CN113975150A - Percutaneous acupoint therapeutic instrument - Google Patents
Percutaneous acupoint therapeutic instrument Download PDFInfo
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- CN113975150A CN113975150A CN202111615169.4A CN202111615169A CN113975150A CN 113975150 A CN113975150 A CN 113975150A CN 202111615169 A CN202111615169 A CN 202111615169A CN 113975150 A CN113975150 A CN 113975150A
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/002—Using electric currents
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
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Abstract
The invention relates to the technical field of medical treatment, and discloses a percutaneous acupuncture point therapeutic apparatus which comprises a treatment bed and an L-shaped support frame arranged on the treatment bed, wherein an infrared indicating device is fixedly arranged at the tail end of the L-shaped support frame above the treatment bed, the infrared indicating device comprises a first rotating piece, a second rotating piece and an infrared indicator, the first rotating piece is fixedly arranged at the end part of the L-shaped support frame, the second rotating piece is vertically arranged on the first rotating piece, the infrared indicator is arranged on the second rotating piece, and the first rotating piece and the second rotating piece are vertical to each other; the infrared indicator is internally provided with a control system, the control system comprises a central controller, and the central controller is electrically connected with a data acquisition unit, an acupuncture point determination unit and an infrared indication unit. The acupoint indication device can rapidly and accurately indicate the acupoints of patients with different body types, so that medical staff are guided to rapidly and accurately find the acupoints to be treated, and the efficiency of acupoint treatment is improved.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a percutaneous acupoint therapeutic apparatus.
Background
At present, the acupuncture point therapy of the acupuncture point therapy apparatus for a patient needs to determine the therapy acupuncture point manually, and then an electrode plate is placed on the therapy acupuncture point through manual operation or an electrode needle is inserted into the therapy acupuncture point. After the electrode slice or the electrode needle is placed, the electrical stimulation parameters during the acupuncture point treatment need to be adjusted manually; and after receiving the electrical stimulation parameters, the acupoint therapeutic apparatus outputs pulse current corresponding to the electrical stimulation parameters to the motor sheet or the motor needle according to the adjusted electrical stimulation parameters.
When the acupuncture point is treated, the accurate acupuncture point is found, which is very important for the treatment effect; when searching for the acupuncture points to be treated, the traditional acupuncture point searching needs a professional traditional Chinese medical practitioner to search for the acupuncture points according to methods with strong specialties, such as a bone degree cun-dividing method, a body surface marking method, a finger scale method and the like; however, because each person has a different body type, each medical staff has a different skill level for searching for the acupuncture points, and if only depending on the professional experience of the medical staff, some medical staff with less experience may not be able to accurately or quickly and accurately determine the acupuncture points to be treated, which may affect the effect of the acupuncture point treatment when the acupuncture points are treated, and even threatens the life safety of the patient.
Disclosure of Invention
The invention mainly aims to provide a percutaneous acupuncture point therapeutic apparatus, which can quickly and accurately indicate acupuncture points of patients with different body types through image processing, further guide medical staff to quickly and accurately find the acupuncture points to be treated, and improve the efficiency and success rate of acupuncture point treatment.
In order to achieve the above purpose, the invention provides a percutaneous acupoint treatment method, which comprises a treatment couch and an L-shaped support frame arranged on the treatment couch, wherein an infrared indicating device is fixedly arranged at the tail end of the L-shaped support frame above the treatment couch, the infrared indicating device comprises a first rotating piece, a second rotating piece and an infrared indicator, the first rotating piece is fixedly arranged at the end part of the L-shaped support frame, the second rotating piece is vertically arranged on the first rotating piece, the infrared indicator is arranged on the second rotating piece, and the first rotating piece and the second rotating piece are vertical to each other;
a control system is arranged in the infrared indicator and comprises a central controller, and the central controller is electrically connected with a data acquisition unit, an acupuncture point determination unit and an infrared indication unit;
the data acquisition unit comprises at least two cameras and an image processing module which is used for splicing pictures shot by the cameras to form a plane figure, the image processing module is electrically connected with the cameras, and the cameras are arranged on the L-shaped support frame and are used for acquiring a standard human body meridian diagram, at least two target skin images shot by the cameras, device position information and acupuncture points to be treated; the device location information includes: camera pose information of the camera, infrared position information of the infrared indicating device and infrared angle information of the infrared indicating device;
the acupuncture point determining unit is used for determining acupuncture point target positions of the acupuncture points to be treated according to at least two target skin images, the standard human body meridian diagram, the device position information and the acupuncture points to be treated;
and the infrared indicating unit is used for driving the infrared indicating device to emit infrared rays to point to the acupoint target position according to the device position information and the acupoint target position.
Further, the data acquisition unit further comprises an image feature extraction module, and the image feature extraction module is used for separating the meridian graph in the plan from various complex interference information.
Further, the extraction method of the image feature extraction module comprises the following steps:
s1, splicing the positions of the key points in the plane graph, extracting the sizes of the key points, obtaining the distribution positions and the areas of meridian targets in the picture according to the positions and the sizes of the extracted key points, and recording pixels and meridian information at the key points;
the Hessian matrix at the scale σ is defined as the point at X = (X, y) in the image
In the formula (I), the compound is shown in the specification,
is a second derivative of Gaussian filter
g(
) And I = (x, y) convolution, g = (x, y)
)=
;
And
means of
Have the same meaning;
approximation of the lowest scale s =using a 9 x 9 block filter template
Higher order second derivative of = 1.2;
,
and
for the values after the block filtering and the image convolution, respectively
，
And
the weight value in the matrix is an empirical value in the range of 0.5-1.5, and the det expression of the Hessian matrix is obtained as
Det(
)=
；
S2, for each feature point, taking the feature point as a center, drawing a circle field with 6S as a radius, wherein S is the scale of the feature point, calculating Haar wavelet responses of all the feature points in the radius in the x and y directions, and assigning a weight according to the distance between the feature point and the center point, wherein the closer the weight is, the larger the weight is; and then forming a new vector by using the responding characteristic points within the range of 60 degrees, and after traversing the whole circular area, selecting the longest vector direction as the main direction of the characteristic point.
S3, forming small interest areas by randomly selecting a plurality of points in the areas around the interest points, binarizing the gray levels of the small interest areas and analyzing the small interest areas into binary code strings, and taking string characteristics as descriptors of the characteristic points; and taking the characteristic point as a center, rotating the x direction of the coordinate axis to the main direction, selecting 1 square area of 20s multiplied by 20s according to the main direction, dividing the window area into 4 multiplied by 4 sub-areas, wherein each sub-area is 5s multiplied by 5s, and calculating the Haar wavelet response of each sub-area
And
，
and
responses in the horizontal and vertical directions, respectively, with respect to the main direction; and then to the response in the region and the absolute value of the response
，
，|
L and L
I are summed to obtain a 4-dimensional vector v = (d)
) And obtaining the meridian characteristics of the spliced plane graph according to the 4-dimensional vector.
Further, the acupoint determination unit comprises a standard meridian storage module, a meridian graph matching module, a reference position determination module and a target position determination module, wherein the standard meridian storage module is used for storing a plurality of existing standard meridian graphs; the image matching module is used for comparing with the existing standard meridian diagram in the storage module to find out acupuncture points; the reference position determining module is used for determining the reference position of the acupuncture point to be treated in the scaled target skin image based on the standard position of the acupuncture point to be treated in the standard human meridian diagram; the target position determining module is used for determining the acupoint target position of the acupoint to be treated according to at least two reference positions and the camera posture information.
Further, the target position determination unit includes: the first angle determining sub-unit is used for calculating to obtain first angle information of a reference position corresponding to the first camera relative to the first camera according to camera angle information in the camera pose information of the first camera and the reference position in the target skin image shot by the first camera;
the Nth angle determining and dividing unit is used for calculating the Nth angle information of the reference position corresponding to the Nth camera relative to the Nth camera according to the camera angle information in the camera pose information of the Nth camera and the reference position in the target skin image shot by the Nth camera;
the coordinate information determination sub-unit is used for calculating the camera coordinate information of each camera according to the camera position information in the camera position and posture information;
and the target position determination subunit is used for calculating to obtain the acupoint target positions of the acupoints to be treated according to the coordinate information of each camera, the first angle information of the first camera and the Nth angle information of the Nth camera.
Further, the infrared indicating unit includes:
the irradiation angle determining module is used for determining a target infrared irradiation angle according to the infrared position information of the infrared indicating device and the target position of the acupuncture point;
and the infrared irradiation module is used for driving the infrared indicating device to emit infrared rays and driving the angle of the infrared indicating device to rotate to a target infrared irradiation angle from the infrared angle information.
Further, the first rotating member comprises a first motor, a first worm wheel and a first worm which are meshed with each other; the first worm wheel is fixedly provided with a rotating shaft, the first worm wheel is rotatably arranged on the L-shaped support frame through the rotating shaft, the central axis of the first worm wheel is vertical to the table top of the treatment couch, and the power output shaft of the first motor is fixedly connected with the first worm;
the second rotating part comprises a second motor, a second worm wheel and a second worm which are meshed with each other; the rotating shaft is fixedly provided with an installation frame, the second motor is fixedly arranged on the installation frame, the second worm wheel and the second worm are rotatably arranged on the frame, the central axis of the second worm wheel is parallel to the table top of the treatment couch, and the power output shaft of the second motor is fixedly connected with the second worm; the infrared indicator lamp is arranged in the radial direction of the second worm gear, and the first motor and the second motor are both electrically connected with the central controller.
Furthermore, four connecting frames are fixedly connected to the L-shaped supporting frame, four cameras are mounted on the connecting frames and are arranged in a quadrilateral mode.
Further, be provided with two foot fixed establishment and two hand fixed establishment on the treatment bed, foot fixed establishment and hand fixed establishment structure are the same, all including fixing the first binder and the second binder on the treatment bed, be provided with magic subsides hook face on the first binder, be provided with magic subsides matte on the second binder. When a patient lies on the treatment bed, the hands and the feet of the patient can be fixed on the treatment bed through the first abdominal binder and the second abdominal binder, so that the phenomenon that the acupoint searching or the treatment is inaccurate due to the movement of the patient when the acupoint searching or the treatment is carried out is avoided.
Further, the L-shaped support frame is provided with a magnetic field generator, a magnetic flux detector and a magnetic induction judging system, wherein the magnetic induction judging system comprises a first magnetic induction detecting module, a magnetic induction emitting module, a second magnetic induction detecting module, a magnetic induction change value judging module and an electronic device judging module which are electrically connected with each other; the electronic device judging module is electrically connected with the central controller, and the central controller is also electrically connected with a buzzer alarm.
The invention has the beneficial effects that:
1. according to the invention, through the arrangement of the treatment bed, the L-shaped support frame, the at least two cameras, the first rotating part, the second rotating part and the infrared indicating lamp, the effect of indicating each acupuncture point on the surface of the human body can be realized; further guiding medical staff to quickly and accurately find the acupuncture points to be treated, and improving the efficiency and success rate of acupuncture point treatment. 2. According to the invention, whether the electronic device is placed in the patient body is judged by dividing the difference between the second magnetic induction and the first magnetic induction by the magnetic induction change ratio of the first magnetic induction, and if so, the alarm buzzer sends out alarm information, so that the risk of using the percutaneous acupuncture point therapeutic apparatus by the patient with the electronic device is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of a percutaneous acupoint therapy apparatus according to the present invention;
FIG. 2 is a schematic view of a portion A of FIG. 1;
fig. 3 is a system frame diagram of a percutaneous acupoint therapy apparatus of the present invention.
The device comprises a treatment bed 1, an L-shaped support frame 2, a connecting frame 3, a camera 4, a first motor 5, a first worm wheel 6, a first worm 7, a rotating shaft 8, a second motor 9, a second worm wheel 10, a second worm 11, an installation frame 12, an infrared indicator lamp 13, a first abdominal binder 14, a second abdominal binder 15, a magnetic field generator 16, a magnetic flux detector 17, a magnetic induction judging system 18, a central controller 19, a data acquisition unit 20, an acupuncture point determining unit 21, an infrared indicating unit 22 and a buzzer alarm 23.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In order to achieve the purpose, the invention provides a percutaneous acupuncture point therapeutic apparatus, which comprises a therapeutic bed 1 and an L-shaped support frame 2 arranged on the therapeutic bed 1, wherein four connecting frames 3 are welded on the L-shaped support frame 2, cameras 4 are all arranged on the four connecting frames 3, the four cameras 4 are arranged in a quadrilateral manner, an infrared indicating device is fixedly arranged at the tail end of the L-shaped support frame 2 above the therapeutic bed 1, the infrared indicating device comprises a first rotating piece, a second rotating piece and an infrared indicator, the first rotating piece is fixedly arranged at the end part of the L-shaped support frame 2, the second rotating piece is vertically arranged on the first rotating piece, the infrared indicator is arranged on the second rotating piece, and the first rotating piece and the second rotating piece are vertical to each other; wherein the first rotating member comprises a first motor 5, a first worm wheel 6 and a first worm 7 which are meshed with each other; a rotating shaft 8 is fixedly arranged on the first worm wheel 6, the first worm wheel 6 is rotatably arranged on the L-shaped support frame 2 through the rotating shaft 8, the central axis of the first worm wheel 6 is vertical to the table top of the treatment couch 1, and the power output shaft of the first motor 5 is fixedly connected with the first worm 7; the second rotating part comprises a second motor 9, a second worm wheel 10 and a second worm 11 which are meshed with each other; an installation frame 12 is fixedly installed on the rotating shaft 8, a second motor 9 is fixedly installed on the installation frame 12, a second worm wheel 10 and a second worm 11 are rotatably installed on the frame, the central axis of the second worm wheel 10 is parallel to the table top of the treatment couch 1, and a power output shaft of the second motor 9 is fixedly connected with the second worm 11; the infrared indicator lamp 13 is arranged in the radial direction of the second worm gear 10, and the first motor 5 and the second motor 9 are both electrically connected with the central controller 19. Be provided with two foot fixed establishment and two hand fixed establishment on the treatment bed 1, foot fixed establishment and hand fixed establishment structure are the same, all including fixing the first binder 14 and the second binder 15 on treatment bed 1, are provided with magic subsides hook face on the first binder 14, are provided with magic subsides hair side on the second binder 15. The L-shaped support frame 2 is provided with a magnetic field generator 16, a magnetic flux detector 17 and a magnetic induction judging system 18, and the magnetic induction judging system 18 comprises a first magnetic induction detecting module, a magnetic induction emitting module, a second magnetic induction detecting module, a magnetic induction change value judging module and an electronic device judging module which are electrically connected with each other; the electronic device judging module is electrically connected with the central controller 19, and the central controller 19 is also electrically connected with a buzzer alarm 23.
The infrared indicator of the embodiment is internally provided with a control system, the control system comprises a central controller 19, and the central controller 19 is electrically connected with a data acquisition unit 20, an acupuncture point determination unit 21 and an infrared indication unit 22; the data acquisition unit 20 comprises four cameras 4, an image processing module for splicing pictures shot by the cameras 4 into a plane figure, and an image feature extraction module for separating a meridian diagram in the plane figure from various complex interference information, wherein the image processing module is electrically connected with the cameras 4, and the cameras 4 are arranged on the L-shaped support frame 2 and are used for acquiring a standard human body meridian diagram, at least two target skin images shot by the cameras 4, device position information and acupuncture points to be treated; the device location information includes: camera 4 pose information of the camera 4, infrared position information of the infrared indicating device and infrared angle information of the infrared indicating device;
an acupoint determination unit 21 for determining an acupoint target position of an acupoint to be treated according to at least two target skin images, a standard human body meridian diagram, device position information, and the acupoint to be treated; and the infrared indicating unit 22 is used for driving the infrared indicating device to emit infrared rays to point to the acupoint target position according to the device position information and the acupoint target position. The acupoint determination unit 21 comprises a standard meridian storage module, a meridian graph matching module, a reference position determination module and a target position determination module, wherein the standard meridian storage module is used for storing a plurality of existing standard meridian graphs; the image matching module is used for comparing with the existing standard meridian diagram in the storage module to find out acupuncture points; the reference position determining module is used for determining the reference position of the acupuncture point to be treated in the scaled target skin image based on the standard position of the acupuncture point to be treated in the standard human meridian diagram; the target position determining module is used for determining the acupoint target position of the acupoint to be treated according to at least two reference positions and the camera 4 pose information.
The target position determination unit includes: the first angle determining sub-unit is used for calculating to obtain first angle information of a reference position corresponding to the first camera relative to the first camera according to camera angle information in the camera pose information of the first camera and the reference position in the target skin image shot by the first camera; the Nth angle determining and dividing unit is used for calculating the Nth angle information of the reference position corresponding to the Nth camera relative to the Nth camera according to the camera angle information in the camera pose information of the Nth camera and the reference position in the target skin image shot by the Nth camera; the coordinate information determination sub-unit is used for calculating the camera coordinate information of each camera according to the camera position information in the camera position and posture information; and the target position determination subunit is used for calculating to obtain the acupoint target positions of the acupoints to be treated according to the coordinate information of each camera, the first angle information of the first camera and the Nth angle information of the Nth camera.
The infrared indicating unit 22 comprises an irradiation angle determining module, which is used for determining a target infrared irradiation angle according to the infrared position information of the infrared indicating device and the target position of the acupuncture point; and the infrared irradiation module is used for driving the infrared indicating device to emit infrared rays and driving the angle of the infrared indicating device to rotate to a target infrared irradiation angle from the infrared angle information.
The extraction method of the image feature extraction module of the embodiment comprises the following steps:
s1, splicing the positions of the key points in the plane graph, extracting the sizes of the key points, obtaining the distribution positions and the areas of meridian targets in the picture according to the positions and the sizes of the extracted key points, and recording pixels and meridian information at the key points;
the Hessian matrix at the scale σ is defined as the point at X = (X, y) in the image
In the formula (I), the compound is shown in the specification,
is a second derivative of Gaussian filter
g(
) And I = (x, y) convolution, g = (x, y)
)=
;
And
means of
Have the same meaning;
approximation of the lowest scale s =using a 9 x 9 block filter template
Higher order second derivative of = 1.2;
,
and
for the values after the block filtering and the image convolution, respectively
，
And
the weight value in the matrix is an empirical value in the range of 0.5-1.5, and the det expression of the Hessian matrix is obtained as
Det(
)=
S2, for each feature point, taking the feature point as a center, drawing a circle field with 6S as a radius, wherein S is the scale of the feature point, calculating Haar wavelet responses of all the feature points in the radius in the x and y directions, and assigning a weight according to the distance between the feature point and the center point, wherein the closer the weight is, the larger the weight is; and then forming a new vector by using the responding characteristic points within the range of 60 degrees, and after traversing the whole circular area, selecting the longest vector direction as the main direction of the characteristic point.
S3, forming small interest areas by randomly selecting a plurality of points in the areas around the interest points, binarizing the gray levels of the small interest areas and analyzing the small interest areas into binary code strings, and taking string characteristics as descriptors of the characteristic points; and the characteristic point is taken as the center, the x direction of the coordinate axis is rotated to the main direction according to the main directionSelecting 1 square area of 20s x 20s, dividing the window area into 4 x 4 sub-areas, each sub-area being 5s x 5s, calculating the Haar wavelet response of each sub-area
And
，
and
responses in the horizontal and vertical directions, respectively, with respect to the main direction; and then to the response in the region and the absolute value of the response
，
，|
L and L
I are summed to obtain a 4-dimensional vector v = (d)
) And obtaining the meridian characteristics of the spliced plane graph according to the 4-dimensional vector.
In this embodiment, the central controller is further electrically connected with a human-computer interaction screen, the human-computer interaction screen is provided with an input interface of height h, weight t, waistline y and chest circumference x, the control system is further provided with a correction module, the correction module calculates information of height, weight, waistline, chest circumference and the like input through the human-computer interaction screen to obtain correction data E, and the correction data E can be fed back to the infrared indicating device. When the position needing the acupuncture point treatment is the abdomen, because the abdomen of a part of obese patients is not a plane and is in a circular arc shape, the correction module can control the first motor and the second motor to carry out appropriate trimming through the central controller.
Specifically, when the waist circumference/height is more than 0.5 or the weight/chest circumference is more than 0.6, the correction module is started, and the correction amount calculation formula of the first motor and the second motor is as follows
。
The using method of the invention is as follows:
when the patient need carry out the acupuncture point treatment, the patient lies or lies prone on treatment bed 1, utilizes first binder 14 and the second binder 15 of foot fixed establishment and hand fixed establishment structure to fix the hand and foot of patient, avoids the patient to remove when looking for the acupuncture point and pricking the needle. Then starting the therapeutic apparatus, the central controller 19 of the percutaneous acupuncture point therapeutic apparatus of the invention can firstly acquire the standard human body meridian diagram, the pose information of the camera 4, the infrared position information of the infrared indicating device and the infrared angle information of the infrared indicating device which are stored in the standard meridian storage module of the percutaneous acupuncture point therapeutic apparatus, the central controller 19 of the percutaneous acupuncture point therapeutic apparatus also needs to acquire the acupuncture points to be treated input by a treating person, and the central controller 19 of the percutaneous acupuncture point therapeutic apparatus also acquires four shot target skin images through at least four cameras 4 arranged on the L-shaped support frame 2. The central controller 19 then determines the acupoint target positions of the acupoints to be treated by calculation.
The image processing module splices the pictures shot by the camera 4 to form a plane image, which is the prior art and is not described again; then, an image feature extraction module extracts features of meridians in the picture and matches the meridians with the standard human meridian graph; the central controller 19 determines the reference positions of the acupuncture points to be treated in the target skin image based on the standard positions of the acupuncture points to be treated in the standard human body meridian diagram; the central controller 19 calculates first angle information of a reference position corresponding to the first camera 4 relative to the first camera 4 according to the angle information of the camera 4 in the pose information of the first camera 4 and the reference position in the target skin image shot by the first camera 4; the central controller 19 analogizes in turn, calculates to obtain the nth angle information of the reference position corresponding to the nth camera 4 relative to the nth camera 4 according to the camera 4 angle information in the camera 4 pose information of the nth camera 4 and the reference position in the target skin image shot by the nth camera 4, and calculates the camera 4 coordinate information of each camera 4 according to the camera 4 position information in the camera 4 pose information; the central controller 19 calculates the acupoint target position of the acupoint to be treated (the coordinate position of the acupoint to be treated) according to the coordinate information of each camera 4, the first angle information of the first camera 4, and the nth angle information of the nth camera 4. Then, the central controller 19 determines a target infrared irradiation angle according to the infrared position information of the infrared indicating device and the target position of the acupuncture point. Then, the central controller 19 controls the first motor 5 and the second motor 9 to drive the infrared indicating device to emit infrared rays, and drives the infrared indicating device to rotate from the infrared angle information to a target infrared irradiation angle, during the process that the infrared rays emitted by the infrared indicating device are irradiated on the acupuncture points to be treated, the central controller 19 needs to control the first worm 7 to drive the first worm wheel to rotate through the first motor 5 to adjust the rotation angle of the infrared indicating lamp 13 in the horizontal direction, and the central controller 19 needs to control the second worm 11 to drive the second worm wheel to rotate through the second motor 9 to adjust the deflection angle of the infrared indicating lamp 13 in the horizontal direction. The infrared ray emitted by the infrared indicating device irradiates the acupuncture points to be treated. The treating personnel can act the electrode slice or the motor needle on the acupuncture point to be treated irradiated by the infrared ray to electrically stimulate the acupuncture point to be treated.
In the embodiment, in order to prevent the electrical stimulation acupoint therapy for the patient who has implanted the electronic device (such as a cardiac pacemaker) from harming the life safety of the patient who has implanted the electronic device, the percutaneous acupoint therapy apparatus finds the patient who has implanted the electronic device in time before the patient has performed the percutaneous acupoint therapy, so that the use risk of the patient is reduced. The central controller 19 of the percutaneous acupoint therapeutic apparatus obtains the first magnetic induction intensity under the current environment through the magnetic flux detector 17. After the percutaneous acupoint therapy apparatus sends the magnetic field information of the preset magnetic field intensity to the patient through the magnetic field generator 16, after the patient uses the electronic device, the lead of the electronic device of the patient can generate a feedback magnetic field intensity under the magnetic field information of the preset magnetic field intensity. Then, the transcutaneous acupuncture point therapeutic apparatus acquires the second magnetic induction intensity through the magnetic flux detector 17. After the percutaneous acupuncture point therapeutic apparatus acquires the second magnetic induction intensity, detecting whether the difference between the second magnetic induction intensity and the first magnetic induction intensity is divided by the magnetic induction change ratio of the first magnetic induction intensity is larger than or equal to a preset change value. When the difference between the second magnetic induction and the first magnetic induction is divided by the change ratio of the magnetic induction of the first magnetic induction is greater than or equal to the preset change value, the target user is provided with an electronic device, and the central controller 19 controls the buzzer alarm 23 and sends alarm information. The patient with the implanted electronic device can be found out, and the risk of using the percutaneous acupuncture point therapeutic apparatus by the patient with the implanted electronic device can be reduced.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A percutaneous acupoint therapeutic apparatus, which is characterized in that: the infrared indication device comprises a first rotating piece, a second rotating piece and an infrared indicator, wherein the first rotating piece is fixedly arranged at the end part of the L-shaped support frame, the second rotating piece is vertically arranged on the first rotating piece, the infrared indicator is arranged on the second rotating piece, and the first rotating piece and the second rotating piece are vertical to each other;
a control system is arranged in the infrared indicator and comprises a central controller, and the central controller is electrically connected with a data acquisition unit, an acupuncture point determination unit and an infrared indication unit;
the data acquisition unit comprises at least two cameras and an image processing module which is used for splicing pictures shot by the cameras to form a plane figure, the image processing module is electrically connected with the cameras, and the cameras are arranged on the L-shaped support frame and are used for acquiring a standard human body meridian diagram, at least two target skin images shot by the cameras, device position information and acupuncture points to be treated; the device location information includes: camera pose information of the camera, infrared position information of the infrared indicating device and infrared angle information of the infrared indicating device;
the acupuncture point determining unit is used for determining acupuncture point target positions of the acupuncture points to be treated according to at least two target skin images, the standard human body meridian diagram, the device position information and the acupuncture points to be treated;
and the infrared indicating unit is used for driving the infrared indicating device to emit infrared rays to point to the acupoint target position according to the device position information and the acupoint target position.
2. The percutaneous acupoint therapy apparatus of claim 1, wherein: the data acquisition unit further comprises an image feature extraction module, and the image feature extraction module is used for separating the meridian graph in the plan from various complex interference information.
3. The percutaneous acupoint therapy apparatus according to claim 2, wherein the image feature extraction module comprises:
s1, splicing the positions of the key points in the plane graph, extracting the sizes of the key points, obtaining the distribution positions and the areas of meridian targets in the picture according to the positions and the sizes of the extracted key points, and recording pixels and meridian information at the key points;
the Hessian matrix at the scale σ is defined as the point at X = (X, y) in the stitched planar view
In the formula (I), the compound is shown in the specification,
is a second derivative of Gaussian filter
g(
) And I = (x, y) convolution, g = (x, y)
)=
;
And
means of
Have the same meaning;
approximation of the lowest scale s =using a 9 x 9 block filter template
Higher order second derivative of = 1.2;
,
and
for the values after the block filtering and the image convolution, respectively
，
And
the weight value in the matrix is an empirical value in the range of 0.5-1.5, and the Det expression of the Hessian matrix is obtained as
Det(
)=
S2, for each feature point, taking the feature point as a center, drawing a circle field with 6S as a radius, wherein S is the scale of the feature point, calculating Haar wavelet responses of all the feature points in the radius in the x and y directions, and assigning a weight according to the distance between the feature point and the center point, wherein the closer the weight is, the larger the weight is; forming a new vector by the response characteristic points within the range of 60 degrees, and after traversing the whole circular area, selecting the longest vector direction as the main direction of the characteristic points;
s3, forming small interest areas by randomly selecting a plurality of points in the areas around the interest points, binarizing the gray levels of the small interest areas and analyzing the small interest areas into binary code strings, and taking string characteristics as descriptors of the characteristic points; and taking the characteristic point as a center, rotating the x direction of the coordinate axis to the main direction, selecting 1 square area of 20s multiplied by 20s according to the main direction, dividing the window area into 4 multiplied by 4 sub-areas, wherein each sub-area is 5s multiplied by 5s, and calculating the Haar wavelet response of each sub-area
And
，
and
responses in the horizontal and vertical directions, respectively, with respect to the main direction; and then to the response in the region and the absolute value of the response
，
，|
L and L
I are summed to obtain a 4-dimensional vector v = (d)
) And obtaining the meridian characteristics of the spliced plane graph according to the 4-dimensional vector.
4. The percutaneous acupoint therapy apparatus according to claim 3, wherein the acupoint determination unit comprises a standard meridian storage module for storing a plurality of existing standard meridian maps, a meridian map matching module, a reference position determination module, and a target position determination module; the image matching module is used for comparing with the existing standard meridian diagram in the storage module to find out acupuncture points; the reference position determining module is used for determining the reference position of the acupuncture point to be treated in the scaled target skin image based on the standard position of the acupuncture point to be treated in the standard human meridian diagram; the target position determining module is used for determining the acupoint target position of the acupoint to be treated according to at least two reference positions and the camera posture information.
5. The percutaneous acupoint therapy apparatus of claim 4, wherein: the target position determination unit includes:
the first angle determining sub-unit is used for calculating to obtain first angle information of a reference position corresponding to the first camera relative to the first camera according to camera angle information in the camera pose information of the first camera and the reference position in the target skin image shot by the first camera;
the Nth angle determining and dividing unit is used for calculating the Nth angle information of the reference position corresponding to the Nth camera relative to the Nth camera according to the camera angle information in the camera pose information of the Nth camera and the reference position in the target skin image shot by the Nth camera;
the coordinate information determination sub-unit is used for calculating the camera coordinate information of each camera according to the camera position information in the camera position and posture information;
and the target position determination subunit is used for calculating to obtain the acupoint target positions of the acupoints to be treated according to the coordinate information of each camera, the first angle information of the first camera and the Nth angle information of the Nth camera.
6. The percutaneous acupoint therapy apparatus of claim 5, wherein: the infrared indicating unit includes:
the irradiation angle determining module is used for determining a target infrared irradiation angle according to the infrared position information of the infrared indicating device and the target position of the acupuncture point;
and the infrared irradiation module is used for driving the infrared indicating device to emit infrared rays and driving the angle of the infrared indicating device to rotate to a target infrared irradiation angle from the infrared angle information.
7. The percutaneous acupoint therapy apparatus of any one of claims 1-6, wherein: the first rotating piece comprises a first motor, a first worm wheel and a first worm which are meshed with each other; the first worm wheel is fixedly provided with a rotating shaft, the first worm wheel is rotatably arranged on the L-shaped support frame through the rotating shaft, the central axis of the first worm wheel is vertical to the table top of the treatment couch, and the power output shaft of the first motor is fixedly connected with the first worm;
the second rotating part comprises a second motor, a second worm wheel and a second worm which are meshed with each other; the rotating shaft is fixedly provided with an installation frame, the second motor is fixedly arranged on the installation frame, the second worm wheel and the second worm are rotatably arranged on the frame, the central axis of the second worm wheel is parallel to the table top of the treatment couch, and the power output shaft of the second motor is fixedly connected with the second worm; the radial direction of second worm wheel is provided with infrared indicator, first motor and second motor all are connected with central controller electricity.
8. The percutaneous acupoint therapy apparatus of claim 7, wherein: four link of fixedly connected with on the L shape support frame, four all install the camera on the link, four the camera is the quadrangle setting.
9. The percutaneous acupoint therapy apparatus of claim 8, wherein: the utility model discloses a medical bed, including the treatment bed, be provided with two foot fixed establishment and two hand fixed establishment on the treatment bed, foot fixed establishment and hand fixed establishment structure are the same, all including fixing a bundle of binder and the second binder on the treatment bed, be provided with magic subsides hook face on the first binder, be provided with magic subsides matte on the second binder.
10. The percutaneous acupoint therapy apparatus of claim 6, wherein: the L-shaped support frame is provided with a magnetic field generator, a magnetic flux detector and a magnetic induction judging system, wherein the magnetic induction judging system comprises a first magnetic induction detecting module, a magnetic induction transmitting module, a second magnetic induction detecting module, a magnetic induction change value judging module and an electronic device judging module which are electrically connected with each other; the electronic device judging module is electrically connected with the central controller, and the central controller is also electrically connected with a buzzer alarm.
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