505results about "Devices for locating reflex points" patented technology

The invention provides an AR-assisted acupoint dynamic positioning method and system based on biological characteristics, and relates to the technical field of medical assistance, and the method comprises the steps: building a three-dimensional body model based on the body shape point cloud data, collected in real time, of a current user, and calculating the theoretical coordinates of acupoints in combination with a traditional Chinese medicine acupoint positioning rule; dynamically calibrating the theoretical coordinates on the basis of synchronously acquired body surface conductivity change characteristics and body surface temperature distribution characteristics of the to-be-acupunctured body area of the current user, and generating acupuncture point coordinates and corresponding needle inserting parameters; the acupuncture point coordinates are mapped to the body part of the current user, visual acupuncture point marks are displayed in real time through AR equipment, and operation guidance related to the needle inserting parameters is synchronously provided; when it is detected that the body position change of the user exceeds the preset threshold value, the above steps are executed again, and the acupoint coordinates and the operation guidance are updated, and through multi-modal biological feature fusion, dynamic calibration and AR visualization interaction, acupoint positioning is precise, dynamic and visualized.

The invention relates to the technical field of acupuncture, in particular to an intelligent acupuncture point precise positioning and stimulation regulation and control system based on combination of traditional Chinese medicine and western medicine, and the system firstly collects body surface acupuncture point information of a user, analyzes sensitivity and generates visual data. The information processing module fuses the data, generates acupoint comprehensive characteristics and marks a target acupoint. And the virtual visualization module generates a virtual acupoint image and marks a target acupoint. The needling instrument massage module formulates a needling instrument pushing scheme according to acupuncture point characteristics and needling instrument parameters, and the needling instrument pushing scheme is executed by the body surface needling instrument pushing device. Meanwhile, the electrical stimulation regulation and control module generates parameters, the electrical stimulation intensity, frequency and time are controlled, and the electric acupuncture massage device is combined with body surface acupuncture massage operation to execute treatment. According to the system, accurate acupoint positioning, personalized needle pushing scheme making and electrical stimulation regulation and control are achieved, the effect and safety of needle pushing treatment are improved, and innovative technical support is provided for modernization of traditional Chinese medicine.

The invention discloses an acupoint recognition system based on a multi-modal digital twinning technology, which comprises a multi-modal data acquisition module, a multi-modal data transmission module, a multi-modal data processing module, a digital twinning construction module, an acupoint state and positioning prediction network, a result presentation module and a multi-modal data acquisition module integrated high-performance sensor group, a high-precision clock synchronization system is connected, and acupoint and human body data are acquired in all directions by utilizing a space calibration frame; the data transmission module integrates multiple transmission modes and supports flexible switching and cooperation; the data processing module runs in a special customized RISC-V architecture processor and performs preprocessing, conversion, feature extraction, fusion and dimension reduction on the data; the digital twinning construction module constructs an acupoint physiological and pathological state digital twinning model according to the processed data; the acupuncture point state and positioning prediction network module operates an algorithm in the NPU processor, and accurately predicts the state and position of the acupuncture point according to the human body data; and the result display module displays related information on a human-computer interaction interface.

The invention relates to the technical field of traditional Chinese medicine acupuncture and moxibustion, in particular to a human body acupuncture and moxibustion scheme intelligent screening method and system based on the brain-computer interface technology. Inputting the nerve response characteristic parameters into an acupoint efficacy prediction model, outputting nerve regulation efficacy scores of the acupoints, and generating an initial acupuncture scheme; in the process of executing the initial acupuncture scheme, electroencephalogram signals are collected in real time, and a neural feedback intensity value is calculated; and when the feedback intensity is lower than a preset response baseline, triggering a dynamic weight optimization algorithm, updating the scoring model and generating an optimized acupuncture scheme. According to the invention, objective evaluation and dynamic optimization of the human body to different acupoint nerve responses are realized, and the method has the advantages of high intelligence, high real-time performance, excellent individualized adaptation capability and the like, and is suitable for intelligent decision system deployment for assisting acupuncture therapy.

The invention relates to the technical field of massage, in particular to an intelligent abdominal acupoint massage system and method based on multi-modal sensing, and the system comprises a multi-modal sensing module which comprises a 3D depth camera, an infrared thermal imager, a myoelectricity sensor and a millimeter wave radar; the intelligent decision-making module is used for updating a massage strategy in real time by applying a Poisson reconstruction algorithm, a multi-modal fusion positioning algorithm and a dynamic coordinate mapping method; the execution device comprises an end effector and is composed of a bionic massage head for executing massage, a six-dimensional force sensor for feeding back a pressure value in real time and an infrared temperature control module; the three-degree-of-freedom mechanical arm is composed of xyz translation compensation and a rotating joint and is used for controlling the end effector to move; the power module is used for supplying power to the system. The device has the advantages that accurate acupoint tracking and positioning can be provided for a user, safe, controllable, autonomously adjustable massage force is provided, and different massage schemes are set according to individuation of the physique of the user.

The invention relates to the technical field of automatic acupuncture and moxibustion, in particular to an intelligent acupuncture and moxibustion mechanical arm precise positioning and needle moving method and system.The method comprises the steps that an acupuncture and moxibustion mechanical arm collects posture visual data through a preset multi-mode visual sensor, and analyzes personnel posture image change features corresponding to the posture visual data; when the personnel posture image change feature is the same as the preset posture adjustment feature, performing analysis based on the posture visual data to obtain personnel body surface feature point data; body surface feature point displacement vectors are calculated according to the body surface feature point data, and dynamic acupuncture point coordinate positions are obtained according to preset reference acupuncture point coordinate fusion; and continuously updating the acupuncture points based on the dynamic point coordinate positions, and adjusting the contact force between a needling instrument and a human body according to a preset self-adaptive micro-motion flexible contact force adjusting strategy when the personnel micro-moves. The acupuncture mechanical arm has the advantages that the acupuncture point identification accuracy of the acupuncture mechanical arm during posture adjustment of the acupuncture personnel is improved, and the acupuncture effect is improved.

The invention provides a force control method and device for massage AI navigation rehabilitation equipment. The problem that flexible adjustment and real-time dynamic adjustment cannot be achieved through an existing force control mode for massage AI navigation rehabilitation equipment is effectively solved. The method comprises the following steps: visually identifying acupuncture points on the back of a user, and determining massage track points through the acupuncture points; generating coordinate sites on the basis of the acupuncture points and the massage track points, and setting massage parameters for the user on the basis of the coordinate sites; the mechanical arm is controlled to move according to the moving route, the massage head is controlled to massage the user, and the real-time massage force applied to the user by the massage head is detected in real time; and calculating the real-time massage strength based on multiple dimensions to obtain corresponding adjustment data, and performing flexible adjustment on the massage strength of the massage head and the mechanical arm based on the adjustment data until the massage time ends.

The invention discloses a buccal needle positioning navigation method and system based on multi-mode perception driving, and the method comprises the steps: collecting the image information and depth information of the face of a patient; generating an individualized face three-dimensional model according to the image information and the depth information; determining a standard meridian map according to a meridian database, and registering the standard meridian map to the individualized face three-dimensional model through non-rigid deformation to obtain acupuncture point positioning; according to the acupuncture point positioning and a pre-stored organization hierarchy model, needle insertion path guiding information is calculated and generated, and in an interactive interface, the acupuncture point positioning and the needle insertion path guiding information are displayed in an overlapped mode so as to execute the needle insertion guiding process; and in the needle insertion guiding process, collision detection is carried out according to the needle insertion path guiding information and the organization level model, and safety early warning is carried out when a collision risk is detected. The precision and safety of the acupuncture treatment process can be effectively improved.

The invention provides an acupoint positioning and electric pulse regulation and control device and method based on electrical impedance feedback, and the device comprises a bioelectrical impedance detection module which is provided with a flexible wearing hardware part, and the flexible wearing hardware part is provided with an electrode for collecting a skin electrical impedance signal, the bioelectrical impedance detection module determines a target acupuncture point area for placing an electrode according to the electrical impedance signal; the initial pulse output module is used for outputting a preset initial electric pulse signal to an electrode of the flexible wearing hardware part; the dynamic cooperative control module is used for adjusting an electric pulse parameter according to a real-time skin electrical impedance signal acquired by the electrode after the initial electric pulse signal is applied to the target acupuncture point area through the electrode; the electric pulse output module outputs electric pulse signals to an electrode according to the adjusted electric pulse parameters, acupuncture points can be accurately positioned, the electric pulse output parameters can be accurately adjusted, stimulation output is dynamically optimized through a feedback mechanism under the condition that the skin state of a patient changes or the characteristics of the acupuncture points are different, and the treatment effect and the comfort of the patient are improved.

The massage method for identifying the back acupoints based on the intelligent AI comprises the steps that a back image of a user is collected, feature extraction is conducted on the back image, back muscle textures and skeleton contour features in the image are obtained, regional features with the acupoints are highlighted through an attention mechanism, and acupoint candidate feature vectors are obtained; inputting the acupoint candidate feature vectors into a trained acupoint positioning model to obtain an acupoint positioning result; generating an optimization strategy based on the acupuncture point positioning result; acquiring a massage demand input by a user, and matching a corresponding initial massage strategy by using a decision tree algorithm based on the massage demand; optimizing the initial massage strategy based on an optimization strategy to obtain a personalized massage strategy; based on the personalized massage strategy, a control instruction of the massage equipment is generated to control the massage equipment to complete back acupoint massage. According to the method and the device, the defect that a targeted massage strategy cannot be quickly generated based on the difference of users at present is overcome.

The invention relates to a personalized traditional Chinese medicine health-care intelligent recommendation system combined with an acupuncture theory. The system comprises a multi-modal data acquisition module, an AI diagnosis module and an acupuncture scheme generation module. According to the invention, the health information of the user is acquired through the multi-modal data acquisition module, the deep learning model fused with the acupuncture meridian theory is utilized to realize physique identification and disease diagnosis, and the personalized acupuncture health care scheme is generated based on the established acupuncture point, physique and disease three-dimensional association database. A reinforcement learning algorithm is combined with a user real-time feedback dynamic optimization scheme, the limitation that traditional acupuncture depends on physician experience is broken through, intelligentization, individuation and dynamics of acupuncture health care are achieved, the accuracy and operability of the health care scheme are improved, and the method is suitable for various scenes such as family health care and community medical treatment and has a wide application prospect. The method has remarkable innovativeness and practicability, the physique and the disease of the user are accurately identified based on multi-modal data, the acupuncture scheme adaptive to personal characteristics is generated, and the problem that a traditional universal scheme is insufficient in adaptability is solved.

The invention discloses a pitaya robot system based on intelligent treatment and recuperation and a control method, and the system comprises a high-precision image collection and human body image collection and three-dimensional reconstruction module which is used for precisely recognizing and positioning a treatment region and acupoints; the core physician manipulation digitization module is used for finely capturing professional treatment manipulations and standardized recuperating manipulations of deep physicians for operating pitayas through a multi-dimensional sensor array and forming a manipulation model library; the intelligent strategy generation module based on artificial intelligence can call, fuse or optimize and generate an optimal execution scheme from a corresponding model library according to a mode selected by a user; and the high-precision and compliant force control robot execution module reproduces the digitized technique of the pitaya in a high-fidelity manner under the real-time closed-loop control of visual guidance and force sense feedback. Through the double-track parallel strategy, quantification, inheritance and popularization of the high-level pitaya therapy are achieved, and application of the high-level pitaya therapy is pushed to the wide field.

The invention provides an acupuncture point accurate positioning device based on machine learning, and relates to the field of artificial intelligence. Comprising a multi-modal data acquisition module, a data preprocessing module, a machine learning processing module, a dynamic adaptive calibration module, a gender specificity optimization module, a laser projection module and an interaction and control module, wherein the multi-modal data acquisition module is used for acquiring human body surface sign information and human body three-dimensional space coordinate information; temperature difference information and human body posture data of the acupoint area and surrounding tissues; the machine learning processing module is internally provided with a trained improved convolutional neural network model, performs feature extraction and fusion on the data processed by the preprocessing module, and outputs initial acupuncture point coordinates; the dynamic self-adaptive calibration module dynamically corrects the coordinates of the acupuncture points; the gender specificity optimization module analyzes gender information of a patient and performs targeted adjustment on initial acupuncture point coordinates. According to the invention, the defects in precision, efficiency, adaptability and scene expansibility in the prior art are overcome.

The invention provides a control method and device of a massage robot, electronic equipment and a readable storage medium, and the method comprises the steps: scanning the acupoint position of each human body acupoint in an initial to-be-massaged area of a target user through a depth camera; detecting a key massage area in the initial to-be-massaged area through an infrared thermal imager; determining a to-be-massaged target meridian of the target user based on the position of the key massage area on the target user; generating a massage path based on each human body acupoint on the target meridian and the acupoint position of each human body acupoint on the target meridian; and controlling a mechanical arm of the massage robot to execute massage operation on the target user according to the massage path. Through the method, the massage effectiveness of the massage robot is improved.

The invention discloses a three-dimensional point cloud processing method, system, terminal and medium for anti-wrinkle interference clothes for a massage robot, and relates to the technical field of robot perception and point cloud processing, and the method comprises the steps: obtaining the three-dimensional point cloud data of the surface of the clothes based on a depth camera, and carrying out the cutting processing, and obtaining the point cloud data after cutting; preprocessing the cut point cloud data to obtain target point cloud data, and performing cascade filtering processing to obtain optimized point cloud data; and based on the optimized point cloud data, calculating a normal vector of each point, and determining to carry out massage path planning so as to control the massage robot to execute a massage action based on the planned massage path. The method can remarkably reduce the influence of clothes wrinkles on massage direction recognition of the massage robot, and can adapt to interference of clothes made of different materials. In addition, according to the cascade filtering processing method, the calculation burden is greatly reduced while the effectiveness of normal vector estimation is ensured.

The invention discloses a traditional Chinese medicine human body acupuncture point recognition method and system based on virtual reality, and relates to the technical field of acupuncture point recognition. The system can collect action acupuncture point position data and curative effect data of a patient in the massage process in real time through an action tracking and acupuncture point recognition module in combination with VR equipment and a sensor group; and the data are transmitted to a cloud platform through a wireless network to be processed and analyzed. And the data integration processing module carries out visual display and standardized processing on the acquired data, so that the accuracy and consistency of the data are ensured. And the operation error analysis module can calculate an action space error D and evaluate the massage operation precision according to the value. When the output result of the motion space error D exceeds a certain deviation, the system gives a prompt to a physiotherapist through a visual interface to guide the physiotherapist to adjust the massage manipulation, and the integration of the system not only improves the transparency of the treatment process, but also greatly reduces errors caused by human factors.

The invention discloses a human body back acupoint recognition and positioning method and system, a terminal and a medium, and the method comprises the steps: obtaining a back image; inputting the back image into a trained target detection model; and obtaining acupoint identification information in the back image through the trained target detection model, and marking the acupoint identification information on the back image. According to the method, acupoint recognition and labeling of the user back image are achieved through the trained target detection model, acupoint recognition standardization can be achieved, the YOLOv11 module in the target detection model can rapidly obtain possible acupoint areas, and the OfficientDet module can achieve high-precision detection, so that the accuracy and reliability of a detection result are improved, and the accuracy and reliability of the detection result are improved. Due to the fact that a target processed by the OfficientDet module is a cut image of a prediction target acupoint detection frame, consumption of computing resources is greatly reduced while high precision of the whole detection process is kept, the problems of illumination change, background interference and the like can be effectively solved, and detection robustness is enhanced.

The invention relates to the technical field of intelligent recognition, and discloses an acupoint acupuncture guidance method and system based on a knowledge graph, and the method comprises the steps: obtaining a real-time three-dimensional coordinate of a target acupoint on a target object through employing a multi-mode positioning technology; the physical sign data and disease information of the target object are obtained, an improved random forest algorithm is used for correcting standard parameters in the acupoint knowledge graph, an acupuncture scheme is generated, the acupuncture device is controlled to select a target needling instrument from the storage bin based on the acupuncture scheme, and acupuncture operation is executed; monitoring needle tip pressure, needle inserting depth and angle deviation in real time; when parameter deviation or abnormal biological signals existing in the needle point pressure, the needle inserting depth and the angle deviation are detected, the actuating mechanism is guided and driven to conduct self-adaptive adjustment till the needling operation is completed. Through the implementation of the invention, the problem that the related technology cannot meet the requirements of modern acupuncture treatment with precision, standardization and safety is solved.

The invention relates to a meridian point knowledge-based false detection and restoration acupoint recovery method, device and equipment, and the method comprises the steps: generating false detection and restoration acupoint coordinates according to the symmetry constraint relation of human meridian points through known meridian points and symmetrical meridian points, and generating false detection and restoration acupoint coordinates according to the logic topology constraint relation of the human meridian points. The X-axis coordinates of the falsely detected and repaired acupuncture points are corrected through the inherent trend and naming sequence of the human body meridians, and the Y-axis coordinates of the falsely detected and repaired acupuncture points are corrected by determining the up-down position relation of the meridians under the human body posture according to the spatial topology constraint relation of the human body meridians and acupuncture points. By fusing multiple constraints of symmetry in distance, angle and direction, missing false detection and restoration of the acupuncture point can be recovered through geometric symmetry, the detection error is effectively reduced, the robustness of acupuncture point detection is improved, a dual verification mechanism of logical topology and spatial topology is combined, and the accuracy of acupuncture point detection is improved. And further, the reasonability of the recovery result is ensured through constraint.

The invention discloses a human body acupoint accurate recognition method based on a DWPose algorithm, and belongs to the field of health care acupoint recognition, and the method comprises the steps: obtaining a human body acupoint image data set; preprocessing the collected human body acupoint image data set and dividing the collected human body acupoint image data set into a training set, a test set and a verification set; the method comprises the following steps: building an RTMPose-s network model and an RTMPose-1 network model, and improving the RTMPose-1 model to obtain an improved RTMPose-1 network model; respectively training the RTMPoses-s network model and the improved RTMPoses-l network model by using the training set, and testing the RTMPoses-s network model through the test set; building a DWPose network model, training the RTMPoses-s network model through two-stage distillation, and testing the RTMPoses-s network model; and carrying out acupuncture point identification by using the RTMPoses-s network model subjected to distillation training. The light weight of the model is realized, and the detection efficiency and the detection precision of the human body acupuncture points are improved.

The invention discloses a household graphene moxibustion intelligent robot which comprises a robot body, a mechanical arm, a graphene heating module, a main control module and an LED phototherapy module. The device has the beneficial effects that 1, mechanization, automation and digitization of alkene moxibustion are realized; 2, the traditional Chinese medicine suspended moxibustion manipulation treatment is accurately simulated, a standardized treatment scheme is realized, the manipulation precision of a professional physician can be copied, and the burn risk of traditional moxibustion is completely eradicated; voice interaction is supported, acupoint combination is intelligently matched, the detachable graphene module design is adopted, independent replacement can be achieved when the thermal efficiency attenuation exceeds 5%, and safety and comfort are improved; 4, the smokeless and dustless design thoroughly solves the pollution problem of traditional moxibustion, and the application scene is expanded to closed spaces such as bedrooms and offices; and fifthly, the maintenance cost is reduced through the modular design, and production and maintenance are easy.

The invention relates to an automobile massage seat system, a control method and an automobile, and belongs to the technical field of automobile chairs, the automobile massage seat system comprises a pressure detection unit arranged on a seat and used for collecting pressure data to generate a continuous pressure distribution image of a contact part of a user and the seat; the acupuncture point determining unit is used for calculating the coordinate position of the target acupuncture point in a seat coordinate system based on the continuous pressure distribution image by combining an anatomical mark positioning and pressure feature matching method; and the massage execution unit is arranged in the seat and is used for massaging the user. The actual contact form of the user and the seat can be dynamically recognized based on the collected pressure distribution image, individualized precise positioning of acupuncture point coordinates is achieved through fusion analysis of anatomical marks and pressure features, the massage execution unit can adjust the massage position in real time according to the positioned coordinates, and the massage effect is improved. Therefore, it is ensured that the massage head accurately acts on the target acupuncture point, and the massage effectiveness and overall comfort of a user are improved.

The invention relates to the technical field of human body acupoint recognition, and discloses a human body back acupoint positioning method, device and equipment. The method comprises the steps of obtaining a back image of a target object; generating a back acupoint image based on the back image and a target model; each back acupoint of the target object is marked in the back acupoint image; and projecting the back acupuncture point image to the back of the target object through projection equipment so as to position the position of each back acupuncture point of the target object. The back acupuncture points of the target object are recognized and accurately projected and positioned to the back of the target object through the combination of the back image and the target model obtained through pre-training, and compared with existing manual acupuncture point positioning of medical staff, the subjective influence of the medical staff can be avoided, and then the accuracy of back acupuncture point recognition and positioning is improved.

The invention relates to the field of intelligent medical treatment, in particular to a percutaneous lung channel acupoint electrical stimulation optimization system based on artificial intelligence, which comprises a multi-source data acquisition module (M1), a dynamic modeling module (M2) and a self-adaptive electrical stimulation module (M3). M1, collecting lung channel acupoint skin impedance, infrared thermal imaging, respiratory rhythm and cough frequency data in real time, and generating multi-source fusion features through space-time alignment; m2, based on a deep learning model, combining with a preset database to dynamically generate an electrical stimulation parameter combination, and ensuring parameter safety through impedance calibration and constraint optimization; and M3, adjusting the stimulation intensity according to the parameters, and setting an impedance threshold to trigger power-off protection. The traditional Chinese medicine meridian theory and the AI algorithm are fused, accurate acupoint positioning, personalized electrical stimulation and dynamic safety regulation are achieved, and the respiratory system disease treatment effect is improved.

The invention provides an electrical stimulation task processing method and device and terminal equipment, and the method comprises the steps: inputting a collected user face image into a pre-trained face detection model for face recognition, and obtaining a face region recognition result; inputting the face region recognition result into a pre-trained key point recognition model for key point detection to obtain a face key point recognition result; constructing a face feature coordinate system based on the face key point recognition result, and mapping the face acupoints to the face feature coordinate system in combination with a preset mapping rule to obtain a user face acupoint positioning result; performing acupoint impedance detection according to a user face acupoint positioning result, calling a corresponding electrical stimulation waveform according to an electrical stimulation task initiated by the user when the acupoint impedance detection result is passed, and executing the electrical stimulation task based on the electrical stimulation waveform. According to the invention, the alignment accuracy and the treatment effectiveness of the TENS equipment in the use process can be improved.

The invention provides an acupoint identification marking method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a dynamic video of which a shot object is a human body, and identifying all acupoint names contained in the dynamic video; and selecting a target acupoint from all the contained acupoint names, and tracking and marking the position of the target acupoint in the dynamic video based on an image tracking algorithm and inertial navigation attitude data. The embodiment of the invention provides an acupoint identification marking method and system, electronic equipment and a storage medium, which better utilize the time sequence continuity of video frames to carry out acupoint identification, and solve the problem of tracking failure or tracking precision reduction when approaching a target acupoint weak texture area by fusing video attitude and inertial navigation attitude data, thereby improving the accuracy of the acupoint identification marking. Meanwhile, after acupuncture point marking and tracking, follow-up interactive guidance on actual acupuncture point operation can be facilitated, and the practicability after acupuncture point recognition is greatly improved.

The invention belongs to the technical field of traditional Chinese medicine intelligent diagnosis and treatment, and particularly relates to a traditional Chinese medicine back acupuncture point positioning method based on lightweight multi-network fusion. In order to solve the problems that a traditional acupoint positioning method is high in subjective dependence and insufficient in automation precision, a MobileNetV2-HRNet double-trunk feature fusion framework is constructed, and efficient feature extraction and multi-resolution feature fusion are achieved through a lightweight network; a channel-space two-dimensional dynamic attention mechanism is introduced, and the feature expression ability of the key area is enhanced; and proposing a mixed loss function fused with an anatomical law, and integrating mean square error loss, spine position constraint and symmetry constraint to realize model optimization guided by anatomical priori knowledge.

The invention discloses a human body meridian point automatic detection method and system based on AI machine vision, and relates to the crossing field of artificial intelligence and medical health, the method comprises the following steps: hand face direction determination: determining a palm center face or a hand back face according to a continuous distribution curve extraction result in a hand image; hand face feature extraction: segmenting a finger region and a palm region by finger root cross grains, and extracting feature marks according to a hand face selection corresponding strategy; establishing a global reference, constructing a coordinate system by taking the midpoint of the wrist cross grain as a global original point, segmenting the refined region and forming a mapping library; local adaptation: establishing a local coordinate system and calculating an offset with a global origin; candidate points are screened, the optimal acupuncture points are screened and verified from the refined area in combination with multiple features, and the system correspondingly comprises the function modules; the method improves the automation degree, positioning precision and adaptability of acupoint detection, and meets the requirements of traditional Chinese medicine diagnosis and treatment.

The invention discloses an acupuncture robot meridian point positioning system based on digital twinning, and belongs to the technical field of acupuncture, and the system comprises a data acquisition digital modeling module which is used for obtaining body surface visual data of a patient, reconstructing a 3D digital model of the patient, and creating an initial digital twinning model of the patient; the treatment planning simulation rehearsal module is used for performing diagnosis and acupuncture treatment scheme design by a doctor and simulating and rehearsal the whole acupuncture process; and the virtual-real synchronous accurate positioning module is used for controlling the acupuncture robot to move above the target acupuncture point, tracking the tiny movement of the patient in real time, synchronously updating the patient digital twin model and the target position of the acupuncture robot, and realizing the dynamic tracking and accurate positioning of the meridian acupuncture point. The problem that the acupuncture treatment efficiency of a patient is low due to the fact that accurate positioning of meridian points of the patient cannot be achieved based on digital twinning in the prior art is solved. Precise positioning of the meridian points of the patient can be achieved based on digital twinning, and the acupuncture treatment efficiency of the patient can be improved.

The invention discloses a real-time acupuncture point mapping method based on a bone degree deflection method and a human body posture key point model, and relates to the technical field of traditional Chinese medicine digitization. According to the real-time acupuncture point mapping method based on the bone degree discount method and the human body posture key point model, acupuncture point coordinates are calculated by combining the standard bone degree discount proportion with the objective distance between the human body posture key points, traditional empirical positioning is converted into datamation and standardization calculation, personal errors are reduced, BMI parameters are introduced to formulate a BMI interval correction table, and the real-time acupuncture point mapping accuracy is improved. The three-dimensional coordinates of the acupoints are accurately corrected through the coordinate correction coefficient, it is ensured that acupoint mapping of users of different body types is highly matched with the actual subcutaneous position, the purpose of improving the acupoint positioning effect is achieved, a corresponding acupoint mapping template is selected according to the judgment result of the human body orientation, a real-time AR picture is generated in an AR superposition rendering mode, and the user experience is improved. And real-time mapping of human body acupuncture points is realized.