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WO2012109824A1 - Voice chart board for health preserving of traditional chinese medicine - Google Patents

Voice chart board for health preserving of traditional chinese medicine Download PDF

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Publication number
WO2012109824A1
WO2012109824A1 PCT/CN2011/074414 CN2011074414W WO2012109824A1 WO 2012109824 A1 WO2012109824 A1 WO 2012109824A1 CN 2011074414 W CN2011074414 W CN 2011074414W WO 2012109824 A1 WO2012109824 A1 WO 2012109824A1
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chinese medicine
picture
page
tcm
printed
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PCT/CN2011/074414
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French (fr)
Chinese (zh)
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韩木春
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Han Muchun
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    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine

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  • the invention relates to a medical schematic diagram, in particular to a TCM health speech diagram.
  • the dialectical theory of Chinese medicine, the theory of human body meridians and the theory of TCM health are the spiritual and cultural treasures of the Chinese nation.
  • the dialectical theory of Chinese medicine, the theory of human body meridians and the concept of TCM health are also a theory that reflects the harmonious development of society.
  • the object of the present invention is to provide a TCM health sound map to solve the problem that the existing TCM picture logo is relatively vague and the knowledge and information contained are too small, difficult to grasp and popularize.
  • a TCM health sound map comprising a map page for printing a Chinese medicine picture and a picture frame frame for fixing the picture page, wherein the picture frame is provided with a pad.
  • the lining plate is marked with a plurality of marking points on the page, and a membrane switch is respectively disposed at a position on the back side of the drawing page and corresponding to the marking point of the drawing page; all the membrane switches are electrically connected into a matrix switch group.
  • the matrix switch is connected to the main control CPU, and the main control CPU is respectively connected to a voice memory and a voice encoder, and the sounder is connected to the voice encoder.
  • Acupuncture point identification area is printed on the picture page, and a membrane switch is respectively disposed at a position on the back side of the picture page and each marked point in the corresponding acupuncture point identification area.
  • Light-emitting diodes are respectively disposed on each of the acupoint points on the meridian acupoint map of the Chinese medicine body printed on the page.
  • the annotation entry may include a human acupoint name or a meridian name corresponding to different coded signals, acupoint selection method of the acupoint, mechanism of action of the Chinese medicine, auxiliary acupoints, and knowledge of traditional Chinese medicine or health care related to the meridian or acupoint. Wait.
  • TCM learners or mass users can easily and quickly understand and master the mechanism of action of acupuncture points of TCM meridians and acupoints of human acupoints, and at the same time obtain relevant knowledge of TCM medical and health care. In order to regulate or care for yourself or others.
  • the present invention can also be used to strengthen the learning effect of TCM theory and TCM health knowledge.
  • TCM health theory In view of the increasing storage capacity of electronic memories, relevant knowledge about TCM health theory, dialectical treatment of TCM and acupoints of human body meridians, and research results can be stored in voice memory and played by voice. come out.
  • the invention can also store some health music or mediation mental or central nervous speech in the electronic memory, and then, by playing the information, it can play a certain role in health care and physical and mental mediation.
  • the invention can enable ordinary users or Chinese medicine learners to comprehensively understand and master the related functions and functions of TCM theoretical knowledge, TCM yin and yang theory, TCM health theory and human meridian theory through the combination of drawing and sound; Chinese medicine learners or health care providers who use different languages provide a learning tool that is fast, simple, convenient and professional to learn Chinese medicine and health knowledge, which can significantly improve the learning effect and popularize Chinese medicine and health knowledge. It has brought great convenience to the promotion of traditional Chinese preventive medicine.
  • the invention has the advantages of simple structure, easy manufacture, and is suitable for practical use, and solves the problem that the existing TCM picture logo is relatively vague, the knowledge and information contained are small, and it is difficult to grasp and popularize, and is suitable for teaching and self-study in TCM theory and health care. And clinical and other aspects of the application.
  • FIG. 1 is a schematic view showing the appearance of a panel of the present invention.
  • FIG. 2 is a schematic block diagram of an electronic voice sounding mechanism of the present invention.
  • the present invention includes both the panel shown in FIG. 1 and the electronic voice sounding mechanism shown in FIG.
  • the panel portion of the present invention is provided with a lining plate in a rectangular frame frame 3, and the front surface of the lining plate is covered with a picture 1 of a printed Chinese medicine picture, which is printed on the page 1
  • a printed Chinese medicine picture which is printed on the page 1
  • TCM meridian acupoint maps TCM meridian flow note maps
  • Chinese medicine Wuxingshengke logo TCM meridian acupoint maps
  • the traditional Chinese medicine meridian acupoint map, the Chinese medicine meridian flow note map and the Chinese medicine five-line biogram logo can be printed separately on the page 1 or in any combination or all according to the requirements of the use.
  • other professional Chinese medicine pictures can also be printed for professional learners to use.
  • the matrix switch group 9 is connected to the main control CPU 6, and the main control CPU 6 is connected to the voice memory 5 and the voice encoder 7, respectively, and the output of the voice encoder 7 is connected to the sounder 8.
  • the electronic voice sounding mechanism can be powered by a dry battery; or an AC power source can be converted into a DC power supply after being transformed, rectified, and filtered.
  • a central point identification area 4 is also printed, and the back side of the page 1 corresponding to the position of each acupuncture point is also provided with a membrane switch.
  • the membrane switch in the identification zone is also electrically connected in the matrix switch block 9. The purpose of setting the acupuncture point identification area is to facilitate the search for the acupuncture points in the meridian acupoint map of the Chinese medicine body printed on the page 1.
  • a quicker way to find is to set up LEDs on each of the acupoint points on Figure 2 of the Chinese Medicine Meridian Acupoints printed on the page 1.
  • the acupuncture point name can be pressed with a finger, and the membrane switch behind the acupuncture name map surface is touched, and the sounder 8 can issue corresponding voice prompt information.
  • the light-emitting diodes disposed on the corresponding acupuncture points on the meridian point of the Chinese medicine human body are simultaneously illuminated or flashed, so that the user can immediately find the corresponding acupoint identification position on the page 1. Shorten the search time of acupuncture points on the human body.

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Abstract

A voice chart board for health preserving of traditional Chinese medicine is provided. The chart board includes: a page (1) printed with traditional Chinese medicine pictures and a chart board frame (3) for fastening the page (1). A scaleboard is set on the chart board frame (3). A plurality of identification points are labeled on the page (1). Membrane switches are provided on positions of the back of the pages (1), which are corresponding to the identification points. All the membrane switches are electrically connected to be a matrix switch group (9). The matrix switch group (9) connects with a master central processing unit (CPU) (6). The master CPU (6) connects with a voice memory (5) and a voice coder (7). A speaker (8) connects with the voice coder (7).

Description

中医养生语音图板  TCM health speech board 技术领域  Technical field
本发明涉及一种医学示意图,具体地说是一种中医养生语音图板。 The invention relates to a medical schematic diagram, in particular to a TCM health speech diagram.
背景技术  Background technique
中医的辩证施治理论、人体经络理论以及中医养生理论等是中华民族流传于世的精神和文化瑰宝。中医的辩证施治理论、人体经络理论和中医养生理念等也是体现社会和谐发展的一种理论。The dialectical theory of Chinese medicine, the theory of human body meridians and the theory of TCM health are the spiritual and cultural treasures of the Chinese nation. The dialectical theory of Chinese medicine, the theory of human body meridians and the concept of TCM health are also a theory that reflects the harmonious development of society.
在很多的中医及养生书籍中都印有一些附图及说明,这些相关的中医附图,有些还被印制成可悬挂张贴的图片,以供人们在日常的学习和工作中使用,并获取健康。但是,这些中医或养生的图片多是印制在平面纸张上的,受印刷版面的限制,在图面上所显示的相关知识和信息量都非常少,这对于中医的初学者或者普通大众来说,如果尝试在人体经络穴位图上找到某条经络或某个穴位的准确位置,就是一件不太容易的事情。而中医理论中的经络与经络、经络与穴位以及穴位与穴位之间的相互协调及配合关系,以及保健取穴方法和保健养生等相关的知识,则在标注人体经络穴位等方面的中医挂图中是无论如何都标注不下。人们只能通过对照中医图片并查阅中医书籍等方式,才能对相关的中医知识和保健养生知识有所了解和掌握。这就给中医学及养生学的教学与实践,对中医经络学说以及中医养生学的推广和应用带来很大的不便。In many Chinese medicine and health books, some drawings and descriptions are printed. Some of the relevant Chinese medicine drawings are also printed as pictures that can be posted for people to use and learn in daily study and work. health. However, most of these pictures of Chinese medicine or health care are printed on flat paper. Due to the limitation of the printed layout, the amount of relevant knowledge and information displayed on the map is very small. This is for beginners of the Chinese medicine practitioners or the general public. It is not easy to try to find the exact location of a meridian or a certain acupoint on the acupoint map of the human body. In the theory of traditional Chinese medicine, the meridians and meridians, meridians and acupoints, as well as the coordination and cooperation between acupoints and acupoints, as well as the knowledge of health acupoints and health care, are in the Chinese medicine wall maps marked with acupuncture points of the human body. It can't be labeled anyway. People can only understand and master relevant Chinese medicine knowledge and health care knowledge by comparing Chinese medicine pictures with Chinese medicine books. This will bring great inconvenience to the teaching and practice of TCM and health care, and to the promotion and application of TCM meridian theory and TCM health.
发明内容  Summary of the invention
本发明的目的就是提供一种中医养生语音图板,以解决现有中医图片标识比较模糊和所包含的知识及信息量过少、难以掌握和普及的问题。The object of the present invention is to provide a TCM health sound map to solve the problem that the existing TCM picture logo is relatively vague and the knowledge and information contained are too small, difficult to grasp and popularize.
本发明是这样实现的:一种中医养生语音图板,包括有印制中医图片的图页和固定所述图页的图板框,在所述图板框上设置有衬垫所述图页的衬板,在所述图页上标注有若干标识点,在所述图页的背面、对应图页标识点的位置处,分别设置有薄膜开关;所有薄膜开关电连接成矩阵开关组,所述矩阵开关组接主控CPU,所述主控CPU分别连接语音存储器和语音编码器,播音器与所述语音编码器相接。The present invention is implemented as follows: a TCM health sound map comprising a map page for printing a Chinese medicine picture and a picture frame frame for fixing the picture page, wherein the picture frame is provided with a pad. The lining plate is marked with a plurality of marking points on the page, and a membrane switch is respectively disposed at a position on the back side of the drawing page and corresponding to the marking point of the drawing page; all the membrane switches are electrically connected into a matrix switch group. The matrix switch is connected to the main control CPU, and the main control CPU is respectively connected to a voice memory and a voice encoder, and the sounder is connected to the voice encoder.
在所述图页上印制有中医人体经络穴位图、中医子午流注标识图和/或中医五行生克标识图。On the picture page, there are printed Chinese medicine meridian acupoint map, Chinese medicine meridian flow note map and/or Chinese medicine Wuxingshengke logo.
在所述图页上印制有穴位集中标识区,在所述图页的背面、对应穴位集中标识区中各标注点的位置处,分别设置有薄膜开关。Acupuncture point identification area is printed on the picture page, and a membrane switch is respectively disposed at a position on the back side of the picture page and each marked point in the corresponding acupuncture point identification area.
在所述图页上印制的所述中医人体经络穴位图上的每个穴位标注点上分别设置有发光二极管。Light-emitting diodes are respectively disposed on each of the acupoint points on the meridian acupoint map of the Chinese medicine body printed on the page.
当人们在查看本中医养生语音图板上的中医图片时,例如在查看人体经络穴位图时,当用手指触及到图中某条经络的标注名称或是某个人体穴位的标注名称时,其图面背后的薄膜开关即被触发,矩阵开关组即向主控CPU输出一个选通的编码信号,主控CPU根据该编码信号启动语音编码器,从语音存储器中选出对应的注解词条,通过播音器播放出来。注解词条可以包括对应于不同编码信号的人体穴位名称或经络名称,该穴位的取穴方法,中医作用机理,辅助配合用穴,以及与该经络或穴位有关联的中医医疗或养生保健知识等等。这样,就可使中医学习者或大众使用者能够简单、快速、准确和专业地了解与掌握中医经络穴位的作用机理和人体穴位的取穴方法,并同时获得相关的中医医疗及养生保健知识,以便于对自己或对他人进行调理或保健。当然,本发明也可用于强化中医理论及中医养生知识的学习效果。鉴于目前电子存储器的存储容量越来越大,所以,关于各种中医养生理论、中医辩证施治与人体经络穴位等的相关知识以及研究成果等,都可以存储到语音存储器中,并通过语音播放出来。本发明还可在电子存储器中存入一些养生音乐或调解心理或中枢神经的语音,然后,通过播放这些信息,可以起到一定的养生保健和身心调解的作用。When people are viewing the Chinese medicine picture on the TCM health picture board, for example, when viewing the meridian acupoint map of the human body, when the finger touches the label name of a meridian in the figure or the label name of a human body acupuncture point, The membrane switch behind the drawing is triggered, and the matrix switch group outputs a gated encoded signal to the main control CPU, and the main control CPU starts the speech encoder according to the encoded signal, and selects the corresponding annotation entry from the speech memory. Played out through the player. The annotation entry may include a human acupoint name or a meridian name corresponding to different coded signals, acupoint selection method of the acupoint, mechanism of action of the Chinese medicine, auxiliary acupoints, and knowledge of traditional Chinese medicine or health care related to the meridian or acupoint. Wait. In this way, TCM learners or mass users can easily and quickly understand and master the mechanism of action of acupuncture points of TCM meridians and acupoints of human acupoints, and at the same time obtain relevant knowledge of TCM medical and health care. In order to regulate or care for yourself or others. Of course, the present invention can also be used to strengthen the learning effect of TCM theory and TCM health knowledge. In view of the increasing storage capacity of electronic memories, relevant knowledge about TCM health theory, dialectical treatment of TCM and acupoints of human body meridians, and research results can be stored in voice memory and played by voice. come out. The invention can also store some health music or mediation mental or central nervous speech in the electronic memory, and then, by playing the information, it can play a certain role in health care and physical and mental mediation.
本发明可使普通用户或中医学习者通过图面与音响的结合,更全面地了解和掌握中医理论知识、中医阴阳学说、中医养生理论及人体经络学说的相关作用和功效等;并可为国内外使用不同语言的中医学习者或养生保健者提供一种快速、简单、方便和专业地学习中医及养生知识的学习工具,由此可显著地提高学习效果,并为中医及养生知识的普及,为中国传统预防医学的推广带来极大的便利。The invention can enable ordinary users or Chinese medicine learners to comprehensively understand and master the related functions and functions of TCM theoretical knowledge, TCM yin and yang theory, TCM health theory and human meridian theory through the combination of drawing and sound; Chinese medicine learners or health care providers who use different languages provide a learning tool that is fast, simple, convenient and professional to learn Chinese medicine and health knowledge, which can significantly improve the learning effect and popularize Chinese medicine and health knowledge. It has brought great convenience to the promotion of traditional Chinese preventive medicine.
本发明结构简单,易于制作,适于实用,解决了现有中医图片标识比较模糊、所包含的知识和信息量少且难以掌握和普及的问题,适于在中医理论及养生保健的教学、自学和临床等方面推广应用。The invention has the advantages of simple structure, easy manufacture, and is suitable for practical use, and solves the problem that the existing TCM picture logo is relatively vague, the knowledge and information contained are small, and it is difficult to grasp and popularize, and is suitable for teaching and self-study in TCM theory and health care. And clinical and other aspects of the application.
附图说明  DRAWINGS
图1是本发明的图板外观结构示意图。BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing the appearance of a panel of the present invention.
图2是本发明的电子语音发声机构的原理框图。2 is a schematic block diagram of an electronic voice sounding mechanism of the present invention.
具体实施方式  detailed description
本发明包括有图1所示的图板和图2所示的电子语音发声机构两大部分。The present invention includes both the panel shown in FIG. 1 and the electronic voice sounding mechanism shown in FIG.
如图1所示,本发明的图板部分是在一个矩形的图板框3中装有衬板,在衬板的前表面覆有印制中医图片的图页1,在图页1上印制有中医人体经络穴位图、中医子午流注标识图和中医五行生克标识图。中医人体经络穴位图、中医子午流注标识图和中医五行生克标识图既可单独印制在图页1上,也可根据使用要求,任意组合或者全部印制在图页1上。当然,还可印制其他的专业中医图片,供专业学习者使用。As shown in FIG. 1, the panel portion of the present invention is provided with a lining plate in a rectangular frame frame 3, and the front surface of the lining plate is covered with a picture 1 of a printed Chinese medicine picture, which is printed on the page 1 There are TCM meridian acupoint maps, TCM meridian flow note maps and Chinese medicine Wuxingshengke logo. The traditional Chinese medicine meridian acupoint map, the Chinese medicine meridian flow note map and the Chinese medicine five-line biogram logo can be printed separately on the page 1 or in any combination or all according to the requirements of the use. Of course, other professional Chinese medicine pictures can also be printed for professional learners to use.
在图页1上的中医人体经络穴位图上,每条经络和每个穴位的名称标注处即为一个标识点,在图页1的背面、对应图页标识点的位置处,分别设置有薄膜开关,所有的薄膜开关电连接成一个矩阵开关组9。On the page of the Chinese medicine meridian acupoint on the page 1, the name of each meridian and each acupuncture point is a marker point. On the back of the page 1 and the position of the corresponding point on the page, a film is respectively arranged. Switch, all membrane switches are electrically connected into a matrix switch group 9.
如图2所示,矩阵开关组9与主控CPU 6相接,主控CPU 6分别连接语音存储器5和语音编码器7,语音编码器7的输出端接至播音器8。由此构成一个电子语音发声机构。电子语音发声机构既可使用干电池供电;也可使用交流电源,再经变压、整流、滤波后,转变成直流电源供电。As shown in FIG. 2, the matrix switch group 9 is connected to the main control CPU 6, and the main control CPU 6 is connected to the voice memory 5 and the voice encoder 7, respectively, and the output of the voice encoder 7 is connected to the sounder 8. This constitutes an electronic voice sounding mechanism. The electronic voice sounding mechanism can be powered by a dry battery; or an AC power source can be converted into a DC power supply after being transformed, rectified, and filtered.
图1中,在图页1上的右下角区域,还印制有一个穴位集中标识区4,对应每个穴位标注点的位置处的图页1的背面,也分别设置有薄膜开关。该标识区内的薄膜开关也电连接在矩阵开关组9中。设置穴位集中标识区的目的,是便于对图页1中印制的中医人体经络穴位图中的穴位,根据语音提示进行查找。In Fig. 1, in the lower right corner area on the page 1, a central point identification area 4 is also printed, and the back side of the page 1 corresponding to the position of each acupuncture point is also provided with a membrane switch. The membrane switch in the identification zone is also electrically connected in the matrix switch block 9. The purpose of setting the acupuncture point identification area is to facilitate the search for the acupuncture points in the meridian acupoint map of the Chinese medicine body printed on the page 1.
更快捷的查找方式,是在图页1上印制的中医人体经络穴位图2上的每个穴位标注点上分别设置有发光二极管。这样,在穴位集中标识区4中查找到某个穴位名称后,即可用手指按下该穴位名称,该穴位名称图面背后的薄膜开关即被触动,播音器8即可发出相应的语音提示信息,同时,设置在中医人体经络穴位图2上的对应穴位标注点上的发光二极管就同时被点亮或闪亮,从而使用户马上就可以在图页1上找到对应的穴位标识位置,由此缩短了人体穴位的查找时间。A quicker way to find is to set up LEDs on each of the acupoint points on Figure 2 of the Chinese Medicine Meridian Acupoints printed on the page 1. In this way, after finding a certain acupuncture point name in the acupuncture point identification area 4, the acupuncture point name can be pressed with a finger, and the membrane switch behind the acupuncture name map surface is touched, and the sounder 8 can issue corresponding voice prompt information. At the same time, the light-emitting diodes disposed on the corresponding acupuncture points on the meridian point of the Chinese medicine human body are simultaneously illuminated or flashed, so that the user can immediately find the corresponding acupoint identification position on the page 1. Shorten the search time of acupuncture points on the human body.

Claims (4)

  1. 一种中医养生语音图板,包括有印制中医图片的图页(1)和固定所述图页(1)的图板框(3),其特征是,在所述图板框(3)上设置有衬垫所述图页(1)的衬板,在所述图页(1)上标注有若干标识点,在所述图页(1)的背面、对应图页标识点的位置处,分别设置有薄膜开关;所有薄膜开关电连接成矩阵开关组(9),所述矩阵开关组(9)接主控CPU(6),所述主控CPU(6)分别连接语音存储器(5)和语音编码器(7),播音器(8)与所述语音编码器(7)相接。 A TCM health speech board comprising a picture page (1) with a printed Chinese medicine picture and a picture frame (3) for fixing the picture page (1), characterized in that the picture frame (3) a lining plate on which the drawing sheet (1) is provided, and a plurality of marking points are marked on the drawing sheet (1) at a position on the back side of the drawing sheet (1) corresponding to the marking point of the drawing sheet Membrane switches are respectively provided; all the membrane switches are electrically connected into a matrix switch group (9), the matrix switch group (9) is connected to the main control CPU (6), and the main control CPU (6) is respectively connected to the voice memory (5) And a speech encoder (7), the broadcaster (8) is connected to the speech encoder (7).
  2. 根据权利要求1所述的中医养生语音图板,其特征是,在所述图页(1)上印制有中医人体经络穴位图、中医子午流注标识图和/或中医五行生克标识图。The TCM health sound map according to claim 1, wherein a picture of a meridian acupoint of a Chinese medicine body, a signature map of a Chinese medicine meridian flow, and/or a logo of a Chinese medicine five-line gram are printed on the page (1). .
  3. 根据权利要求2所述的中医养生语音图板,其特征是,在所述图页(1)上印制有穴位集中标识区(4),在所述图页(1)的背面、对应穴位集中标识区(4)中各标注点的位置处,分别设置有薄膜开关。The TCM health speech chart according to claim 2, characterized in that acupuncture point identification area (4) is printed on the picture (1), on the back side of the picture (1), corresponding acupuncture points At the position of each marked point in the concentrated identification area (4), a membrane switch is respectively disposed.
  4. 根据权利要求3所述的中医养生语音图板,其特征是,在所述图页(1)上印制的所述中医人体经络穴位图(2)上的每个穴位标注点上分别设置有发光二极管。The TCM health speech chart according to claim 3, wherein each of the acupoint points on the meridian acupoint map (2) of the TCM human body printed on the page (1) is respectively provided with led.
PCT/CN2011/074414 2011-02-15 2011-05-20 Voice chart board for health preserving of traditional chinese medicine WO2012109824A1 (en)

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Publication number Priority date Publication date Assignee Title
CN2038648U (en) * 1988-10-19 1989-05-31 中华盲人按摩中心 Computer meridian graph
CN1512464A (en) * 2002-12-31 2004-07-14 田芝亮 Intelligent teaching analogue system for acupuncture and moxibustion
CN2706811Y (en) * 2004-06-04 2005-06-29 王立新 Acupoint digitized model for child head face neck massage
CN201088704Y (en) * 2007-11-20 2008-07-23 杨慧 Point memory diagnosis and treatment instrument
CN101908294A (en) * 2010-08-30 2010-12-08 西安超人高仿真机器人科技有限公司 Method for designing high-emulation silica gel intelligent acupuncture and moxibustion teaching robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2038648U (en) * 1988-10-19 1989-05-31 中华盲人按摩中心 Computer meridian graph
CN1512464A (en) * 2002-12-31 2004-07-14 田芝亮 Intelligent teaching analogue system for acupuncture and moxibustion
CN2706811Y (en) * 2004-06-04 2005-06-29 王立新 Acupoint digitized model for child head face neck massage
CN201088704Y (en) * 2007-11-20 2008-07-23 杨慧 Point memory diagnosis and treatment instrument
CN101908294A (en) * 2010-08-30 2010-12-08 西安超人高仿真机器人科技有限公司 Method for designing high-emulation silica gel intelligent acupuncture and moxibustion teaching robot

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