CN111076776A - Device for detecting acupuncture technique by using multi-sensing system and corresponding method - Google Patents

Abstract

The invention discloses a device and a method for detecting acupuncture and moxibustion by using a multi-sensing system, and also discloses a device and a method for detecting acupuncture and moxibustion by using a multi-sensing system. In the acupuncture detection, the piezoelectric effect is adopted to detect the force for applying the needle, the numerical value of the pressure and the numerical value of the pressure variation during the needle application can be detected, and more comprehensive acupuncture data can be obtained; in the moxibustion detection, a distributed measurement technology is adopted, the combustion process can be better reduced, the detected carbon dioxide provides chemical information of the moxibustion combustion process, the pressure sensor provides pressure information in the acupuncture bottle, and the humidity sensing provides a method for correcting temperature deviation due to pressure, so that the aim of providing more detailed data for the moxibustion analysis is fulfilled. The device provided by the invention has a compact structure, realizes the sensing of multidimensional physical quantity, and adopts a detection circuit with high integration level. The invention is suitable for the technical field of medical equipment and is used for detecting acupuncture techniques.

Description

Device and corresponding method for detecting acupuncture techniques using multi-sensing system

technical field

The invention belongs to the technical field of medical equipment and is used for detecting traditional Chinese medicine acupuncture techniques, in particular to a device and a corresponding method for detecting acupuncture techniques using a multi-sensing system.

Background technique

Acupuncture is one of the important components of oriental medicine and enjoys a high reputation in the world. In 2006, the Chinese Academy of Chinese Medical Sciences declared that acupuncture was included in the first batch of national intangible cultural heritage list.

Acupuncture is a general term for acupuncture and moxibustion. Acupuncture refers to inserting needles (usually filigree needles) into the patient's body at a certain angle under the guidance of TCM theory, and using acupuncture techniques such as twisting and lifting to stimulate specific parts of the human body to achieve the purpose of treating diseases. . Moxibustion is a prefabricated moxibustion stick or moxibustion grass that is burned and ironed on certain acupoints on the body surface, and the heat stimulation is used to prevent and treat diseases.

Acupuncture has the functions of dredging the meridians, reconciling yin and yang, strengthening the body and eliminating pathogens. Many studies have shown that it has the effect of relieving and treating chronic diseases. As one of the national cultural treasures, acupuncture and moxibustion is widely welcomed due to its wide range of application, remarkable effect, and economical cost.

If it is possible to quantitatively detect the techniques of acupuncture/moxibustion performed by old Chinese medicine practitioners, it will not only help to quantify the process of acupuncture/moxibustion by Chinese medicine practitioners, but also effectively evaluate the treatment process, and it will also help to evaluate the pros and cons of the new doctor’s treatment process. . In addition, it is beneficial to novice learning, and it is also very beneficial to the promotion and dissemination of acupuncture techniques.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a device for detecting acupuncture needles using a multi-sensing system.

The second object of the present invention is to provide a method for detecting acupuncture needles using a multi-sensing system.

The third object of the present invention is to provide a device for detecting acupuncture and moxibustion using a multi-sensing system.

The fourth object of the present invention is to provide a method for detecting acupuncture and moxibustion using a multi-sensing system.

The fifth object of the present invention is to provide a device for detecting acupuncture and moxibustion using a multi-sensing system.

The sixth object of the present invention is to provide a method for detecting acupuncture and moxibustion using a multi-sensing system.

The present invention is to realize the above-mentioned purpose, and the technical scheme adopted is as follows:

A device for detecting acupuncture needles using a multi-sensing system, comprising a first host computer, a depth camera, and a first piezoelectric sensor, a second piezoelectric sensor, a first piezoelectric sensor, a second piezoelectric sensor, and a first One to third gyroscopes, a first microcontroller, and a first communication module;

The first piezoelectric sensor is located at the pad of the middle finger/index finger of the practitioner, the first gyroscope is located at the second joint of the middle finger/index finger of the practitioner, and the second piezoelectric sensor is positioned at the pad of the thumb of the practitioner , the second gyroscope is located at the upper joint of the thumb of the acupuncturist, and the third gyroscope is located at the wrist joint of the acupuncturist;

The output ends of the first piezoelectric sensor, the second piezoelectric sensor and the first to third gyroscopes are all connected to the input end of the first microcontroller, and the first microcontroller includes a first analog-to-digital converter and the first on-chip buffer, the output of the first on-chip buffer is connected to the input of the first host computer through the first communication module;

The depth camera is connected to the image signal input end of the first host computer, and the first host computer has built-in image software matching the depth camera.

As a limitation: the first carrier is a medical glove or a medical tape.

As a second limitation: the output ends of the first piezoelectric sensor and the second piezoelectric sensor are connected to the input end of the first microcontroller through the first charge amplifying device and the second charge amplifying device, respectively.

A method for detecting acupuncture needles using a multi-sensing system is implemented by using the above-mentioned device for detecting acupuncture needles using a multi-sensing system, and the method is performed in the following order of steps:

1. When the needle applicator applies the needle, the first piezoelectric sensor and the second piezoelectric sensor respectively generate charges proportional to the twisting force and the pulling force of the middle finger/index finger and thumb, respectively, and output them to the first micro-controller At the same time, the first gyroscope and the second gyroscope respectively collect the angle data and acceleration data of the middle finger/index finger and thumb knuckle and output them to the first microcontroller; the third gyroscope collects the angle data and acceleration data of the wrist joint. Acceleration data and output to the first microcontroller;

While the above process is in progress, the depth camera collects the image information of the needle application process in real time, and sends it to the upper computer;

2. The first microcontroller converts all the received data into digital information by using the first analog-to-digital converter included in itself and outputs it to the first on-chip buffer;

3. The first on-chip buffer sends the buffered data to the first host computer through the first communication module;

4. The first host computer uses the built-in image software to reproduce the needle application image;

5. Combine the needle application image and the data received by the first host computer from the first on-chip buffer to obtain the finger twisting strength, pulling and inserting strength, acceleration and angle at any time during the needle application process, as well as the angle and acceleration of the wrist joint , and at the same time obtain the needle application time of any affected area during the needle application process.

A device for detecting acupuncture and moxibustion using a multi-sensing system, comprising a second host computer, a second microcontroller, a second communication module, an acupuncture bottle and a second carrier;

The lower part of the inner wall of the acupuncture bottle is provided with at least one pressure sensor and at least one CO ₂ sensor, and the inner wall of the bottle mouth of the acupuncture bottle is provided with at least one humidity sensor;

The second carrier is provided with at least four circularly distributed thermistors;

The output ends of the pressure sensor, the CO ₂ sensor, the humidity sensor and the thermistor are all connected with the input end of the second microcontroller, and the second microcontroller includes a second analog-to-digital converter and a second on-chip buffer;

The second on-chip buffer is connected to the input end of the second upper computer through the second communication module.

As a limitation: the second carrier is an annular medical adhesive tape, and the inner ring diameter of the annular medical adhesive tape is greater than or equal to the diameter of the mouth of the acupuncture bottle.

A method for detecting acupuncture and moxibustion using a multi-sensing system is implemented by using the above-mentioned device for detecting acupuncture and moxibustion using a multi-sensing system, and is characterized in that: the method is performed in the following order of steps:

(1) When using, place the second carrier on the affected part, and place the bottle mouth of the acupuncture bottle facing the affected part in the circle enclosed by the thermistor;

(2) The thermistor detects the temperature of the affected area in real time, and outputs the measured temperature data to the second microcontroller; at the same time, the pressure sensor and the CO ₂ sensor detect the pressure and CO ₂ concentration in the acupuncture bottle in real time, respectively, and will measure the temperature. The obtained pressure data and concentration data are output to the second microcontroller; the humidity sensor detects the humidity of the bottle mouth of the acupuncture bottle in real time, and outputs the measured humidity data to the second microcontroller;

(3) The second microcontroller converts all the received data into digital information by using the second analog-to-digital converter included in itself and outputs it to the second on-chip buffer for buffering;

(4) The second on-chip buffer sends the buffered data to the second host computer through the second communication module;

(5) The second host computer will process the received data to obtain the time-varying data of the air pressure, humidity, and CO ₂ concentration in the acupuncture bottle, as well as the time-varying data of the temperature distribution of the affected area.

A device for detecting acupuncture and moxibustion techniques using a multi-sensing system, comprising a host computer, an acupuncture method detection device and a moxibustion method detection device; wherein,

① Needle detection device

The acupuncture detection device includes a depth camera, a first piezoelectric sensor, a second piezoelectric sensor, first to third gyroscopes, a first microcontroller, a first communication module;

The first piezoelectric sensor is located at the pad of the middle finger/index finger of the practitioner, the first gyroscope is located at the second joint of the middle finger/index finger of the practitioner, and the second piezoelectric sensor is positioned at the pad of the thumb of the practitioner , the second gyroscope is located at the upper joint of the thumb of the acupuncturist, and the third gyroscope is located at the wrist joint of the acupuncturist;

The output ends of the first piezoelectric sensor, the second piezoelectric sensor and the first to third gyroscopes are all connected to the input end of the first microcontroller, and the first microcontroller includes a first analog-to-digital converter and the first on-chip buffer, the output of the first on-chip buffer is connected to the input of the host computer through the first communication module;

The depth camera is connected to the image signal input end of the host computer, and the host computer has built-in image software matching the depth camera;

②Moxibustion detection device

The moxibustion detection device includes a second microcontroller, a second communication module, an acupuncture bottle and a second carrier;

The lower part of the inner wall of the acupuncture bottle is provided with at least one pressure sensor and at least one CO ₂ sensor, and the inner wall of the bottle mouth of the acupuncture bottle is provided with at least one humidity sensor;

The second carrier is provided with at least four circularly distributed thermistors;

The output ends of the pressure sensor, the CO ₂ sensor, the humidity sensor and the thermistor are all connected with the input end of the second microcontroller, and the second microcontroller includes a second analog-to-digital converter and a second on-chip buffer;

The second on-chip buffer is connected to the input end of the upper computer through the second communication module.

A method for detecting acupuncture techniques using a multi-sensing system is implemented by using the above-mentioned device for detecting acupuncture techniques using a multi-sensing system, and the method includes an acupuncture detection method and a moxibustion method detection method;

Among them, the acupuncture detection method is carried out in the following sequence of steps:

P1. When the needle applicator applies the needle, the first piezoelectric sensor and the second piezoelectric sensor respectively generate a charge proportional to the twisting force and the pulling force of the middle finger/index finger and thumb, respectively, and output them to the first micro-controller At the same time, the first gyroscope and the second gyroscope respectively collect the angle data and acceleration data of the middle finger/index finger and thumb knuckle and output them to the first microcontroller; the third gyroscope collects the angle data and acceleration data of the wrist joint. Acceleration data and output to the first microcontroller;

While the above process is in progress, the depth camera collects the image information of the needle application process in real time, and sends it to the upper computer;

P2, the first microcontroller utilizes the first analog-to-digital converter included in itself to convert all the data received into digital information and output to the first on-chip buffer for buffering;

P3, the first on-chip buffer sends the buffered data to the host computer through the first communication module;

P4. The upper computer uses the built-in image software to reproduce the needle image;

P5. Combine the needle application image and the data received by the host computer from the first on-chip buffer to obtain the finger twisting force, pull-out force, acceleration and angle at any time during the needle application process, as well as the angle and acceleration of the wrist joint, and at the same time Obtain the needle application time of any affected area during the needle application process;

The moxibustion detection method is carried out in the following order:

S1. When in use, place the second carrier on the affected part, and place the bottle mouth of the acupuncture bottle toward the affected part in the circle enclosed by the thermistor;

S2, the thermistor detects the temperature of the affected area in real time, and outputs the measured temperature data to the second microcontroller; at the same time, the pressure sensor and the CO ₂ sensor detect the pressure and CO ₂ concentration in the acupuncture bottle in real time, respectively, and will measure the The pressure data and concentration data are output to the second microcontroller; the humidity sensor detects the humidity of the bottle mouth of the acupuncture bottle in real time, and outputs the measured humidity data to the second microcontroller;

S3, the second microcontroller converts all the data received into digital information by using the second analog-to-digital converter included in itself and outputs it to the second on-chip buffer for buffering;

S4, the second on-chip buffer sends the buffered data to the host computer through the second communication module;

S5. The host computer processes the received data to obtain the data of the air pressure, humidity and CO ₂ concentration in the acupuncture bottle changing with time, and at the same time obtaining the data of the temperature distribution of the affected area changing with time.

Because the present invention adopts the above-mentioned technical scheme, compared with the prior art, the technical progress achieved is:

(1) In the acupuncture detection, the present invention adopts the piezoelectric effect to detect the strength of the needle application, and at the same time, the subsequent signal amplification circuit can be modified according to different needs (replacement of the resistance/capacitance size), which can not only detect the pressure during needle application It can also detect the value of the pressure change, the time and cycle of the twisting needle, and can obtain more comprehensive needle method data;

(2) In the detection of moxibustion, the present invention adopts distributed measurement technology, which can better restore the combustion process, and at the same time, the detected carbon dioxide provides chemical information of the combustion process of moxibustion, and the pressure sensor provides the pressure in the acupuncture bottle. information, to achieve the purpose of providing more detailed data for the analysis of moxibustion;

(3) The device provided by the present invention has a compact structure and realizes the sensing of multi-dimensional physical quantities. The detection circuit adopted is highly integrated, which not only reduces the interference to the subject, but also realizes high-density detection in a small area. the goal of;

(4) The present invention provides a method for quantitative description of traditional Chinese medicine acupuncture techniques, and also provides a more accurate and quantitative method for training novice acupuncturists. foundation;

(5) The present invention also discloses a sensor network design method with multiple sensors, which lays a foundation for distributed sensing equipment in medicine in the future.

The invention is suitable for the technical field of medical equipment, and is used for evaluating acupuncture and moxibustion during acupuncture.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, and are used to explain the present invention together with the embodiments of the present invention, and do not constitute a limitation to the present invention.

In the attached image:

1 is a schematic circuit diagram of Embodiment 1 of the present invention;

2 is an equivalent circuit diagram of a piezoelectric sensor and a charge amplifier according to Embodiment 1 of the present invention;

3 is a schematic diagram of the distribution of piezoelectric sensors and gyroscopes according to Embodiment 1 of the present invention;

As shown in Figure 4, it is a graph of the test results of the pressure on the thumb paddle of the twisting technique during a needle application process in Example 2 of the present invention;

5 is a graph of the test results of the pressure on the index finger of the forefinger of the twisting technique in the one-time needle application process of Embodiment 2 of the present invention;

6 is a schematic circuit diagram of Embodiment 3 of the present invention;

7 is a schematic diagram of a partial structure of Embodiment 3 of the present invention;

8 is a graph showing the change of CO ₂ concentration in the acupuncture bottle with time during a moxibustion process in Example 2 of the present invention.

In the picture: 1. Glove body, 2. First piezoelectric sensor, 3. Second piezoelectric sensor, 4. First gyroscope, 5. Second gyroscope, 6. Third gyroscope, 7. Acupuncture bottle, 8. Pressure sensor, 9. CO ₂ sensor, 10. Humidity sensor, 11. Ring medical tape, 12. Thermistor.

Detailed ways

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, but not to limit the present invention.

Example 1 A device for detecting acupuncture needles using a multi-sensing system

As shown in FIGS. 1-3 , this embodiment includes a first host computer, a depth camera and medical gloves, and the output end of the depth camera is connected to the image signal input end of the first host computer. The first host computer has built-in image software matching the depth camera. The medical glove includes a glove body 1, a first piezoelectric sensor 2 mounted on the glove body 1, a second piezoelectric sensor 3, a first charge amplifier, a second charge amplifier, first to third gyroscopes 4 to 6, and a first to third gyroscopes 4 to 6. a microcontroller and a first communication module. The first microcontroller includes a first on-chip buffer and a first main control chip with a built-in first analog-to-digital converter.

The output ends of the first piezoelectric sensor 2 and the second piezoelectric sensor 3 are respectively connected to the input ends of the analog-to-digital converter through the first charge amplifier and the second charge amplifier, and the outputs of the first to third gyroscopes 4 to 6 The terminals are connected to the input terminal of the analog-to-digital converter, the output terminal of the analog-to-digital converter is connected to the input terminal of the first on-chip buffer, and the output terminal of the first on-chip buffer is connected to the first host computer through the first communication module. connected to the input. In this embodiment, the first communication module is a first wireless communication module. The first piezoelectric sensor 2 is arranged at the belly of the middle finger on the glove body 1 , the first gyroscope 4 is arranged at the second joint of the middle finger on the glove body 1 , and the second piezoelectric sensor 3 is arranged on the thumb of the glove body 1 . The second gyroscope 5 is arranged at the upper joint of the thumb on the glove body 1, and the third gyroscope 6 is arranged at the wrist joint of the glove body 1.

In this embodiment, the glove body 1 can also be replaced by medical tape, and the first piezoelectric sensor 2 and the first gyroscope 4 can be respectively arranged on the glove body 1 at the base of the index finger and on the edge of the index finger according to the habit of the needle practitioner. at the second joint. The depth camera adopts Microsoft's Kinect depth camera, and the first host computer has built-in 3D reconstruction software based on KinectFusion algorithm.

Example 2 A method for detecting acupuncture needles using a multi-sensing system

This embodiment adopts the embodiment to realize, and is carried out according to the following sequence of steps:

1. The acupuncturist first puts on the medical gloves on his hands. When the acupuncturist applies the needle, the first piezoelectric sensor 2 and the second piezoelectric sensor 3 respectively generate the twisting force of the middle finger/index finger and the thumb, pull out Charges proportional to the insertion force are respectively output to the first charge amplifier and the second charge amplifier; the first charge amplifier and the second charge amplifier respectively amplify the received charges and output them to the first analog-to-digital converter;

At the same time, the first gyroscope 4 and the second gyroscope 5 respectively collect the angle data and acceleration data of the middle finger/index finger and thumb knuckle and output them to the first analog-to-digital converter; the third gyroscope 6 collects the angle of the wrist joint data and acceleration data and output to the first analog-to-digital converter;

While the above process is in progress, the depth camera collects the image information of the needle application process in real time, and sends it to the first host computer;

2. The first analog-to-digital converter converts all the received data into digital information and outputs it to the first on-chip buffer;

3. The first on-chip buffer sends the buffered data to the first host computer through the first communication module;

4. The first host computer uses the built-in image software to reproduce the needle application image;

5. Combine the needle application image and the data received by the first host computer from the first on-chip buffer to obtain the finger twisting strength, pulling and inserting strength, acceleration and angle at any time during the needle application process, as well as the angle and acceleration of the wrist joint , and at the same time obtain the needle application time of any affected area during the needle application process.

As shown in Figure 4, it is the test result of the pressure of the thumb paddle during a needle application process, in which Figure 4a is the measured raw data, and Figure 4b is the 50Hz notch filter (the actual signal is subjected to the 50Hz power frequency The interference (from the mains) is serious and needs to be filtered at 50Hz. The waveform of the piezoelectric signal after filtering out the power frequency in the air. It can be seen from the figure that it twists about 3 times in 1 second, and generates two Peak, approximately constant force during twisting.

As shown in Figure 5, it is the test result of the pressure of the index finger and the belly of the index finger during a needle application process. Figure 5a is the measured raw data, and Figure 5b is the 50Hz notch filter (the actual signal is interfered by the 50Hz power frequency). (from the mains power supply) is serious and needs to be filtered at 50Hz) The waveform of the piezoelectric signal after filtering out the power frequency in the air, it can be seen from the figure that the slight change in the force during the needle operation can be measured with high sensitivity.

The above test results can quantify the needle application process, which can not only be used to evaluate whether the novice's operation is qualified, but also can record the needle application process of experienced needle operators for beginners to learn.

Example 3 A device for detecting acupuncture and moxibustion using a multi-sensing system

As shown in FIG. 6 and FIG. 7 , this embodiment includes a second host computer, a second microcontroller, a second communication module, an acupuncture bottle 6 and an annular medical tape 11 . The diameter of the inner ring of the annular medical tape 11 is greater than or equal to the diameter of the mouth of the acupuncture bottle 6 . The second microcontroller includes a second on-chip buffer and a second main control chip with a built-in second analog-to-digital converter.

The lower part of the inner wall of the acupuncture bottle 6 is provided with a pressure sensor 8 and a CO ₂ sensor 9, the inner wall of the bottle mouth of the acupuncture bottle 6 is provided with a humidity sensor 10, and the annular medical tape 11 is provided with six circularly distributed thermistors 12.

The outputs of the pressure sensor 8, the _CO sensor 9, the humidity sensor 10 and the thermistor 12 are all connected to the input of the second analog-to-digital converter, and the output of the second analog-to-digital converter is connected to the input of the second on-chip buffer The second on-chip buffer is connected with the input end of the second upper computer through the second communication module.

In this embodiment, the second communication module adopts a second wireless communication module. The number of pressure sensors 8, CO ₂ sensors 9, and humidity sensors 10 are all illustrated with one example, and the number can be increased according to actual needs in actual use; the number of thermistors 12 is illustrated with six examples, which can be changed according to actual needs in actual use. The number, but not less than four, when less than four, the resolution of the test results will be insufficient.

Example 4 A method for detecting acupuncture and moxibustion using a multi-sensing system

This embodiment adopts Embodiment 3 to realize, and carries out according to the following step sequence:

(1) When in use, the annular medical tape 11 is attached to the affected part, and the bottle mouth of the acupuncture bottle 6 is placed in the inner ring of the annular medical tape 11 toward the affected part;

(2) The thermistor 12 detects the temperature of the affected part in real time, and outputs the measured temperature data to the second microcontroller; at the same time, the pressure sensor 8 and the CO ₂ sensor 9 detect the pressure and CO ₂ concentration in the acupuncture bottle 6 in real time respectively. , and output the measured pressure data and concentration data to the second microcontroller; the humidity sensor 10 detects the humidity of the mouth of the acupuncture bottle 6 in real time, and outputs the measured humidity data to the second microcontroller;

(3) The second microcontroller converts all the received data into digital information by using the second analog-to-digital converter included in itself and outputs it to the second on-chip buffer for buffering;

(4) The second on-chip buffer sends the buffered data to the second host computer through the second communication module;

(5) The second host computer will process the received data to obtain the time-varying data of the air pressure, humidity, and CO ₂ concentration in the acupuncture bottle, as well as the time-varying data of the temperature distribution of the affected area.

In actual use, the above method can be used to record the information of the air pressure, _CO2 concentration, humidity and other information in the acupuncture bottle 7 under different ratios of moxa, hemp leaves, sulfur and other materials over time, and obtain the temperature of the affected area. According to the change of time, combined with the corresponding curative effect, a better material ratio combination for different diseases is given. As shown in FIG. 8 , it is a graph showing the change of CO ₂ concentration in the acupuncture bottle 7 with time during a moxibustion process.

Claims (9)

1. A device for detecting acupuncture and moxibustion acupuncture by using a multi-sensing system is characterized in that: the device comprises a first upper computer, a depth camera, a first piezoelectric sensor, a second piezoelectric sensor, a first gyroscope, a second gyroscope, a third gyroscope, a first microcontroller and a first communication module, wherein the first piezoelectric sensor, the second piezoelectric sensor, the first gyroscope, the third gyroscope, the first microcontroller and the first communication module are arranged on the same hand of a needle applier through a first carrier;

the first piezoelectric sensor is positioned at the finger pad of the middle finger/index finger of the needle applier, the first gyroscope is positioned at the second joint of the middle finger/index finger of the needle applier, the second piezoelectric sensor is positioned at the finger pad of the thumb of the needle applier, the second gyroscope is positioned at the upper joint of the thumb of the needle applier, and the third gyroscope is positioned at the wrist joint of the needle applier;

the output ends of the first piezoelectric sensor, the second piezoelectric sensor and the first gyroscope, the second gyroscope, the third gyroscope and the third gyroscope are all connected with the input end of a first microcontroller, the first microcontroller comprises a first analog-to-digital converter and a first on-chip buffer, and the output end of the first on-chip buffer is connected with the input end of a first upper computer through a first communication module;

the depth camera is connected with an image signal input end of a first upper computer, and image software matched with the depth camera is arranged in the first upper computer.

2. The apparatus for detecting acupuncture and moxibustion therapy using a multi-sensor system according to claim 1, wherein: the first carrier is a medical glove or a medical adhesive tape.

3. The apparatus for detecting acupuncture and moxibustion and needle manipulation using multi-sensing system according to claim 1 or 2, wherein: the output ends of the first piezoelectric sensor and the second piezoelectric sensor are respectively connected with the input end of the first microcontroller through a first charge amplifying electric appliance and a second charge amplifying electric appliance.

4. A method for detecting acupuncture and moxibustion techniques using a multi-sensor system, which is implemented by using the apparatus for detecting acupuncture and moxibustion techniques using a multi-sensor system according to any one of claims 1 to 3, wherein: the method is carried out according to the following steps:

when a user applies a needle, the first piezoelectric sensor and the second piezoelectric sensor respectively generate electric charges in direct proportion to the twisting force and the pulling force of the middle finger/the index finger and the thumb correspondingly and output the electric charges to the first microcontroller; meanwhile, the first gyroscope and the second gyroscope respectively and correspondingly acquire angle data and acceleration data of knuckles of the middle finger, the index finger and the thumb and output the angle data and the acceleration data to the first microcontroller; the third gyroscope collects angle data and acceleration data of the wrist joint and outputs the angle data and the acceleration data to the first microcontroller;

while the process is carried out, the depth camera collects image information of the needle application process of the needle applier in real time and sends the image information to the upper computer;

the first microcontroller converts all received data into digital information by using a first analog-to-digital converter contained in the first microcontroller and outputs the digital information to a first on-chip buffer for buffering;

thirdly, the first upper buffer sends the cached data to a first upper computer through a first communication module;

fourthly, the first upper computer reproduces the needle application image by utilizing built-in image software;

and fifthly, combining the needle application image and data received by the first upper computer from the first upper buffer to obtain the twisting force, the inserting force, the acceleration and the angle of the fingers and the angle and the acceleration of the wrist joint at any moment in the needle application process, and simultaneously obtaining the needle application time of any affected part in the needle application process.

5. A device for detecting acupuncture and moxibustion by using a multi-sensing system is characterized in that: the acupuncture device comprises a second upper computer, a second microcontroller, a second communication module, an acupuncture bottle and a second carrier;

the lower part of the inner wall of the acupuncture bottle is provided with at least one pressure sensor and at least one CO₂The sensor, the inner wall of the mouth of the acupuncture bottle is provided with at least one humidity sensor;

at least four thermistors which are distributed in a circular shape are arranged on the second carrier;

the pressure sensor and CO₂The output ends of the sensor, the humidity sensor and the thermistor are all connected with the input end of a second microcontroller, and the second microcontroller comprises a second analog-to-digital converter and a second on-chip buffer;

and the second on-chip buffer is connected with the input end of the second upper computer through a second communication module.

6. The apparatus for detecting acupuncture and moxibustion according to claim 5, wherein: the second carrier is an annular medical adhesive tape, and the diameter of the inner ring of the annular medical adhesive tape is larger than or equal to the diameter of the opening of the acupuncture bottle.

7. A method for detecting acupuncture and moxibustion using a multi-sensor system, which is implemented by using the apparatus for detecting acupuncture and moxibustion using a multi-sensor system according to claim 5 or 6, wherein: the method is carried out according to the following steps:

when in use, the second carrier is placed at the affected part, and the mouth of the acupuncture bottle faces the affected part and is placed in a circle surrounded by the thermistor;

secondly, the thermistor detects the temperature of the affected part in real time and outputs the measured temperature data to the second microcontroller; simultaneous pressure sensor, CO₂Sensor respectively detects pressure and CO in acupuncture bottle in real time₂Concentration, and outputting the measured pressure data and concentration data to a second microcontroller; the humidity sensor detects the humidity of the mouth of the acupuncture bottle in real time and outputs the detected humidity data to the second microcontroller;

thirdly, the second microcontroller converts all received data into digital information by using a second analog-to-digital converter contained in the second microcontroller and outputs the digital information to a second on-chip buffer for caching;

the second on-chip buffer sends the cached data to a second upper computer through a second communication module;

(V) the second upper computer processes the received data to obtain the air pressure, the humidity and the CO in the acupuncture bottle₂The concentration changes along with time, and the temperature distribution of the affected part changes along with time.

8. An apparatus for detecting acupuncture techniques using a multi-sensor system, comprising: comprises an upper computer, an acupuncture detection device and a moxibustion detection device; wherein,

① acupuncture detection device

The acupuncture detection device comprises a depth camera, a first piezoelectric sensor, a second piezoelectric sensor, a first gyroscope, a second gyroscope, a third gyroscope, a first microcontroller and a first communication module, wherein the first piezoelectric sensor, the second piezoelectric sensor, the first gyroscope, the third gyroscope, the first microcontroller and the first communication module are arranged on the same hand of an acusector through a first carrier;

the first piezoelectric sensor is positioned at the finger pad of the middle finger/index finger of the needle applier, the first gyroscope is positioned at the second joint of the middle finger/index finger of the needle applier, the second piezoelectric sensor is positioned at the finger pad of the thumb of the needle applier, the second gyroscope is positioned at the upper joint of the thumb of the needle applier, and the third gyroscope is positioned at the wrist joint of the needle applier;

the output ends of the first piezoelectric sensor, the second piezoelectric sensor and the first gyroscope, the second gyroscope, the third gyroscope and the third gyroscope are all connected with the input end of a first microcontroller, the first microcontroller comprises a first analog-to-digital converter and a first on-chip buffer, and the output end of the first on-chip buffer is connected with the input end of an upper computer through a first communication module;

the depth camera is connected with an image signal input end of an upper computer, and image software matched with the depth camera is arranged in the upper computer;

② moxibustion detection device

The moxibustion detection device comprises a second microcontroller, a second communication module, an acupuncture bottle and a second carrier;

the lower part of the inner wall of the acupuncture bottle is provided with at least one pressure sensor and at least one CO₂The sensor, the inner wall of the mouth of the acupuncture bottle is provided with at least one humidity sensor;

at least four thermistors which are distributed in a circular shape are arranged on the second carrier;

the pressure sensor and CO₂The output ends of the sensor, the humidity sensor and the thermistor are all connected with the input end of a second microcontroller, and the second microcontroller comprises a second analog-to-digital converter and a second on-chip buffer;

and the second on-chip buffer is connected with the input end of the upper computer through a second communication module.

9. A method for detecting an acupuncture technique using a multi-sensing system, which is implemented by the apparatus for detecting an acupuncture technique using a multi-sensing system according to claim 8, wherein: the method comprises an acupuncture detection method and a moxibustion detection method;

the method for detecting the acupuncture points comprises the following steps:

p1, when the user applies the needle, the first piezoelectric sensor and the second piezoelectric sensor respectively generate electric charges which are proportional to the twisting force and the inserting force of the middle finger/the index finger and the thumb, and output the electric charges to the first microcontroller; meanwhile, the first gyroscope and the second gyroscope respectively and correspondingly acquire angle data and acceleration data of knuckles of the middle finger, the index finger and the thumb and output the angle data and the acceleration data to the first microcontroller; the third gyroscope collects angle data and acceleration data of the wrist joint and outputs the angle data and the acceleration data to the first microcontroller;

while the process is carried out, the depth camera collects image information of the needle application process of the needle applier in real time and sends the image information to the upper computer;

p2, the first microcontroller converts all received data into digital information by using a first analog-to-digital converter contained in the first microcontroller and outputs the digital information to a first on-chip buffer for buffering;

the P3 and the first upper buffer send the cached data to the upper computer through the first communication module;

p4, the upper computer reproduces the needle-applying image by using the built-in image software;

p5, combining the needle application image and the data received by the upper computer from the first upper buffer, obtaining the twisting force, the inserting force, the acceleration and the angle of the finger, the angle and the acceleration of the wrist joint at any time in the needle application process, and simultaneously obtaining the needle application time of any affected part in the needle application process;

the moxibustion detection method is carried out according to the following steps:

s1, when in use, the second carrier is placed on the affected part, and the mouth of the acupuncture bottle is placed in a circle surrounded by the thermistor towards the affected part;

s2, detecting the temperature of the affected part in real time by the thermistor, and outputting the measured temperature data to the second microcontroller; simultaneous pressure sensor, CO₂Sensor respectively detects pressure and CO in acupuncture bottle in real time₂Concentration, and outputting the measured pressure data and concentration data to a second microcontroller; the humidity sensor detects the humidity of the mouth of the acupuncture bottle in real time and outputs the detected humidity data to the second microcontroller;

s3, the second microcontroller converts all received data into digital information by using a second analog-to-digital converter contained in the second microcontroller and outputs the digital information to a second on-chip buffer for buffering;

s4, the second on-chip buffer sends the cached data to the upper computer through the second communication module;

s5, processing the received data by the upper computer to obtain the air pressure, humidity and CO in the acupuncture bottle₂The concentration changes along with time, and the temperature distribution of the affected part changes along with time.

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