CN111494202B - Acupuncture robot and full-automatic acupuncture method - Google Patents
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- 238000001467 acupuncture Methods 0.000 title claims abstract description 130
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 2
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- 238000006243 chemical reaction Methods 0.000 description 10
- 239000010154 weishu Substances 0.000 description 5
- 101150108925 dxs2 gene Proteins 0.000 description 4
- 238000011161 development Methods 0.000 description 3
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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
- 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
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Abstract
The invention relates to the field of traditional Chinese medicine intellectualization, in particular to an acupuncture robot and a full-automatic acupuncture method. The acupuncture robot include the robot skeleton, one 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 functional module, acupuncture functional 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 traditional Chinese medicine intellectualization, in particular to the field of application of traditional Chinese medicine clinical intellectualization, and more particularly relates to an acupuncture robot and a full-automatic acupuncture method.
Background
Acupuncture is a common therapeutic means under the guidance of Chinese medicine theory. Acupuncture is a general term for acupuncture and moxibustion. The invention mainly refers to a pointer method. In traditional Chinese medicine, a doctor selects a specific acupoint as a penetration point, a needle (usually a milli-needle) is penetrated into a patient body according to a certain angle, and different penetration depths are selected according to different needs, so that a treatment effect is realized.
The two key core technologies of the most importance in the acupuncture process are accurate positioning of the acupuncture points and grasping of the penetration depth.
Robots are machine devices that automatically perform work. With the continuous development of robotics, robots are not only used to accomplish simple repetitive tasks, but intelligent robots have been developed and developed to enable robots to perform predetermined principles.
The robot composition is different according to different applications, but generally comprises an executing mechanism, a driving device, a control system and the like.
The robot controls the driving device through the control system and further controls the executing mechanism to move according to instructions in the control system.
The invention is based on the further development of such a robot with an actuator, a drive and a control system as a robot skeleton.
The intelligent robot technology is applied to the traditional Chinese medicine acupuncture scene, and can replace a middle doctor to perform acupuncture operation by using a robot, so that not only can the labor cost be saved, but also the acupuncture treatment efficiency can be improved, and simultaneously, the standardized operation of acupuncture can be advanced, thereby being beneficial to popularization and application of acupuncture.
Disclosure of Invention
The invention aims to solve the technical problems of providing an acupuncture robot and an automatic acupuncture method, thereby realizing intelligent and automatic acupuncture, solving the problem of shortage of acupuncture operators at present, improving the standardization of acupuncture operation, expanding the application range of acupuncture treatment and improving the acupuncture treatment efficiency.
In order to solve the technical problem, the invention discloses an acupuncture robot, which comprises a robot framework, wherein one end of the robot framework is a fixed end, the end is connected with a fixed seat, the other end is a functional connection end, the end is connected with an acupuncture functional module, the acupuncture functional module comprises a bracket, a thimble fixed seat is fixed on the bracket, a thimble through hole is arranged on the thimble fixed seat, and the acupuncture robot further comprises a thimble mechanism, the thimble mechanism comprises a thimble seat and a thimble, the thimble penetrates through the through hole on 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 at the end of the thimble, so that the up-and-down movement of the acupuncture needle can be realized by the movement of the thimble. Thereby realizing the acupuncture effect.
Preferably, the needle positioning device further comprises a needle opening positioning assembly, the needle opening positioning assembly comprises a needle opening positioning washer and a needle opening positioning fixing piece, the needle opening positioning fixing piece is fixed on the support and located below the thimble fixing seat, a needle opening walking space is arranged between the needle opening positioning fixing piece and the thimble fixing seat, the needle opening positioning washer is fixed on the needle opening positioning fixing piece, and an acupuncture needle through hole is formed in the middle of the needle opening positioning washer. Therefore, the positioning of the acupuncture needle before the needle falling can be performed, no deviation occurs in the descending process, and the accuracy of automatic acupuncture is improved.
Further preferably, a needle point positioning mechanism is further arranged above the needle point positioning washer, the needle point positioning mechanism is a hollow member, and the acupuncture needle passes through the acupuncture needle through hole of the needle point positioning washer after passing through the hollow structure of the needle point positioning mechanism.
By means of 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 positioning device further comprises an acupuncture needle supporting mechanism, wherein the acupuncture needle supporting mechanism comprises two end faces and a vertical part, and the two end faces are respectively attached to the contact surface of the thimble fixing seat and the contact surface of the needle opening positioning fixing piece.
Further preferably, the ejector pin mechanism further comprises an upper shell, wherein the upper shell is arranged above the ejector pin fixing seat and is used for accommodating the ejector pin fixing seat and the ejector pin mechanism therein.
Further preferably, the needle holder further comprises a lower shell, and the lower shell is arranged between the lower needle opening positioning fixing piece and the thimble fixing seat.
Further preferably, the bracket 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 needle opening positioning fixing piece is fixed in the second positioning clamping groove.
More preferably, the bracket is of a C-shaped 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-shaped structure, and a vertical supporting part is arranged between the first positioning clamping groove and the second positioning clamping groove.
Further preferably, the needle opening positioning washer is a silica gel needle opening positioning washer.
Further, the invention also discloses the robot framework which 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. Among these, a six-degree-of-freedom cooperative robot arm is preferable.
It should be noted that, the robot arm is used to move the acupuncture functional module fixedly connected to the end of the robot arm to a suitable position according to the instruction requirement, so that along with the technical development of the robot arm for realizing the movement function, the acupuncture functional module in the invention can realize better and faster movement effect by fixedly connecting with the robot arm.
In a preferred technical scheme, the robot 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 scheme, the system further comprises an image acquisition device, wherein the image acquisition device is in communication connection with the upper computer system in a wired or wireless mode.
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 acquired 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 framework.
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 upper computer system automatically calculates and obtains the movement data of the acupuncture function module of the acupuncture point which is appointed to be operated 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 movement data of the acupuncture function module obtained in the step S2 to a control system of the robot framework through the 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 position is reached, the thimble mechanism automatically drops the needle to finish the appointed acupuncture operation.
In the process of acupuncture, an acupuncture functional module is moved to a position where acupuncture is required through a robot framework, and acupuncture operation with fixed depth is completed by utilizing a thimble mechanism, so that automatic acupuncture is realized.
Further preferably, the image acquisition device is fixed directly above the human body so that complete image data of the human body can be obtained.
The method for automatically positioning the acupoints by the preferred robot comprises the following steps:
DXS1: presetting a standard acupoint map in a computer of the robot, and establishing a two-dimensional coordinate system on the standard acupoint map, so that each acupoint on the preset standard acupoint map obtains a unique and fixed coordinate value (a, b);
DXS2: acquiring coordinate synchronous mark points on the human body of the acupoint to be positioned according to the mark point information appointed in the calculation;
DXS3: feeding back the coordinate synchronous mark points obtained in DXS2 to a computer of the robot, wherein the computer respectively obtains an X-axis conversion coefficient alpha X and a Y-axis conversion coefficient alpha Y between an actual acupoint coordinate point and a standard acupoint coordinate point according to the position information of the coordinate synchronous mark points;
DXS4: obtaining coordinate values (a ', b ') of each actual acupoint position of the human body according to the X-axis conversion coefficient and the Y-axis conversion coefficient obtained in DXS3, wherein a ' =aαx; b' =bαy.
As a preferred embodiment, the method for obtaining the coordinate synchronization mark point described in DXS2 includes the following steps:
DXA1: acquiring panoramic images of a human body and a medical bed through an image grabbing tool;
DXA2: identifying human body edge lines;
DXA3: and obtaining the human body position information 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 colors of the human body and the treatment bed have obvious color differences, the color difference of the human body and the treatment bed in the image can be utilized to quickly identify and obtain the outer side edge of the human body.
As another preferred embodiment, the method for acquiring coordinate synchronization mark points described in DXS2 includes the steps of:
DXB1: the doctor attaches identification points at specific acupuncture points on the back of the human body according to the mark point information appointed in the calculation;
DXB2: and acquiring the positions of all the marking points through scanning.
Further preferably, the marker points described in step DXS2 include deriving a left shoulder midpoint location, a right shoulder midpoint location, and left and right lumbar lateral points.
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 and insert the acupoints according to the instructions of the middle doctors without manual participation, thereby completing the acupuncture operation and really realizing intelligent and automatic acupuncture. Meanwhile, the automatic acupuncture and moxibustion and robot can be used for promoting traditional Chinese medicine treatment in primary hospitals lacking middle doctors.
Drawings
Fig. 1 is a schematic view of an acupuncture robot.
Fig. 2 is a schematic diagram of acupuncture functional modules.
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 diagram of the preset back standard hole pattern in example 3.
Detailed Description
For a better understanding of the present invention, we will further describe the present invention with reference to specific examples.
Example 1
The acupuncture robot as shown in fig. 1 to 3 comprises a robot framework 1, one end of the robot framework is a fixed end, a is marked as A in the figure, the end is connected with a fixed seat 2, the other end is a functional connection end, a is marked as B in the figure, the end is connected with an acupuncture functional module 3, the acupuncture functional module comprises a bracket 4, the bracket is preferably in a C-like structure in the embodiment, and a first positioning clamping groove 5 and a second positioning clamping groove 6 are arranged on the bracket 4 as shown in fig. 2 and 3.
The support 4 is fixedly provided with a thimble fixing seat 7, and the thimble fixing seat 7 is fixed in the first positioning clamping groove 5. The needle fixing seat 7 is provided with a needle through hole 701 and further comprises a needle mechanism 8, the needle mechanism comprises a needle seat 801 and a needle 802, the needle 802 penetrates through the through hole 701 in the needle fixing seat and is fixed with the needle fixing seat 7 through the needle seat 801, and the lower end of the needle is fixed with an acupuncture needle 9.
And in this embodiment, the needle opening positioning assembly comprises a needle opening positioning washer 10 and a needle opening positioning fixing piece 11, and the needle opening positioning fixing piece 11 is fixed in the second positioning clamping groove 6 of the bracket.
As shown in fig. 3, a lower needle walking space is provided between the lower needle opening positioning fixing member 11 and the thimble fixing seat 7, a lower needle opening positioning washer 10 is fixed on the lower needle opening positioning fixing member 11, and an acupuncture needle through hole 12 is provided in the middle of the lower needle opening positioning washer 10. Therefore, the positioning of the acupuncture needle before the needle falling can be performed, no deviation occurs in the descending process, and the accuracy of automatic acupuncture is improved.
Referring again to fig. 1 and 2, the needle 9 is fixed to the end of the needle 802 so that the needle can be moved up and down by the movement of the needle. Thereby realizing the acupuncture effect.
Referring to fig. 2 and 3, it is further preferable in this embodiment that a needle tip positioning mechanism 13 is further disposed above the needle opening positioning washer 10, and particularly referring to fig. 3, the needle tip positioning mechanism 13 is a hollow member, and the acupuncture needle passes through the needle through hole of the needle opening positioning washer after passing through the hollow structure of the needle tip positioning mechanism.
By means of 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.
Further preferably in this embodiment, a needle supporting mechanism 14 is also included, as shown in fig. 1 and 2. Turning next to the exploded view of fig. 3, the needle supporting structure 14 includes two end faces 1401 and 1402 which respectively engage with the contact surface of the needle holder and the contact surface of the lower needle opening positioning fixture, and a vertical portion 1403.
Further preferably, as seen in connection with fig. 2 and 3, an upper housing 15 is also included, which is disposed above the ejector pin holder, housing the ejector pin holder and ejector pin mechanism therein. It is further preferred that the present embodiment also includes a lower housing 16 disposed between the lower port positioning fixture and the needle holder.
Example 2
Based on the embodiment 1, we further see the structure of the full-automatic acupuncture robot in the following with reference to fig. 4.
As shown in fig. 4, on the basis of the acupuncture robot, the acupuncture robot further comprises an upper computer system 17, and the control system of the robot framework is in communication connection with the upper computer system 17 in a wired or wireless mode. In this embodiment, the communication connection is performed by a wireless data transmission mode.
As shown in fig. 4, an image acquisition device 18 is also included, and the image acquisition device 18 is preferably connected to the upper computer system 17 in a wireless communication manner in this embodiment. As described in fig. 4, the image acquisition device is a camera in this embodiment, and is mounted directly above the treatment couch 19.
Example 3
The full-automatic acupuncture method disclosed in the present invention is illustrated by taking acupuncture on the Weishu acupoint on the back of a human body as an example, and comprises the following steps:
s1: acquiring a human body image through an image acquisition device;
s2: the upper computer system automatically calculates and obtains the movement data of the acupuncture function module of the acupuncture point which is appointed to be operated 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 movement data of the acupuncture function module obtained in the step S2 to a control system of the robot framework through the 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 position is reached, the thimble mechanism automatically drops the needle to finish 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 the acquired image, a data processing module for analyzing, comparing and marking the image to form movement data of the acupuncture function module, and a communication module in communication connection with a control system of the robot skeleton.
The specific process is as follows,
a preset standard acupuncture point map of the back of the human body as shown in fig. 5 is stored in the data storage module of the upper computer system. Then, a two-dimensional coordinate system is established on the standard acupuncture point map, so that each acupuncture point on the preset standard acupuncture point map obtains a unique and fixed coordinate value (a, b), and referring specifically to fig. 1, in the coordinate system, the waist yang acupuncture point is located at the origin, and thus the coordinate value of the relevant acupuncture point is obtained: waist yang guan (0, 0), dazhui acupoint (0,5.5), weishu acupoint (0.5, 1.5);
then, an actual image of the back of the human body is acquired by an image acquisition device, the outline of the human body is identified by a color difference identification method, and a required mark point is found: left shoulder midpoint position, right shoulder midpoint position, left lumbar lateral point and right lumbar lateral point.
In the standard acupoints map as shown in fig. 5, the coordinates of these four marker points are the left shoulder midpoint position (-2, 6), the right shoulder midpoint position (2, 6), and the left-side waist outside point position (-2, 0) and the right-side waist outside point position (2, 0), respectively.
The computer scan obtained that the left shoulder midpoint was 50cm from the left lumbar outboard point, the right shoulder midpoint was 50cm from the right lumbar outboard point, and the left lumbar outboard point was 30cm from the right lumbar outboard point.
Thus according to the X-axis conversion coefficient alpha x =left waist outside point distance from right waist outside point/(left waist outside point X value-right waist outside point X value), thereby obtaining X-axis conversion coefficient α x =7.5; y-axis conversion coefficient alpha y =left shoulder midpoint distance from left lumbar lateral point/left shoulder midpoint Y value or right shoulder midpoint distance from right lumbar lateral point/right shoulder midpoint Y value, thereby obtaining Y-axis conversion coefficient α y ＝50/6。
Finally, other acupoints on the back can obtain coordinate values (a ', b ') of each actual acupoint position of the human body according to the X-axis conversion coefficient and the Y-axis conversion coefficient obtained in the previous steps, wherein a ' =aα x ；b’＝bα y 。
The position of the Weishu point (0.5X 7.5,1.5X 50/6) obtained by calculating the Weishu point in the data processing module is Weishu point (3.75, 75/6), and the information is transmitted to a control system of the robot framework through the communication module.
The six-degree-of-freedom robot arm moves according to the position information, and the acupuncture needle descends at the coordinate point, so that the purpose of stomach Shu acupuncture is achieved.
What has been described above is a specific embodiment of the present invention. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (11)
1. Acupuncture robot, its characterized in that: the acupuncture robot comprises a robot framework, one end of the robot framework is a fixed end, the end is connected with a fixed seat, the other end is a functional connection end, the end is connected with an acupuncture functional module, the acupuncture functional module comprises a support, an ejector pin fixed seat is fixed on the support, an ejector pin through hole is formed in the ejector pin fixed seat, the acupuncture robot further comprises an ejector pin mechanism, the ejector pin mechanism comprises an ejector pin seat and an ejector pin, the ejector pin penetrates through the through hole in the ejector pin fixed seat and is fixed with the ejector pin fixed seat through the ejector pin seat, and an acupuncture needle is fixed at the lower end of the ejector pin;
the needle positioning device comprises a support, a needle positioning fixing seat, a needle positioning assembly and a needle positioning assembly, wherein the needle positioning assembly comprises a needle positioning gasket and a needle positioning fixing piece, the needle positioning fixing piece is fixed on the support and positioned below the needle fixing seat, a needle walking space is formed between the needle positioning fixing piece and the needle fixing seat, the needle positioning gasket is fixed on the needle positioning fixing piece, and an acupuncture needle through hole is formed in the middle of the needle positioning gasket;
the support is provided with a first positioning clamping groove, and the thimble fixing seat is fixed in the first positioning clamping groove; the bracket is provided with a second positioning clamping groove, and the needle opening positioning fixing piece is fixed in the second positioning clamping groove; the bracket is of a C-shaped 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-shaped structure, and a vertical supporting part is arranged between the first positioning clamping groove and the second positioning clamping groove;
the needle supporting mechanism comprises two end faces and a vertical part, and the two end faces are respectively attached to the contact surface of the thimble fixing seat and the contact surface of the needle opening positioning fixing piece.
2. The acupuncture robot of claim 1, wherein: the needle opening positioning gasket is a silica gel needle opening positioning gasket.
3. The acupuncture robot of claim 1, wherein: the upper part of the needle opening positioning washer is also provided with a needle point positioning mechanism, the needle point positioning mechanism is a hollow component, and an acupuncture needle passes through an acupuncture needle through hole of the needle opening positioning washer after passing through the hollow structure of the needle point positioning mechanism.
4. The acupuncture robot of claim 1, wherein: the ejector pin mechanism also comprises an upper shell, wherein the upper shell is arranged above the ejector pin fixing seat and is used for accommodating the ejector pin fixing seat and the ejector pin mechanism therein.
5. The acupuncture robot of any one of claims 2 to 4, wherein: the needle positioning device also comprises a lower shell, wherein the lower shell is arranged between the lower needle opening positioning fixing piece and the thimble fixing seat.
6. The acupuncture robot of claim 1, wherein: the robot framework 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 or a single-degree-of-freedom robot arm.
7. The acupuncture robot of claim 1, wherein: the robot framework is a six-degree-of-freedom cooperative robot arm.
8. 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.
9. The acupuncture robot of claim 8, wherein: the system also comprises an image acquisition device which is in communication connection with the upper computer system in a wired or wireless mode.
10. The acupuncture robot of claim 9, wherein: the image acquisition device is a camera.
11. The acupuncture robot of claim 9, 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 acquired 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 framework.
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| CN112025705B (en) * | 2020-08-26 | 2021-10-29 | 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 |
| US12053431B2 (en) * | 2022-08-19 | 2024-08-06 | Oriental Power Inc. | Automatic acupuncture robot |
| CN115400016B (en) | 2022-09-07 | 2024-04-23 | 河南理行合医疗科技有限公司 | Microwave physiotherapy acupuncture point moxibustion device and use method thereof |
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