WO2019154303A1 - Operating method and apparatus for acupuncture and moxibustion manipulator - Google Patents

Abstract

An operating method and operating apparatus for an acupuncture and moxibustion manipulator, a networked operating method, a method for implementing acupuncture and moxibustion operations using a manipulator, a networked acupuncture and moxibustion treatment method, a computer, and a non-volatile computer-readable storage medium. The method comprises: receiving retrieval information, and acquiring, from a computer and according to the retrieval information, a standard acupuncture and moxibustion prescription matching the retrieval information (S21), the standard acupuncture and moxibustion prescription comprising acupoint position information and acupuncture parameters corresponding to an acupoint; acquiring an image, collected by an image collection apparatus, of a part to which acupuncture is to be applied and/or surface state data, collected by a sensor, of the part to which acupuncture is to be applied (S22); receiving confirmation information or modification information input by an acupuncturist via an acupuncturist terminal to form acupuncture application position information and an acupuncture application policy, the confirmation information or the modification information being the confirmation or modification of the standard prescription by the acupuncturist according to the surface state data of the part to which acupuncture is to be applied and/or the image of the part to which acupuncture is to be applied (S23); and sending the acupuncture application position information and the acupuncture application policy to a patient terminal, the acupuncture application position information and the acupuncture application policy being configured to enable the patient terminal to control a manipulator so that same completes an acupuncture operation (S24).

Description

[Name of invention established by ISA according to Rule 37.2] Method and apparatus for operating acupuncture manipulator

Related application

This application claims to apply on February 9, 2018, the application number is 201810131974.1, the name is "a network of acupuncture treatment based on acupuncture prescription and robot", and the application on February 9, 2018, the application number is 201810132110.1, The priority of the Chinese patent application, which is incorporated herein by reference in its entirety, is incorporated herein by reference.

Technical field

The application relates to the technical field of acupuncture treatment, in particular to an operation method and device for acupuncture manipulator, a networked operation method, a method for performing acupuncture operation by a robot, a networked acupuncture treatment method, a computer and a storage medium.

Background technique

Acupuncture includes acupuncture and moxibustion, which is a method of treating diseases by acupuncture or fire moxibustion. As part of traditional Chinese medicine, acupuncture was included in the UNESCO List of Human Intangible Cultural Heritage in 2010. Acupuncture has been widely used in China and is now also found in East Asia, Southeast Asia, Europe and the Americas.

The theoretical basis of acupuncture is traditional Chinese medicine, which is quite different from the thinking mode of modern medicine. Traditional Chinese medicine theory believes that the human body is a small universe connected by meridians (or channels that run blood and blood). Acupuncture practitioners can improve the self-regulation function of the human body by stimulating the acupuncture points of patients to improve the flow of gas in the meridians, and bring health to patients.

Traditional acupuncture has special effects in the treatment of many infectious diseases. It usually requires acupuncturists to perform clinically for patients. During the implementation process, when acupuncture and acupuncture, acupuncturists inevitably come into close contact with the patient, touching the patient's blood, sweat and Tissue fluids present a huge risk of infection when treating infectious diseases. The implementation of acupuncture treatment requires the physician to concentrate on the whole body. In many cases, it takes several hours to consume the physical strength of the doctor. In the process of treating severe cases, doctors often feel that the patient is seriously ill after treatment, resulting in a sustained period of time. Pain or discomfort. On the other hand, the theory of traditional Chinese medicine is difficult and difficult to grasp. The training period of acupuncturists is long and difficult. Traditional acupuncture professors mainly rely on oral guidance and demonstration, and are mostly passed down between mentoring or clan members. Therefore, the number of qualified acupuncturists is insufficient, the cost of traditional acupuncture therapy is high, and the patient's needs cannot be met. Many patients who need acupuncture treatment do not receive high-level acupuncture treatment, which also limits the development of acupuncturists themselves and acupuncture. Use and promotion of technology.

Summary of the invention

In view of this, it is indeed necessary to provide an effective acupuncture method that can isolate the direct contact between the physician and the patient, and can avoid the above-mentioned contradiction by avoiding the disease infection and the disease upper body, and faithfully expressing and executing the acupuncture technique of the doctor's acupuncture prescription. The content of the invention provides a method and a device for operating an acupuncture manipulator, a networked operation method, a method for performing acupuncture operation by a robot, a networked acupuncture treatment method, a computer and a storage medium.

An operation method of an acupuncture robot includes:

Receiving the retrieval information, and extracting, from the computer, a standardized acupuncture prescription matching the retrieval information according to the retrieval information, the standardized acupuncture prescription including acupuncture position information and acupuncture parameter corresponding to the acupuncture point;

Obtaining an image of the to-be-applied portion collected by the image acquisition device and/or the sensor and/or body surface state data of the portion to be applied;

Receiving the confirmation information or the modification information input by the acupuncturist through the acupuncturist terminal to form the needle position information and the needle application strategy, wherein the confirmation information or the modification information is the body surface state data of the acupuncturist according to the to-be-applied portion and / or confirmation or modification of the standardized prescription by the image of the portion to be administered;

The needle position information and the needle application strategy are transmitted to the patient terminal, the needle position information and the needle application strategy being configured to enable the patient terminal to control the robot to complete the needle stick operation.

In an embodiment, the acupuncture parameter includes one or more of the following parameters: a sequence of acupuncture at a plurality of acupuncture points; a diameter of the acupuncture needle; a length of the acupuncture needle; and an acupuncture needle penetrates the skin with the skin Angle; the angle between acupuncture needle and meridian; the depth of acupuncture needle penetration; the strength of acupuncture needle penetration; the retention time of acupuncture needle in acupuncture points;

In one embodiment, the acupuncture parameter includes one or more of the following exercise process data of the acupuncture needle: acupuncture path of the acupuncture needle after piercing the skin; whether the acupuncture needle rotates; speed of acupuncture needle rotation; acupuncture The duration of the needle rotation; the direction in which the acupuncture needle rotates; whether the acupuncture needle reciprocates along the length direction; the frequency of the reciprocating motion of the acupuncture needle; the time during which the acupuncture needle reciprocates; the resting time of the acupuncture needle in the acupuncture point.

In an embodiment, the modifying information includes: modifying, deleting, and/or increasing acupoint position information included in the standardized acupuncture prescription to form the needle position information; and/or pairing the acupuncture position The acupuncture parameters corresponding to the information are modified to form the needle application strategy.

A networked operation method for acupuncture manipulators, comprising:

Obtain standardized acupuncture prescriptions through the service provider terminal, or standardize the acupuncture points and acupuncture data to form standardized acupuncture prescriptions;

Receiving retrieval information, and extracting a standardized acupuncture prescription matching the retrieval information from the computer according to the retrieval information;

Obtaining an image of the to-be-applied portion collected by the image capturing device and/or the sensor and/or body surface state data of the portion to be applied, and displaying the image on the human-computer interaction interface of the user terminal;

Acquiring the confirmation information or the modification information input by the user through the user terminal to form the needle position information and the needle application strategy, and the confirmation information or the modification information is the body surface state data and/or the user according to the to-be-applied portion. Confirming or modifying the standardized acupuncture prescription by the image of the needle application site;

The needle stick control information is output according to the needle position information and the needle application strategy, and the needle stick control information is configured to control the robot to perform the needle stick operation.

A computer comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the method of operating the acupuncture robot or the network operation method of the acupuncture robot.

A non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of the method of operating the acupuncture robot or the networked operation method of the acupuncture robot.

An operating device for an acupuncture robot includes:

An acupuncture prescription providing module configured to retrieve a standardized acupuncture prescription matching the retrieval information from a computer based on the retrieval information;

An image and/or body surface state detecting module configured to acquire image and/or body surface state data of the image to be applied portion collected by the image capturing device and/or the sensor;

The modification information obtaining module is configured to receive the confirmation information or the modification information input by the acupuncturist through the acupuncturist terminal to form the needle position information and the needle application strategy, and the confirmation information or the modification information is the acupuncturist according to the to-be-applied Confirmation or modification of the standardized prescription by the body surface state data of the needle site and/or the image of the site to be administered;

The modification information transmitting module is configured to transmit the needle position information and the needle administration strategy to the patient terminal, the needle position information and the needle application strategy being configured to enable the patient terminal to control the robot to perform the needle operation.

In an embodiment, the operating device of the acupuncture robot further includes a modification information storage module configured to store the needle position information and the needle application strategy on a non-transitory computer readable storage medium.

A method of performing acupuncture operation using a robot, comprising:

Standardize acupuncture points and acupuncture data to implement standardized acupuncture prescriptions;

Collecting image data of the part to be applied;

According to the collected image data, combined with the acupuncture prescription, determine the acupuncture point of the needle to be applied and the needle application strategy;

According to the acupoint condition of the needle to be applied and the needle application strategy, the acupuncture operation is completed by the robot.

In one embodiment, the acupoint and acupuncture data for performing acupuncture are standardized to form a standardized acupuncture prescription, including:

Acupoint patterning, according to the bone degree measurement method, the acupuncture points of each acupuncture point are marked on the coordinate paper or in the electronic coordinate system to form an acupoint map;

Parameterization of acupuncture, according to acupuncture therapy, determine the acupuncture data of each acupuncture point in the parameter table or electronic acupuncture parameter table, and form a needle parameter table.

In one embodiment, the acupoint map includes the physical appearance of the region in which the acupuncture points are located, the number of acupoints, and the distribution of acupoints, and is configured to determine acupuncture points of each acupuncture.

In an embodiment, the needling parameter table includes the order of the needling, the diameter of the needle, the length, the angle of the needle, the plane orientation of the needle tip, the depth, the strength, the holding time, and the movement process data of the needle, which are configured. In order to determine the needle-in strategy corresponding to the acupuncture points of each acupuncture.

In an embodiment, the collecting image data of the portion to be applied includes:

According to the patient's condition, the corresponding needle to be applied is determined, and the image data of the patient to be applied is photographed by using a camera or a scanner.

In an embodiment, according to the collected image data, combined with the acupuncture prescription, determining the acupuncture point distribution of the needle to be applied and the needle application strategy include:

The image data of the needle to be applied by the patient is combined with the acupoint pattern to determine the acupuncture points of the needle to be applied in the patient to be applied;

The needle application strategy is determined by referring to the acupuncture parameter table corresponding to each acupuncture point to be acupuncture.

In an embodiment, the acupuncture operation performed by the robot according to the acupoint condition of the part to be applied and the needle application strategy includes:

The acupuncture point of the needle to be applied and the needle application strategy are read by the computer, and the manipulator is controlled to perform the acupuncture operation.

In one embodiment, the standardized acupuncture prescription is obtained by manual setting or machine self-learning on the basis of existing acupuncture therapy.

A networked acupuncture treatment method based on standardized acupuncture prescriptions and robots, including:

The server inputs the acupoint and acupuncture data into the computer, forms a standardized acupuncture prescription through standardized processing of the computer, and connects to the network through a computer;

The user end diagnoses the patient's condition, and according to the patient's condition, obtains acupuncture prescription corresponding to the patient's condition through the network, determines the acupuncture position of the needle application site and the needle application strategy;

The user-side control robot performs acupuncture treatment according to the determined acupoint condition of the needle application site and the needle application strategy.

In an embodiment, the server inputs the acupoint and acupuncture data into the computer, and the step of forming a standardized acupuncture prescription by standardization processing of the computer is specifically:

The service provider enters the acupuncture points and acupuncture data into the computer to form a standardized acupuncture prescription in the computer;

Or the computer is based on video shooting and dynamic motion sensing, and obtains the acupoint and acupuncture data of the acupuncture service provider in a self-learning manner, and converts it into a standardized acupuncture prescription input computer.

In one embodiment, in response to a standardized acupuncture prescription being used, the service provider corresponding to the standard acupuncture prescription is paid.

In an embodiment, the user end diagnoses the condition of the patient, and according to the condition of the patient, obtains an acupuncture prescription corresponding to the patient's condition through the network, determines the acupuncture position of the needle application part, and the steps of the needle application strategy include:

The user end determines the patient's condition according to the physician's identification or by the test instrument;

According to the patient's condition, a standardized acupuncture prescription corresponding to the patient's condition is obtained on the network;

According to the standardized acupuncture prescription corresponding to the patient's condition, the acupuncture point of the needle application site and the needle application strategy are determined.

In an embodiment, the obtaining a standardized acupuncture prescription corresponding to the condition of the patient on the network further comprises:

Obtaining more than one standardized acupuncture prescription corresponding to the patient's condition on the network, displayed on the user side;

A standardized acupuncture prescription that determines one of the patient's conditions is selected on the client side as the final acupuncture prescription.

In an embodiment, the method further includes:

In response to selecting and using a standardized acupuncture prescription on the client, the client pays the server providing the standardized acupuncture prescription.

In an embodiment, the standardized acupuncture prescription comprises:

According to the bone degree measurement method, the acupuncture points of each acupuncture point are marked on a coordinate paper or in an electronic coordinate system to form an acupoint map;

According to the acupuncture therapy, the acupuncture data of each acupuncture point of the acupuncture is determined in the parameter table or the electronic acupuncture parameter table, and the acupuncture parameter table is formed.

In an embodiment, the acupoint pattern includes a physical appearance of a region where the acupoint is located, a number of acupoints, and a distribution of acupoints, and is configured to determine acupuncture points of each acupuncture;

The acupuncture parameter table includes the order of the needling, the diameter of the needle, the length of the needle, the angle of the needle, the plane orientation of the needle tip, the depth, the strength, the holding time, and the movement process data of the needle, which are configured to determine the respective needles The corresponding acupuncture strategy of the acupuncture points.

In one embodiment, the computer classifies standardized acupuncture prescriptions according to the disease they treat.

DRAWINGS

In order to clearly explain the technical solutions of the present application, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the embodiments of the present application, and those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a flow chart of a method for performing acupuncture operation using a robot according to an embodiment of the present application.

2 is a flow chart of a method of operating an acupuncture robot according to an embodiment of the present application.

FIG. 3 is a schematic diagram showing the connection relationship of the operating device of the acupuncture manipulator according to the embodiment of the present application.

4 is a flow chart of a method of operating an acupuncture robot according to another embodiment of the present application.

FIG. 5 is a flow chart of a networked acupuncture treatment method based on acupuncture prescription and a manipulator according to an embodiment of the present application.

FIG. 6 is a schematic diagram of a networked operation method of an acupuncture manipulator according to an embodiment of the present application.

Figure 7 is a diagram showing the internal structure of a computer in an embodiment.

Detailed ways

In order to clearly explain the technical solutions of the present application, the technical solutions of the present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments are not intended to limit the application.

Referring to FIG. 1 , an embodiment of the present application provides a method for performing an acupuncture operation using a robot, including:

S11, standardizing acupuncture points and acupuncture data to form a standardized acupuncture prescription;

S12, collecting image data and/or body surface state data of the portion to be applied;

S13, according to the collected image data and/or body surface state data, combined with the acupuncture prescription, determining the acupuncture point of the needle to be applied and the needle application strategy;

S14, according to the acupuncture position of the needle to be applied and the needle application strategy, the needle operation is completed by the robot.

In traditional acupuncture performed by clinicians, clinicians diagnose patients according to the theory of traditional Chinese medicine, determine the acupuncture points for acupuncture, and pierce the acupuncture needles into the acupuncture points through the skin. The choice of different acupuncture points and different needle-applying techniques may have an effect on the effect of acupuncture. For example, the order of piercing different acupuncture points may also affect the effect of acupuncture. According to the idea of harmony between man and nature in the theory of Chinese medicine, when the patient's own physical condition, season, time and geographical conditions are different, the choice of acupoints and/or the technique of needle application may be different; the acupuncturists who teach different sects for the same patient Or the same condition, the selected acupuncture points and / or the needle application technique may be different.

Embodiments of the present application first provide a standardized acupuncture prescription that can be understood and selected by an acupuncturist and that can be recognized by a machine and implemented by a computer controlled robot. In the method for performing acupuncture operation by using a robot in the embodiment of the present application, the acupuncturist can judge the actual patient to be applied according to the image data and/or the body surface state data from the collected needle to be applied on the basis of the acupuncture prescription. Acupuncture points in the site, in addition to other factors, such as the patient's physical condition, environment and time factors, confirm or modify the acupuncture prescription to form a needle-in strategy, and finally the manipulator completes the needling operation according to the needle-in strategy.

By extracting and summarizing the acupuncture points and needle-applying techniques that are different from person to person into standardized acupuncture prescriptions, it is beneficial to reduce the difficulty of the robot to perform correct and effective acupuncture, and to facilitate the effective promotion and use of acupuncture methods that are more effective for a certain disease. . The acupuncturist obtains the actual situation of the patient's acupuncture points by collecting body surface data and/or image data, forms a needle-in strategy, and completes the acupuncture by the robot, without clinically performing acupuncture operation on the patient, which reduces the disease. The upper body and infectious diseases pose a threat to the health of the acupuncturist. At the same time, the patient can receive the acupuncture operation performed by the robot at home, without having to go to the hospital for treatment. It is very convenient for patients with mobility problems and patients with different places and even foreign countries to receive acupuncture treatment. Reduce treatment costs. In addition, when the acupuncturist determines a specific needle-in strategy for a specific chronic disease-recoverable rehabilitation patient, the robot can perform repeated application of the needle according to the needle-in strategy for a period of time, thereby reducing the physical labor intensity of the acupuncturist. By performing acupuncture with a robot, the acupuncturist can be freed from a large amount of repetitive work, and the acupuncture operation of effective treatment can be quickly and accurately replicated.

In the embodiment of the present application, the specific acupuncture prescription formed by the position of the acupuncture point and the standardized treatment of the needle applying technique may include acupuncture position information and acupuncture parameters corresponding to the acupuncture points.

In an embodiment, the standardized acupuncture prescription comprises:

According to the bone degree measurement method, the acupuncture points formed by each acupuncture point on the coordinate paper or in the electronic coordinate system are formed;

According to the acupuncture therapy, the acupuncture data of each acupuncture point of the acupuncture is determined in the parameter list or the electronic acupuncture parameter list, and the acupuncture parameter table is formed.

The position of acupuncture during acupuncture is acupuncture points in traditional Chinese medicine theory. According to the theory of traditional Chinese medicine, there are meridians in the human body: twelve meridians, twelve meridians, twelve pelts, twelve meridians, odd eight pulsations; collaterals: fifteen collaterals, floating collaterals and Sunluo; Some special acupoints with special therapeutic effects. Among them are twelve meridians: including the hand three yin (lung, pericardium, heart), hand sanyang (large intestine, three coke, small intestine), foot Sanyang (stomach, gallbladder, bladder), foot three yin (spleen, Liver, kidney) and Renmai Dumai. The collaterals are mainly fifteen collateral veins. They are intertwined and spread throughout the body, uniting the human body, the internal organs, the organs and the limbs into an organic whole. There are about 360 acupuncture points distributed in different positions of these meridians, and no matter how tall or thin a person is, the position of the acupoints is fixed relative to the position of the human bones or organs, which can be determined according to the bone size method, such as the lieutenant. The hole is located at the midpoint of the lower end of the sternum and the navel.

In the embodiment of the present application, the position of the acupuncture points can be standardized and digitized, and the position of the acupoints can be converted into a computer-readable position information of the acupuncture points for the acupuncture by the robot according to the bone degree measurement method, and the acupuncture points are acupuncture points. Confirmation or modification of the information to form the final needle position information. Based on the acupoint position information and the needle position information, the computer can control the robot to pierce the acupuncture needle into a specific acupuncture point on the patient's body. It can be understood that, according to the bone size method, the acupoint position information and the needle position information represent a relative position with respect to a human bone or an organ, and the acupoint position information and the needle position information cause the computer to first determine a certain bone position of the patient or The position of the organ, based on the position of the bone or organ, determines the position of a certain acupuncture point on the body of the patient according to the bone size measurement method, thereby being suitable for patients with different physical features. In one embodiment, the acupuncture points may be graphically identified, and the acupuncture points are identified on the acquired image of the patient to be applied according to the bone size method.

In the step of forming a standardized acupuncture prescription in step S11, the acupuncturist may input acupuncture name or acupuncture term or disease name representing a combination of a plurality of specific acupoints on the human-computer interaction interface, so that the computer acquires the position information of the corresponding acupuncture point. That is, the standardized acupuncture prescription may include one or more acupoint location information previously stored in the computer, or stored in a non-transitory computer readable storage medium, and selected by the acupuncturist in the step of forming a standardized acupuncture prescription .

The conditions, methods and techniques of acupuncturists who inherit different genres are different. For acupuncture points, the order of needle application is different. In this application, the conditions, methods and techniques for acupuncture in human beings are collectively referred to as Needle technique. In the embodiment of the present application, the needle-forming technique involved in human implementation is standardized as a needle-punching parameter that can be satisfied by the machine, that is, the needle-punching data is standardized, that is, the needle-punching parameterization. On the one hand, the acupuncture parameters are summarized and extracted from the acupuncturist, especially the acupuncture master's needle application technique, to represent the characteristic parameters of the needle application technique, and on the other hand, the computer controlled robot can perform the acupuncture. Conditional parameters. Acupuncture performed by a robot that satisfies these acupuncture parameters is considered to have the effectiveness of acupuncture treatment.

The needling parameters may include, but are not limited to, the order of the needling, the diameter of the needle, the length, the angle of the needle, the plane orientation of the needle tip, the direction angle of the needle, the depth, the force, the holding time, and the motion data of the needle. one or more. The order of acupuncture refers to the order in which the multiple acupuncture points are applied when there are multiple acupuncture points in a standardized acupuncture prescription. The angle of the needle is the angle between the moxibustion needle and the skin. The direction angle of the needle is the angle between the moxibustion needle and the meridian where the acupuncture point is located. The needle is the process of piercing the acupuncture needle into the acupuncture point, or after the acupuncture needle is inserted into the acupuncture point, the acupuncturist turns (also called "捻", "转") or reciprocating motion (also called "lifting" or "pull"). The process of acupuncture needles stimulating acupuncture points. The awake needle refers to the residence time of the acupuncture needle on the acupuncture point after the needle is taken. The acupuncture parameters may also include, but are not limited to, the walking path of the acupuncture needle after piercing the skin, whether the acupuncture needle is rotated, the speed of rotation, the duration of the rotation, the direction of rotation, whether the acupuncture needle reciprocates along the length direction, and the reciprocating motion. One or more of the frequency, the time of reciprocation, and the resting time of the acupuncture needle in the acupuncture point.

Since the acupuncture parameters are also parameters that the computer control robot can implement, these parameters can be pre-stored in the computer as variables to be assigned, or stored in a non-transitory computer readable storage medium to form an alternative and A list of parameters or a list of electronic acupuncture parameters. In the step of forming a standardized acupuncture prescription in step S11, the acupuncturist can select a parameter variable to be set at a corresponding acupuncture point of the human-computer interaction interface, and assign a value to the variable. In one embodiment, the acupuncturist can determine the acupuncture data of each acupuncture point in the list of available and set parameters or the list of electronic acupuncture parameters according to acupuncture therapy to form a needle parameter table. The acupuncture parameter table can include all the motion and mechanics data required by the robot to perform the needling operation. In an embodiment, the acupuncturist may input or select a particular needle technique name through a human-computer interaction interface, the needle technique name representing a specific set of acupuncture parameter combinations.

For example, the acupuncture points used in acupuncture treatments for patients with certain conditions may be Shangyu, Zhongyu, Xiajiao, Shangyufeng, and acupuncture points (left) and upper rheumatism. ), the acupuncture parameters can be assigned to each acupoint to form a needle parameter table. The acupuncture parameter table can have various forms, as long as it can be understood by the acupuncturist, and can also be executed by the computer control robot. For example, it can be displayed on the user side display device in the form of Table 1, and the character string in the computer program. Form storage, for example:

The acupuncture parameters of Shangyu Point are: 01Φ01.8L40∠90°S0°D0.5F1T30; the acupuncture parameters of Zhongxue Point are: 02Φ01.8L25∠90°S0°D0.2F1T30; the acupuncture parameters of the lower armpit are :03Φ01.8L40∠90°S0°D0.4F1T30; the acupuncture parameters of the acupoint (left) at the upper rheumatism point are: 04Φ01.8L40∠45°SW45°D1.2F1T30; acupuncture at the axillary point (right) under the upper rheumatism point The parameters are: 05Φ01.8L40∠45°SE45°D1.2F1T30. Wherein, the meaning of each of the acupuncture parameter strings is described by taking 05Φ01.8L40∠45°SE45°D1.2F1T30 as an example, and “05” means that the order of acupuncture is 5;

“Φ0.18” means that the diameter of the needle is 0.18mm; “L40” means that the length of the needle is 40mm; “∠45°” means that the angle between the needle and the skin is 45 degrees; “SE45°” means the tip of the needle The angle of the longitudinal axis of the human body is 45 degrees southeast (head north foot south); "D1.2" means that the depth of acupuncture is 1.2 inches; "F1" means that the strength of acupuncture is 1 Newton; "T30" means The holding time of the needling was 30 minutes.

Table 1

It can be understood that the standardized acupuncture prescription can be established by an acupuncturist before each acupuncture treatment, or the existing standardized acupuncture prescription can be stored in a computer or stored in a non-transitory computer readable storage medium. Appropriate standardized acupuncture prescriptions are selected or selected from a standardized acupuncture prescription database prior to each acupuncture treatment. Standardized acupuncture prescriptions can be artificially established, for example, according to the acupuncture techniques of famous acupuncturists or masters, or can be obtained by acupuncture techniques of acupuncturists or masters by means of machine self-learning. In an embodiment, the acupuncture points and acupuncture data of acupuncture experts or masters during acupuncture can be obtained in a self-learning manner based on video shooting and dynamic motion sensing, and converted into a standardized acupuncture prescription input computer. By pre-establishing a standardized acupuncture prescription database, more effective acupoint selection and needle-applying techniques can be used more widely, and at the same time facilitate communication between acupuncturists of different sects.

The standardized acupuncture prescription is configured to determine the acupuncture points and the needle application strategy corresponding to the acupuncture points of the acupuncture, but the actual needle position information and the needle application strategy are not equivalent to the existing standardized acupuncture prescriptions. The needle position information and the needle application strategy are formed on the basis of the existing standardized acupuncture prescriptions, which are confirmed or modified by the acupuncturist according to the actual situation of the patient.

In step S12, by collecting the image data and/or the body surface state data of the patient to be applied, the actual situation of the needle application portion can be determined to determine whether the acupuncture prescription needs to be adjusted. Step S12 may include: determining a corresponding portion to be applied according to the condition of the patient, and collecting image data and/or body surface state data of the patient to be applied by using an image acquisition device and/or a sensor, such as a camera or a scanner to photograph the patient. Image data of the part to be applied. The camera or scanner can be directly controlled remotely by the acupuncturist, or automatically controlled by the computer according to the position information of the acupuncture prescription to collect the image data of the location of the acupuncture point, or the patient to be applied by the sensor such as the temperature and humidity sensor. Other body surface status data.

In step S13, the acupuncturist can determine whether the acupoints in the acupuncture prescription and the corresponding acupuncture data need to be adjusted by the actual condition of the body surface data and/or the image data to be displayed, thereby forming Final needle position information and needle application strategy. When it is judged that the standardized acupuncture prescription does not need to be adjusted, the computer can directly implement the standardized acupuncture prescription by controlling the robot. When the acupuncturist believes that the standardized acupuncture prescription needs to be adjusted according to the actual situation of the needle to be applied, the acupuncture points in the standardized acupuncture prescription can be modified, deleted and/or increased through the human-computer interaction interface, and/or corresponding to the acupuncture points. The acupuncture parameters are modified, deleted, and/or increased to form a final or pending needle position information and needle application strategy.

In an embodiment, step S13 may include:

Determining the acupuncture points of the acupuncture points in the patient to be applied by the surface state data and/or the image data of the patient to be applied to the needle; and

The needle application strategy is determined by referring to the acupuncture parameter table corresponding to each acupuncture point to be acupuncture.

In one embodiment, when the acupuncture prescription of Table 1 is used, the image of the upper abdomen of the patient may be photographed by using a camera or a scanner. When a surgical suture scar is found near the acupoint in the patient, the acupuncturist judges that it is not suitable for implementation in the middle acupoint. In acupuncture, the position information of the acupoint in the acupuncture prescription is moved by a certain distance away from the scar or the position information of the acupuncture point is deleted to form the final needle position information.

In step S14, the needle position information and the needle application strategy to be implemented are determined by the computer according to the acupuncture point of the portion to be applied, and the control robot completes the needling operation.

Referring to FIG. 2, an embodiment of the present application further provides an operation method of an acupuncture robot, including:

S21: Receive retrieval information, and retrieve, according to the retrieval information, a standardized acupuncture prescription matching the retrieval information from a storage unit or a computer, where the standardized acupuncture prescription can be displayed on a human-computer interaction interface of the acupuncturist terminal;

S22, acquiring an image of the portion to be applied collected by the image capturing device and/or body surface state data of the portion to be applied collected by the sensor, and the image and/or data may be displayed on a human-computer interaction interface of the acupuncturist terminal;

S23, receiving confirmation information or modification information input by the acupuncturist through the acupuncturist terminal, forming needle position information and a needle application strategy, the confirmation information or modification information being configured to enable the acupuncturist to be according to the portion to be applied Confirming or modifying the standardized prescription with body surface state data and/or an image of the portion to be applied;

S24. Send the needle position information and the needle application strategy to the patient terminal, and the needle position information and the needle application strategy are configured to enable the patient terminal to control the robot to complete the needle operation.

In an embodiment, step S21 can be performed directly by the acupuncturist terminal. In another embodiment, the server performs receiving the retrieval information and retrieving the standardized acupuncture prescription, and transmits the standardized acupuncture prescription to the acupuncturist terminal; the acupuncturist terminal receives the standardized acupuncture prescription sent by the server and displays it on the human-computer interaction interface. The storage unit or computer can be integrated into the acupuncturist terminal or can be placed in the server. The server is connected to the acupuncturist terminal via a wired or wireless network.

In step S21, the retrieval information corresponds to the patient's condition, and may be the name or code of the acupuncture prescription, the corresponding acupoint name, the acupuncture term or the name of the illness, or the information contained in the acupuncture prescription, such as acupuncture position or acupuncture. parameter. The retrieval information can be received through the human-computer interaction interface of the acupuncturist terminal. The output acupuncture prescription corresponds to the patient's condition. For example, in one embodiment, a standardized acupuncture prescription effective for the condition can be retrieved from a storage unit or computer corresponding to the entered condition name.

The standardized acupuncture prescription corresponding to the same retrieval information stored in the storage unit or computer may be one or more. In step S21, all of the standardized acupuncture prescriptions obtained by the retrieval may be outputted, or one or more standardized acupuncture prescriptions which are most relevant may be output. When a plurality of standardized acupuncture prescriptions are output in step S21, the operation method of the acupuncture robot of the embodiment of the present application may further include: S25, obtaining selection information, selecting a standardized acupuncture prescription among the plurality of prescriptions, and the person at the acupuncturist terminal The machine interaction interface is displayed, and the standardized acupuncture prescription in step S23 is the standardized acupuncture prescription selected in step S25. Step S25 can be directly performed by the acupuncturist terminal.

In step S22, an image capture device, such as a camera or scanner, may be disposed adjacent the patient and configured to capture an image of the portion to be applied; a sensor, such as a temperature sensor, is configured to collect the body temperature of the portion to be applied. The image acquisition device and/or sensor can be coupled to a computer of the patient terminal. The patient terminal can be connected directly to the acupuncturist terminal via a wired or wireless network, or the patient terminal can be connected to the server via a wired or wireless network to connect with the acupuncturist terminal via the server.

In an embodiment, step S22 can be performed directly by the acupuncturist terminal. In another embodiment, the server performs a control image acquisition device to collect body surface state data and/or images of the portion to be administered, and transmits the body surface state data and/or images to the acupuncturist terminal; the acupuncturist terminal receiving server transmits Body surface data and/or images are displayed on the human-computer interface.

In an embodiment, step S22 may include: S221: acquiring information about the part to be applied; S222, generating detection coordinate information according to the information of the part to be applied; S223, remotely controlling the image collection device of the patient terminal according to the detection coordinate information and/or Or sensor, collecting body surface state data and/or image of the patient to be applied; and S224, receiving body surface state data and/or images of the to-be-applied portion sent by the patient terminal. The body surface status data and/or images may be displayed on a human-computer interaction interface of the acupuncturist terminal. The information to be administered can be input from the human-computer interaction interface of the acupuncturist terminal, for example, it can be an acupuncture name or an organ name.

In another embodiment, step S22 may include: S221', acquiring acupoint position information in the standardized acupuncture prescription of step S21 or step S25; S223', remotely controlling the image acquisition device of the patient terminal according to the acupoint position information and/or The sensor collects body surface state data and/or images of the patient to be applied; and S224' receives body surface state data and/or images of the to-be-applied portion sent by the patient terminal. The body surface status data and/or images may be displayed on a human-computer interaction interface of the acupuncturist terminal.

In step S23, the confirmation information or the modification information of the standardized acupuncture prescription can be input through the human-computer interaction interface of the acupuncturist terminal. The modification information for the standardized acupuncture prescription may include modifying, deleting, and/or increasing the acupuncture points, and/or modifying the acupuncture parameters corresponding to the acupuncture points to form actual needle position information and a needle application strategy. The modification of the acupuncture parameter is specifically to modify the assignment of a certain acupuncture parameter.

When the obtained information is the confirmation information, the acupoint position information of the acupuncture prescription can be directly used as the needle position information, and the acupuncture parameter is used as the needle application strategy. When the obtained information is the modification information, the modified acupoint position information and the acupuncture parameter are respectively used as the needle application position and the needle application strategy.

The robot can be coupled to the patient terminal, and the patient terminal can control the robot to perform acupuncture according to the needle application strategy at the patient's needle position information. Step S24 can be performed by an acupuncturist terminal or server.

In an embodiment, the operating method of the acupuncture robot may further include: S26, storing the needle position information and the needle application strategy in the patient terminal, and the robot may be performed multiple times according to the needle application strategy for a period of time Repeat the needle application.

Referring to FIG. 3, an embodiment of the present application further provides an operating device for an acupuncture robot, including:

The acupuncture prescription providing module 31 is configured to retrieve a standardized acupuncture prescription matching the retrieval information from the storage unit or the computer according to the retrieval information;

The image and/or body surface state detecting module 32 is configured to acquire image and/or body surface state data of the portion to be applied collected by the image capturing device and/or the sensor 37;

The modification information obtaining module 33 is configured to receive the confirmation information or the modification information input by the acupuncturist through the acupuncturist terminal 35 to form the needle position information and the needle application strategy, and the confirmation information or the modification information is determined by the acupuncturist according to the Confirming or modifying the standardized prescription by the body surface state data of the portion to be applied and/or the image of the portion to be applied;

The modification information transmitting module 34 is configured to transmit the needle position information and the needle policy to the patient terminal 36, the needle position information and the needle strategy being configured to enable the patient terminal to control the robot 38 to complete the needling operation .

In an embodiment, the operating device of the acupuncture robot further includes a modification information storage module configured to store the needle position information and the needle application strategy on a non-transitory computer readable storage medium.

Referring to FIG. 4, an embodiment of the present application further provides an operation method of an acupuncture robot, including:

S41. Receive retrieval information, and retrieve a standardized acupuncture prescription matching the retrieval information from the storage unit or the computer according to the retrieval information, and display it on the human-computer interaction interface of the acupuncturist terminal;

S42, collecting image and/or body surface state data of the portion to be applied through the image capturing device and/or the sensor, and displaying the image on the human-computer interaction interface of the acupuncturist terminal;

S43, obtaining confirmation information or modification information input by the acupuncturist through the acupuncturist terminal, forming needle position information and a needle application strategy, the confirmation information or modification information being configured to enable the acupuncturist to be according to the portion to be applied Body surface status data and/or images confirm or modify the retrieved standardized acupuncture prescription;

S44. Output the needle control information according to the needle position information and the needle application strategy, and the needle control information is configured to control the robot to complete the needle operation.

Steps S41 to S43 may be substantially the same as steps S21 to S23, and step S44 may be performed by the patient terminal.

Using the method and apparatus of the present application, it is possible to avoid causing acupuncturist infection when treating a highly infectious hepatitis patient. For example, hepatitis virus is highly contagious, but liver disease is an effective and effective disease for acupuncture treatment. Acupuncture treatment has irreplaceable advantages. When performing liver disease treatment, including acupuncture treatment of hepatitis, the acupuncturist is in a state incapable of being isolated from the patient, and the acupuncturist remotely obtains the body surface state data and/or image of the patient to be applied through the acupuncturist terminal, and applies the needle position. The information and the needle-in strategy are sent to the patient terminal, and the patient terminal controls the manipulator to complete the needling operation, and the acupuncturist can prevent the acupuncturist from touching the patient's skin by itself during the determination of the acupuncture position, acupuncture and needle-starting, thereby thereby isolating Protect the needle and avoid the purpose of infection.

By using the method and device of the present application, the phenomenon of "sickness upper body" during tumor treatment can be avoided. Tumors, in the view of Chinese medicine, tumors are formed by congestion or dampness for a long time, so in the long process of formation, the disease also forms a potential energy. The experienced acupuncturist will have a disease when the needle is applied to the tumor patient. The experience of the upper body. The so-called upper body is the time when the yang of the needle is strong and the disease is strong when the needle is applied. The patient's disease is released instantaneously in the form of body over-electricity. This phenomenon often occurs in patients with severe illness and chronic disease at the time of initial diagnosis. At present, in order to avoid the disease, the acupuncturist insists on meditation on the one hand every day, and on the other hand controls the amount of consultation every day. Using the manipulator described in the present application, the disease can be directly released through the wiring of the device, and the patient can obtain the same effective treatment while protecting the health of the acupuncturist, and can greatly improve the effective working time of the acupuncturist.

By using the method and device of the present application, since the robot is small in size and light in use, it can be used as a health care and treatment device to enter the home. With the support of software and network technology, the method and device of the present application can be repeatedly executed in the most convenient place for patients, such as chronic diseases, geriatric diseases, infectious diseases, etc., which need to comply with doctor's advice and acupuncture prescriptions and repeatedly perform the same acupuncture operation. The same acupuncture operation not only reduces the burden on the patient, but also reduces the labor intensity of the acupuncturist, saving valuable time for the acupuncturist.

At the same time, the general acupuncture techniques are mainly embodied in “lifting, pulling, squatting, turning”, and well-known acupuncturists usually sum up special techniques in addition to general acupuncture techniques or require certain techniques to achieve specific technical indicators, such as Shi Xuemin. The speed of the master's needle reaches 260 rpm, and these techniques are difficult for outsiders to master. The method and device of the present application can accurately capture the physical characteristics of the master technique through machine vision and deep learning algorithms, calibrate the physical quantities of the master technique, and add to the acupuncture prescription, thereby replicating the master's technique. By copying the master technique, the method and apparatus described in the present application can free the senior masters from the heavy needle labor, and serve more patients in need; at the same time, the invention can be more effectively explored, protected and passed on. The valuable experience of acupuncture masters, so as not to lose.

At the same time, the computer connected to the robot accurately captures and preserves the techniques of the acupuncturist masters, such as the selection of acupuncture points, the sequence of acupuncture, and the mechanical features of the thorns and sputum during the needle application, and can be reproduced without limitation. The unique skills of the masters. Based on the above principle, the method and apparatus of the present application not only reproduces the master's needle application technique by controlling the manipulator, but also decomposes the technique and displays the physical quantity value corresponding to each action. In the acupuncture teaching or training, the students can intuitively display the characteristics of the master techniques, which is of great help to the rapid and large-scale cultivation of Chinese medicine acupuncture talents.

Referring to FIG. 5, an embodiment of the present application further provides a networked acupuncture treatment method based on acupuncture prescription and a robot, comprising:

S51, the server inputs the acupuncture point and the acupuncture data into the computer, forms a standardized acupuncture prescription through standardization processing of the computer, and connects the network through the computer;

S52, the user end diagnoses the patient's condition, and according to the patient's condition, obtains a standardized acupuncture prescription corresponding to the patient's condition through the network, determines the acupuncture position of the needle application part and the needle application strategy;

S53, the user-side control robot performs acupuncture treatment according to the determined acupoint condition of the needle application site and the needle application strategy.

The networked acupuncture treatment method of the present application realizes the network sharing of acupuncture treatment, the server uses the network to transmit and share the standardized acupuncture prescription, and the user end acupuncture treatment by the robot, liberating the acupuncturist from the complicated manual labor, Acupuncture techniques that are beneficial to famous doctors are widely passed down and used.

The application is transmitted through the network, and the robot can be placed in the patient's home, so that the patient can enjoy a high level of acupuncture treatment without leaving the house, especially for elderly patients with inconvenient neck and shoulder pain.

In an embodiment of step S51, the server inputs the standardized acupuncture prescription into the computer, including:

The service provider enters the acupoint and acupuncture data into the computer to form a standardized acupuncture prescription in the computer; or

Based on video capture and dynamic motion sensing, the computer obtains the acupoint and acupuncture data of the acupuncture service provider in a self-learning manner and converts it into a standardized acupuncture prescription input computer.

The service provider can be a source of standardized acupuncture prescriptions, and in one embodiment can be an experienced acupuncturist, acupuncturist or acupuncturist. The standardized acupuncture prescription can be stored in the service provider terminal of the computer, uploaded to a remote server through the network for storage, or transmitted or copied to the acupuncturist terminal for storage.

When the computer stores a standardized acupuncture prescription, the server can input the disease type that the standardized acupuncture prescription can be used for treatment into the computer. In an embodiment, the networked acupuncture treatment method further comprises a computer, such as a server or an acupuncturist terminal, the step of classifying the standardized acupuncture prescription according to the treated disease, so that the user can pick up and use it when convenient for use.

In an embodiment, step S52 includes: S521, the user end determines the condition of the patient according to the physician's identification or by the test instrument; and S522, according to the patient's condition, obtains a standardized acupuncture prescription corresponding to the patient's condition on the network; S523, determining acupuncture points and needle application strategies according to a standardized acupuncture prescription corresponding to the patient's condition.

In an embodiment, the step S52 may further comprise: acquiring more than one standardized acupuncture prescription corresponding to the patient's condition on the network; the user selecting and determining one of the standardized acupuncture prescriptions corresponding to the patient's condition. Acupuncture prescription or needle application strategy for final use.

The client can be a clinical acupuncturist who performs acupuncture treatment on the patient. The user can know the patient's condition through the existing doctor's identification result, or the user can diagnose the patient's condition by itself, through a remote diagnosis or other Chinese medicine diagnosis technique, or diagnose the patient's condition by, for example, a medical device or a test instrument. It will be appreciated that clinical acupuncturists do not need to be in direct or close contact with the patient and may be located remotely from the patient. For example, the clinical acupuncturist can input the retrieval information corresponding to the patient's condition into the acupuncturist terminal of the computer. When the acupuncture prescription is stored in the remote server, the retrieval information is transmitted to the server through the network, and the server sends a corresponding acupuncture prescription to the acupuncturist terminal according to the retrieval information, and the acupuncture prescription sent by the server can be displayed on the human-computer interaction interface of the acupuncturist terminal. on. When the acupuncture prescription is stored in the acupuncturist terminal, the acupuncturist terminal directly displays the corresponding acupuncture prescription on the human-computer interaction interface according to the retrieval information.

There may be a plurality of acupuncture prescriptions corresponding to the search information, and the acupuncturist at the user side may select a suitable acupuncture prescription from a plurality of acupuncture prescriptions. For example, the acupuncturist at the user's end can determine the appropriate acupuncture prescription according to the actual situation of the patient to be applied, or modify the acupoint position information and acupuncture parameters in an acupuncture prescription to form the actual needle position information and application. Needle strategy. In an embodiment, step S523 may include the steps S12 to S13.

In an embodiment, the networked acupuncture treatment method may further include: S54, in response to the user end using a standardized acupuncture prescription, the user end pays the corresponding server that provides the standardized acupuncture prescription.

In an embodiment, the networked acupuncture treatment method may further include: S55, in response to the standardized acupuncture prescription being used, the service provider corresponding to the standard acupuncture prescription is paid.

Referring to FIG. 6 , an embodiment of the present application further provides a network operation method for an acupuncture manipulator, including:

S61, obtaining a standardized acupuncture prescription through a service provider terminal, or standardizing the acupuncture point and the acupuncture data to form a standardized acupuncture prescription; S62, receiving the retrieval information, and retrieving the retrieval information from the storage unit or the computer according to the retrieval information Matching standardized acupuncture prescription; S63, collecting image of the part to be applied by the image acquisition device and/or collecting surface state data of the part to be applied by the sensor, and displaying it on the human-computer interaction interface of the user terminal; S64, obtaining the user through The confirmation information or the modification information input by the user terminal forms the needle position information and the needle application strategy, and the confirmation information or the modification information is configured to enable the user to perform body surface state data and/or according to the to-be-applied portion. The image of the injection site is confirmed or modified by the standardized acupuncture prescription; and S65, the needle control information is output according to the needle position information and the needle strategy, the needle control information is configured to control the robot Complete the needling operation.

In an embodiment, the step S61 includes obtaining a plurality of standardized acupuncture prescriptions by different service provider terminals; and storing the plurality of standardized acupuncture prescriptions in a storage unit or a computer. The storage unit can be integrated in the user terminal or in the server.

The user may be a clinical acupuncturist who performs acupuncture treatment for the patient, and the user terminal may be an acupuncturist terminal. Steps S62 to S65 may be substantially the same as steps S41 to S44.

In an embodiment, the networked acupuncture method based on acupuncture prescription and robot may further include:

S66, in response to the confirmation information or modification information of the standardized acupuncture prescription input by the user terminal acquired in step S64, displaying the payment interface on the human-computer interaction interface of the user terminal; and S66, sending the payment information received through the payment interface to the step A service provider terminal for a standardized acupuncture prescription confirmed or modified in S64.

The embodiment of the present application further provides a networked acupuncture device based on acupuncture prescription and a robot, comprising:

An acupuncture prescription input module configured to acquire and store a standardized acupuncture prescription;

An acupuncture prescription providing module configured to retrieve a standardized acupuncture prescription matching the retrieval information from a storage unit or a computer according to the retrieval information;

The body surface state data and/or image detecting module is configured to collect an image of the portion to be applied through the image capturing device and/or collect body surface state data of the portion to be applied through the sensor and display the human body interaction interface of the user terminal ;

And a modification information acquiring module configured to acquire confirmation information or modification information input by the user through the user terminal, to form a needle position information and a needle application strategy, where the confirmation information or the modification information is configured to enable the user to perform the Confirming or modifying the standardized acupuncture prescription by the body surface state data and/or image of the needle site;

The modified information transmitting module is configured to output the needling control information according to the needle position information and the needle applying strategy, the needle sticking control information being configured to control the robot to perform the needling operation.

Referring to FIG. 7, an embodiment of the present application further provides a computer, including a memory and a processor, where the memory stores a computer program, wherein the processor implements the steps of the method when the computer program is executed.

Embodiments of the present application also provide a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of the method and records.

While the server of the application outputs the standardized acupuncture prescription, it can also collect the payment from the user, which is helpful to encourage the acupuncturist to share the better acupuncture techniques on the network, so as to make more effective acupoint selection and needle-applying techniques. Can be used more widely, while facilitating communication between acupuncturists of different sects.

One of ordinary skill in the art can understand that all or part of the process of implementing the above embodiments can be completed by a computer program to instruct related hardware, and the computer program can be stored in a non-volatile computer readable storage. In the medium, the computer program, when executed, may include the flow of an embodiment of the methods as described above. Any reference to a memory, storage, database or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of formats, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronization chain. Synchlink DRAM (SLDRAM), Memory Bus (Rambus) Direct RAM (RDRAM), Direct Memory Bus Dynamic RAM (DRDRAM), and Memory Bus Dynamic RAM (RDRAM).

It will be appreciated that some of the steps of the described methods may be eliminated, other steps may be added, and the order of the steps may be changed, depending on the actual situation of the different embodiments. It should also be understood that the steps are identified in the method for the purposes of description and reference, but the identification is for identification purposes only and not as a suggestion of the order of the steps.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-mentioned embodiments are merely illustrative of several embodiments of the present application, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the claims. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the present application. Therefore, the scope of the invention should be determined by the appended claims.

Claims (21)

1. An operation method of an acupuncture robot includes:

   Receiving the retrieval information, and extracting, from the computer, a standardized acupuncture prescription matching the retrieval information according to the retrieval information, the standardized acupuncture prescription including acupuncture position information and acupuncture parameters corresponding to the acupuncture points;

   Obtaining an image of the portion to be applied collected by the image acquisition device and/or body surface state data of the portion to be applied collected by the sensor;

   Receiving the confirmation information or the modification information input by the acupuncturist through the acupuncturist terminal to form the needle position information and the needle application strategy, wherein the confirmation information or the modification information is the body surface state data of the acupuncturist according to the to-be-applied portion and / or confirmation or modification of the standardized prescription by the image of the portion to be administered;

   The needle position information and the needle application strategy are transmitted to the patient terminal, the needle position information and the needle application strategy being configured to enable the patient terminal to control the robot to complete the needle stick operation.
2. The method of operating an acupuncture robot according to claim 1, wherein the acupuncture parameter comprises one or more of the following parameters: a sequence of acupuncture at a plurality of acupuncture points; a diameter of the acupuncture needle; and an acupuncture needle Length; the angle between the acupuncture needle and the skin; the angle between the acupuncture needle and the meridian; the depth of the acupuncture needle; the strength of the acupuncture needle; the retention time of the acupuncture needle in the acupuncture point; data.
3. The method for operating an acupuncture manipulator according to claim 1, wherein the acupuncture parameter comprises one or more of the following exercise process data of the acupuncture needle: a walking path of the acupuncture needle after piercing the skin; acupuncture needle Whether to rotate; the speed of acupuncture needle rotation; the duration of acupuncture needle rotation; the direction of acupuncture needle rotation; whether the acupuncture needle reciprocates along the length direction; the frequency of acupuncture needle reciprocating motion; the time of acupuncture needle reciprocating motion; the acupuncture needle in the acupuncture point Rest time.
4. The method of operating an acupuncture robot according to claim 1, wherein the modification information comprises:

   Modifying, deleting, and/or increasing acupoint position information included in the standardized acupuncture prescription to form the needle position information; and/or modifying acupuncture parameters corresponding to the acupoint position information to form a The needle application strategy.
5. A networked operation method for acupuncture manipulators, comprising:

   Obtain standardized acupuncture prescriptions through the service provider terminal, or standardize the acupuncture points and acupuncture data to form standardized acupuncture prescriptions;

   Receiving retrieval information, and extracting a standardized acupuncture prescription matching the retrieval information from the computer according to the retrieval information;

   Obtaining an image of the to-be-applied portion collected by the image capturing device and/or the sensor and/or body surface state data of the portion to be applied, and displaying the image on the human-computer interaction interface of the user terminal;

   Acquiring the confirmation information or the modification information input by the user through the user terminal to form the needle position information and the needle application strategy, and the confirmation information or the modification information is the body surface state data and/or the user according to the to-be-applied portion. Confirming or modifying the standardized acupuncture prescription by the image of the needle application site;

   The needle stick control information is output according to the needle position information and the needle application strategy, and the needle stick control information is configured to control the robot to perform the needle stick operation.
6. An operating device for an acupuncture robot includes:

   An acupuncture prescription providing module configured to retrieve a standardized acupuncture prescription matching the retrieval information from a computer based on the retrieval information;

   An image and/or body surface state detecting module configured to acquire image and/or body surface state data of the image to be applied portion collected by the image capturing device and/or the sensor;

   The modification information obtaining module is configured to receive the confirmation information or the modification information input by the acupuncturist through the acupuncturist terminal to form the needle position information and the needle application strategy, and the confirmation information or the modification information is the acupuncturist according to the to-be-applied Confirmation or modification of the standardized prescription by the body surface state data of the needle site and/or the image of the site to be administered;

   The modification information transmitting module is configured to transmit the needle position information and the needle administration strategy to the patient terminal, the needle position information and the needle application strategy being configured to enable the patient terminal to control the robot to perform the needle operation.
7. A method of performing acupuncture operation using a robot, comprising:

   Standardize acupuncture points and acupuncture data to implement standardized acupuncture prescriptions;

   Collecting image data of the part to be applied;

   According to the collected image data, combined with the acupuncture prescription, determine the acupuncture point of the needle to be applied and the needle application strategy;

   According to the acupoint condition of the needle to be applied and the needle application strategy, the acupuncture operation is completed by the robot.
8. The method for performing acupuncture operation using a robot according to claim 7, wherein the standardization of acupuncture points and acupuncture data for performing acupuncture to form a standardized acupuncture prescription comprises:

   Acupoint patterning, according to the bone degree measurement method, the acupuncture points of each acupuncture point are marked on the coordinate paper or in the electronic coordinate system to form an acupoint map;

   Parameterization of acupuncture, according to acupuncture therapy, determine the acupuncture data of each acupuncture point in the parameter table or electronic acupuncture parameter table, and form a needle parameter table.
9. The method for performing acupuncture operation using a robot according to claim 8, wherein the acupoint pattern includes a physical appearance of a region where the acupoint is located, a number of acupoints, and a distribution of acupoints, and is configured to determine acupuncture points of each acupuncture. .
10. The method of performing acupuncture operation using a robot according to claim 8, wherein the needle parameter table includes a sequence of needles, a diameter, a length of the needle, an angle of the needle, a depth, a strength, a holding time, and The motion process data of the awake needle is configured to determine a needle administration strategy corresponding to each acupuncture point of the acupuncture.
11. The method for performing acupuncture operation using a robot according to claim 7, wherein the determining the acupuncture point distribution and the needle application strategy according to the collected image data combined with the standardized acupuncture prescription comprises:

    The image data of the needle to be applied by the patient is combined with the acupoint pattern to determine the acupuncture points of the needle to be applied in the patient to be applied;

    The needle application strategy is determined by referring to the acupuncture parameter table corresponding to each acupuncture point to be acupuncture.
12. The method for performing acupuncture operation by using a robot according to claim 7, wherein the acupuncture operation performed by the robot according to the acupoint condition of the portion to be applied and the needle application strategy comprises:

    The acupuncture point of the needle to be applied and the needle application strategy are read by the computer, and the manipulator is controlled to perform the acupuncture operation.
13. The method of performing acupuncture operation using a robot according to claim 7, wherein the standardized acupuncture prescription is obtained by manual setting or machine self-learning on the basis of the existing acupuncture therapy.
14. A networked acupuncture treatment method based on standardized acupuncture prescription and manipulator, characterized in that it comprises:

    The server inputs the acupoint and acupuncture data into the computer, forms a standardized acupuncture prescription through standardized processing of the computer, and connects to the network through a computer;

    The user end diagnoses the patient's condition, and according to the patient's condition, obtains acupuncture prescription corresponding to the patient's condition through the network, determines the acupuncture position of the needle application site and the needle application strategy;

    The user-side control robot performs acupuncture treatment according to the determined acupoint condition of the needle application site and the needle application strategy.
15. The networked acupuncture treatment method based on standardized acupuncture prescription and manipulator according to claim 14, wherein the server inputs the acupoint and acupuncture data into the computer, and forms a standardized acupuncture prescription by computer standardization processing. for:

    The service provider enters the acupoint and acupuncture data into the computer to form a standardized acupuncture prescription in the computer; or

    Based on video capture and dynamic motion sensing, the computer obtains the acupoint and acupuncture data of the acupuncture service provider in a self-learning manner and converts it into a standardized acupuncture prescription input computer.
16. The networked acupuncture treatment method based on standardized acupuncture prescription and manipulator according to claim 14, wherein the user end diagnoses the patient's condition and acquires acupuncture corresponding to the patient's condition through the network according to the patient's condition. The prescription, the acupuncture point determination of the needle application site and the needle application strategy steps include:

    The user end determines the patient's condition according to the physician's identification or by the test instrument;

    According to the patient's condition, a standardized acupuncture prescription corresponding to the patient's condition is obtained on the network;

    According to the standardized acupuncture prescription corresponding to the patient's condition, the acupuncture point of the needle application site and the needle application strategy are determined.
17. The standardized acupuncture prescription and robot based networked acupuncture treatment method according to claim 16, wherein the obtaining a standardized acupuncture prescription corresponding to a patient's condition on the network further comprises:

    Obtaining more than one standardized acupuncture prescription corresponding to the patient's condition on the network, displayed on the user side;

    A standardized acupuncture prescription that determines one of the patient's conditions is selected on the client side as the final acupuncture prescription.
18. The networked acupuncture treatment method based on a standardized acupuncture prescription and a robot according to claim 16, further comprising:

    In response to selecting and using a standardized acupuncture prescription on the client, the client pays the server providing the standardized acupuncture prescription.
19. The networked acupuncture treatment method based on a standardized acupuncture prescription and a robot according to claim 14, further comprising:

    The computer classifies the standardized acupuncture prescriptions according to the disease being treated.
20. A computer comprising a memory and a processor, the memory storing a computer program, wherein the processor performs the steps of the method of any one of claims 1 to 5 when the computer program is executed.
21. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program is executed by a processor to perform the steps of the method of any one of claims 1 to 5.

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