Intelligent acupuncture point accurate positioning and stimulation regulation and control system based on combination of traditional Chinese medicine and western medicine

Abstract

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.

Description

Technical Field

[0001] The present invention relates to the technical field of acupuncture and tuina, and in particular to an intelligent acupuncture and tuina acupoint precise positioning and stimulation regulation system based on the combination of traditional Chinese and Western medicine. Background Art

[0002] As an important part of traditional Chinese medicine, acupuncture has demonstrated its unique therapeutic effects in thousands of years of practice. However, with the rapid development of modern medicine, traditional acupuncture techniques are facing severe challenges in terms of precision, repeatability, and objective evaluation. In recent years, although some modern technologies have been introduced into the acupuncture field, there are still many problems.

[0003] Currently, acupuncture point positioning mainly relies on doctors' experience and touch, which is easily affected by subjective factors and difficult to ensure the accuracy and consistency of positioning. Some studies have attempted to assist positioning through anatomical markers or imaging methods, but these methods are often complex to operate and difficult to be widely applied in clinical practice. In addition, existing acupoint positioning techniques usually only consider anatomical positions, ignoring individual differences and dynamic changes of acupoints, which may lead to unstable treatment effects.

[0004] In terms of the control of acupuncture depth and angle, traditional methods mainly rely on doctors' experience and feeling, lacking objective and precise control means. Although some mechanical assistance devices have been proposed in research, these devices often lack flexibility and cannot adapt to complex clinical situations. At the same time, existing acupuncture control techniques often ignore patients' individual differences and real-time feedback, making it difficult to achieve true personalized treatment.

[0005] The introduction of electroacupuncture technology has brought new possibilities to acupuncture treatment, but current electroacupuncture devices are mostly simple current output devices, lacking intelligent parameter adjustment functions. Most electroacupuncture devices adopt fixed stimulation modes and cannot be dynamically adjusted according to patients' real-time responses. In addition, existing electroacupuncture technologies are often separated from traditional acupuncture techniques, making it difficult to achieve their organic combination and synergistic effects.

[0006] In terms of the evaluation of treatment effects, existing methods mainly rely on patients' subjective feedback and doctors' experience judgment, lacking objective and quantitative evaluation criteria. Although some studies have attempted to introduce some physiological indicators to evaluate treatment effects, these methods are often limited to single indicators and difficult to comprehensively reflect the overall treatment effect. At the same time, most existing evaluation methods are static and post hoc, making it difficult to achieve real-time evaluation and adjustment during the treatment process.

[0007] In addition, the management and utilization of acupuncture treatment data also face challenges. Currently, most acupuncture clinics and hospitals are still using traditional paper records or simple electronic medical record systems, making it difficult to effectively collect, integrate, and analyze a large amount of treatment data. This not only limits the scientific research on the efficacy of acupuncture but also hinders the continuous optimization of acupuncture techniques and the realization of personalized treatment. Summary of the Invention

[0008] The present invention aims to solve the above technical problems and provides an intelligent acupuncture and massage acupoint precise positioning and stimulation regulation system that can achieve accurate acupoint positioning, intelligent acupuncture control, dynamic electrical stimulation regulation, objective effect evaluation, and comprehensive data management.

[0009] The present invention proposes an immersive teaching system based on virtual reality technology, including:

[0010] An information collection and analysis module, which is used for:

[0011] Collecting the acupoint information on the user's body surface;

[0012] Analyzing the acupoint sensitivity;

[0013] Generating acupoint visualization data;

[0014] An information processing and fusion module, which is communicatively connected to the information collection and analysis module and is used for:

[0015] Receiving the acupoint information, sensitivity data, and visualization data sent by the information collection and analysis module;

[0016] Generating acupoint comprehensive feature data based on the acupoint information, sensitivity data, and visualization data;

[0017] Marking the target acupoints that need acupuncture and massage;

[0018] A virtual visualization module, which is communicatively connected to the information processing and fusion module and is used for:

[0019] Receiving the acupoint comprehensive feature data and target acupoint marking sent by the information processing and fusion module;

[0020] Generating a virtual acupoint image;

[0021] Marking the target acupoints on the virtual acupoint image;

[0022] An acupuncture and massage implement module, which is communicatively connected to the virtual visualization module and the information processing and fusion module and is used for:

[0023] Collecting the information of acupuncture implement parameters;

[0024] Generating an acupuncture and massage plan based on the acupoint comprehensive feature data and the acupuncture implement parameter information;

[0025] The body surface acupuncture and massage device module, which is communicatively connected to the acupuncture and massage module, is used for:

[0026] Receiving the acupuncture and massage plan sent by the acupuncture and massage module;

[0027] Performing body surface acupuncture and massage operations;

[0028] The electrostimulation regulation module, which is communicatively connected to the information processing and fusion module, is used for:

[0029] Generating electrostimulation parameters based on the comprehensive acupoint feature data;

[0030] Controlling the electrostimulation intensity, frequency, and time;

[0031] The electroacupuncture and massage device module, which is communicatively connected to the electrostimulation regulation module and the body surface acupuncture and massage device module, is used for:

[0032] Receiving the electrostimulation parameters sent by the electrostimulation regulation module;

[0033] Combining the acupuncture and massage operations of the body surface acupuncture and massage device module to perform electroacupuncture and massage treatment.

[0034] Preferably, the information collection and analysis module includes:

[0035] The body surface acupoint information collection unit, which is used for collecting the anatomical features and physiological parameters of the user's body surface;

[0036] The acupoint sensitivity analysis unit, which is used for:

[0037] Receiving the physiological parameters collected by the body surface acupoint information collection unit;

[0038] Calculating the sensitivity index of the acupoint based on the physiological parameters;

[0039] The acupoint visualization analysis unit, which is used for:

[0040] Receiving the anatomical features collected by the body surface acupoint information collection unit;

[0041] Generating a three-dimensional acupoint distribution model based on the anatomical features.

[0042] Preferably, the information processing and fusion module includes:

[0043] The acupoint information processing and integration unit, which is used for:

[0044] Receiving the acupoint information, sensitivity data, and visualization data sent by the information collection and analysis module;

[0045] Integrate the acupoint information, sensitivity data, and visualization data through a machine learning algorithm to generate comprehensive acupoint feature data;

[0046] An acupoint marking unit for:

[0047] Based on the comprehensive acupoint feature data, identify and mark the target acupoints that need acupuncture and massage;

[0048] Generate spatial coordinate information of the target acupoints.

[0049] Preferably, the virtual visualization module includes:

[0050] A virtual visualization unit for:

[0051] Receive the comprehensive acupoint feature data and target acupoint markings sent by the information processing and fusion module;

[0052] Based on augmented reality technology, generate a three-dimensional human body model containing acupoint distributions;

[0053] Mark the target acupoints on the three-dimensional human body model;

[0054] A body surface visualization information acquisition unit for:

[0055] Acquire real-time images of the user's body surface;

[0056] Register the real-time images with the three-dimensional human body model.

[0057] Preferably, the acupuncture and massage instrument module includes:

[0058] An acupuncture instrument information acquisition unit for acquiring parameter information such as the material, length, and thickness of the acupuncture instrument;

[0059] An acupuncture instrument information integration unit for:

[0060] Receive the acupuncture instrument parameter information collected by the acupuncture instrument information acquisition unit;

[0061] Based on the acupuncture instrument parameter information, establish a digital model of the acupuncture instrument;

[0062] An acupuncture instrument precise positioning unit for:

[0063] Receive the comprehensive acupoint feature data sent by the information processing and fusion module;

[0064] Based on the comprehensive acupoint feature data and the digital model of the acupuncture instrument, calculate the best angle and depth of acupuncture and massage;

[0065] Generate an acupuncture and massage plan.

[0066] Preferably, the body surface acupuncture and massage device module includes:

[0067] The auxiliary control unit is configured to:

[0068] Receive the acupuncture and tuina plan sent by the acupuncture and tuina module;

[0069] Convert the acupuncture and tuina plan into an execution instruction;

[0070] The acupuncture and tuina execution unit is configured to:

[0071] Receive the execution instruction sent by the auxiliary control unit;

[0072] Based on robotic technology, perform precise acupuncture and tuina operations.

[0073] Preferably, the electrostimulation regulation module includes:

[0074] The electrostimulation parameter generation unit is configured to:

[0075] Receive the comprehensive acupoint feature data sent by the information processing and fusion module;

[0076] Based on the comprehensive acupoint feature data, calculate the optimal electrostimulation parameters;

[0077] The electrostimulation control unit is configured to:

[0078] Receive the electrostimulation parameters generated by the electrostimulation parameter generation unit;

[0079] Control the intensity, frequency, and duration of electrostimulation;

[0080] The electrostimulation feedback unit is configured to:

[0081] Collect the physiological response data of the user to electrostimulation;

[0082] Based on the physiological response data, adjust the electrostimulation parameters in real time.

[0083] Preferably, the electroacupuncture and tuina device module includes:

[0084] The electroacupuncture and tuina control unit is configured to:

[0085] Receive the electrostimulation parameters sent by the electrostimulation regulation module;

[0086] Receive the acupuncture and tuina operation information of the body surface acupuncture and tuina device module;

[0087] Coordinate the timing of electrostimulation and acupuncture and tuina operations;

[0088] The electroacupuncture and tuina execution unit is configured to:

[0089] Based on the coordination instruction of the electroacupuncture and tuina control unit, synchronously perform electrostimulation and acupuncture and tuina operations. Preferably, it further includes:

[0090] A treatment effect evaluation module, communicatively connected to the information collection and analysis module, the electrical stimulation regulation module, and the electro-acupuncture massage device module, for:

[0091] Collect acupoint information and physiological parameters before and after treatment;

[0092] Analyze the treatment effect;

[0093] Generate a treatment report.

[0094] Preferably, it further includes:

[0095] A data management module, communicatively connected to all other modules in the system, for:

[0096] Collect and store all data generated during the operation of the system;

[0097] Encrypt and back up the data;

[0098] Provide a data interface to support subsequent big data analysis and optimization of artificial intelligence algorithms.

[0099] Compared with the prior art, the present invention has the following beneficial effects:

[0100] The system of the present invention realizes the intelligentization and precision of the whole process of acupuncture treatment by innovatively integrating a variety of advanced technologies. First, in terms of acupoint positioning, the system adopts multi-modal information fusion technology, combines body surface characteristics, physiological parameters, and individual differences, and realizes high-precision and personalized acupoint positioning. This not only improves the accuracy of positioning but also can adapt to the dynamic changes of acupoints, laying a solid foundation for subsequent treatment.

[0101] Secondly, in terms of acupuncture control, the system introduces intelligent robot technology and a real-time feedback mechanism. Through precise mechanical control and physiological signal monitoring, the system can accurately adjust the acupuncture depth and angle, and at the same time dynamically adjust the acupuncture parameters according to the patient's real-time reaction. This intelligent control not only improves the accuracy and safety of treatment but also can provide personalized treatment plans according to the characteristics of each patient.

[0102] In terms of electrical stimulation, the system develops innovative adaptive electrical stimulation technology. The system can adjust electrical stimulation parameters in real time according to acupoint characteristics and patient reactions, including intensity, frequency, and waveform, etc. More importantly, the system realizes the precise synchronization of electrical stimulation and acupuncture, fully exerting the synergistic effect of the two technologies, thus significantly improving the treatment effect.

[0103] Another major innovation of the present invention lies in its comprehensive treatment effect evaluation system. By integrating various physiological indicators, patients' subjective feedback, and objective clinical manifestations, the system can provide a comprehensive and objective evaluation of the treatment effect. This evaluation is not only static but also dynamic, capable of being carried out in real-time during the treatment process, providing timely and accurate basis for doctors to adjust treatment plans.

[0104] Finally, the data management module of the present system provides strong support for the long-term development of acupuncture treatment. By systematically and structurally collecting and analyzing a large amount of treatment data, it not only helps in formulating individualized treatment plans but also provides valuable data resources for the modern research of acupuncture theory and the continuous optimization of clinical practice.

[0105] Generally speaking, by systematically solving key problems such as precise positioning, intelligent control, effect evaluation, and data management in acupuncture treatment, the present invention realizes the deep integration of traditional acupuncture and modern technologies. This not only greatly improves the accuracy, safety, and effectiveness of acupuncture treatment but also opens up a new path for the standardization, modernization, and internationalization development of traditional Chinese acupuncture. The implementation of the present invention will strongly promote the development of acupuncture treatment towards a more scientific, precise, and individualized direction, providing better medical services for patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] Figure 1 is the overall block diagram of the system of the present invention.

[0107] Figure 2 is the logical block diagram of the information collection and analysis module of the present invention.

[0108] Figure 3 is the logical block diagram of the information processing and fusion module of the present invention.

[0109] Figure 4 is the logical block diagram of the virtual visualization module of the present invention.

[0110] Figure 5 is the logical block diagram of the acupuncture and massage module of the present invention.

[0111] Figure 6 is the logical block diagram of the body surface acupuncture and massage device module of the present invention.

[0112] Figure 7 is the logical block diagram of the electrical stimulation regulation module of the present invention.

[0113] Figure 8 is the logical block diagram of the electro-acupuncture and massage device module of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0114] Please refer to Figure 1-8, the present invention provides an intelligent acupuncture and massage acupoint precise positioning and stimulation regulation system based on the combination of traditional Chinese and Western medicine. The present invention provides an intelligent acupuncture and massage acupoint precise positioning and stimulation regulation system based on the combination of traditional Chinese and Western medicine. This system realizes the intelligentization, precision and personalization of acupuncture treatment by integrating modern information technology and traditional Chinese medicine theory.

[0115] Specifically, the system of the present invention includes an information collection and analysis module 1, an information processing and fusion module 2, a virtual visualization module 3, an acupuncture and massage implement module 4, a body surface acupuncture and massage device module 5, an electrical stimulation regulation module 6, and an electro-acupuncture and massage device module 7. These modules are organically combined to form a complete intelligent acupuncture treatment system.

[0116] First of all, the information collection and analysis module 1 is responsible for collecting the user's body surface acupoint information, analyzing the acupoint sensitivity, and generating acupoint visualization data. In a preferred embodiment, this module can collect the body surface temperature distribution of the patient through a high-precision infrared scanner and measure the acupoint pressure sensitivity in combination with a pressure sensor. For example, when it is detected that the temperature in a certain acupoint area is more than 0.5°C higher than the surrounding area and the pressure sensitivity reaches 1.5 times that of normal skin, it can be preliminarily determined as an active acupoint. This multi-dimensional information collection method helps to improve the accuracy of acupoint positioning.

[0117] The information processing and fusion module 2 is communicatively connected to the information collection and analysis module 1 and is used to receive and process the collected data. This module comprehensively analyzes the acupoint information through advanced machine learning algorithms, such as support vector machine (SVM) or deep neural network. In the data fusion process, the following formula can be used to calculate the comprehensive eigenvalue of the acupoint:

[0118] F = w1T + w2P + w3E,

[0119] where F is the comprehensive eigenvalue of the acupoint, T is the temperature feature, P is the pressure feature, E is the resistance feature, and w1, w2, and w3 are the corresponding weight coefficients respectively. By adjusting these weights, it is possible to adapt to patients with different physical characteristics. For example, for patients with yang deficiency constitution, the weight of the temperature feature may be increased.

[0120] In addition, the information processing and fusion module 2 is also responsible for marking the target acupoints that need acupuncture and massage. In one embodiment, the system can establish an acupoint-symptom association database based on traditional Chinese medicine theory and modern medical knowledge. When the patient inputs symptom information, the system can quickly locate the most relevant acupoint combinations through a fuzzy matching algorithm. The virtual visualization module 3 is communicatively connected to the information processing and fusion module 2, and its main function is to convert the processed data into intuitive visual information. This module adopts advanced augmented reality (AR) technology and can overlay acupoint distribution information on the real-time camera image. This not only helps doctors accurately locate acupoints but also provides an intuitive display of the treatment process for patients, enhancing the transparency of the treatment and the patients' trust.

[0121] During the virtual visualization process, the system uses complex 3D modeling and image registration techniques. For example, the following algorithm can be used for image registration:

[0122]

[0123] where T * is the optimal transformation matrix, I and J are the images to be registered and the reference image respectively, and (x, y) are the image coordinates. By minimizing the difference between the two images, accurate image alignment is achieved.

[0124] The acupuncture and massage implement module 4 is communicatively connected to the virtual visualization module 3 and the information processing and fusion module 2. The main task of this module is to generate an optimal acupuncture and massage plan according to the acupoint characteristics and implement parameters. In practical applications, the system will consider various factors, such as the material, length, and thickness of the implement. For example, for deeper acupoints, the system may recommend using longer filiform needles; for acupoints with higher sensitivity, needles with thinner diameters may be selected to reduce stimulation.

[0125] Through this intelligent implement selection and massage plan formulation, the system of the present invention greatly improves the accuracy and personalization of acupuncture treatment. Compared with traditional empirical operations, this system can better adapt to the physical characteristics and disease requirements of different patients, thereby improving the treatment effect.

[0126] The application of artificial intelligence and virtual visualization technology is a major innovation point of the present invention. Through these technologies, this system can not only assist doctors in precise treatment but also provide valuable tools for medical education. For example, medical colleges and universities can use the virtual model of this system for acupuncture teaching, enabling students to practice acupoint location and acupuncture operations in a virtual environment, thereby improving the learning effect.

[0127] The system of the present invention also has good scalability and adaptability. As data accumulates continuously, the system can continuously optimize its diagnosis and treatment plans through machine learning algorithms. This ability of self-learning and evolution enables the system to continuously improve its performance and adapt to the needs of different regions and different populations.

[0128] Generally speaking, by integrating traditional Chinese medicine theory with modern technology, the present invention innovatively solves the problems of precise positioning and personalized treatment in acupuncture therapy. This not only improves the effectiveness and safety of acupuncture therapy, but also provides a new way for the modernization and internationalization development of traditional Chinese medicine. Further, in the system of the present invention, the information acquisition and analysis module 1 includes a body surface acupoint information acquisition unit 11, an acupoint sensitivity analysis unit 12, and an acupoint visualization analysis unit 13. This modular design enables the system to process various types of information more precisely, thereby improving the overall analysis accuracy.

[0129] The body surface acupoint information acquisition unit 11 is mainly responsible for collecting the anatomical features and physiological parameters of the user's body surface. In a preferred embodiment of the present invention, this unit can adopt a multi-modal sensor array, including a high-resolution infrared camera, a pressure sensor, and a bioelectrical impedance measurement device, etc. For example, the infrared camera can capture the body surface temperature distribution, with a resolution of up to 0.05 °C, which helps to identify tiny temperature anomaly points. The pressure sensor array can measure the pressure distribution on the skin surface, with a sensitivity of up to 0.01 N / cm 2 , and can accurately locate the tender points. The bioelectrical impedance measurement device can detect the changes in skin resistance, usually in the range of 20 - 500 kΩ, which helps to locate the meridians and acupoints.

[0130] The acupoint sensitivity analysis unit 12 receives the physiological parameters collected by the body surface acupoint information acquisition unit 11, and calculates the sensitivity index of the acupoints based on these parameters. In the system of the present invention, the calculation of the acupoint sensitivity index adopts an innovative multi-factor comprehensive scoring algorithm. Specifically, the following formula can be used:

[0131]

[0132] where S i is the sensitivity index of the i-th point, T i , P i and R i are the temperature, pressure, and resistance values of this point respectively, T avg , P avg and R avg are the average values of the corresponding parameters, T max , T min , P max , P min , R max and R minare the maximum and minimum values of the corresponding parameters. α, β, and γ are weight coefficients that can be adjusted according to different physical characteristics. For example, for patients with yang deficiency constitution, the weight of the temperature factor may be increased.

[0133] The acupoint visualization analysis unit 13 is responsible for generating a three-dimensional acupoint distribution model based on the anatomical features collected by the body surface acupoint information acquisition unit 11. The system of the present invention adopts advanced computer graphics technology and combines deep learning algorithms to achieve high-precision human body modeling. In a specific embodiment, the system uses an improved PointNet++ algorithm to process point cloud data to generate an accurate human body surface model. The core idea of this algorithm is to effectively capture local and global geometric features through hierarchical feature extraction and aggregation.

[0134] Preferably, when generating the three-dimensional acupoint distribution model, the system of the present invention also takes into account individual differences. The system establishes an acupoint distribution template library containing different body types, ages, and genders through big data analysis. When performing individualized modeling, the system will select the closest template and then fine-tune it through a non-rigid registration algorithm. This method greatly improves the accuracy of acupoint location, especially for some acupoints that are difficult to locate.

[0135] The information processing and fusion module 2 of the present invention includes an acupoint information processing and integration unit 21 and an acupoint marking unit 22. These two units work together to realize the transformation process from raw data to actionable information.

[0136] The acupoint information processing and integration unit 21 receives the acupoint information, sensitivity data, and visualization data sent by the information acquisition and analysis module 1, and integrates these information through machine learning algorithms to generate acupoint comprehensive feature data. In an embodiment of the present invention, the system uses a deep learning model based on the attention mechanism to process these multi-modal data. The core idea of this model is to automatically adjust the weights of various features by learning the correlation between different modal data, so as to obtain a more accurate comprehensive feature representation.

[0137] Specifically, the system of the present invention uses the following attention mechanism formula:

[0138]

[0139] where Q, K, and V respectively represent the query, key, and value matrices, and d k is the dimension of the key vector. Through this mechanism, the system can automatically learn the importance between different features, so as to better integrate multi-source information.

[0140] The acupoint marking unit 22 identifies and marks the target acupoints that need acupuncture and massage based on the comprehensive acupoint feature data. In the system of the present invention, the acupoint marking process not only considers traditional Chinese medicine theory but also incorporates modern medical knowledge. The system recommends the most suitable acupoint combinations by establishing a large-scale symptom-acupoint association database, combining the specific symptoms and physical characteristics of the patient, and using complex graph neural network algorithms.

[0141] During the acupoint marking process, the system also generates precise spatial coordinate information of the target acupoints. These coordinate information include not only the two-dimensional positions of the acupoints on the body surface but also the depth information of the acupoints. For example, for some deep acupoints, the system provides depth data accurate to the millimeter level, which is crucial for subsequent acupuncture operations.

[0142] The virtual visualization module 3 of the present invention includes a virtual visualization unit 31 and a body surface visualization information acquisition unit 32. The collaborative work of these two units realizes the intuitive presentation of acupoint information, greatly improving the accuracy and safety of acupuncture operations.

[0143] The virtual visualization unit 31 receives the comprehensive acupoint feature data and target acupoint markings sent by the information processing and fusion module 2, and generates a three-dimensional human body model containing acupoint distributions based on augmented reality technology. In a preferred embodiment of the present invention, the system adopts a real-time 3D reconstruction technology based on deep learning. Specifically, the system uses an improved NeRF (Neural Radiance Fields) algorithm, which can learn the three-dimensional structure and appearance of the scene from multi-view images.

[0144] The core idea of the NeRF algorithm is to represent the radiation field of a three-dimensional scene through a neural network. For a given 3D point (x, y, z) and viewing direction (θ, φ), the network outputs the volume density σ and color (r, g, b) of the point. The rendering process can be expressed as:

[0145]

[0146] where C(r) is the color accumulated along the ray r, T(t) is the transmittance from t n to t, and d is the viewing direction.

[0147] Through this technology, the system of the present invention can generate a highly realistic 3D human body model and accurately mark the target acupoints on the model. This not only helps doctors with precise positioning but also provides an intuitive display of the treatment process for patients, enhancing the transparency of the treatment and the trust of patients.

[0148] The body surface visualization information acquisition unit 32 is responsible for acquiring real-time images of the user's body surface and registering these images with the three-dimensional human body model. In the system of the present invention, a deep learning-based non-rigid registration algorithm is adopted in the image registration process. This algorithm can effectively handle human body posture changes and soft tissue deformations, ensuring the precise correspondence between the virtual model and the actual body surface.

[0149] In this way, the system of the present invention realizes the seamless integration of virtual and reality, provides an intuitive and precise operation guidance for acupuncture doctors, and greatly improves the accuracy and safety of acupuncture treatment. At the same time, this visualization technology also provides an intuitive display of the treatment process for patients, helping to enhance patients' understanding and confidence in the treatment. The acupuncture and massage module 4 of the present invention includes an acupuncture instrument information acquisition unit 41, an acupuncture instrument information integration unit 42, and an acupuncture instrument precise positioning unit 43. This modular design enables the system to comprehensively consider the characteristics of acupuncture instruments, thereby formulating the optimal acupuncture and massage plan.

[0150] The acupuncture instrument information acquisition unit 41 is responsible for acquiring parameter information such as the material, length, and thickness of the acupuncture instrument. In a preferred embodiment of the present invention, this unit adopts high-precision optical scanning technology and can accurately measure the geometric parameters of the acupuncture instrument. For example, the measurement accuracy of the acupuncture instrument length can reach 0.01 mm, and the measurement accuracy of the diameter can reach 0.001 mm. In addition, this unit is also equipped with a material analyzer that can identify the material composition of the acupuncture instrument, such as stainless steel, silver, gold, etc. These detailed acupuncture instrument information provides an important basis for subsequent precise positioning and operation.

[0151] The acupuncture instrument information integration unit 42 receives the acupuncture instrument parameter information collected by the acupuncture instrument information acquisition unit 41 and establishes an acupuncture instrument digital model based on this information. The system of the present invention adopts advanced computer-aided design (CAD) technology and combines physical simulation algorithms to construct a highly accurate virtual model of the acupuncture instrument. These models not only contain the geometric information of the acupuncture instrument but also include its physical properties, such as elasticity, thermal conductivity, etc. For example, the system can simulate the force deformation of acupuncture instruments of different materials and specifications when penetrating the skin, which is crucial for precisely controlling the depth of acupuncture.

[0152] The acupuncture instrument precise positioning unit 43 is responsible for combining the comprehensive feature data of acupoints and the acupuncture instrument digital model to calculate the optimal angle and depth of acupuncture and massage, thereby generating an acupuncture and massage plan. In the system of the present invention, a complex optimization algorithm is adopted in this process. Specifically, the system uses an improved particle swarm optimization (PSO) algorithm to solve the optimal acupuncture and massage parameters. The objective function of this algorithm can be expressed as:

[0153] f(x,y,z,θ,φ)=w1D+w2S+w3E,

[0154] Among them, (x, y, z) represents the three-dimensional coordinates of the needle tip, and (θ, φ) represents the inclination angle and azimuth angle of the needle tool. D, S, and E respectively represent the distance to the target acupoint, puncture safety, and expected therapeutic effect, and w1, w2, and w3 are the corresponding weight coefficients. By adjusting these weights, the system can achieve the best balance among accuracy, safety, and therapeutic effect.

[0155] The body surface acupuncture-pushing device module 5 of the present invention includes an auxiliary control unit 51 and an acupuncture-pushing execution unit 52. The coordinated work of these two units realizes the precise conversion from the acupuncture-pushing plan to the actual operation.

[0156] The auxiliary control unit 51 receives the acupuncture-pushing plan sent by the acupuncture-pushing module 4 and converts it into an execution instruction. In an embodiment of the present invention, this unit adopts a control algorithm based on deep reinforcement learning. Through a large number of simulation experiments, the system trains an intelligent agent that can convert the high-level acupuncture-pushing plan into low-level execution instructions. This intelligent agent not only considers static acupuncture-pushing parameters but also can dynamically adjust the operation strategy according to real-time feedback.

[0157] The acupuncture-pushing execution unit 52 executes the acupuncture-pushing operation based on the execution instruction sent by the auxiliary control unit 51 by using precise robotic technology. The system of the present invention adopts advanced flexible robotic technology, which can simulate the flexibility and precision of the human hand. For example, the system uses a flexible actuator based on shape memory alloy, whose position accuracy can reach 0.1 mm and force feedback accuracy can reach 0.01 N. This high-precision execution mechanism can ensure the safety and effectiveness of acupuncture operations.

[0158] The electrical stimulation regulation module 6 is another important part of the system of the present invention, which includes an electrical stimulation parameter generation unit 61, an electrical stimulation control unit 62, and an electrical stimulation feedback unit 63. The coordinated work of these three units realizes the intelligentization and personalization of electrical stimulation treatment.

[0159] The electrical stimulation parameter generation unit 61 receives the comprehensive acupoint feature data sent by the information processing and fusion module 2 and calculates the optimal electrical stimulation parameters based on these data. In a preferred embodiment of the present invention, this unit adopts a parameter prediction model based on deep learning. Specifically, the system uses a multi-layer perceptron (MLP) network, whose input is the acupoint feature vector and output is the intensity, frequency, and waveform parameters of electrical stimulation. The training objective function of this network can be expressed as:

[0160]

[0161] Where x i and y iThey are the input feature and the target parameter respectively. f(x; θ) is the network function, θ is the network parameter, and λ is the regularization coefficient. By minimizing this loss function, the system can learn the optimal parameter prediction model.

[0162] The electrical stimulation control unit 62 is responsible for receiving the electrical stimulation parameters generated by the electrical stimulation parameter generation unit 61 and controlling the intensity, frequency, and duration of the electrical stimulation. The system of the present invention adopts high-precision digital signal processing (DSP) technology and can accurately control the electrical stimulation waveform. For example, the system can generate a complex biphasic square wave with a frequency range of 1 - 100 Hz, an adjustable pulse width range of 50 - 500 μs, an adjustable intensity range of 0 - 50 mA, and a resolution of 0.1 mA. This fine control ability enables the system to perform personalized adjustment according to different acupoints and patient constitutions.

[0163] The electrical stimulation feedback unit 63 is responsible for collecting the physiological response data of the user to the electrical stimulation and adjusting the electrical stimulation parameters in real time based on these data. In the system of the present invention, this unit adopts multi-modal physiological signal acquisition technology, including electromyogram (EMG), electrocardiogram (ECG), and electrodermal activity (EDA), etc. The system uses a recurrent neural network (RNN) model to analyze these time-series physiological signals and predict the best parameter adjustment strategy. This closed-loop control method greatly improves the safety and effectiveness of electrical stimulation therapy.

[0164] The electro-acupuncture and massage device module 7 of the present invention includes an electro-acupuncture and massage control unit 71 and an electro-acupuncture and massage execution unit 72. The coordinated work of these two units realizes the precise synchronization of electrical stimulation and acupuncture and massage operations.

[0165] The electro-acupuncture and massage control unit 71 is responsible for receiving the electrical stimulation parameters sent by the electrical stimulation regulation module 6 and the acupuncture and massage operation information of the body surface acupuncture and massage device module 5, and coordinating the timing of the electrical stimulation and acupuncture and massage operations. In an embodiment of the present invention, this unit adopts a synchronous control algorithm based on time series analysis. The system calculates the best synchronization moment by analyzing the real-time position data of the acupuncture and massage operation and the electrical stimulation waveform to ensure that the electrical stimulation is accurately triggered when the acupuncture reaches the correct depth.

[0166] The electro-acupuncture and massage execution unit 72 then synchronously executes the electrical stimulation and acupuncture and massage operations based on the coordination instructions of the electro-acupuncture and massage control unit 71. The system of the present invention adopts an innovative integrated design in this unit, directly integrating microelectrodes onto the acupuncture needles, realizing the perfect combination of electrical stimulation and mechanical stimulation. For example, the system uses nanomaterial coating technology to endow the acupuncture needles with excellent conductivity while not affecting their mechanical properties. This design not only improves the accuracy of treatment but also simplifies the operation process and enhances the treatment efficiency.

[0167] From the above detailed description, it can be seen that the system of the present invention has significant innovations in aspects such as needle control, electrostimulation regulation, and synchronization of electroacupuncture massage. These innovations not only improve the accuracy and safety of acupuncture treatment, but also provide new technical support for the standardization and modernization of traditional Chinese medicine acupuncture treatment. The system of the present invention further includes a treatment effect evaluation module 8, which is communicatively connected to the information collection and analysis module 1, the electrostimulation regulation module 6, and the electroacupuncture massage device module 7. The introduction of the treatment effect evaluation module 8 enables this system not only to accurately perform acupuncture treatment, but also to objectively evaluate the treatment effect, thereby realizing continuous optimization of the treatment plan.

[0168] The treatment effect evaluation module 8 is mainly responsible for collecting acupoint information and physiological parameters before and after treatment, analyzing the treatment effect, and generating a treatment report. In a preferred embodiment of the present invention, this module adopts a multi-dimensional evaluation method. First, the system compares the acupoint states before and after treatment, including parameters such as temperature, pressure sensitivity, and resistance. For example, if the abnormal temperature of a certain acupoint significantly decreases after treatment and the pressure sensitivity returns to the normal range, this may indicate that the treatment has achieved positive results.

[0169] Secondly, the treatment effect evaluation module 8 also collects the subjective feelings and objective physiological indicators of the patient. In the system of the present invention, this process adopts natural language processing (NLP) technology and multi-modal physiological signal analysis technology. Specifically, the system uses a text classification model based on BERT (Bidirectional Encoder Representations from Transformers) to analyze the subjective descriptions of the patient and quantifies them into comparable numerical indicators. At the same time, the system also collects physiological indicators such as the patient's heart rate variability (HRV) and skin conductance response (SCR), and uses time series analysis methods to evaluate the changes in the autonomic nervous system.

[0170] In order to synthesize these multi-dimensional evaluation data, the system of the present invention adopts an innovative fuzzy comprehensive evaluation method. This method can be expressed as:

[0171]

[0172] where B is the final effect evaluation vector, A is the weight vector of each evaluation factor, R is the fuzzy relation matrix, represents the fuzzy composition operation. Through this method, the system can give a comprehensive treatment effect score and at the same time point out which aspects have the most significant improvement.

[0173] Another important function of the treatment effect evaluation module 8 is to generate a detailed treatment report. In the system of the present invention, this report not only includes conventional data statistics, but also utilizes advanced data visualization techniques. For example, the system will generate a heat map of acupoint states to visually display the changes before and after treatment; at the same time, a time series graph will also be used to show the dynamic change process of the patient's physiological indicators. These visual reports not only help doctors evaluate the treatment effect, but also help patients better understand their own recovery situation.

[0174] Finally, the system of the present invention also includes a data management module 9, which is communicatively connected to all other modules in the system. The introduction of the data management module 9 enables this system to not only efficiently process the current treatment data, but also provide valuable data support for future research and system optimization.

[0175] The primary task of the data management module 9 is to collect and store all the data generated during the operation of the system. In an embodiment of the present invention, this module adopts a distributed storage architecture, which can efficiently process large-scale heterogeneous data. For example, the system uses the distributed file system (HDFS) based on Apache Hadoop to store the original data, and uses Apache HBase to store structured and semi-structured data. This architecture can not only ensure the reliability of data storage, but also support efficient data retrieval and analysis.

[0176] Regarding the security of data, the data management module 9 adopts a multi-level protection strategy. First, all patient data will be anonymized before storage, deleting information that may lead to personal identity recognition. Second, the system uses advanced encryption algorithms to encrypt the data, such as adopting the AES-256-bit encryption standard. In addition, the system also implements a strict access control policy to ensure that only authorized personnel can access sensitive data.

[0177] Another important function of the data management module 9 is to provide a data interface to support subsequent big data analysis and artificial intelligence algorithm optimization. In the system of the present invention, this interface adopts a RESTful API design, supporting flexible data query and export. For example, researchers can obtain data for a specific time period, a specific patient group, or a specific treatment plan through this interface for statistical analysis or machine learning model training.

[0178] It should be noted that the data management module 9 also implements an innovative data quality control mechanism. The system uses a machine learning-based anomaly detection algorithm that can automatically identify and mark data points that may have problems. For example, if the readings of a certain sensor suddenly show abnormal fluctuations, the system will immediately mark these data and notify the relevant personnel for verification. This mechanism greatly improves the reliability of the data and provides a solid foundation for subsequent analysis and decision-making.

[0179] From the above detailed description, it can be seen that the system of the present invention has significant innovation in both treatment effect evaluation and data management. The introduction of the treatment effect evaluation module 8 enables the system to objectively and comprehensively evaluate the treatment effect, providing a basis for continuously improving the treatment plan. The data management module 9, on the other hand, provides strong data support for the long-term development and optimization of the system. These innovations not only improve the scientificity and repeatability of acupuncture treatment but also open up new ways for the modern research of traditional Chinese medicine acupuncture.

[0180] It should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent acupuncture and massage acupoint precise positioning and stimulation regulation system based on the combination of traditional Chinese and Western medicine, characterized in that, Comprising: An information collection and analysis module, configured to: Collect acupoint information on the user's body surface; Analyze acupoint sensitivity; Generate visualized acupoint data; An information processing and fusion module, communicatively connected to the information collection and analysis module, configured to: Receive the acupoint information, sensitivity data, and visualized data sent by the information collection and analysis module; Generate comprehensive acupoint feature data based on the acupoint information, sensitivity data, and visualized data; Mark the target acupoints that need acupuncture and massage; A virtual visualization module, communicatively connected to the information processing and fusion module, configured to: Receive the comprehensive acupoint feature data and target acupoint markings sent by the information processing and fusion module; Generate a virtual acupoint image; Mark the target acupoints on the virtual acupoint image; An acupuncture and massage implement module, communicatively connected to the virtual visualization module and the information processing and fusion module, configured to: Collect acupuncture implement parameter information; Generate an acupuncture and massage plan based on the comprehensive acupoint feature data and the acupuncture implement parameter information; A body surface acupuncture and massage device module, communicatively connected to the acupuncture and massage implement module, configured to: Receive the acupuncture and massage plan sent by the acupuncture and massage implement module; Perform body surface acupuncture and massage operations; An electrostimulation regulation module, communicatively connected to the information processing and fusion module, configured to: Generate electrostimulation parameters based on the comprehensive acupoint feature data; Control the electrostimulation intensity, frequency, and time; An electroacupuncture and massage device module, communicatively connected to the electrostimulation regulation module and the body surface acupuncture and massage device module, configured to: Receive the electrostimulation parameters sent by the electrostimulation regulation module; Combine with the acupuncture and massage operations of the body surface acupuncture and massage device module to perform electroacupuncture and massage treatment.

2. The system according to claim 1, wherein The information collection and analysis module includes: A body surface acupoint information collection unit, configured to collect the anatomical features and physiological parameters of the user's body surface; An acupoint sensitivity analysis unit, configured to: Receive the physiological parameters collected by the body surface acupoint information collection unit; Calculate the acupoint sensitivity index based on the physiological parameters; An acupoint visualization analysis unit, configured to: Receive the anatomical features collected by the body surface acupoint information collection unit; Generate a three-dimensional acupoint distribution model based on the anatomical features.

3. The system according to claim 1, characterized in that, The information processing and fusion module includes: An acupoint information processing and integration unit, configured to: Receive the acupoint information, sensitivity data, and visualized data sent by the information collection and analysis module; Integrate the acupoint information, sensitivity data, and visualized data through machine learning algorithms to generate comprehensive acupoint feature data; An acupoint marking unit, configured to: Identify and mark the target acupoints that need acupuncture and massage based on the comprehensive acupoint feature data; Generate the spatial coordinate information of the target acupoints.

4. The system according to claim 1, wherein The virtual visualization module includes: A virtual visualization unit, configured to: Receive the comprehensive acupoint feature data and target acupoint markings sent by the information processing and fusion module; Generate a three-dimensional human body model including acupoint distribution based on augmented reality technology; Mark the target acupoints on the three-dimensional human body model; A body surface visualization information collection unit, configured to: Collect the real-time image of the user's body surface; Register the real-time image with the three-dimensional human body model.

5. The system according to claim 1, characterized in that, The acupuncture and massage implement module includes: The acupuncture needle information acquisition unit is used to acquire parameter information such as the material, length, and thickness of the acupuncture needle; The acupuncture needle information integration unit is used for: Receiving the acupuncture needle parameter information acquired by the acupuncture needle information acquisition unit; Based on the acupuncture needle parameter information, establishing an acupuncture needle digital model; The acupuncture needle precise positioning unit is used for: Receiving the comprehensive acupoint feature data sent by the information processing and fusion module; Based on the comprehensive acupoint feature data and the acupuncture needle digital model, calculating the optimal angle and depth of acupuncture and massage; Generating an acupuncture and massage plan.

6. The system according to claim 1, characterized in that The body surface acupuncture and massage device module includes: The auxiliary control unit is used for: Receiving the acupuncture and massage plan sent by the acupuncture needle massage module; Converting the acupuncture and massage plan into an execution instruction; The acupuncture and massage execution unit is used for: Receiving the execution instruction sent by the auxiliary control unit; Based on robot technology, performing precise acupuncture and massage operations.

7. The system according to claim 1, wherein The electrostimulation regulation module includes: The electrostimulation parameter generation unit is used for: Receiving the comprehensive acupoint feature data sent by the information processing and fusion module; Based on the comprehensive acupoint feature data, calculating the optimal electrostimulation parameters; The electrostimulation control unit is used for: Receiving the electrostimulation parameters generated by the electrostimulation parameter generation unit; Controlling the intensity, frequency, and duration of electrostimulation; The electrostimulation feedback unit is used for: Collecting the physiological response data of the user to electrostimulation; Based on the physiological response data, real-time adjusting the electrostimulation parameters.

8. The system according to claim 1, characterized in that The electroacupuncture and massage device module includes: The electroacupuncture and massage control unit is used for: Receiving the electrostimulation parameters sent by the electrostimulation regulation module; Receiving the acupuncture and massage operation information of the body surface acupuncture and massage device module; Coordinating the timing of electrostimulation and acupuncture and massage operations; The electroacupuncture and massage execution unit is used for: Based on the coordination instruction of the electroacupuncture and massage control unit, synchronously performing electrostimulation and acupuncture and massage operations.

9. The system according to claim 1, wherein It also includes: The treatment effect evaluation module, which is communicatively connected to the information acquisition and analysis module, the electrostimulation regulation module, and the electroacupuncture and massage device module, and is used for: Collecting acupoint information and physiological parameters before and after treatment; Analyzing the treatment effect; Generating a treatment report.

10. The system according to claim 9, wherein It also includes: The data management module, which is communicatively connected to all other modules in the system, and is used for: Collecting and storing all data generated during the operation of the system; Encrypting and backing up the data; Providing a data interface to support subsequent big data analysis and artificial intelligence algorithm optimization.

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