first step, the standard graphic information of the graphic imprint 8 is preset in the image recognition analysis component 4, and this standard graphic information is corresponding to the spatial position value of a certain height above a certain acupuncture point on the waist of the human body;

In the second step, the operator uses the marking tool 2 to print a graphic imprint 8 on the acupuncture point on the patient's waist;

The third step is to place the patient in an environment irradiated by ordinary light sources or special light sources, and the patient’s waist graphic imprint 8 can reflect light, and the photosensitive camera lens 3 is aligned with the patient’s waist graphic imprint 8 to take pictures, and the captured image information is automatically transmitted to the image Identification analysis component 4;

In the fourth step, the four image recognition and analysis groups compare and analyze the image information of the captured graphic imprint 8 and the preset standard graphic information, and calculate the current spatial position value of the photosensitive camera lens 3, which is consistent with the preset value. The difference between the spatial position values of a certain height above a certain acupuncture point on the waist of the human body;

The fifth step is that the image recognition analysis component 4 transmits the information of the numerical difference to the control component 5, and the control component 5 controls the drive motor 6 of the mechanical arm to move the mechanical arm 1 and zoom out according to the information of the numerical difference and the information recorded by the sensor 7. The difference between the spatial position value of the photosensitive camera lens 3 and the preset spatial position value directly above a certain acupuncture point on the waist of the human body;

The sixth step repeats the third step to the fifth step until the image information of the graphic imprint 8 captured by the photosensitive camera lens 3 is the same as the preset standard graphic information or within the allowable error range. At this time, the photosensitive camera lens 3 Just stop at a predetermined height above a certain acupuncture point on the waist of the human body;

The seventh step is that the mechanical arm 1 stays at the acupuncture point. After the treatment is completed, the device stops; if the next acupuncture point or meridian needs to be treated, if the next acupuncture point or meridian to be treated has been marked in the second step, just repeat Steps 3 to 6; if the next acupoint or meridian to be treated is not marked in step 2, repeat steps 2 to 6.

It should be noted that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the protection scope of the appended claims of the present invention.

Claims (8)

1. an acupuncture point device has been demarcated in automatic lookup, including the mechanical arm of therapeutic equipments, it is characterised in that also include, marks work Tool, photosensitive pick-up lens, image recognition analysis assembly, sensor, the driving motor of mechanical arm, control assembly；Photosensitive camera mirror Head is connected with image recognition analysis assembly, and image recognition analysis assembly is connected with controlling assembly, and sensor is connected with controlling assembly, Control assembly connect and control the driving motor of mechanical arm.

The most according to claim 1, acupuncture point device has been demarcated in lookup automatically, it is characterised in that marking tool includes reflective material, Reflective material pressing human body after, human body skin is formed the figure marking of definite shape, this reflective material capable of washing fall；Described Special light sources can be reflected the light of particular color by reflective material, or ordinary light source can reflect the light being different from skin color, And can be by optical electron device recognition.

The most according to claim 1, acupuncture point device has been demarcated in lookup automatically, it is characterised in that wrap in image recognition analysis assembly Include numerical value and error calculating module.

The most according to claim 1, acupuncture point device has been demarcated in lookup automatically, it is characterised in that photosensitive pick-up lens is arranged on machine The front end of mechanical arm.

The most according to claim 1, acupuncture point device has been demarcated in lookup automatically, it is characterised in that the driving motor of mechanical arm is permissible Drive mechanical arm to shift one's position and angle at three dimensions.

The most according to claim 1, automatically acupuncture point device has been demarcated in lookup, it is characterised in that photosensitive pick-up lens be CCD or The photosensitive pick-up lens of CMOS.

7. the method that acupuncture point has been demarcated in an automatic lookup, it is characterised in that comprise the following steps:

The first step, presets one or more test patterns in image recognition analysis assembly, and by test pattern information with Specific locus numerical value, or motion track numerical value is corresponding；

Second step, is stamped identical with aforesaid standards figure by operator with marking tool on patient acupuncture point or channels and collaterals position The figure marking；

3rd step, places the patient in the environment of ordinary light source or special light sources irradiation, photosensitive pick-up lens is directed at patient cave The figure marking on position or channels and collaterals shoots, and the image information of shooting is automatically transferred to image recognition analysis assembly；

4th step, the image recognition analysis assembly image information to photographing and test pattern information set in advance are compared Analyze, and calculate the current locus numerical value of photosensitive pick-up lens and locus set in advance numerical value, or with in advance Difference between the motion track numerical value first set；

The information of this numerical difference is transferred to control assembly by the 5th step image recognition analysis assembly, controls assembly according to this numerical value The information of difference and the information of sensor record, control the driving motor of mechanical arm, mobile mechanical arm, reduce photosensitive pick-up lens Locus numerical value and locus set in advance numerical value, or and motion track numerical value set in advance between difference；

6th step repeats the 3rd step to the 5th step, until the image information that photographs of photosensitive pick-up lens and mark set in advance Quasi-graphical information identical or license error range in, now, locus, photosensitive pick-up lens place numerical value with set in advance Fixed normed space position numerical value is identical, or identical with motion track numerical value set in advance, thus mechanical arm is i.e. adjusted To position accurately；

7th step mechanical arm rests on this position, acupuncture point, or moves along channels and collaterals track, and after completing treatment, device stops；As Fruit needs to carry out next acupuncture point or channels and collaterals therapeutic, and the next one needs in second step acupuncture point or the channels and collaterals mark for the treatment of Note, only need to repeat the 3rd step to the 6th step；In second step when the unmarked next acupuncture point needing treatment or channels and collaterals, then Repeat second step to the 6th step.

A kind of automatically determine acupuncture point method, it is characterised in that test pattern can be square or Circular or triangle or polygon or irregular figure or lines.