三点位同步测量中医脉诊机器人系统设计实现

脉象诊断是中医临床诊疗过程中的关键步骤之一,通过脉搏信号的微小变化反映出人体各个部位的健康状况,并预测潜在疾病隐患。设计和研究一种中医脉诊机器人,通过穿插式的导轨交错设计,实现在紧凑空间内的多自由度、多末端协同控制,使机器人能够完成寸、关、尺三点位同步脉象测量。初步的实验验证中,提出利用机器学习方法提取脉诊信号与季节的映射关系,建立了多种典型特征,并通过交叉模型进行了实验验证,将季节数据进行了显著分类。脉诊机器人系统有助于脉象分类精准化、诊断建议个性化和诊疗方法透明化。

Design and Implementation of a Three-position simultaneous Pulse Examination Robotic System

Pulse Examination is one of the fundamental techniques in traditional Chinese medicine procedures. Potential illness could be diagnosed through tiny and inconspicuous changes in pulse regularities, which imply health condition variations located in different part of a human body. In this paper, a pulse examination robotic system is proposed and tested, in order to detect pulse signals simultaneously on Cun, Guan and Chi positions on wrist. Benefited from a novel crossing guide rail design, the robot is able to complete 9-DOF movement in a compact appearance. A machine-learning based data analyzing approach is proposed to establish mapping between pulse patterns and the season of their acquisition. Preliminary experiment proved the feasibility of the robot system and the data processing method. Future application of the robot system could help improve accuracy, personality and transparency of traditional pulse examinations.