CN111494202A - Acupuncture robot and full-automatic acupuncture method - Google Patents
Acupuncture robot and full-automatic acupuncture method Download PDFInfo
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- CN111494202A CN111494202A CN202010444702.4A CN202010444702A CN111494202A CN 111494202 A CN111494202 A CN 111494202A CN 202010444702 A CN202010444702 A CN 202010444702A CN 111494202 A CN111494202 A CN 111494202A
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- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/08—Devices for applying needles to such points, i.e. for acupuncture ; Acupuncture needles or accessories therefor
- A61H39/086—Acupuncture needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
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Abstract
The invention relates to the field of intellectualization of traditional Chinese medicine, in particular to an acupuncture robot and a full-automatic acupuncture method. Acupuncture robot include the robot skeleton, an end of robot skeleton is the stiff end, and this end is connected with the fixing base, and another end is the functional connection end, and this end is connected with acupuncture function module, acupuncture function module includes the support, be fixed with the thimble fixing base on the support, be provided with the thimble through-hole on the thimble fixing base, still including thimble mechanism, thimble mechanism includes thimble seat and thimble, the thimble passes the through-hole on the thimble fixing base to it is fixed with the thimble fixing base through the thimble seat, the lower extreme of thimble is fixed with the acupuncture needle. By adopting the scheme disclosed by the invention, the technical effects of automatic positioning and automatic acupuncture can be realized.
Description
Technical Field
The invention relates to the field of intellectualization of traditional Chinese medicine, in particular to the field of clinical intellectualized application of traditional Chinese medicine, and more particularly relates to an acupuncture robot and a full-automatic acupuncture method.
Background
Acupuncture and moxibustion is a common treatment method under the guidance of the theory of traditional Chinese medicine. Acupuncture and moxibustion is the general term for both acupuncture and moxibustion. The present invention mainly refers to a needling method. In traditional Chinese medicine, doctors select specific acupuncture points as puncture points, and puncture needles (usually filiform needles) into the body of a patient at a certain angle, and select different puncture depths according to different needs, thereby realizing the treatment effect.
The two most important key techniques in the acupuncture process are to precisely locate the acupuncture points and grasp the penetration depth.
A robot is a machine device that automatically performs work. With the continuous development of robot technology, the robot is not only used for completing some simple repetitive labor at present, but also the development and development of intelligent robots enable the robot to complete preset principle and outline actions.
The robot has different compositions according to different application requirements, but generally includes an actuator, a driving device, a control system, and the like.
The robot controls the drive means via the control system and further controls the actuator to move according to the instructions in the control system.
The invention is based on the further improvement of the robot with the actuator, the driving device and the control system as a robot framework.
The intelligent robot technology is applied to the traditional Chinese medicine acupuncture scene, the robot can be used for replacing a traditional Chinese medicine doctor to perform acupuncture operation, the labor cost can be saved, the acupuncture treatment efficiency can be improved, meanwhile, the standardized operation of acupuncture can be promoted, and the popularization and the application of acupuncture are facilitated.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an acupuncture robot and an automatic acupuncture method, so that intelligent and automatic acupuncture is realized, the problem of shortage of acupuncture operators can be solved, the standardization of acupuncture operation can be improved, the application range of acupuncture treatment is expanded, and the acupuncture treatment efficiency is improved.
In order to solve the technical problem, the invention discloses an acupuncture robot which comprises a robot skeleton, wherein one end of the robot skeleton is a fixed end and is connected with a fixed seat, the other end of the robot skeleton is a functional connection end and is connected with an acupuncture function module, the acupuncture function module comprises a support, a thimble fixed seat is fixed on the support, a thimble through hole is formed in the thimble fixed seat, the acupuncture function module also comprises a thimble mechanism, the thimble mechanism comprises a thimble seat and a thimble, the thimble penetrates through the through hole in the thimble fixed seat and is fixed with the thimble fixed seat through the thimble seat, and an acupuncture needle is fixed at the lower end of the thimble.
The acupuncture needle is fixed to the distal end of the ejector pin so that the up-and-down movement of the acupuncture needle can be achieved by the movement of the ejector pin. Thereby realizing the acupuncture effect.
Preferably, the acupuncture needle fixing device further comprises a lower needle opening positioning assembly, the lower needle opening positioning assembly comprises a lower needle opening positioning gasket and a lower needle opening positioning fixing piece, the lower needle opening positioning fixing piece is fixed on the support and located below the ejector pin fixing seat, a lower needle walking space is arranged between the lower needle opening positioning fixing piece and the ejector pin fixing seat, the lower needle opening positioning gasket is fixed on the lower needle opening positioning fixing piece, and an acupuncture needle through hole is formed in the middle of the lower needle opening positioning gasket. Therefore, the acupuncture needle can be positioned before being inserted, the deviation is not generated in the descending process, and the accuracy of automatic acupuncture is improved.
Preferably, a needle point positioning mechanism is further arranged above the lower needle opening positioning gasket, the needle point positioning mechanism is a hollow component, and an acupuncture needle passes through the hollow structure of the needle point positioning mechanism and then passes through an acupuncture needle through hole of the lower needle opening positioning gasket.
By using the mode, the acupuncture needle can be rigidly limited, the lower accuracy of the acupuncture needle is improved, the acupuncture needle is ensured to vertically move downwards along the central axis, and acupuncture is performed at the position corresponding to the vertical line.
In a preferred technical scheme, the acupuncture needle support structure further comprises two end faces and a vertical part, and the two end faces are respectively attached to the contact surface of the ejector pin fixing seat and the contact surface of the lower needle mouth positioning fixing part.
Further preferably, the ejector pin fixing seat further comprises an upper shell, wherein the upper shell is arranged above the ejector pin fixing seat and accommodates the ejector pin fixing seat and the ejector pin mechanism therein.
Further preferably, the lower needle opening positioning fixing piece further comprises a lower outer shell, and the lower outer shell is arranged between the lower needle opening positioning fixing piece and the ejector pin fixing seat.
Preferably, the support is provided with a first positioning clamping groove, and the thimble fixing seat is fixed in the first positioning clamping groove.
Further preferably, a second positioning clamping groove is formed in the support, and the lower needle opening positioning fixing piece is fixed in the second positioning clamping groove.
More preferably, the bracket is of a C-like structure, the first positioning clamping groove and the second positioning clamping groove are respectively positioned at the upper end and the lower end of the C-like structure, and a vertical supporting part is arranged between the first positioning clamping groove and the second positioning clamping groove.
Further preferably, the lower needle opening positioning washer is a silica gel lower needle opening positioning washer.
Furthermore, the invention also discloses that the robot skeleton is arbitrarily selected from a six-degree-of-freedom cooperative robot arm, a four-degree-of-freedom cooperative robot arm, a three-degree-of-freedom cooperative robot arm and a single-degree-of-freedom robot arm. Of which a six degree of freedom cooperative robotic arm is preferred.
It should be noted that, the robot arm is used to move the acupuncture function module fixedly connected to the end of the robot arm to a suitable position according to the command requirement, therefore, with the technical development of the robot arm for implementing the moving function, the acupuncture function module of the present invention can implement better and faster moving effect by being fixedly connected to the robot arm.
In a preferred technical scheme, the robot framework further comprises an upper computer system, and the control system of the robot framework is in communication connection with the upper computer system in a wired or wireless mode.
As a preferable technical solution, the system further comprises an image acquisition device, and the image acquisition device is in communication connection with the upper computer system in a wired or wireless manner.
Preferably, the image acquisition device is a camera.
Meanwhile, the invention also discloses a full-automatic acupuncture robot based on the acupuncture robot, wherein the upper computer system comprises a data storage module, an image information analysis module, a data processing module and a communication module; the data storage module is used for storing standard data, the image information analysis module is used for carrying out image analysis on the obtained images, the data processing module is used for analyzing, comparing and marking the images to form movement data of the acupuncture function module, and the communication module is used for being in communication connection with a control system of the robot skeleton.
The invention also discloses a full-automatic acupuncture method based on the full-automatic acupuncture robot, which comprises the following steps:
s1: acquiring a human body image through an image acquisition device;
s2: the host computer system automatically calculates and obtains acupuncture function module movement data of acupuncture points appointed for acupuncture operation according to the human body image obtained in the S1 and the standard data stored in the data storage module;
s3: the upper computer system transmits the acupuncture function module motion data obtained in the step S2 to a control system of the robot skeleton through a communication module;
s4: the robot framework moves the executing device through the control driving device according to the motion data in the control system;
s5: when the acupuncture point is reached, the thimble mechanism automatically puts the needle to complete the appointed acupuncture operation.
In the process of acupuncture, the acupuncture function module is moved to the position where acupuncture is needed through the robot skeleton, and acupuncture operation with fixed depth is completed through the ejector pin mechanism, so that automatic acupuncture is realized.
Further preferably, the image acquiring device is fixed right above the human body, so that complete image data of the human body can be acquired.
The optimal automatic acupuncture point positioning method by the robot comprises the following steps:
DXS 1: presetting a standard point diagram in a computer of a robot, and establishing a two-dimensional coordinate system on the standard point diagram, so that each point on the preset standard point diagram obtains a unique and fixed coordinate value (a, b);
DXS 2: acquiring coordinate synchronous marking points on the human body of the acupuncture points to be positioned according to the marking point information appointed in the calculation;
DXS3 feeding coordinate synchronization mark points obtained from DXS2 back to the computer of the robot, and respectively obtaining X-axis conversion coefficient α X and Y-axis conversion coefficient α Y between the actual acupuncture point coordinate points and the standard acupuncture point coordinate points according to the position information of the coordinate synchronization mark points;
and DXS4 obtaining coordinate values (a ', b') of each actual acupoint according to the X-axis transformation coefficient and the Y-axis transformation coefficient obtained in DXS3, wherein a '═ a α X and b' ═ b α Y.
As a preferred technical solution, the method for acquiring the coordinate synchronization mark point described in DXS2 includes the following steps:
DXA 1: acquiring panoramic images of a human body and a medical bed through an image capturing tool;
DXA 2: recognizing a human body edge line;
DXA 3: and obtaining the position information of the human body according to the edge line.
Further preferably, the method for identifying the edge line of the human body in the step DXA2 adopts a color difference analysis method. Because the human body and the treatment bed have obvious color difference, the outer edge of the human body can be quickly identified and obtained by utilizing the color difference of the human body and the treatment bed in the image.
As another preferred embodiment, the method for acquiring the coordinate synchronization mark point described in DXS2 includes the following steps:
DXB 1: attaching identification points to specific acupuncture points by a doctor on the back of the human body according to the marking point information specified in calculation;
DXB 2: and acquiring the positions of all the mark points through scanning.
Further preferably, the marking of the points in step DXS2 includes obtaining a left shoulder midpoint position, a right shoulder midpoint position, and a left and a right waist lateral point.
By adopting the scheme disclosed by the invention, the technical effects of automatic positioning and automatic acupuncture can be realized. The robot can automatically find acupuncture points and automatically drop acupuncture points according to the instructions of traditional Chinese medical doctors without manual participation, so that the acupuncture operation is completed, and intelligent and automatic acupuncture is really realized. Meanwhile, the automatic acupuncture and moxibustion and the robot can be used for popularizing the traditional Chinese medicine treatment in the primary hospitals lacking traditional Chinese medical doctors.
Drawings
Fig. 1 is a schematic view of an acupuncture robot.
Fig. 2 is a schematic diagram of an acupuncture function module.
Fig. 3 is an exploded view of the acupuncture function module.
Fig. 4 is a schematic view of a full-automatic acupuncture robot.
Fig. 5 is a back standard hole pattern preset in example 3.
Detailed Description
In order that the invention may be better understood, we now provide further explanation of the invention with reference to specific examples.
Example 1
The acupuncture robot as shown in fig. 1 to 3 comprises a robot frame 1, one end of the robot frame is a fixed end, which is marked as a in the figures and is connected with a fixed seat 2, the other end of the robot frame is a functional connection end, which is marked as B in the figures and is connected with an acupuncture functional module 3, the acupuncture functional module comprises a bracket 4, in this embodiment, the bracket is preferably of a C-like structure, and as shown in fig. 2 and 3, a first positioning clamping groove 5 and a second positioning clamping groove 6 are arranged on the bracket 4.
An ejector pin fixing seat 7 is fixed on the support 4, and the ejector pin fixing seat 7 is fixed in the first positioning clamping groove 5. The improved acupuncture needle device is characterized in that an ejector pin through hole 701 is formed in the ejector pin fixing seat 7, the improved acupuncture needle device further comprises an ejector pin mechanism 8, the ejector pin mechanism comprises an ejector pin base 801 and an ejector pin 802, the ejector pin 802 penetrates through the through hole 701 in the ejector pin fixing seat and is fixed with the ejector pin fixing seat 7 through the ejector pin base 801, and an acupuncture needle 9 is fixed to the lower end of the ejector pin.
Meanwhile, in this embodiment, the needle holder further preferably includes a lower needle opening positioning assembly, the lower needle opening positioning assembly includes a lower needle opening positioning washer 10 and a lower needle opening positioning fixing member 11, and the lower needle opening positioning fixing member 11 is fixed in the second positioning clamping groove 6 of the stent.
As shown in fig. 3, a lower needle running space is formed between the lower needle bed opening positioning fixing member 11 and the thimble fixing base 7, a lower needle bed opening positioning washer 10 is fixed on the lower needle bed opening positioning fixing member 11, and an acupuncture needle through hole 12 is formed in the middle of the lower needle bed opening positioning washer 10. Therefore, the acupuncture needle can be positioned before being inserted, the deviation is not generated in the descending process, and the accuracy of automatic acupuncture is improved.
Referring to fig. 1 and 2, the needle 9 is fixed to the distal end of the needle 802 such that the needle can be moved up and down by the movement of the needle. Thereby realizing the acupuncture effect.
Referring to fig. 3 and 2, it is further preferable that a needle tip positioning mechanism 13 is further provided above the lower needle opening positioning washer 10 in the present embodiment, and particularly, referring to fig. 3, the needle tip positioning mechanism 13 is a hollow member, and an acupuncture needle passes through the needle through hole of the lower needle opening positioning washer after passing through the hollow structure of the needle tip positioning mechanism.
By using the mode, the acupuncture needle can be rigidly limited, the lower accuracy of the acupuncture needle is improved, the acupuncture needle is ensured to vertically move downwards along the central axis, and acupuncture is performed at the position corresponding to the vertical line.
It is further preferred in this embodiment that a needle support mechanism 14 is further included, as shown in fig. 1 and 2. Referring to the exploded view of FIG. 3, the needle support structure 14 includes two end surfaces 1401 and 1402 which engage with the contact surface of the needle holder and the contact surface of the lower needle mount retainer, respectively, and a vertical portion 1403.
Further preferably, as seen in fig. 2 and 3, the ejector pin fixing device further includes an upper housing 15 disposed above the ejector pin fixing seat and accommodating the ejector pin fixing seat and the ejector pin mechanism therein. It is further preferable that the needle holder further includes a lower housing 16 disposed between the lower needle opening positioning and fixing member and the thimble fixing base.
Example 2
Based on embodiment 1, we further see the structure of the fully automatic acupuncture robot below with reference to fig. 4.
As shown in fig. 4, on the basis of the acupuncture robot, an upper computer system 17 is further included, and the control system of the robot skeleton is in communication connection with the upper computer system 17 in a wired or wireless manner. In this embodiment, we perform communication connection through wireless data transmission.
As shown in fig. 4, an image capturing device 18 is further included, and the image capturing device 18 is also preferably in wireless communication with the host computer system 17 in this embodiment. As illustrated in fig. 4, the image acquisition device is a camera in the present embodiment, and is installed directly above the treatment couch 19.
Example 3
The fully automatic acupuncture method disclosed in the present invention is illustrated below by taking the example of acupuncture on the Weishu acupoint on the back of a human body, and comprises the following steps:
s1: acquiring a human body image through an image acquisition device;
s2: the host computer system automatically calculates and obtains acupuncture function module movement data of acupuncture points appointed for acupuncture operation according to the human body image obtained in the S1 and the standard data stored in the data storage module;
s3: the upper computer system transmits the acupuncture function module motion data obtained in the step S2 to a control system of the robot skeleton through a communication module;
s4: the robot framework moves the executing device through the control driving device according to the motion data in the control system;
s5: when the acupuncture point is reached, the thimble mechanism automatically puts the needle to complete the appointed acupuncture operation.
The full-automatic acupuncture method in this embodiment is based on the full-automatic acupuncture robot disclosed in embodiment 2, and it should be noted that, in this embodiment, the upper computer system includes a data storage module for storing standard data, an image information analysis module for performing image analysis on an acquired image, a data processing module for analyzing, comparing and marking the image to form movement data of an acupuncture function module, and a communication module in communication connection with a control system of a robot skeleton.
The specific process is as follows,
the data storage module of the upper computer system stores a preset standard acupuncture point map of the back of the human body as shown in fig. 5. Then, a two-dimensional coordinate system is established on the standard acupoint map, so that each acupoint on the preset standard acupoint map obtains a unique and fixed coordinate value (a, b), specifically referring to fig. 1, in the coordinate system, the point of the waist-yang joint is at the origin, thus obtaining the coordinate value of the relevant acupoint: yaoyangguan (0,0), Dazhui (0,5.5), Weishu (0.5, 1.5);
then, acquiring an actual image of the back of the human body through an image acquisition device, identifying the outline of the human body through a color difference identification method, and finding a point needing to be marked: a left shoulder midpoint position, a right shoulder midpoint position, and left and right waist lateral points.
In the standard hole map as shown in fig. 5, the coordinates of these four marked points are the left shoulder midpoint position (-2,6), the right shoulder midpoint position (2,6), and the left-side lumbar lateral point position (-2,0) and the right-side lumbar lateral point position (2,0), respectively.
The distance from the center point of the left shoulder to the outer point of the left waist is 50cm, the distance from the center point of the right shoulder to the outer point of the right waist is 50cm, and the distance from the outer point of the left waist to the outer point of the right waist is 30 cm.
Thus root ofConversion factor α in terms of X-axisxThe X-axis conversion factor α is obtained by the distance between the left-side waist outside point and the right-side waist outside point/(left-side waist outside point X value — right-side waist outside point X value)x7.5, Y-axis conversion factor αyThe distance between the left shoulder midpoint and the left lumbar outer point/the left shoulder midpoint Y or the distance between the right shoulder midpoint and the right lumbar outer point/the right shoulder midpoint Y is obtained as the Y-axis transformation factor αy＝50/6。
Finally, the coordinate values (a ', b ') of each actual acupuncture point of the human body can be obtained by other acupuncture points on the back according to the X-axis transformation coefficient and the Y-axis transformation coefficient obtained in the previous steps, wherein a ' is a αx；b’＝bαy。
The Weishu points (0.5 × 7.5.5, 1.5 × 50/6) are then calculated in the data processing module to obtain the Weishu points (3.75, 75/6), and this information is transmitted to the control system of the robot skeleton via the communication module.
The robot arm with six degrees of freedom moves according to the position information, and descends the acupuncture needle at the coordinate point, thus achieving the purpose of Weishu acupoint acupuncture.
What has been described above is a specific embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (10)
1. Acupuncture robot, its characterized in that: acupuncture robot include the robot skeleton, an end of robot skeleton is the stiff end, and this end is connected with the fixing base, and another end is the functional connection end, and this end is connected with acupuncture function module, acupuncture function module includes the support, be fixed with the thimble fixing base on the support, be provided with the thimble through-hole on the thimble fixing base, still including thimble mechanism, thimble mechanism includes thimble seat and thimble, the thimble passes the through-hole on the thimble fixing base to it is fixed with the thimble fixing base through the thimble seat, the lower extreme of thimble is fixed with the acupuncture needle.
2. The acupuncture robot of claim 1, wherein: still including lower needle mouth locating component, lower needle mouth locating component includes needle mouth locating washer and lower needle mouth locating fixing piece down, needle mouth locating fixing piece fixes on the support down to be located thimble fixing base below, for lower needle walking space between needle mouth locating fixing piece and the thimble fixing base down, lower needle mouth locating washer is fixed under on needle mouth locating fixing piece, the centre of needle mouth locating washer is provided with acupuncture needle through-hole down, wherein preferred needle mouth locating washer is needle mouth locating washer under the silica gel down.
3. The acupuncture robot of claim 2, wherein: a needle point positioning mechanism is further arranged above the lower needle opening positioning gasket and is a hollow component, and an acupuncture needle passes through the hollow structure of the needle point positioning mechanism and then passes through an acupuncture needle through hole of the lower needle opening positioning gasket.
4. The acupuncture robot of claim 2, wherein: still including acupuncture needle supporting mechanism, acupuncture needle supporting mechanism includes two terminal surfaces and a vertical part, two terminal surfaces laminate with the contact surface of thimble fixing base and the contact surface of lower needle mouth location mounting respectively.
5. The acupuncture robot of claim 1, wherein: the ejector pin fixing seat is arranged above the ejector pin fixing seat, and the ejector pin fixing seat and the ejector pin mechanism are contained in the ejector pin fixing seat.
6. The acupuncture robot according to any one of claims 2 to 5, characterized in that: the lower shell is arranged between the lower needle opening positioning fixing piece and the ejector pin fixing seat.
7. The acupuncture robot of claim 1, wherein: the support is provided with a first positioning clamping groove, and the thimble fixing seat is fixed in the first positioning clamping groove; preferably and/or the bracket is provided with a second positioning clamping groove, and the lower needle opening positioning fixing piece is fixed in the second positioning clamping groove; preferably, the bracket is of a C-like structure, the first positioning clamping groove and the second positioning clamping groove are respectively positioned at the upper end and the lower end of the C-like structure, and a vertical supporting part is arranged between the first positioning clamping groove and the second positioning clamping groove.
8. The acupuncture robot of claim 1, wherein: the robot skeleton is optionally selected from a six-degree-of-freedom cooperative robot arm, a four-degree-of-freedom cooperative robot arm, a three-degree-of-freedom cooperative robot arm, and a single-degree-of-freedom robot arm. Of which a six degree of freedom cooperative robotic arm is preferred.
9. The acupuncture robot of claim 1, wherein: the robot framework control system is in communication connection with the upper computer system in a wired or wireless mode.
Further preferably, the system also comprises an image acquisition device, wherein the image acquisition device is in communication connection with an upper computer system in a wired or wireless mode; wherein preferably said image capturing means is a camera.
Further preferably, the acupuncture robot comprises an upper computer system and an image acquisition device, wherein the upper computer system comprises a data storage module, an image information analysis module, a data processing module and a communication module; the data storage module is used for storing standard data, the image information analysis module is used for carrying out image analysis on the obtained images, the data processing module is used for analyzing, comparing and marking the images to form movement data of the acupuncture function module, and the communication module is used for being in communication connection with a control system of the robot skeleton.
10. A full-automatic acupuncture method based on a full-automatic acupuncture robot comprises the following steps:
s1: acquiring a human body image through an image acquisition device;
s2: the host computer system automatically calculates and obtains acupuncture function module movement data of acupuncture points appointed for acupuncture operation according to the human body image obtained in the S1 and the standard data stored in the data storage module;
s3: the upper computer system transmits the acupuncture function module motion data obtained in the step S2 to a control system of the robot skeleton through a communication module;
s4: the robot framework moves the executing device through the control driving device according to the motion data in the control system;
s5: when the acupuncture point is reached, the thimble mechanism automatically puts the needle to complete the appointed acupuncture operation.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025705A (en) * | 2020-08-26 | 2020-12-04 | 哈尔滨理工大学 | Traditional Chinese medicine acupuncture system and method based on cooperative robot |
| CN112669371A (en) * | 2020-12-11 | 2021-04-16 | 深圳市大富智慧健康科技有限公司 | Moxibustion robot control device, system, equipment and storage medium |
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