基于机械手的背俞穴阻抗检测系统
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摘要
经络是中医基础理论的组成部分,为中华民族的健康和发展做出了巨大贡献。腧穴分布在经络上,是人体气血输注出入的地方。其中,背俞穴位于背腰部足太阳膀胱经第一侧线上,依脏腑位置而上下排列,临床上被广泛应用于诊断脏腑疾病。本文设计了一套人体背俞穴阻抗检测系统,由机械手阻抗采集装置和PC检测平台组成。通过检测人体背俞穴阻抗,分析它与人体疾病的联系,为医疗诊断提供客观的数据。本文的主要工作包括三个部分的内容:
一、阻抗采集方案设计。在光线投射器的辅助下完成人体背俞穴的定位。然后将探测电极沿着背俞穴移动,从肺俞开始到膀胱俞结束,记录所经过穴位的阻抗数据。
二、系统软硬件设计。搭建机械手检测平台,由三个相互垂直做平移运动的机械臂、相应的控制系统、计算机和探测电极组成,从而能够保证阻抗采集时速度、压力恒定。实现了EasySMC控制器、阻抗采集设备、步进电机及驱动器等的连接和调试。编写串口通信程序完成机械手运动控制和探测电极压力的PID控制。信号发生器产生交流激励信号,通过采集装置的转换,将人体阻抗信息通过音频LineIn接口以波形文件的格式记录下来。
三、阻抗数据的处理和分析。对样本数据进行均值滤波,消除噪声干扰。使用希尔伯特变换、极值法和低通数字滤波提取音频阻抗数据的包络线,并通过转换得到人体阻抗的实际大小。对受试者同侧背俞穴阻抗连续多次测量,验证了系统的有效性。实验结果还表明正弦波信号的频率对测量结果影响较大,人体阻抗大小随着频率增大而减小;改变压力的大小,对测量结果影响不大。
目前本系统已经成功应用于杭州市中医院的临床实验当中,完成数据的采集工作,为以后进一步研究背俞穴阻抗与疾病的关系打下了良好的基础,有着广阔的应用前景。
The meridian theory is an important component of the traditional Chinese Medicine, which has contributed a lot to the health and development of Chinese natron. Acupoints are located along the meridian, where Qi-blood of human body comes in and out. Among them, Back-shu points lie along the circulation route of The Bladder Meridian of Foot-Taiyang, corresponding to the position of Zang-Fu organs. The Back-shu points are widely used to diagnose Zang-Fu diseases. The Human Body Impedance Detecting System has been designed, which consists of the manipulator for data acquisition and the PC diagnosis platform. The system aims to analyze the relationship between human body impedance and diseases, through detecting the characteristics of the impedance, and to provide objective data for medical diagnosis. This thesis is divided into three parts.
Part one: impedance acquisition design. The light projector helps to locate the Back-shu points, and then moves the detecting electrode automatically along the Back-shu points, from Feishu to Pangguangshu, recording the human body impedance at the same time.
Part two: system design. The manipulator platform is built with three mutually perpendicular arms, the corresponding control system, PC and the detecting electrode, in order to assure the stability of velocity and pressure while capturing data. The system enables us to design and debug EasySMC control, step motor and its driver, data acquisition equipment, etc. Programs of serial port communication are written to fulfill these functions: the movement control of manipulator and PID control of electrode pressure detection. The human body impedance data is recorded through the LineIn port of the PC.
Part three: data processing and analysis. The process includes denoising the audio impedance data by mean filter, and extracting the envelop of audio impedance data by Hilbert-Transform, extremum method and digital low-pass filter. Then the real human body impedance is calculated through transformation. The impedance of Back-shu points is detected for multiple times continuously, to validate the usability of the system. The experiment indicates that the frequency of sinusoidal signal influences the impedance a lot. When the frequency grows, the impedance will make a nonlinear decrease. The change of pressure within a range has very little influence on impedance.
At present, the system has been applied to clinical experiment in Hangzhou Chinese Medicine Hospital. The characteristics of impedance need further study to identify its relationship with diseases, which has already shown a bright future in application.
一、阻抗采集方案设计。在光线投射器的辅助下完成人体背俞穴的定位。然后将探测电极沿着背俞穴移动,从肺俞开始到膀胱俞结束,记录所经过穴位的阻抗数据。
二、系统软硬件设计。搭建机械手检测平台,由三个相互垂直做平移运动的机械臂、相应的控制系统、计算机和探测电极组成,从而能够保证阻抗采集时速度、压力恒定。实现了EasySMC控制器、阻抗采集设备、步进电机及驱动器等的连接和调试。编写串口通信程序完成机械手运动控制和探测电极压力的PID控制。信号发生器产生交流激励信号,通过采集装置的转换,将人体阻抗信息通过音频LineIn接口以波形文件的格式记录下来。
三、阻抗数据的处理和分析。对样本数据进行均值滤波,消除噪声干扰。使用希尔伯特变换、极值法和低通数字滤波提取音频阻抗数据的包络线,并通过转换得到人体阻抗的实际大小。对受试者同侧背俞穴阻抗连续多次测量,验证了系统的有效性。实验结果还表明正弦波信号的频率对测量结果影响较大,人体阻抗大小随着频率增大而减小;改变压力的大小,对测量结果影响不大。
目前本系统已经成功应用于杭州市中医院的临床实验当中,完成数据的采集工作,为以后进一步研究背俞穴阻抗与疾病的关系打下了良好的基础,有着广阔的应用前景。
The meridian theory is an important component of the traditional Chinese Medicine, which has contributed a lot to the health and development of Chinese natron. Acupoints are located along the meridian, where Qi-blood of human body comes in and out. Among them, Back-shu points lie along the circulation route of The Bladder Meridian of Foot-Taiyang, corresponding to the position of Zang-Fu organs. The Back-shu points are widely used to diagnose Zang-Fu diseases. The Human Body Impedance Detecting System has been designed, which consists of the manipulator for data acquisition and the PC diagnosis platform. The system aims to analyze the relationship between human body impedance and diseases, through detecting the characteristics of the impedance, and to provide objective data for medical diagnosis. This thesis is divided into three parts.
Part one: impedance acquisition design. The light projector helps to locate the Back-shu points, and then moves the detecting electrode automatically along the Back-shu points, from Feishu to Pangguangshu, recording the human body impedance at the same time.
Part two: system design. The manipulator platform is built with three mutually perpendicular arms, the corresponding control system, PC and the detecting electrode, in order to assure the stability of velocity and pressure while capturing data. The system enables us to design and debug EasySMC control, step motor and its driver, data acquisition equipment, etc. Programs of serial port communication are written to fulfill these functions: the movement control of manipulator and PID control of electrode pressure detection. The human body impedance data is recorded through the LineIn port of the PC.
Part three: data processing and analysis. The process includes denoising the audio impedance data by mean filter, and extracting the envelop of audio impedance data by Hilbert-Transform, extremum method and digital low-pass filter. Then the real human body impedance is calculated through transformation. The impedance of Back-shu points is detected for multiple times continuously, to validate the usability of the system. The experiment indicates that the frequency of sinusoidal signal influences the impedance a lot. When the frequency grows, the impedance will make a nonlinear decrease. The change of pressure within a range has very little influence on impedance.
At present, the system has been applied to clinical experiment in Hangzhou Chinese Medicine Hospital. The characteristics of impedance need further study to identify its relationship with diseases, which has already shown a bright future in application.
引文
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5 麻仲学 编.国际针灸交流手册.济南:山东科学技术出版社,1985
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