智能针灸机器人关键技术及发展趋势

doi:10.11959/j.issn.2096-6652.201918

Abstract

Abstract:

Acupuncture therapy has been adopted in more than 183 countries and regions around the world.With the rapid development of robot technology,research and development of intelligent acupuncture robot become possible,based on its core technology related research,that the point of automatic positioning and intelligent distribution point is the key technology and difficulty in research and development of intelligent acupuncture robot was pointed out in this paper,and thus,the concept of communion robot potential application value to the development of medical robot was also discussed.The latest research results of intelligent acupoint matching were also provided.

Key words: medical robot, artificial intelligence, acupuncture treatment

CLC Number:

R246.9

Tiancheng XU, Xuejun WANG, Dongdong LU, et al. Developing trend and key technical analysis of intelligent acupuncture robot[J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(3): 305-310.

Figures/Tables 5

References 39

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	数字经络智能针灸机器人	针灸机器人^[4]	护理机器人^[5]
理论依据	1.分形理论	1.仿生学原理	1.微位移驱动器
	2.混沌理论	2.功能分解及组合	2.柔性放大机构
	3.图论	3.传统中医理论
	4.数字经络理论
	5.传统中医理论
治疗方法	针刺、艾灸、激光等可更换的治疗接口	针刺、自由度电动进针、电动捻转	手法运针
定位依据	1.基于数字经络理论的矢量经络图	人工定位	柔性铰链微位移放大机构
	2.基于双目视觉测量的自动定位
人工智能	定量分析症候—穴位的关系，基于图论建立中医思维的人工智能模型	未提及	以LabWindows/CVI为编程语言，实现手臂复位控制等
机器手法	基本手法：提插，捻转；补泻：提插补泻，捻转补泻；快速无痛进针性能	基本手法：提插、捻转	握针、捻、转等刺激穴位的机械动作
芯片类型／控制技术	1.Arm32	1.主—从操作机械手	1.压电陶瓷驱动器
	2.JavaApplet结合CGI	2.视觉监控系统	2.柔性放大机构
针刺精度	0.34 mm	未提及	行程：93×3 μm；位移分辨率：0.1 μm
进针速度	无痛进针速度：160 mm/s	提插最大进针速度：70 mm/s；平均速度：2 mm/s	未提及
附加模块	AcuAI智慧针灸系统	未提及	未提及

	核心组件	产品结构
艾灸机器人^[8]	座体与数个机械臂，艾灸枪	以波珠定位自由关节连接
音乐艾灸机器人^[9]	灸盒、机械手臂、液压杆、万向节	机械手臂中间由万向节和液压杆连接；外设保护罩
艾灸机器人^[10]	艾灸盒、升降装置和艾烟处理装置	无线遥控器自动升降艾灸盒；有效过滤；密封好
智能艾灸机器人及其操作方法^[11]	控制机构排烟装置和艾灸装置	自动识别穴位；艾烟排放；检测和调控设备；距离传感器
智能化艾灸治疗装置^[12]	艾灸烘烤箱、智能升降旋转系统、清洁过滤系统	艾灸烘烤能升降和旋转；多根艾条同时燃烧

应用领域	具体技术	说明
人体成分分析	总体水量测定^[18]	利用心搏量与阻抗值的最大变化率成比例的关系，通过阻抗的变化率换算心输出量
心脑血管系统疾病动态监测	无创监测心输出量^[19]；	借助除颤仪及心阻抗图的频率、幅度改变，推断心脏功能
	心脏骤停发生率测定^[20]
呼吸系统监测	区域性肺功能的检测及监护，如尘肺的早期诊断及治疗^[21]	基于肺内成分及其变化的电学特性测量肺阻抗等
乳腺癌检测	乳腺癌早期诊断^[22]	观察乳腺组织向肿瘤组织发展的变化情况

名称	数字经络智能针灸机器人^[28]	虚拟现实针灸穴位定位方法及系统^[29]	基于增强现实技术的智能针灸系统的视觉处理^[30]	仿射变换在增强现实智能针灸系统中的应用研究^[31]
技术核心	分形理论数字经络	虚拟现实技术	增强现实；立体视觉；双目视觉；立体匹配	增强现实；仿射变换
穴位定位方法	运用分形几何学构建数学公式	三维建模	运用Barnard算子来提取特征点	仿射坐标
硬件结构	基于进针速度与患者痛觉的定量关系开发出来的机械手	激光束发射探头、扳机式针灸针发射装置双选功能的机械臂	具有 6 个自由度的带激光探头的机械手	3D MAX建模工具；具有6 个自由度的带激光探头的机械手
优点	实现穴位图的矢量化	技术理论较完善，可实现自动化控制	建立了计算机虚拟世界与外界真实环境的桥梁	建立了计算机虚拟世界与外界真实环境的桥梁

应用	核心技术或结构	安全策略	借鉴意义
自动针刺机械手^[33]	采用固定式结构，支架采用磁性机构，保证高度、转角、前后的三维方向调节，电机带动滚珠螺旋丝杆	控制并获取单片机反馈信息，人机交互，驱动电路实行应急处理	针刺过程及手法收集针刺参数，完善进针结构
机器人辅助经皮穿刺手术^[34]	建立穿刺力模型组织形变建模及针偏倚建模，结合图像处理，进行力量、视觉反馈	先于病人旁进行启发式对针，快速粗对齐，后移至进针点附近，按可变控制继电器模块（variable relay control module，VRCM）进行微调	分析穿刺力数据，将进针过程划分为“被膜穿刺前”“摩擦力产生前”“力抖动”3个阶段
经皮脊柱手术11-DOF机器人	术前CT三维建模，摄像机与LED提供光学引导的位置导航，以磁定位系统强化位置跟踪	CT术中用于实时引导的11个自由度中，8个用于初部定位，3个用于穿刺针推进器，便于穿刺机器人位置的固定紧锁与调整	完善术前建模，善用机械手自由度进行操控
目标靶点穿刺路径优化^[35]	D-H法建立斜角柔软穿刺针正向运动学模型	利用合适的穿刺速度来提高穿刺稳定性，可实现较强的避障需求	穿刺针旋转角度误差补偿避障方案优化
自动进针路径规划^[36]	改进Snake模型对病灶进行凹凸性分析	通过对穿刺针的实时路径分析和引导，以最安全有效的路径规避障碍	规划进针最佳路径，进针过程中可根据位置、体位调整

Developing trend and key technical analysis of intelligent acupuncture robot

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