CN112025705A - Traditional Chinese medicine acupuncture system and method based on cooperative robot - Google Patents
Traditional Chinese medicine acupuncture system and method based on cooperative robot Download PDFInfo
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- CN112025705A CN112025705A CN202010870100.5A CN202010870100A CN112025705A CN 112025705 A CN112025705 A CN 112025705A CN 202010870100 A CN202010870100 A CN 202010870100A CN 112025705 A CN112025705 A CN 112025705A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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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- 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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention relates to the field of acupuncture equipment, and discloses a traditional Chinese medicine acupuncture system and a traditional Chinese medicine acupuncture method based on a cooperative robot. The industrial personal computer is used for receiving, processing, storing and sending the control command; the I/O equipment of the industrial personal computer provides an interactive function for doctors; the binocular vision sensor provides a positioning navigation function; the cooperative robot is used for driving the tail end clamping mechanism to move to a specified position; the control cabinet controls the operation of the motors of the execution ends through a control bus; the needle bank is used for storing silver needles for acupuncture; the tail end clamping mechanism is used for clamping the silver needle to realize the functions of puncturing, lifting and inserting, twisting and pulling out. The invention can effectively reduce the labor intensity of doctors, ensure the curative effect of acupuncture and moxibustion, simultaneously reduce the training period of doctors and reduce the human resource pressure of hospitals.
Description
Technical Field
The invention relates to the field of acupuncture equipment, in particular to a traditional Chinese medicine acupuncture system and a traditional Chinese medicine acupuncture method based on a cooperative robot.
Background
Acupuncture, an important component of the theory of traditional Chinese medicine, has been used to treat human diseases for nearly three thousand years. The technology of acupuncture has higher requirements on doctors, and is extremely dependent on personal experience and imagination in the acupuncture process, so that the training period of acupuncture doctors is longer; in addition, during the acupuncture process, doctors need to perform high-speed operations such as inserting and twisting on a large number of silver needles, which consumes great physical strength of the doctors and easily causes the operation deformation of the doctors, thereby affecting the overall curative effect of the acupuncture and possibly even causing harm to patients.
In order to solve the above problems, in the prior art, an acupuncture assisting mechanism is designed to assist a doctor in completing acupuncture. However, this technique still needs more doctors to participate in the acupuncture treatment, the physical consumption of the doctors is still large, and most of the design centers of gravity are put on the optimization of the mechanical structure, which results in the application of the auxiliary mechanical structure for acupuncture and moxibustion, and often needs to satisfy certain precondition. In addition, in the prior art, a dedicated acupuncture robot is designed to assist a doctor in completing an operation, but the acupuncture robot designed under the thought usually needs a long research and development period, and the robot has poor universality and low economic benefit.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the traditional Chinese medicine acupuncture system and the traditional Chinese medicine acupuncture method based on the cooperative robot, which not only can improve the problem of application condition limitation existing in a pure mechanical structure to a certain extent, but also ensure the universality and economy of system equipment, reduce the labor intensity of doctors, shorten the training period of the doctors and ensure the acupuncture effect.
In order to achieve the purpose, the technical scheme of the invention is realized in such a way.
Traditional chinese medical science acupuncture system based on cooperation robot comprises industrial computer, industrial computer IO equipment, binocular vision sensor, cooperation robot, switch board, needle storehouse and terminal fixture, and its characterized in that includes:
the industrial personal computer is used for receiving, processing, storing and sending control instructions;
the I/O equipment of the industrial personal computer provides an interactive function for a doctor;
the binocular vision sensor provides a positioning and navigation function;
the cooperative robot is used for driving the tail end clamping mechanism to move to a specified position;
the control cabinet controls the motors of the execution ends to operate through a control bus;
the needle bank is used for storing silver needles for acupuncture;
the tail end clamping mechanism is used for clamping the silver needle to realize functions of puncturing, lifting and inserting, twisting and pulling out.
Preferably, the industrial personal computer comprises:
the industrial personal computer comprises a central processing unit, a power supply module and a storage module, wherein the storage module is required to store the following information before an operation: the human body surface acupuncture point model, the human skeleton acupuncture point model, the control and safety response instruction and the acupuncture point positioning method model.
Preferably, the control cabinet comprises:
the control cabinet consists of a control cabinet central processor, a control cabinet power module, a robot motor driver, a tail end clamping mechanism motor driver and a needle library motor driver.
Preferably, the needle library comprises:
the needle magazine is a wheel disc type rotary mechanism, the needle magazine is divided into nine small needle magazines, and each small needle magazine is respectively provided with needles, needle workers, spoon needles, sharp needles, beryllium needles, needle workers, filiform needles, long needles and big needles.
Preferably, the tip gripping mechanism includes:
the tail end clamping mechanism can finish five operations of silver needle clamping, silver needle puncturing, silver needle lifting and inserting, silver needle twisting and silver needle pulling, and parameters such as the depth, the needle inserting direction, the movement times, the angle and the speed of the silver needle can be changed at will during operation.
The invention also discloses a traditional Chinese medicine acupuncture method based on the cooperative robot, which is characterized by comprising the following steps:
s101, starting a cooperative robot acupuncture system;
s102, selecting a cooperative robot acupuncture mode;
s103, judging whether the acupuncture mode is a semi-automatic acupuncture mode, if so, skipping to S105, otherwise, carrying out the next step;
s104, judging whether the acupuncture mode is a full-automatic acupuncture mode, if so, carrying out the next step, otherwise, skipping to S102;
and S105, performing acupuncture.
Preferably, combining step S103 with step S105 includes:
when the cooperative robot-based acupuncture system enters the semi-automatic acupuncture mode, an acupuncture procedure should include:
s201, clamping silver needles in a needle library by a robot;
s202, a doctor starts a follow-up system;
s203, the doctor pulls the robot to insert the silver needle into acupuncture points;
s204, after the robot finishes lifting, inserting and twisting, loosening the silver needle;
s205, judging whether needle insertion is needed, if yes, jumping to S201, otherwise, performing the next step;
s206, resetting the robot;
s207, the doctor pulls out the needle.
Preferably, combining the step S104 and the step S105 includes:
when the cooperative robot-based acupuncture system enters the fully automatic acupuncture mode, an acupuncture procedure should include:
s301, calibrating an instrument;
s302, acquiring image information of a patient;
s303, acupuncture point positioning;
s304, the robot clamps silver needles in a needle library;
s305, the robot pierces, lifts, inserts and rotates the silver needle, and then loosens the silver needle;
s306, judging whether needle insertion is needed, if yes, jumping to S302, otherwise, performing the next step;
s307, pulling out the needle by the robot;
and S308, resetting the robot.
Preferably, the step S301 comprises
And the instrument calibration is to finish the calibration of the binocular vision sensor, and coordinate information of the tail end clamping mechanism and the patient is unified under a coordinate system of the binocular vision sensor through the visual information.
Preferably, the step S303 includes:
the acupuncture point location system provides three location methods, namely a bone degree inch-dividing point-measuring method, a human body natural mark point-measuring method and a mixed information point-measuring method, and the three different location methods correspond to two patient image information processing methods, namely a bone tracking technology and human body natural characteristic extraction.
The invention provides a traditional Chinese medicine acupuncture system and a traditional Chinese medicine acupuncture method based on a cooperative robot, wherein the system comprises an industrial personal computer used for receiving, processing, storing and sending control instructions, an industrial personal computer I/O device used for providing interaction functions for doctors, a binocular vision sensor used for providing positioning and navigation functions, the cooperative robot used for driving a tail end clamping mechanism to move to a specified position, a control cabinet used for controlling motors of all execution ends to operate through a control bus, a needle bank used for storing silver needles used for acupuncture and a tail end clamping mechanism used for clamping the silver needles to realize functions of puncturing, lifting and inserting, twisting and pulling out. Therefore, the traditional Chinese medicine acupuncture system based on the cooperative robot is used in acupuncture, the problem of limitation of application conditions existing in a pure mechanical structure is improved to a certain extent, the universality and the economy of equipment are ensured, the labor intensity of doctors is relieved, the training period of the doctors is shortened, and the acupuncture effect is ensured.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
Fig. 1 is a block diagram of the acupuncture cooperation system of the present invention.
Fig. 2 is a structural view of the acupuncture-moxibustion cooperative system of the present invention.
FIG. 3 is a schematic diagram of a control cabinet module of the present invention.
Fig. 4 is a flow chart of the cooperative robot acupuncture mode selection of the present invention.
Fig. 5 is a flow chart of the semi-automatic acupuncture mode of the present invention.
Fig. 6 is a flow chart of the full-automatic acupuncture mode of the present invention.
Detailed Description
In order to make the technical solutions of the embodiments of the present invention better understood and make the above objects, features and advantages of the present invention more comprehensible, it is described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, it is a block diagram of the acupuncture collaboration system of the present invention, which specifically includes:
the industrial personal computer I/O equipment 1 is used for providing an interactive function for a doctor;
the industrial personal computer 2 is used for receiving, processing, storing and sending control instructions;
the binocular vision sensor 3 is used for providing a positioning navigation function;
the cooperative robot 4 is used for driving the tail end clamping mechanism to move to a specified position;
the control cabinet 5 is used for controlling the operation of the motors of the execution ends through a control bus;
a needle magazine 6 for storing silver needles for acupuncture;
and the tail end clamping mechanism 7 is used for clamping the silver needle to realize the functions of puncturing, lifting and inserting, twisting and pulling out.
In the embodiment of the invention, the industrial personal computer 2 comprises a central processing unit, a power supply module and a storage module.
Further, the cooperative robot 4 has six rotary joints, and in order to ensure safety, each joint is driven by a steering engine, but the rotation angle of the steering engine can meet the angle offset required in the acupuncture process.
Further, the control cabinet 5 is composed of a control cabinet central processing unit, a control cabinet power supply module, a robot motor driver, a tail end clamping mechanism motor driver and a needle library motor driver.
Further, the needle magazine 6 is a wheel disk type rotating mechanism, which is divided into nine small needle magazines, and each small needle magazine is respectively stored with needles, a needle member, a needle spoon, a needle point, a needle beryllium, a needle member, a needle filiform needle, a needle long needle and a needle large.
Further, the terminal clamping mechanism 7 can complete five operations of silver needle clamping, silver needle puncturing, silver needle lifting and inserting, silver needle twisting and silver needle pulling, and parameters such as the depth, the needle inserting direction, the movement times, the angle and the speed of the silver needle can be changed at will during operation.
Preferably, on the basis of the acupuncture coordination system module shown in fig. 1, as shown in fig. 2, it is a structural diagram of the acupuncture coordination system of the present invention, wherein the system module already described in fig. 1 is not described herein, and in addition, the acupuncture coordination system further includes:
the display screen 11 is used for providing an interactive interface for doctors and displaying parameter information related to acupuncture points and silver needles;
a keyboard 12 for setting parameters of acupuncture points and silver needles;
the mouse 13 is used for completing clicking operations of various command buttons in the interactive interface;
the bearing vehicle 8 is used for bearing the cooperative robot 4, the control cabinet 5, the needle library 6 and the tail end clamping mechanism 7, and the bearing vehicle 8 needs to be manually pushed by a doctor, but can realize movement, rotation and locking in all directions;
a sickbed 9 for enabling the patient to lie or lie prone during the acupuncture process.
In the embodiment of the invention, the display screen 11, the keyboard 12 and the mouse 13 all belong to the components of the I/O equipment 1 of the industrial personal computer, but the components of the I/O equipment 1 of the industrial personal computer are not limited to the components, and when a doctor needs the components, the expansion of a man-machine interaction mode can be carried out, such as a voice control mode or a master-slave control mode and other interaction control modes.
Further, the cooperative robot 4 is mounted on the rear half of the loading plane of the vehicle 8, and the end holding mechanism 7 is connected to the end of the cooperative robot 4 by flange connection. During acupuncture, the cooperative robot 4 drives the end holding mechanism 7 to each designated position.
Further, the needle magazine 6 is mounted in the front half of the carriage 8 on the carriage plane, while only one of the nine needle magazines 6 is facing the base of the co-operating robot 4 at each moment, and this control is performed by the industrial control computer 2 operating the needle magazine 6 according to the parameters and programs given by the doctor.
Preferably, on the basis of the structure of the acupuncture and moxibustion cooperation system shown in fig. 2, as shown in fig. 3, the acupuncture and moxibustion cooperation system is a schematic diagram of a control cabinet module of the present invention, and specifically includes:
a control cabinet power supply module 51 for supplying electric energy to the control cabinet 5;
the control cabinet central processing unit 52 is used for reading and identifying a control instruction transmitted by the industrial personal computer 2 and then controlling the operation of the motor of each execution end through a control bus according to the control instruction;
a robot motor driver 53 for driving and controlling six steering engines installed in the cooperative robot 4, thereby completing each joint motion of the cooperative robot 4;
the tail end clamping mechanism motor driver 54 is used for driving the tail end clamping mechanism 7 to complete clamping and loosening of the silver needle;
and a needle magazine motor driver 55 for driving the needle magazine 6 to complete a rotation of a designated angle.
In the embodiment of the invention, the control cabinet central processor 52 is connected with the industrial personal computer 2 in a network cable connection mode through an expansion interface on a circuit board.
Further, feedback information about motor driving received by the control cabinet 6 is transmitted to the industrial personal computer 2 through a network cable, the industrial personal computer 2 outputs the received feedback information to the interactive interface, and the next step of movement of each motor is planned by combining with a set control instruction.
As shown in fig. 4, it is a flow chart of the cooperative robot acupuncture mode selection of the present invention, which specifically includes:
s101, starting a cooperative robot acupuncture system;
s102, selecting a cooperative robot acupuncture mode;
s103, judging whether the acupuncture mode is a semi-automatic acupuncture mode, if so, skipping to S105, otherwise, carrying out the next step;
s104, judging whether the acupuncture mode is a full-automatic acupuncture mode, if so, carrying out the next step, otherwise, skipping to S102;
and S105, performing acupuncture.
In the embodiment of the invention, before the step S101, the storage module of the industrial personal computer 2 should store the body surface acupuncture point model, the human skeleton acupuncture point model, the control and safety response instruction and the acupuncture point positioning method model. In addition, the doctor needs to place the silver needle required for acupuncture in the needle magazine 6 and then push the carriage 8 to move it to the side of the hospital bed 9, and the carriage 8 should be placed at a position satisfying the following conditions: the tail end clamping mechanism 7 can reach all acupuncture points of the patient to be acupunctured under the driving of the cooperative robot 4. Meanwhile, the doctor needs to place the binocular vision sensor 3 beside the hospital bed 9, and the binocular vision sensor 3 should be placed at a position such that it can completely photograph the body surface and the distal holding mechanism 7 images of all acupuncture sites of the patient.
Further, in step S102, the selection of the cooperative robot acupuncture mode is completed by the doctor using the industrial personal computer I/O device 1.
Further, in step S105, the acupuncture process is performed in association with the acupuncture mode selected by the doctor.
Preferably, on the basis of the cooperative robot acupuncture mode selection process shown in fig. 4, as shown in fig. 5, it is a semi-automatic acupuncture mode acupuncture flow chart of the present invention, which specifically includes:
s201, clamping silver needles in a needle library by a robot;
s202, a doctor starts a follow-up system;
s203, the doctor pulls the robot to insert the silver needle into acupuncture points;
s204, after the robot finishes lifting, inserting and twisting, loosening the silver needle;
s205, judging whether needle insertion is needed, if yes, jumping to S201, otherwise, performing the next step;
s206, resetting the robot;
s207, the doctor pulls out the needle.
In the embodiment of the present invention, when the acupuncture system is in the semi-automatic acupuncture mode, before performing step S201, a doctor needs to set parameter information using the I/O device 1 of the industrial personal computer, where the parameter information includes: the using sequence of different silver needle types in the acupuncture process, the depth variation, speed and times of inserting and the speed and times of twisting. Then, the industrial personal computer 2 transmits the control instruction to the control cabinet central processor 52 according to the use sequence of different silver needle types in the acupuncture process input by the doctor, and then the control cabinet central processor 52 controls the needle library motor driver 55 to complete the rotation of the designated angle according to the received control instruction, so that the small needle library where the silver needle of the type required to be clamped by the tail end clamping mechanism 7 is located can be directly opposite to the base of the cooperative robot 4.
Further, in step S201, the cooperative robot 4 drives the terminal holding mechanism 7 to move above the small needle magazine, and then holds the terminal of a silver needle ejected from the small needle magazine.
Further, in step S202, the doctor only needs to press the follow-up system start button at the end of the cooperative robot, so that the cooperative robot enters the follow-up mode.
Further, in step S203, the acupuncture points are completely determined by the doctor himself, and the determination of the direction, angle, speed and depth of the silver acupuncture is also performed by the doctor who pulls the cooperative robot by his personal experience.
Further, in step S204, the robot automatically completes the operations of lifting, inserting, twisting and the like of the silver needle, and completely depends on the parameter information set by the doctor before the operation and the control instruction stored in the industrial personal computer 2, and the doctor does not need to intervene in the operation process.
Further, in step S205, the main judgment of whether the system still needs to perform acupuncture is based on the usage sequence of different silver needle types in the acupuncture process set by the doctor before the operation, and when the system detects that the usage sequence has been completed, it determines that the acupuncture process has been completed without continuing the acupuncture. If the system still needs to prick the needle, the process returns to step S201, and at the same time, the industrial personal computer 2 transmits the control command to the control cabinet central processor 52 according to the kind of silver needle needed to be used in the subsequent acupuncture process, and then the control cabinet central processor 52 controls the needle magazine motor driver 55 to complete the rotation of the designated angle according to the received control command, so that the small needle magazine where the silver needle of the kind needed to be clamped by the end clamping mechanism 7 is located can be directly opposite to the base of the cooperative robot 4.
Further, in step S206, the robot reset information is part of the control command, which the doctor can modify before operation.
Further, since the silver needle inserted into the acupuncture point of the patient still needs to be inserted into the acupuncture point for a certain period of time after the lifting, inserting, twisting and the like are completed in the acupuncture process, after step S206 is completed, the silver needle inserted into the acupuncture point of the patient is automatically pulled out by the doctor in step S207, and thus, one acupuncture treatment course is finished.
Preferably, on the basis of the cooperative robot acupuncture mode selection process shown in fig. 4, as shown in fig. 6, it is a full-automatic acupuncture mode acupuncture flow chart of the present invention, which specifically includes:
s301, calibrating an instrument;
s302, acquiring image information of a patient;
s303, acupuncture point positioning;
s304, the robot clamps silver needles in a needle library;
s305, the robot pierces, lifts, inserts and rotates the silver needle, and then loosens the silver needle;
s306, judging whether needle insertion is needed, if yes, jumping to S302, otherwise, performing the next step;
s307, pulling out the needle by the robot;
and S308, resetting the robot.
In the embodiment of the present invention, when the acupuncture system is in the full-automatic acupuncture mode, before performing step S301, a doctor needs to set parameter information using the I/O device 1 of the industrial personal computer, where the parameter information includes: the using sequence of different silver needle types, acupuncture point positioning method, acupuncture angle, direction, speed and depth, inserting depth variation, speed and times, and twisting speed and times in the acupuncture process. Then, the industrial personal computer 2 transmits the control instruction to the control cabinet central processor 52 according to the use sequence of different silver needle types in the acupuncture process input by the doctor, and then the control cabinet central processor 52 controls the needle library motor driver 55 to complete the rotation of the designated angle according to the received control instruction, so that the small needle library where the silver needle of the type required to be clamped by the tail end clamping mechanism 7 is located can be directly opposite to the base of the cooperative robot 4.
Further, in step S301, the calibration of the instrument is divided into two parts, namely, the calibration and correction of the internal and external parameters of the binocular vision sensor 3, and the unification of the coordinate system of the instrument.
Specifically, the internal parameter calibration of the binocular vision sensor 3 is to obtain an internal parameter matrix containing information such as focal length and optical center by using a checkerboard calibration board, the correction of the binocular vision sensor 3 is to blend the obtained radial distortion parameters into the internal parameter matrix by using a correction method of Zhangyou, the external parameter calibration of the binocular vision sensor 3 is to obtain the position of the binocular vision sensor 3 in a world scene, but after the external parameter calibration of the binocular vision sensor 3 is completed, the absolute position of the binocular vision sensor 3 in the world scene cannot be changed. Then, the binocular vision sensor 3 unifies the relative position information of the end clamping mechanism 7 and the body surfaces of all acupuncture positions of the patient in the world scene into the coordinate system of the binocular vision sensor 3 according to the obtained internal and external parameters, the body surfaces of all acupuncture positions of the patient, the images of the end clamping mechanism 7 and the like. In the subsequent actual acupuncture process, by comparing the changes of the relative position information in different images, a corresponding control instruction can be given to the cooperative robot 4, so that the cooperative robot can move to the position above the appointed acupuncture point.
Further, in step S302, the image information of the patient collected by the binocular vision sensor 3 is mainly the body surface information of the part of the patient that needs to be subjected to acupuncture, which is also called the natural feature point information of the epidermis of the human body, and the body surface information can be processed into the bone joint coordinate information of the patient by a bone tracking technique according to the need.
Further, in step S303, three acupuncture point location methods are provided in the acupuncture system, which are: the acupoint selection method by measuring the bone size according to the inch, the acupoint selection method by human natural marks and the acupoint selection method by mixed information.
Specifically, when the system detects that the acupuncture point positioning method model set by the doctor is a human body natural mark acupoint selection method, the binocular vision sensor 3 acquires the body surface information of the patient, the body surface information is taken by the industrial personal computer 2 to be compared with the human body surface acupuncture point model, and then the specific position of the human body surface acupuncture points on the body surface of the patient is determined according to the comparison result, so that positioning is completed; secondly, when the system detects that the acupuncture point positioning method model set by a doctor is a bone-degree inch-dividing acupoint measuring method, the body surface information of a patient acquired by the binocular vision sensor 3 is converted into skeleton joint coordinate information of the patient by the industrial personal computer 2 through a skeleton tracking technology, the skeleton joint coordinate information is compared with the body skeleton point model by the industrial personal computer 2, and then the specific position of the body skeleton point on the body surface of the patient is determined through a comparison result, so that positioning is completed; finally, when the system detects that the acupuncture point positioning method model set by the doctor is a mixed information acupuncture point taking method, the body surface information of the patient obtained by the binocular vision sensor 3 is taken by the industrial personal computer 2 to be compared with the body surface acupuncture point model of the human body, and a body surface comparison result is obtained, meanwhile, the body surface information of the patient is also converted into skeleton joint coordinate information of the patient by the industrial personal computer 2 through a skeleton tracking technology, the skeleton joint coordinate information is taken by the industrial personal computer 2 to be compared with the skeleton acupuncture point model of the human body, and a skeleton comparison result is obtained, and then the specific position of the acupuncture points on the body surface of the patient is comprehensively determined through the body surface comparison result and the skeleton comparison result, so that the.
Further, in step S304, the cooperative robot 4 drives the terminal holding mechanism 7 to move above the small needle magazine, and then holds the terminal of a silver needle ejected from the small needle magazine.
Further, in step S305, the robot automatically performs operations such as insertion, lifting, inserting, twisting, and pulling out of the silver needle, completely depending on the parameter information set by the doctor before the operation and the control command stored in the industrial personal computer 2, without intervention of the doctor during the operation.
Further, in step S306, whether the system still needs to perform acupuncture is mainly determined according to the use sequence of different silver needle types in the acupuncture process set by the doctor before the operation, and when the system detects that the use sequence is completed, it is determined that the acupuncture process is completed without continuing the acupuncture. If the system still needs to prick the needle, the process returns to step S302, and at the same time, the industrial personal computer 2 transmits the control command to the control cabinet central processor 52 according to the kind of silver needle needed to be used in the subsequent acupuncture process, and then the control cabinet central processor 52 controls the needle magazine motor driver 55 to complete the rotation of the designated angle according to the received control command, so that the small needle magazine where the silver needle of the kind needed to be clamped by the end clamping mechanism 7 is located can be directly opposite to the base of the cooperative robot 4.
Further, in step S307, the cooperative robot 4 may drive the end holding mechanism 7 to complete the autonomous needle pulling operation by the silver needle position information obtained when the silver needle is inserted. In addition, when the needle is pulled out, the direction, the angle and the speed of pulling the needle are consistent with those when the silver needle is inserted.
Further, in step S308, the robot reset information is part of the control command, which the doctor can modify before operation. At this point, one acupuncture treatment course is finished.
In conclusion, according to the traditional Chinese medicine acupuncture system and the traditional Chinese medicine acupuncture method based on the cooperative robot, a doctor can complete an acupuncture process together with the cooperative robot, the whole process is simple and convenient, the acupuncture curative effect is stable and reliable, the labor intensity of the doctor is reduced, the training period of the doctor is shortened, and in addition, the application condition limitation problem existing in a pure mechanical structure can be improved to a certain extent by applying the cooperative robot, and the universality and the economy of equipment are also ensured.
The foregoing is a more detailed description of the invention in connection with specific embodiments thereof, and the specific embodiments thereof are not to be considered as limited by the foregoing description. For a person skilled in the art, several non-inventive variants or alterations without departing from the inventive concept should be considered as being within the scope of protection determined by the claims as filed.
Claims (10)
1. Traditional chinese medical science acupuncture system based on cooperation robot comprises industrial computer, industrial computer IO equipment, binocular vision sensor, cooperation robot, switch board, needle storehouse and terminal fixture, and its characterized in that includes:
the industrial personal computer is used for receiving, processing, storing and sending control instructions;
the I/O equipment of the industrial personal computer provides an interactive function for a doctor;
the binocular vision sensor provides a positioning and navigation function;
the cooperative robot is used for driving the tail end clamping mechanism to move to a specified position;
the control cabinet controls the motors of the execution ends to operate through a control bus;
the needle bank is used for storing acupuncture needles for acupuncture;
the tail end clamping mechanism is used for clamping the acupuncture needle to realize the functions of insertion, lifting and inserting, twisting and pulling out.
2. The cooperative robot-based traditional Chinese medicine acupuncture system of claim 1, wherein the industrial personal computer comprises:
the industrial personal computer comprises a central processing unit, a power supply module and a storage module, wherein the storage module is required to store the following information before an operation: the human body surface acupuncture point model, the human skeleton acupuncture point model, the control and safety response instruction and the acupuncture point positioning method model.
3. The cooperative robot based acupuncture and moxibustion system of traditional Chinese medicine of claim 1, wherein the control cabinet comprises:
the control cabinet consists of a control cabinet central processor, a control cabinet power module, a robot motor driver, a tail end clamping mechanism motor driver and a needle library motor driver.
4. The cooperative robot based acupuncture system of traditional Chinese medicine according to claim 1, wherein the needle library comprises:
the needle library is a wheel disc type rotary mechanism, and is divided into nine small needle libraries, wherein each small needle library is respectively stored with needles, needle workers, needle spoon, needle point, needle beryllium, needle workers, needle filiform needles, needle long and needle large;
in addition, a certain amount of medical alcohol disinfectant is filled in each small needle bank, and more than two thirds of acupuncture needles stored in each small needle bank are soaked in the medical alcohol disinfectant.
5. The cooperative robot based acupuncture system of traditional Chinese medicine of claim 1, wherein the tip gripping mechanism comprises:
the tail end clamping mechanism can finish five operations of clamping an acupuncture needle, inserting the acupuncture needle, lifting and inserting the acupuncture needle, twisting the acupuncture needle and pulling out the acupuncture needle, and parameters such as the depth, the needle inserting direction, the movement times, the angle and the speed of the acupuncture needle can be changed at will during the operation.
6. The traditional Chinese medicine acupuncture method based on the cooperative robot is characterized by comprising the following steps:
s101, starting a cooperative robot acupuncture system;
s102, selecting a cooperative robot acupuncture mode;
s103, judging whether the acupuncture mode is a semi-automatic acupuncture mode, if so, skipping to S105, otherwise, carrying out the next step;
s104, judging whether the acupuncture mode is a full-automatic acupuncture mode, if so, carrying out the next step, otherwise, skipping to S102;
and S105, performing acupuncture.
7. The cooperative robot based acupuncture method of traditional Chinese medicine according to claim 6, wherein combining the step S103 and the step S105 comprises:
when the cooperative robot-based acupuncture system enters the semi-automatic acupuncture mode, an acupuncture procedure should include:
s201, clamping acupuncture needles in a needle bank by a robot;
s202, a doctor starts a follow-up system;
s203, the doctor pulls the robot to insert the acupuncture needle into the acupuncture point;
s204, after the robot finishes lifting, inserting and twisting, loosening the acupuncture needle;
s205, judging whether needle insertion is needed, if yes, jumping to S201, otherwise, performing the next step;
s206, resetting the robot;
s207, the doctor pulls out the needle.
8. The cooperative robot based acupuncture method of traditional Chinese medicine according to claim 6, wherein combining the steps S104 and S105 comprises:
when the cooperative robot-based acupuncture system enters the fully automatic acupuncture mode, an acupuncture procedure should include:
s301, calibrating an instrument;
s302, acquiring image information of a patient;
s303, acupuncture point positioning;
s304, the robot clamps acupuncture needles in the needle bank;
s305, the acupuncture needle is inserted, lifted, inserted and rotated by the robot and then released;
s306, judging whether needle insertion is needed, if yes, jumping to S302, otherwise, performing the next step;
s307, pulling out the needle by the robot;
and S308, resetting the robot.
9. The cooperative robot based acupuncture method of traditional Chinese medicine according to claim 8, wherein said step S301 includes
And the instrument calibration is to finish the calibration of the binocular vision sensor, and coordinate information of the tail end clamping mechanism and the patient is unified under a coordinate system of the binocular vision sensor through the visual information.
10. The cooperative robot based acupuncture method of traditional Chinese medicine according to claim 8, wherein said step S303 comprises:
the acupuncture point location system provides three location methods, namely a bone degree inch-dividing point-measuring method, a human body natural mark point-measuring method and a mixed information point-measuring method, and the three different location methods correspond to two patient image information processing methods, namely a bone tracking technology and human body natural characteristic extraction.
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