356results about "Devices for locating reflex points" patented technology

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 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 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 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 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 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 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 medical health informatics, and discloses a tumor patient meridian energy dynamic monitoring system and method. The system comprises a midnight-noon ebb-flow time sequence energy mapping module, a multi-modal tumor characteristic signal acquisition module, a tumor focus-meridian correlation map construction module, a chemotherapy toxic reaction prediction module and a moxibustion intervention decision module. Dynamic and accurate monitoring of the meridian energy state of a tumor patient is achieved, potential risks can be early warned 12-24 hours in advance by establishing a chemotherapy toxicity risk scoring algorithm, the life quality of the patient is remarkably improved by generating a personalized moxibustion intervention scheme, and clinical decision support is provided for traditional Chinese and western medicine combined tumor auxiliary diagnosis and treatment.

A method and apparatus for correctly identifying an acupuncture strategic point comprises a clinician using a probe connected to an electrical driver to apply a pulsed electric current to a patient's skin, establishing electrical continuity between the patient and the clinician so that both the patient and the clinician can sense the pulsed electric current, moving the probe over the patient's skin and monitoring changes in the sensed pulsed electric current, and determining the strategic point to be a point at which irritation from the pulsed electric current as sensed by the clinician is minimized.

The invention relates to the technical field of acupoint recognition, and discloses an acupoint recognition method and system based on bone degree cun, and the method comprises the following steps: S1, multi-modal data collection: synchronously obtaining a body surface three-dimensional point cloud, a bioelectrical impedance spectrum and bone CT data: S2, mark point feature extraction: recognizing bone mark points based on a deep learning model; s3, constructing a dynamic bone degree model: establishing a bone degree relation matrix among mark points, and updating individual bone degree coefficients; s4, space-time calibration and data fusion: synchronizing multi-source data timestamps, and unifying a coordinate system; S5, acupoint coordinate calculation: calculating acupoint three-dimensional coordinates under a bone degree coordinate system. According to the method, the body surface three-dimensional point cloud, the bioelectrical impedance spectrum and the skeleton CT data are acquired through the multi-modal data, and a multi-source data space-time reference is unified by combining space-time calibration and data fusion, so that the problems of single data and large space-time deviation in acupuncture point recognition are solved, and the effect of providing a multi-dimensional accurate data basis for acupuncture point positioning is achieved.

The invention discloses an intelligent self-adaptive acupuncture electrical stimulation system and method, and the system comprises a signal collection module which is used for obtaining a multi-modal physiological signal of a tested animal in real time; the signal processing module is connected with the signal acquisition module and is used for performing filtering and noise reduction on the acquired physiological signals and extracting time domain and frequency domain characteristics; the physiological state recognition module is connected with the signal processing module and used for inputting the features into a pre-trained state recognition model; the parameter matching and regulating module is connected with the physiological state recognition module and is used for automatically determining an electrical stimulation parameter combination according to a recognition result; the electrical stimulation execution module comprises a multi-channel programmable electrical stimulator and an electrode needle; and the feedback control module forms a closed-loop control path with the signal acquisition module and the parameter regulation and control module and is used for dynamically updating the stimulation parameters. According to the technical scheme, the physiological changes of individuals can be responded in real time, and the stimulation strategy can be adjusted according to needs.

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.

This paper presents a medical device for treating traumatic brain injury and cerebral thrombosis through electroacupuncture. The device includes a 6-DOF (degree of freedom) mechanical arm, a multifunctional tool tip, an MRI helmet suitable for acupuncture, and magnetic resonance imaging (MRI). The acupuncture robot can insert needles and automatically manipulate specific needles by rotating or vibrating them within a specific frequency range, and can enhance the effect by applying electrical stimulation.

Articles (10) that are wearable for muscle therapy are provided. The articles (10) are compression garments and / or have compression sections (12) that can house a trigger object (14). The trigger object (14) rests on a trigger point between the compression section (12) and the individual's targeted muscle. When an individual wears the article (10), the trigger object (14) acts upon the trigger point and provides myofascial tissue release in the targeted area. The trigger objects (14) can be varied with respect to material, consistency, size, temperature and vibration. Methods for using the articles are also provided.

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.