227results about "Devices for locating reflex points" patented technology

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 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 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 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 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 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.

The invention discloses a digital temperature control and curative effect management system for pitaya moxibustion, and relates to the technical field of physiotherapy instruments. A temperature control signal generation and transmission unit; the score input and parameter acquisition unit is used for constructing a curative effect prediction model, analyzing a curative effect prediction result of the curative effect prediction model and acquiring an optimal heating parameter; the curative effect simulation and strategy generation unit is used for analyzing the physiological feedback data of the patient, recommending candidate key acupoint combinations for the patient, simulating the treatment effect of the optimal heating parameter set on the candidate key acupoint combinations by using a biological heat conduction simulation algorithm, screening out the optimal key acupoint combination based on the simulation result, and generating the treatment effect of the optimal key acupoint combination. And a personalized optimal temperature control strategy is generated. According to the invention, accurate temperature control in the treatment process can be realized, the problems of scald and insufficient temperature permeation caused by local overheating are avoided, the safety and stability of treatment can be improved, and the treatment process is more reliable.

The invention relates to the technical field of augmented reality image processing, and discloses a traditional Chinese medicine acupuncture auxiliary positioning system based on an AR technology, which comprises a body surface anatomical feature intelligent extraction module, a personalized meridian model adaptive deformation module, a dynamic virtual-real registration tracking module and an AR visual rendering and quality closed loop module, according to the method, a thin-plate spline transformation algorithm is adopted to elastically deform a standard meridian model to the body surface of an individual, the individualized cun unit length is dynamically calculated in combination with a bone degree cun method, virtual-real registration is optimized through an iterative nearest point algorithm, movement and breathing deviation of a patient are compensated, the positioning quality is evaluated through a confidence coefficient thermodynamic diagram, closed-loop reacquisition optimization is driven, and the positioning accuracy is improved. Accurate AR-assisted positioning of acupuncture points of the whole body is realized.

The invention discloses an acupoint recognition and positioning method and system, a moxibustion robot and a storage medium. The method comprises the steps of obtaining multi-modal data of a human body to be subjected to physiotherapy; carrying out preprocessing on the multi-modal data; constructing a multi-modal feature fusion model, and generating an enhanced acupoint feature map; constructing a human body meridian-acupoint incidence relation matrix on the basis of the enhanced acupoint feature map in combination with a preset human body meridian-acupoint incidence relation matrix; dynamically compensating the candidate area, calculating the real-time offset of the acupuncture point based on the body surface micro-motion data, and correcting the depth coordinate of the acupuncture point in combination with the body surface elastic modulus data to obtain the accurate three-dimensional coordinate of the acupuncture point to be positioned; on the basis of the precise three-dimensional coordinates, blood vessels and nerve dense areas around the acupuncture points are recognized through an improved Harris corner detection algorithm, and a safe moxibustion applying path is generated; meanwhile, the confidence value of the precise three-dimensional coordinate is calculated. According to the method, high-precision, self-adaptive, all-position compatible, safe and controllable acupuncture point recognition positioning is realized.

The invention provides a human body acupoint searching and positioning method based on a digital traditional Chinese medicine large-size model, which comprises the following steps of: establishing a standard meridian template by taking national standard meridian and acupoint positioning as a reference, and mapping the template to a parameterized three-dimensional human body grid to form a standard digital traditional Chinese medicine large-size model; the method comprises the following steps: collecting body surface point cloud data of an acupuncture part of a patient, carrying out denoising, hole filling and down-sampling preprocessing on the point cloud data, and then carrying out non-rigid registration on the point cloud data and a standard digital traditional Chinese medicine human big model to obtain an individualized meridian-acupoint model consistent with the current posture and body type of the patient; marking anatomical mark points in the individualized meridian-acupoint model as reference feature points, and establishing a relative position function relationship between the reference feature points and a target acupoint according to a traditional Chinese medicine bone degree division method; a real-time image of the body surface of the patient is obtained through the visual sensing unit, the actual pixel coordinates of the reference feature points are recognized, and the actual three-dimensional coordinates of the target acupuncture point on the body surface of the patient are calculated and output in combination with the relative position function relation.

The invention relates to the technical field of image sensing, general image recognition and feature positioning under computer vision, and discloses an acupuncture point positioning method and system based on artificial intelligence, and the method comprises the steps: obtaining a non-rigid target section image through an image collection module; the key point identification module determines topological anchor points at two ends of the section; the reference construction module establishes a structure reference vector; a deflection calculation module extracts surface texture feature points, obtains a high-frequency component and a low-frequency component through multi-scale frequency domain decomposition, and determines a spatial deflection parameter based on the gradient of the energy distribution ratio of the high-frequency component and the low-frequency component; the proportion compensation module corrects a target distribution proportion coefficient; according to the method, the pose is inversed by using the scale invariance between the frequency domain components, the decoupling of the anatomical positioning logic and the pixel space is realized, and the non-linear interference of the non-uniformity of the biological surface and the dynamic environment illumination on the positioning precision is eliminated.

The invention provides a traditional Chinese medicine auricular point floating collateral cutting treatment automatic special knife which is used for conducting auricular point floating collateral cutting treatment on a patient and comprises a base body, a knife body, a holding body, a trigger body, a first torsional spring and a second torsional spring, in the initial state, a handle is located at the bottom away from a fence, and when the holding part is close to the fence in place, the handle is translated to be close to the top of the fence; the wedge-shaped protrusion is matched with the limiting step protruding block, so that the cutter body is static, the position of the holding part is kept, the drag hook is pulled, the wedge-shaped protrusion is disengaged from the limiting step protruding block, the handle part returns to the position along the original track under the action of the second torsional spring, the holding part is loosened, the holding part returns to the original position under the action of the first torsional spring, and the locating part is driven to return through the drag hook. The wedge-shaped protrusion and the limiting step protruding block are located in a matched mode. According to the device, the working efficiency and automation are improved, the device is not influenced by manual operation, and acupoint scratching treatment is more accurate.

The utility model relates to an abdominal acupoint positioning and marking device which comprises a positioner and a point marking pen, the positioner is provided with a datum point hole site, a first marking hole capable of moving in the Y-axis direction with the datum point hole site as the original point and a second marking hole capable of moving in the X-axis direction; a sliding groove is formed in the tail end of the marking pen in the length direction, a sliding plate is arranged in the sliding groove in a sliding mode, a mounting block is arranged at the outer end of the sliding plate, a containing space for containing a finger can be formed between the mounting block and the tail end of the marking pen, and a range finder is arranged at the tail end of the marking pen. Therefore, the width of the finger in the accommodating space is measured. According to the utility model, the range finder, the sliding plate and the mounting part are all arranged on the marking pen, so that a user can measure the finger width by using the marking pen anytime and anywhere, the trouble of using additional measuring tools is saved, and the measuring convenience is remarkably improved; after the finger width is measured, the same point marking pen can be directly used for marking acupuncture points, and tools do not need to be replaced.

The application relates to an acupuncture training method and device and a storage medium, and comprises the following steps: S1: an environment construction step: a virtual reality training environment is constructed, the virtual reality training environment comprises a learning unit for acupoint knowledge display and an examination unit for interactive operation; wherein the examination unit pre-stores a three-dimensional human acupoint coordinate model established based on standard anatomy data, the three-dimensional human acupoint coordinate model defines standard space coordinates of each acupoint and a permitted coordinate deviation range of the acupoint; S2: a knowledge display and operation collection step: the learning unit is controlled, and graphic and three-dimensional anatomical information of at least one target acupoint combination is displayed to a user; subsequently, the examination unit is controlled to load a three-dimensional human model corresponding to the target acupoint combination, and interactive operation data of the user for positioning the target acupoint combination through an interactive device is received; and the application can better realize acupuncture training.

The invention discloses a head acupoint acupuncture device and a using method thereof, and relates to the technical field of ultrasonic acupuncture, the head acupoint acupuncture device comprises a front helmet part and an ultrasonic acupuncture sound head, the bottom of the front helmet part is fixedly connected with a ring sleeve, the upper surface, not connected with the front helmet part, of the ring sleeve is connected with a rear barrier strip, and one end of the rear barrier strip is movably connected with the top end of the front helmet part. The telescopic push rod drives the protective sleeve to abut against the acupuncture point of a user to form an ultrasonic acupuncture cavity, at the moment, a coupling agent guided in by the coupling agent guiding-in assembly is located in the protective sleeve, and under the separation effect of the protective sleeve, the situation that the coupling agent slides downwards and breaks away from the acupuncture point under the gravity effect is avoided; according to the ultrasonic acupuncture and moxibustion sound head, the problem that the subsequent ultrasonic acupuncture and moxibustion effect is affected due to the fact that the ultrasonic acupuncture and moxibustion sound head is provided with the protective sleeve is solved, after sufficient coupling agent is introduced, the coupling agent can completely cover the skin of the acupuncture points covered by the protective sleeve, the ultrasonic acupuncture and moxibustion sound head is under the action of the coupling agent in the working process, and the action effect of the ultrasonic acupuncture and moxibustion sound head is guaranteed.

This disclosure provides a massage robot and its control method, control device, and storage medium. The massage robot control method of this disclosure includes: determining a massage path based on a user's human body point cloud data to obtain the user's massage path data, the massage path data including a massage movement trajectory and a first position, a first tolerance range, and a massage intensity range for each acupoint on the massage movement trajectory; controlling a robotic arm to perform multi-point light touches in a local area of ​​the first position of the acupoint and obtaining the pressure value of each light touch point; determining a second position of each acupoint on the massage movement trajectory based on the pressure value of each light touch point; and controlling the robotic arm to perform a massage operation according to the massage movement trajectory, the second position of each acupoint on the massage movement trajectory, the pre-set second tolerance range, and the massage intensity range. This disclosure can effectively improve the accuracy of acupoint positioning and the stability and safety of the massage effect.

The invention discloses a table type midnight-noon ebb-flow neuromuscular electrical stimulation system and an electrical stimulation instrument, and relates to the technical field of neurological rehabilitation, the system comprises an acupuncture point precise positioning module, which integrates image acquisition and algorithm, and outputs acupuncture point three-dimensional coordinates; the qi and blood quantification module is used for calculating qi and blood indexes by using various sensors in combination with the midnight-noon ebb- The stimulation parameter mapping module generates personalized parameters according to the time and qi and blood data; the electrical stimulation execution module accurately applies thorns and dynamically adjusts the thorns; the curative effect closed-loop optimization module monitors feedback, iteratively optimizes parameters and generates a curative effect report; precise positioning and dynamic quantification of acupuncture points are realized by integrating image acquisition, algorithms and the like, and transformation of the midnight-noon ebb-flow therapy is promoted; a corresponding relation is established to generate a personalized stimulation scheme, a curative effect closed-loop optimization mechanism is constructed, the traditional limitation is broken, the individual physiological state is fit, the treatment effect is improved, an efficient scheme is provided for neuromuscular electrical stimulation, and fusion of the traditional Chinese medicine theory and the modern technology is promoted.

A three-dimensional (3D) digital image of an individual patient marked with target therapeutic locations on a skin surface of the patient is used for locating those treatment locations on a patient's skin for fascial manipulation and other treatments. The 3D image may be obtained by merging an unmarked 3D digital patient model image converted from a 2D optical image with a “generic” musculoskeletal digital model having optimized target therapeutic locations distributed over a skin surface thereof. The generic musculoskeletal digital model may be obtained from a library of such images.

The invention relates to a method, device and equipment for positioning channels and collaterals based on three-dimensional point cloud information, and the method comprises the steps: generating a pseudo-color space through extracting depth information according to human body three-dimensional point cloud data, extracting a human body foreground region in the pseudo-color space, and segmenting and projecting the human body foreground region according to a human body proportion and a topological relation. Generating central coordinates of each region of the human body, obtaining a human body center line, and generating human body back meridians according to the human body center line and the human body foreground region through a traditional Chinese medicine meridian equal-body-cun theory. According to the method, multi-layer grid aggregation calculation can be adopted, point cloud noise interference is effectively suppressed, and the stability of generated coordinates is improved; based on the equal-body-size principle of traditional Chinese medicine, different human body shapes are automatically adapted through percentage grid positioning; and a center line among the head, the neck and the waist can be accurately obtained, and a reliable reference is provided for calculation of human body back meridians and collaterals.

The invention provides a high-precision robust ear acupuncture point recognition method and system, and belongs to the technical field of image recognition. The method comprises the following steps: constructing an ear functional region segmentation model based on deep learning, and obtaining image segmentation results of a plurality of functional regions of an ear; according to the standard template of each ear functional region, performing local registration on the plurality of ear functional region images obtained by segmentation; and detecting a plurality of candidate acupoints in the local small range where the current acupoint is located, extracting a local feature under each candidate acupoint, calculating the distance between the local feature and the acupoint feature of the template image, and taking the candidate acupoint corresponding to the minimum distance as a final acupoint position. According to the method, a functional area in an image segmentation result is aligned with the structure of a standard template through local registration, so that the topological relation in the standard template is inherited, the global deformation problem is avoided, acupuncture point dislocation and deviation are avoided through local fine adjustment, and auricular point recognition and positioning under the constraint of a high-precision and robust acupuncture point topological structure are achieved.

The invention relates to the technical field of computers, discloses a massage track generation method and system based on traditional Chinese medicine infrared thermal imaging, and solves the defects of an existing automatic massage device in the aspects of individual difference adaptability, traditional Chinese medicine physiotherapy intelligence and dynamic state adaptability. The method comprises the following steps: positioning three-dimensional coordinates of key areas, acupuncture points and meridians of a human body by acquiring infrared thermal imaging data; body surface temperature abnormity is recognized, and features are extracted; syndrome differentiation attribution is combined with a traditional Chinese medicine knowledge base; generating an initial massage track and parameters; and real-time feedback and adaptive optimization are realized. The corresponding system comprises a data acquisition module, a region positioning module, a feature extraction and analysis module, a traditional Chinese medicine syndrome differentiation attribution module, a track generation module, a parameter regulation and control module and a real-time feedback and optimization module. According to the invention, traditional Chinese medicine dialectical intelligence is realized, personalized massage tracks and parameters are dynamically optimized, and the massage accuracy, the physiotherapy effect and the user adaptability are remarkably improved.

The invention discloses a painless non-intrusive simulation acupuncture therapy VR (virtual reality) system integrating multi-sensory stimulation and personalized adaptation, which comprises an intelligent treatment scheme management module, a processing control module, a multi-sensory stimulation module, a dynamic acupuncture point adaptation module and an audio guide module, the system fundamentally avoids safety risks such as acupuncture pain, subcutaneous hemorrhage and local infection, eliminates treatment fear of people sensitive to the pain, improves user acceptance and long-term treatment compliance, and compared with traditional invasive acupuncture, the system does not need a strict disinfection process and whole-course operation monitoring of professional doctors, and is convenient to use and popularize. Potential safety hazards in the treatment process are reduced, the device is more suitable for being used in diversified scenes such as homes and grassroots, and the strict dependence of traditional acupuncture on the treatment environment and professional resources is broken through.

The invention provides a non-drug intervention strategy making method and system for an insomnia patient, and the method comprises the steps: obtaining a traditional Chinese medicine physiological reference parameter of the patient, mapping the traditional Chinese medicine physiological reference parameter to a continuous physiological waveform, removing a static component matched with a traditional Chinese medicine physiological reference from the continuous physiological waveform, and obtaining a non-drug intervention strategy of the patient; obtaining a pure stress shock waveform triggered by external disturbance, and calculating a permeation gain of the environment characteristics to the pure stress shock waveform in the environment path; calculating the interference intensity of the traditional Chinese medicine syndrome characteristic data on the pure stress shock wave form in the syndrome path; performing state object division on the current sleep state of the patient based on the ratio relationship between the permeation gain and the interference intensity; and dynamically adjusting the output weights of the physical environment adjustment instruction, the traditional Chinese medicine syndrome adjustment instruction and the cognitive intervention instruction in a preset non-drug intervention library based on the recognition result of the state object and the recovery characteristic time parameter of the physiological steady state in the corresponding state. And a dynamic self-adaptive household non-drug intervention scheme is provided.

The invention discloses a traditional Chinese and western medicine cooperative emotion nursing management system and a physiotherapy robot applying the same, and aims to solve the technical problems in the aspects of traditional Chinese and western medicine theory deep cooperation and dynamic personalized nursing in the prior art. The system is realized through the following steps: collecting physiological, behavior, traditional Chinese medicine and other multi-modal data of a user, and constructing a unified traditional Chinese and western medicine cooperative emotional state vector; reasoning by using a traditional Chinese and western medicine fusion knowledge graph to generate an interpretable traditional Chinese medicine macroscopic treatment target; a double-layer hierarchical reinforcement learning model is adopted for decision making, a macroscopic intervention combination is generated through a high-layer strategy, and an accurate robot control instruction containing emotional tactile parameters is generated through a low-layer strategy; and finally, driving the physiotherapy robot to execute the instruction, and continuously optimizing the strategy through closed-loop feedback. According to the method, the artificial intelligence decision theory and the traditional Chinese medicine syndrome differentiation treatment thought are combined, and an automatic and emotional traditional Chinese and western medicine cooperative nursing solution is provided for mood-related functional disorders.

The application provides an ear treatment point positioning method and system, a laser treatment method and system based on the ear treatment point, a medium, a program and an electronic terminal. The application obtains pressing test data, brain wave data and heart rate data obtained when a probe traverses and detects a preset scanning point in a treatment area, and determines whether the scanning point is an effective treatment point such as a tender point and a hard knot point based on the pressing test data, the brain wave data and the heart rate data. The application avoids the treatment limitation caused by the fact that the existing acupuncture treatment instrument only focuses on macro positioning of an auricular point area and lacks accurate identification ability of specific treatment points in the area at a microscopic level, so that the effective auricular point treatment points can be positioned more accurately, and a more accurate and repeatable treatment and health care effect can be achieved.

The application discloses a multi-method fusion hand acupoint positioning method and system and electronic equipment, and belongs to the technical field of medical image processing. The method is based on machine learning and digital image processing technology, combined with the acupoint positioning theory of traditional Chinese medicine, and adopts a targeted method for accurate positioning of acupoints for different acupoints. In the application, the hand acupoints are divided into four categories. The first category is acupoints that can be positioned by hand key points according to the positioning method of traditional Chinese medicine. The second category is acupoints that need to be positioned by nail positions according to the positioning method of traditional Chinese medicine. The third category is acupoints located at the edge position of the hand. The fourth category is acupoints without obvious image features. According to the different categories of hand acupoints, different positioning methods are selected, and the augmented reality method is used to superimpose the acupoint information on the real hand image. It is verified that the application can more accurately position the hand acupoints and has a more intuitive display effect.

The clinical finger rehabilitation exerciser comprises a first bandage, first elastic ropes are fixedly connected to one side of the first bandage at equal intervals, and first finger sleeves are fixedly connected between the ends, away from the first bandage, of the first elastic ropes correspondingly; second elastic ropes are fixedly connected to the ends, away from the first elastic ropes, of the first finger sleeves at equal intervals, first finger sleeves are fixedly connected between the ends, away from the first finger sleeves, of the second elastic ropes correspondingly, and fixing blocks are fixedly connected to the tops of the first finger sleeves and the tops of the first finger sleeves correspondingly. A tension spring is fixedly connected between every two corresponding fixing blocks. The hand rehabilitation training device has the advantages that an effective hand rehabilitation training mode is provided for a patient through the tension effect of the tension spring, hand muscles and joints can be exercised in a targeted mode, the movement function of the hand muscles and joints is improved, meanwhile, the risk that the patient is injured in the training process is reduced through the protection design of the elastic cloth, and the training safety is guaranteed.

The invention relates to the technical field of traditional Chinese medicine acupuncture and moxibustion, in particular to a traditional Chinese medicine syndrome differentiation acupoint selection acupuncture and moxibustion device and application thereof.The traditional Chinese medicine syndrome differentiation acupoint selection acupuncture and moxibustion device comprises a protective shell, an acupoint selection mechanism is arranged in the protective shell and sequentially comprises an acupoint selection instrument, a battery box and an electrical bar from bottom to top, and a pressing mechanism and a marking mechanism are further arranged in the protective shell; a needle body storage tube is placed at the top of the protective shell. According to the traditional Chinese medicine syndrome differentiation acupoint selection acupuncture device and the application thereof, after the acupoint selection instrument determines the position of an acupoint, a pressing block is pressed down to drive a piston plate to move, then medical pigment in a liquid storage box is accurately sprayed to the periphery of the acupoint through an annular spray head, a clear annular mark is formed, and non-contact identification of the acupoint is achieved; the risk of cross infection possibly caused by traditional contact type marking is effectively avoided, and the hygiene and safety of the operation process are remarkably improved.

The invention discloses a full-automatic physiotherapy moxibustion robot and a control method thereof. The moxibustion robot comprises a base, a six-axis mechanical arm, a moxibustion device, a sensing assembly, a smoke exhaust system, an operation terminal and a controller. A feeding workbench is arranged on the base. The six-axis mechanical arm is arranged on the base; the moxibustion device is connected with the six-axis mechanical arm and used for applying massage force to a target area and achieving a moxibustion function; the sensing assembly comprises three laser distance measuring sensors uniformly distributed on the outer side of the moxibustion device, a camera and a temperature sensor, and the camera is used for capturing and positioning acupuncture point images of a human body; the smoke exhaust system is connected with the moxibustion device through a pipeline so as to treat smoke generated in the combustion process of the moxibustion device; the operation terminal is arranged on the base and controls the six-axis mechanical arm and the moxibustion device to operate. And the controller is electrically connected with the operation terminal. The invention further provides a using method, the acupoint positioning precision is remarkably improved on the basis of full automation, and the safety and environment problems in the using process are avoided.