基于直角坐标机器人的人体电阻抗测量系统的研究
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摘要
生物电阻抗测量技术作为一种无损检测技术,在生物医学工程中具有广泛的应用。经络和穴位的电阻抗特性测量是生物阻抗测量的一个重要研究方向,具有重要的理论意义和临床价值,也是深化经络研究的重要课题。按照中医理论,人体背俞穴可以反映出人体脏腑疾病,是经络和穴位研究的主要对象,因背俞穴具有直线分布的特点,故采用直线运动的测量方式可以较好的研究背俞穴的电阻抗特性。因此,本文设计并实现了一套计算机控制的直角坐标机器人电阻抗测量系统,并利用该系统对经络和穴位的电阻抗特性进行了实验研究,为进一步探索人体经络的电特性与疾病之间的关系提供了基础。
本文的主要研究内容有:1)经络和穴位的电阻抗测量原理的研究。对生物阻抗测量技术的发展历史、发展现状、研究方向以及生物阻抗测量的基础理论进行了相应的研究。讨论了人体经络和穴位的电阻抗测量模型和测量方法,对测量稳定性和重复性的影响因素进行详细讨论和研究。2)设计和构建了直角坐标机器人的电阻抗测量系统平台。系统包含机械系统、驱动系统、控制系统,数据采集系统等子系统,完成了测量系统的硬件设计和软件编写。系统支持单点穴位、经络的连续和离散等多种阻抗测量模式,同时可以支持多种采集设备的测量,软件的设计和编写具有较好的灵活性和扩展性。3)经络和穴位的电阻抗特性的实验研究。利用该测量系统测量经络和穴位的电阻抗特性,对经络和穴位的可重复性进行分析,讨论了测量参数对电阻抗测量的影响。
通过直角坐标机器人测量系统对经络和穴位的电阻抗实现自动化测量,减少由于主观性因素对测量结果的影响,提高了测量的效率和测量数据的稳定性和可重复性。基于这一系统平台,可以进一步研究经穴阻抗与疾病间的关系,建立相应的数学模型,结合先进的智能算法开发出智能医疗诊断系统,具有重要的理论研究价值和临床应用前景。
As a nondestructive testing technology, the detecting of bioelectrical impedance has been widely used in biomedical engineering. While the measurement of impedance at meridians and acupuncture points, which is an crucial research direction of it , is of vital importance for both theory and clinical application and to promote the study on meridians and acupuncture points. The Back-Shu points of human body always reflects the health of human according to the Chinese Traditional Medical's Theory, which make it become the mainly focused acupuncture points in the research field of meridian. For the sake of the straight line local of the Back-Shu points, the straight line mode of measurement was used for the measurement of the bio-impedance. An impedance measuring system based on computer-controlled Cartesian Robot was designed and implemented and with which the electrical property of meridians and acupuncture points were investigated.
The main research of this dissertation content includes: 1) the principle of bioelectrical impedance measurements. The developing history, current situation, research directions and the basic theory of bioelectrical impedance detection were studied. Meanwhile, the model and methods of human body impedance measurements and factors that influence stability and repetitiveness of detecting were discussed in details. 2) designing and construction of an impedance measuring system based on Cartesian-coordinate robot which is composed of mechanical part, drivers unit, control unit and data acquisition unit,etc. In addition, the hardware and software design also be included. The system supports various measuring modes, such as single acupuncture point, continuous and discrete points along meridian, and so on. To ease the extension, the software designed with great flexibility and expandability. 3) the experimental research of meridians and acupuncture points' impedance properties. Using the properties presented above, the repetitiveness of meridians and acupuncture points was analyzed. Finally, the effects of measuring parameters on impedance measurements were discussed.
With the help of the Cartesian-coordinate robot detecting system that measures automatically, the impact brought by subjectivity is tremendously decreased, which eventually improves the efficiency and the stability and repetitiveness of the acquired data. Based on this general platform, we can do further research on relationship between diseases and impedance of meridian and acupuncture points, build the corresponding mathematic model, develop intelligent medical diagnostic system combined with advanced intelligent algorithms, which definitely have extensive prospect in application.
本文的主要研究内容有:1)经络和穴位的电阻抗测量原理的研究。对生物阻抗测量技术的发展历史、发展现状、研究方向以及生物阻抗测量的基础理论进行了相应的研究。讨论了人体经络和穴位的电阻抗测量模型和测量方法,对测量稳定性和重复性的影响因素进行详细讨论和研究。2)设计和构建了直角坐标机器人的电阻抗测量系统平台。系统包含机械系统、驱动系统、控制系统,数据采集系统等子系统,完成了测量系统的硬件设计和软件编写。系统支持单点穴位、经络的连续和离散等多种阻抗测量模式,同时可以支持多种采集设备的测量,软件的设计和编写具有较好的灵活性和扩展性。3)经络和穴位的电阻抗特性的实验研究。利用该测量系统测量经络和穴位的电阻抗特性,对经络和穴位的可重复性进行分析,讨论了测量参数对电阻抗测量的影响。
通过直角坐标机器人测量系统对经络和穴位的电阻抗实现自动化测量,减少由于主观性因素对测量结果的影响,提高了测量的效率和测量数据的稳定性和可重复性。基于这一系统平台,可以进一步研究经穴阻抗与疾病间的关系,建立相应的数学模型,结合先进的智能算法开发出智能医疗诊断系统,具有重要的理论研究价值和临床应用前景。
As a nondestructive testing technology, the detecting of bioelectrical impedance has been widely used in biomedical engineering. While the measurement of impedance at meridians and acupuncture points, which is an crucial research direction of it , is of vital importance for both theory and clinical application and to promote the study on meridians and acupuncture points. The Back-Shu points of human body always reflects the health of human according to the Chinese Traditional Medical's Theory, which make it become the mainly focused acupuncture points in the research field of meridian. For the sake of the straight line local of the Back-Shu points, the straight line mode of measurement was used for the measurement of the bio-impedance. An impedance measuring system based on computer-controlled Cartesian Robot was designed and implemented and with which the electrical property of meridians and acupuncture points were investigated.
The main research of this dissertation content includes: 1) the principle of bioelectrical impedance measurements. The developing history, current situation, research directions and the basic theory of bioelectrical impedance detection were studied. Meanwhile, the model and methods of human body impedance measurements and factors that influence stability and repetitiveness of detecting were discussed in details. 2) designing and construction of an impedance measuring system based on Cartesian-coordinate robot which is composed of mechanical part, drivers unit, control unit and data acquisition unit,etc. In addition, the hardware and software design also be included. The system supports various measuring modes, such as single acupuncture point, continuous and discrete points along meridian, and so on. To ease the extension, the software designed with great flexibility and expandability. 3) the experimental research of meridians and acupuncture points' impedance properties. Using the properties presented above, the repetitiveness of meridians and acupuncture points was analyzed. Finally, the effects of measuring parameters on impedance measurements were discussed.
With the help of the Cartesian-coordinate robot detecting system that measures automatically, the impact brought by subjectivity is tremendously decreased, which eventually improves the efficiency and the stability and repetitiveness of the acquired data. Based on this general platform, we can do further research on relationship between diseases and impedance of meridian and acupuncture points, build the corresponding mathematic model, develop intelligent medical diagnostic system combined with advanced intelligent algorithms, which definitely have extensive prospect in application.
引文
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3 宫伟彦,吕婧华,任超世等.生物电阻抗测量电极的阻抗特性[J].中国组织工程研究与临床康复.2009,13(9):1653-1656
4 S.Grimnes,O.G.Matinsen.Bioimpedance And Bioelectricity Basics(2nd Edition)[M].2008,UK:Elsevier
5 任超世,崔云莉等.医学电阻抗技术的问题和发展与应用前景[J].中国医学物理杂志.1997,14(1):59-61
6 唐敏.生物电阻抗测量原理与测量技术[J].生物医学工程杂志.1997,14(2):152-155
7 K.S.Cole Electric impedance of suspensions of spheres[J].J.Gen.Physiol.1928,12(1):29-36
8 K.S.Cole,Permeability and impermeability of cell membranesforions[J].Proc.Cold Spring Harbor Symp.Quant.Biol.,vol.8,1940,pp.110-122.
9 K.S.Cole,R.H.Cole.Dispersion and absorption in dielectrics[J].J.Chem.Phys.1941,9(4):341-351
10 J.Nyboer.Impedance Cardiograms And Differentiated-Impedance Cardiograms-The Electrical Impedance Changes Of The Heart In Relation To Electrocardiograms And Heart Sounds[J].Annals of the New York Academy of Sciences,1941,170(2):421-436
11 H.P.Schwan.Determination of biological impedance[J].Physical techniques in biomedical research,1963,6(4):323-406.
12 董秀珍.生物电阻抗技术研究进展[J].中国医学物理学杂志.2004,21(6):311-317
13 王慧艳,任超世.多频率阻抗法研究血液电特性[J].中国生物医学工程学报,1997,(03).
14 任超世,沙洪,王妍.阻抗血流图测量方法的发展与提高(综述)[A].天津市生物医学工程学会2004年年会论文集[C],2005.
15 王健,杨浩,王平,董为伟.高血压性脑出血及血肿周围组织水s肿的无创性检测[J].中华医学杂志,2003,(06)
16 肖贵遐,刘国庆,彭玉平.生物电阻抗法无创监护颅内压研究[J].生物医学工程学杂志.2001,18(1):79-82
17 王慧艳,任超世.生物电阻抗法测量人体组成成分[J].国外医学生物医学工程分册.1996 19(2):96
18 Henderson RP,Webster JG.An impedance camera for spatially specific measurements of the thorax[J].IEEE Trans Biomed Eng.1978,25(3):250-254
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