Self-adaptive acupuncture robot control system based on multi-modal feedback

Abstract

The invention relates to the technical field of physiotherapy devices, in particular to a self-adaptive acupuncture robot control system based on multi-modal feedback, which comprises a sample acquisition unit used for acquiring acupuncture sample data in a plurality of acupuncture processes; the acupuncture implementation unit is used for performing acupuncture operation; the data integration unit is used for generating an acupuncture process model of each target acupoint of the target object and an impedance change reference range of the acupoint tissue before and after the hand pressing mechanism executes the hand pressing manipulation; the monitoring unit is used for collecting the contact pressure between the hand pressing mechanism and the human body tissue, the impedance of the acupoint tissue, the physiological feature data of the target object and the current environment data in real time; and the control unit is used for controlling the acupuncture implementation unit to carry out acupuncture operation and adjusting the hand pressing manipulation. According to the invention, the accuracy of impedance measurement of the acupoint tissue under the influence of external force in the acupuncture process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of physical therapy devices, and in particular to an adaptive acupuncture robot control system based on multimodal feedback. Background Art

[0002] In traditional acupuncture treatment, its operation techniques, especially the process of adjusting acupuncture operations according to patient reactions and needle feel, are highly dependent on the physician's experience. Although existing robotic technology can well simulate the acupuncture treatment process, it is difficult to monitor the effect of the acupuncture process in real time. In the existing technology, although some studies have attempted to reflect the treatment effect (such as needle sensation and hand feel) during the acupuncture process by dynamically monitoring tissue impedance during the acupuncture process, the following defects are generally present: there is a lack of an association model between the pressure technique and impedance characteristics, and it is impossible to establish an association between operation parameters and tissue response; interference factors such as environmental temperature and humidity, and patient physiological characteristics are not included in the measurement correction system, resulting in insufficient data credibility. These problems make it difficult for the impedance measurement values ​​of the existing equipment during the acupuncture process to accurately reflect the true state of acupoint tissue, limiting its application value in precision medicine.

[0003] Chinese Patent Publication No. CN117257638A discloses a multi-angle adaptive pressure-hand mechanism for an acupuncture robot and an acupuncture robot, comprising: a fixed frame, a pressure hand, and an adjustment mechanism. An acupuncture needle is fixedly mounted in the center of the fixed frame; the pressure hand is disposed below the fixed frame, and a first hole is disposed in the center of the pressure hand; the adjustment mechanism is provided in multiple pieces, each comprising a linear drive device and a push rod. The linear drive device is detachably connected to the fixed frame, and the push rod is rotatably connected to the pressure hand. The linear drive device drives the push rod to extend and retract. The present invention enables the pressure hand to constantly conform to human skin through adjustment of the adjustment mechanism. The relative angle between the pressure hand and the skin at the acupoint can be adaptively adjusted, thereby achieving optimal acupuncture insertion and acupuncture technique, thereby improving therapeutic efficacy.

[0004] It can be seen that the above technical solution has the following problems: the pressing hand can only press the skin around the acupoint tissue, and cannot accurately perform pressing hand operations such as lifting, pinching, and relaxing; the external force of the pressing hand during acupuncture causes inaccurate impedance measurement of the acupoint tissue. Summary of the Invention

[0005] To this end, the present invention provides an adaptive acupuncture robot control system based on multimodal feedback to overcome the problem in the prior art of inaccurate impedance measurement of acupoint tissue due to tissue deformation of acupoint tissue during acupuncture.

[0006] To achieve the above objectives, the present invention provides an adaptive acupuncture robot control system based on multimodal feedback, comprising:

[0007] an acupuncture implementation unit, comprising a hand-pricking mechanism for performing a hand-pricking operation on a target acupoint and a hand-pressing mechanism for performing a hand-pressing operation on the target acupoint;

[0008] A sample collection unit is used to obtain acupuncture sample data during several acupuncture sessions, including the pressing hand manipulation type and pressing hand pressure corresponding to each acupoint during any acupuncture session, wherein the pressing hand manipulation types include lifting and pinching, relaxation, and in-situ;

[0009] a monitoring unit connected to the acupuncture implementation unit, comprising a pressure monitoring mechanism provided on the pressure mechanism for collecting contact pressure between the pressure mechanism and human tissue in real time, a bioimpedance monitoring mechanism for collecting acupoint tissue impedance in real time, and an environmental monitoring mechanism for collecting physiological characteristic data of the target subject and current environmental data;

[0010] a data integration unit, connected to the sample collection unit and the monitoring unit, respectively, for determining a first pressing hand parameter of each target acupoint based on the acupuncture sample data and corresponding human physiological characteristic data, and determining a reference range of impedance change of the acupoint tissue after the pressing hand mechanism performs the pressing hand operation based on the first pressing hand parameter and the environmental data;

[0011] a control unit connected to the acupuncture implementation unit, the monitoring unit, and the data integration unit, respectively, for controlling the acupuncture implementation unit to perform a pressing hand operation during the acupuncture process using the first pressing hand parameter, determining whether bio-impedance monitoring is effective based on whether the impedance value of the acupoint tissue after the pressing hand operation is within the impedance reference variation range, and adjusting the first pressing hand parameter corresponding to the pressing hand operation according to the impedance deviation based on the determination result that the bio-impedance monitoring is effective, so as to obtain a second pressing hand parameter.

[0012] Furthermore, it is characterized in that the hand-piercing mechanism includes a first mechanical arm and a filiform needle assembly arranged at the end of the first mechanical arm;

[0013] The hand-pressing mechanism includes a second robotic arm and a two-finger bionic component provided at the end of the second robotic arm;

[0014] Wherein, the bio-impedance monitoring mechanism and the pressing hand pressure monitoring mechanism are both arranged on the side of the two-finger bionic component in contact with the skin of the target object.

[0015] Furthermore, the environmental monitoring mechanism collects the body fat percentage and skin elasticity data from the physiological characteristic data of the target object, and determines the skin laxity index of the corresponding acupoint area of ​​the target object based on the skin elasticity data.

[0016] Furthermore, the data integration unit determines initial pressing hand parameters based on the pressing hand manipulation type and pressing hand pressure corresponding to each target acupoint in the acupuncture sample data, and adjusts the initial pressing hand parameters based on the body fat percentage and skin elasticity data of the target subject to determine the first pressing hand parameters for each target acupoint, including:

[0017] Adjusting the initial pressing hand manipulation type according to the skin laxity index of the target object to obtain a first pressing hand manipulation type;

[0018] The initial pressing hand pressure is adjusted according to the body fat percentage of the target object to obtain a first pressing hand pressure.

[0019] Furthermore, the control unit determines the initial impedance value based on a first impedance value of the target acupoint tissue obtained by contacting the skin surface of the target acupoint with a preset pressure before performing the pressing hand manipulation;

[0020] Wherein, the preset pressure is less than or equal to the initial pressing hand pressure.

[0021] Furthermore, the data integration unit determines a basic impedance change reference range of the corresponding target acupoint according to the first pressing hand parameter and the initial impedance value of the target acupoint, and adjusts the basic impedance change reference range according to the environmental data to obtain the impedance change reference range;

[0022] The environmental data includes indoor temperature data and indoor humidity data.

[0023] Furthermore, the data integration unit is further configured to calculate the impedance deviation based on the second impedance value of the target acupoint tissue obtained by the pressing hand mechanism after performing the pressing hand operation and the impedance change reference range.

[0024] Furthermore, the control unit determines that the bio-impedance monitoring is invalid based on a determination result that the second impedance value is not within the impedance change reference range.

[0025] Furthermore, the control unit adjusts the pressing hand pressure in the first pressing hand parameter according to the impedance deviation to obtain a second pressing hand parameter.

[0026] Furthermore, the adaptive acupuncture robot control system based on multimodal feedback further includes:

[0027] an acupoint positioning unit connected to the data integration unit, configured to obtain position information of the target object, scan the target object to establish a three-dimensional model including the position information, and generate an acupuncture process model for each target acupoint of the target object based on the three-dimensional model in combination with the acupuncture sample data and the second pressing hand parameter;

[0028] A data conversion unit is connected to the data integration unit and the control unit respectively, and is used to generate an instruction set executable by the control unit according to the acupuncture process model and output the instruction set to the control unit.

[0029] Compared with the existing technology, the beneficial effect of the present invention is that by constructing a multimodal feedback control system, dynamic and accurate measurement of acupoint tissue impedance is achieved. By combining multidimensional data of patient physiological characteristics, environmental parameters and operation techniques, a dynamic correction model of impedance change benchmark is established, so that the impedance measurement value accurately reflects the real impedance characteristics during acupuncture operation, providing a reliable bioelectric feedback basis for acupuncture operation.

[0030] Furthermore, the present invention establishes a dynamic association between the acupuncture process model and the impedance reference range through the collaboration of the sample acquisition unit and the data integration unit, solving the problem that the influence of tissue deformation caused by the pressing technique in impedance measurement is not modeled, so that the setting of the impedance reference range has both anatomical and biomechanical rationality.

[0031] Furthermore, the present invention integrates the bioimpedance monitoring mechanism into the contact end of the pressing hand to ensure the spatial consistency between the measurement area and the acupuncture operation area, thereby eliminating the impedance error caused by electrode displacement.

[0032] Furthermore, the present invention adapts the impedance reference range to individual tissue characteristics through a dynamic parameter adjustment mechanism based on physiological characteristics. Among them, the fat layer compression effect of patients with high body fat percentage is quantified and compensated, reducing the blind spots and errors in subcutaneous tissue impedance measurement; the introduction of the skin laxity index corrects the influence of the collagen state of the dermis on the current distribution, reducing the impedance anisotropy error.

[0033] Furthermore, the present invention solves the problem that the fixed threshold cannot adapt to changes in the clinic environment through environmental adaptive correction of the basic impedance change benchmark, and effectively suppresses the interference of temperature fluctuations and changes in the water content of the patient's epidermal stratum corneum on impedance measurement.

[0034] Furthermore, the present invention ensures the reliability of impedance monitoring data during treatment through closed-loop control of impedance validity verification and dynamic pressure adjustment: at the same time, the pressure compensation mechanism makes the response time of impedance value returning to the effective range significantly better than the response of manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a connection block diagram of an adaptive acupuncture robot control system based on multimodal feedback according to an embodiment of the present invention;

[0036] Figure 2 This is a logic block diagram for determining the second pressing hand parameters of the adaptive acupuncture robot control system based on multimodal feedback according to an embodiment of the present invention;

[0037] Figure 3 Schematic diagram of the structure of an adaptive acupuncture robot control system based on multimodal feedback according to an embodiment of the present invention;

[0038] Figure 4 Schematic diagram of the deformation of acupoint tissue when performing the lifting, pinching and pressing hand manipulation according to an embodiment of the present invention;

[0039] In the figure, 1-the pricking hand mechanism; 11-the first robotic arm; 12-the filiform needle assembly; 2-the pressing hand mechanism; 21-the second robotic arm; 22-the two-finger bionic assembly; 3-the bioimpedance monitoring mechanism; 41-the cells; 42-the blood vessels. DETAILED DESCRIPTION

[0040] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0041] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0042] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0043] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0044] See also Figure 1 and Figure 3 As shown in FIG, which is a connection block diagram of an adaptive acupuncture robot control system based on multimodal feedback according to an embodiment of the present invention and a structural diagram of an adaptive acupuncture robot control system based on multimodal feedback according to an embodiment of the present invention, an adaptive acupuncture robot control system based on multimodal feedback according to an embodiment of the present invention is provided, comprising:

[0045] an acupuncture implementation unit, comprising a hand-pricking mechanism for performing a hand-pricking operation on a target acupoint and a hand-pressing mechanism 2 for performing a hand-pressing operation on the target acupoint;

[0046] A sample collection unit is used to obtain acupuncture sample data from several acupuncture sessions, including the pressing hand parameters corresponding to each acupoint during any acupuncture session. The pressing hand parameters include the pressing hand technique type and the pressing hand pressure. The pressing hand technique types include lifting, pinching, and relaxation.

[0047] a monitoring unit connected to the acupuncture implementation unit, comprising a pressing hand pressure monitoring mechanism provided on the pressing hand mechanism 2 for real-time acquisition of contact pressure between the pressing hand mechanism 2 and human tissue, a bioimpedance monitoring mechanism 3 for real-time acquisition of acupoint tissue impedance, and an environmental monitoring mechanism for acquiring physiological characteristic data of the target subject and current environmental data;

[0048] a data integration unit, connected to the sample collection unit and the monitoring unit, respectively, for determining a first pressing hand parameter of each target acupoint based on the acupuncture sample data and corresponding human physiological characteristic data, and determining a reference range of impedance change of the acupoint tissue after the pressing hand mechanism 2 performs the pressing hand operation based on the first pressing hand parameter and the environmental data;

[0049] a control unit connected to the acupuncture implementation unit, the monitoring unit, and the data integration unit, respectively, for controlling the acupuncture implementation unit to perform a pressing hand operation during the acupuncture process using the first pressing hand parameter, determining whether bio-impedance monitoring is effective based on whether the impedance value of the acupoint tissue after the pressing hand operation is within the impedance reference variation range, and adjusting the first pressing hand parameter corresponding to the pressing hand operation according to the impedance deviation based on the determination result that the bio-impedance monitoring is effective, so as to obtain a second pressing hand parameter.

[0050] Specifically, the hand-piercing mechanism includes a first mechanical arm 11 and a filiform needle assembly 12 disposed at the end of the first mechanical arm 11;

[0051] The pressing mechanism 2 includes a second mechanical arm 21 and a two-finger bionic component 22 provided at the end of the second mechanical arm 21;

[0052] The bio-impedance monitoring mechanism 3 and the pressing hand pressure monitoring mechanism are both arranged on the side of the two-finger bionic component 22 that contacts the skin of the target object.

[0053] In this embodiment, the two-finger bionic component 22 includes an index finger and a thumb connected in sequence for simulating a lifting or stretching action, a servo for controlling the opening and closing of the entire index finger and thumb (i.e., the opening and closing angle between the index finger and the thumb), and a linear propulsion device for adjusting the pressing hand pressure.

[0054] The bio-impedance monitoring mechanism 3 includes two electrodes for outputting an excitation current, and the electrodes are respectively arranged at the ends of the index finger and the thumb that are in contact with the skin of the target object.

[0055] It can be understood that the structure of the two-finger bionic component 22 is applicable to the existing technology. Those skilled in the art can replace the structure or method adopted by the two-finger bionic component 22 when obtaining the same effect. The bio-impedance monitoring mechanism 3 only needs to be set on the side of the two-finger bionic component 22 that contacts the skin of the target object to realize bio-impedance monitoring, and this will not be repeated.

[0056] Specifically, the adaptive acupuncture robot control system based on multimodal feedback further includes:

[0057] an acupoint positioning unit connected to the data integration unit, configured to obtain position information of the target object, scan the target object to establish a three-dimensional model including the position information, and generate an acupuncture process model for each target acupoint of the target object based on the three-dimensional model in combination with the acupuncture sample data and the second pressing hand parameter;

[0058] A data conversion unit is connected to the data integration unit and the control unit respectively, and is used to generate an instruction set executable by the control unit according to the acupuncture process model and output the instruction set to the control unit.

[0059] In this embodiment, the acupoint positioning unit uses a posture fixing mechanism to fix the position and posture of the target object to obtain its position information relative to the acupuncture application unit. The coordinate origin of the three-dimensional model is then determined based on this position information. The posture fixing mechanism can be in the form of a chair, bed, or other device to facilitate manipulation of the target acupoints by the acupuncture application unit, while maintaining its relative position to the ground. After obtaining the fixed target object's posture and its position information relative to the acupuncture application unit, a structured light projection system is used to determine an acupuncture area based on all target acupoints requiring acupuncture. This acupuncture area is then scanned to obtain point cloud data to construct a three-dimensional model of the target object's acupuncture area.

[0060] The structured light projection system preferably has a point cloud density of ≥500 points / cm 2 , in order to ensure the recognition accuracy of the target acupoints.

[0061] After the three-dimensional model is input into the data integration unit, the data integration unit calibrates all target acupuncture points that need to be acupunctured in the three-dimensional model to obtain their three-dimensional coordinates. Based on the three-dimensional coordinates of these target acupuncture points, they can be converted into motion instructions for the first robotic arm 11 and the second robotic arm 21 through the data conversion unit.

[0062] It is understandable that the acupuncture process model includes each target acupoint, the coordinates of each target acupoint, the second pressure hand parameters of each target acupoint, and the needling parameters of each target acupoint (acupuncture needle speed, needle depth and needle angle, etc.).

[0063] It is understandable that the use of a structured light projection system to perform three-dimensional scanning and modeling of the human body, and the conversion of mechanical movements into data to generate an instruction set executable by the mechanical structure are existing technologies. Those skilled in the art can replace the structure or method adopted by the acupoint positioning unit and the data conversion unit while achieving the same effect, which will not be repeated here.

[0064] See also Figure 2 As shown in FIG, it is a logic block diagram of determining the second pressing hand parameters of the adaptive acupuncture robot control system based on multimodal feedback according to an embodiment of the present invention.

[0065] Specifically, the environmental monitoring mechanism collects the body fat percentage and skin elasticity data from the physiological characteristic data of the target object, and determines the skin laxity index of the corresponding acupoint area of ​​the target object based on the skin elasticity data.

[0066] In this embodiment, the body fat rate of the target object is measured using a body fat scale based on the age, gender, and height information of the target object, and the unit is percentage (%).

[0067] It will be understood by those skilled in the art that the definition, measurement device and measurement method of body fat percentage are prior art and will not be elaborated here.

[0068] In this embodiment, a skin elasticity meter was used to measure the skin laxity index of the target subject. The skin in the acupuncture area excluding the target acupoints was suctioned with a negative pressure of 300 mbar for 2 seconds. After the pressure was released, the time required for the skin to return to 90% of its original position was recorded. The calculation formula for the skin laxity index is as follows:

[0069]

[0070] Wherein, S is the skin laxity index; t1 is the time required for the target subject's skin to return to 90% of its original position, in seconds; t0 is the benchmark value of the time required for the skin of young people to return to 90% of its original position, in seconds. In this embodiment, t0 is the average value of the time required for the skin to return to 90% of its original position obtained by measuring the skin laxity index of several healthy young people between the ages of 25 and 45. Preferably, t0 = 0.8s.

[0071] It is understandable that the definition of the skin laxity index is based on the viscoelastic biomechanical properties of the skin, and its measurement method and measurement equipment are existing technologies and will not be described in detail here.

[0072] In this embodiment, the indoor temperature collected by the environmental monitoring mechanism is in degrees Celsius (°C), preferably measured by a digital thermocouple; the indoor humidity collected is relative humidity in %rh, preferably measured by a capacitive humidity sensor.

[0073] Specifically, the data integration unit determines initial pressing hand parameters according to the pressing hand manipulation type and pressing hand pressure corresponding to each target acupoint in the acupuncture sample data, and adjusts the initial pressing hand parameters according to the body fat percentage and skin elasticity data of the target subject to determine the first pressing hand parameters of each target acupoint, including:

[0074] Adjusting the initial pressing hand manipulation type according to the skin laxity index of the target object to obtain a first pressing hand manipulation type;

[0075] The initial pressing hand pressure is adjusted according to the body fat percentage of the target object to obtain a first pressing hand pressure.

[0076] In this embodiment, the initial pressing hand manipulation type corresponds one-to-one to each target acupoint and is pre-stored in the data integration unit. It can be obtained by the data integration unit based on the learning of the acupuncture sample data by the sample acquisition unit. Preferably, the data integration unit can take the pressing hand manipulation type with the largest number of implementations from the pressing hand manipulation types corresponding to several historical acupuncture sample data of a single target acupoint as its corresponding initial pressing hand manipulation type.

[0077] In this embodiment, for the lifting and pinching pressing hand technique type, the initial pressing hand pressure is preferably 1.5N to 1.8N; for the relaxing pressing hand technique type, the initial pressing hand pressure is preferably 1.2N to 1.5N; for the in-situ pressing hand technique type, the initial pressing hand pressure is preferably 0.4N to 0.6N; alternatively, those skilled in the art may also take the average or median value of the pressing hand pressures corresponding to several historical acupuncture sample data of a single target acupoint as the corresponding initial pressing hand pressure.

[0078] In this embodiment, the adjustment of the initial pressing hand technique type is specifically as follows:

[0079] If the skin laxity index of the target subject is greater than a first skin laxity index threshold and less than or equal to a second skin laxity index threshold, adjusting the pressing manipulation type of the target acupoint using the lifting, pinching and pressing manipulation to in-situ;

[0080] If the skin laxity index of the target subject is greater than a second skin laxity index threshold, the pressing manipulation type of the target acupoint using the in situ or relaxation pressing manipulation type is not adjusted;

[0081] The first skin laxity index threshold is preferably 1.5; the second skin laxity index threshold is preferably 1.8.

[0082] It can be understood that the skin laxity index is the ratio of the time required for the target object's skin to recover to 90% of its original position to the baseline value of the time required for the skin of a healthy young person to recover to 90% of its original position. When the skin laxity index is 1, it indicates that the target object's skin is in the optimal elastic state. The larger the skin laxity index, the worse the elasticity of the target object's skin. The first skin laxity index threshold and the second skin laxity index threshold are calibrated based on several historical experimental data, which will not be repeated here.

[0083] It can be understood that for the target object with a higher skin laxity index (i.e., the skin laxity index is greater than the first skin laxity index threshold and less than or equal to the second skin laxity index threshold), the collagen fibers in the dermis of the human body are degraded, which manifests as poor skin resilience and prolonged recovery time after deformation. When the lifting, pinching and pressing hand technique is used, the skin cannot effectively retract and wrap the needle body, resulting in poor contact between the needle and tissue interface and generating additional contact impedance; while the pressing hand technique type of the target acupoint of the in situ or relaxation pressing hand technique type can effectively wrap the needle body after the skin retracts and will not generate additional contact impedance. Therefore, the lifting, pinching and pressing hand technique type is changed to the in situ pressing hand technique type to reduce skin shear deformation, maintain the stability of the needle-tissue interface, and ensure the accuracy of impedance monitoring during acupuncture.

[0084] If the skin laxity index of the target object is greater than the second skin laxity index threshold, the pressing hand manipulation type of the target acupoint using the in-situ pressing hand manipulation type will be adjusted to the relaxation pressing hand manipulation type, and the pressing hand manipulation type of the target acupoint using the lifting and pinching pressing hand manipulation type will be adjusted to the in-situ pressing hand manipulation type.

[0085] It is understandable that for the target object with an extremely high skin laxity index (i.e., the skin laxity index is greater than the second skin laxity index threshold), the human dermis is severely degenerated and the viscosity of the subcutaneous tissue is increased. When the in-situ pressing hand technique is adopted, the high-viscosity tissue around the needle body cannot be deformed evenly, resulting in annular unevenness in the impedance distribution; therefore, while avoiding the use of the lifting and pinching pressing hand technique type, the in-situ pressing hand technique type is changed to the relaxing pressing hand technique, and the local impedance difference is reduced by evenly stretching the skin to ensure the accuracy of impedance monitoring during acupuncture.

[0086] In addition, if the skin laxity index of the target object is less than or equal to the first skin laxity index threshold and less than or equal to the second skin laxity index threshold, there is no need to adjust the current pressing hand technique type and the current pressing hand technique type is maintained.

[0087] In this embodiment, the adjustment of the initial pressing hand pressure is specifically as follows:

[0088] If the target subject's body fat percentage is greater than a first body fat percentage threshold, the initial pressing hand pressure is increased; wherein the first body fat percentage threshold is preferably 26%. In this case, the calculation formula for the pressing hand pressure is specifically:

[0089] F=F0×[(B-B1) / k1+1],

[0090] Wherein, F is the first pressing hand pressure, in Newton (N); F0 is the initial pressing hand pressure, in Newton (N); k1 is the high body fat pressure coefficient, in %, preferably 10%; B is the body fat percentage of the target object, in %; B1 is the first body fat percentage threshold, in %, preferably 26%.

[0091] It is understandable that for target subjects with a high body fat percentage, their subcutaneous fat layer is thickened, and the viscoelasticity of the fat will absorb the pressure of the pressing hand. Using a smaller pressing hand pressure will cause the fat layer on the acupoint to not be properly compressed or relaxed, so that the impedance value on the needle path during acupuncture mainly reflects the fat characteristics, masking the true impedance of the acupoint and its impedance changes. At the same time, due to its high intercellular lipid content and low water content, the current conduction path is blocked, resulting in inaccurate impedance monitoring; therefore, by increasing the pressing hand pressure according to the degree to which the target subject's body fat percentage is greater than the first body fat percentage threshold, the fat layer is compressed or relaxed to a smaller ratio of the original thickness, reducing the fat proportion, and making the impedance on the needle path closer to the true impedance value of the acupoint, thereby ensuring the accuracy of impedance monitoring during acupuncture.

[0092] If the target subject's body fat percentage is less than the second body fat percentage threshold, the initial pressing hand pressure is reduced to obtain the pressing hand pressure corresponding to the adjusted first pressing hand parameter; wherein the second body fat percentage threshold is preferably 14%. In this case, the calculation formula of the pressing hand pressure is specifically:

[0093] F=F0×[1-(B2-B) / k2],

[0094] Wherein, F is the first pressing hand pressure, in Newton (N); F0 is the initial pressing hand pressure, in Newton (N); k2 is the low body fat pressure coefficient, in %, preferably 40%; B is the body fat percentage of the target object, in %; B2 is the second body fat percentage threshold, in %, preferably 14%.

[0095] It is understandable that for subjects with low body fat percentages, their subcutaneous fat layer is thin, the dermis and muscle layers are almost directly connected, and the skin tension is high. Applying greater pressure from the pressing hand can cause excessive stretching or compression of the skin, potentially breaking the collagen fibers in the dermis and creating micro-damage areas, leading to an abnormal decrease in local impedance (damaged cells release ions, increasing conductivity). Furthermore, high-tension skin is sensitive to pressure, and greater pressure from the pressing hand can compress superficial blood vessels, altering local blood flow and affecting impedance dispersion characteristics, leading to inaccurate impedance monitoring. Therefore, by reducing the pressing hand pressure based on the degree to which the subject's body fat percentage is less than the second body fat percentage threshold, excessive skin deformation is avoided, the structural integrity of the dermis is maintained, and pressure on the superficial microvascular network is reduced, ensuring the accuracy of impedance monitoring during acupuncture. The adjusted pressing hand technique type is the first pressing hand technique type, and the adjusted pressing hand pressure is the first pressing hand pressure.

[0096] In this embodiment, as a supplement, for the target acupoints in the preset area, the corresponding pressing technique and pressing pressure are not adjusted according to the physiological characteristic data of the target object; the preset area includes the facial danger triangle area, the area beside the carotid artery in the neck, and the area near the spinal cord.

[0097] It is understandable that the preset areas involve important blood vessels, nerves or active structures, and adjustments to the techniques may cause uncontrollable risks. At the same time, changes in the pressing techniques of some acupoints will cause the acupuncture process to be unable to proceed normally. Therefore, changes in the pressing techniques are restricted to avoid vascular damage or nerve compression due to technique adjustments.

[0098] Specifically, the control unit determines the initial impedance value based on a first impedance value of the target acupoint tissue obtained by contacting the skin surface of the target acupoint with a preset pressure before performing the pressing hand manipulation;

[0099] Wherein, the preset pressure is less than or equal to the initial pressing hand pressure.

[0100] In this embodiment, before performing the pressing hand technique, the two-finger bionic component 22 in the pressing hand mechanism 2 lightly touches the target subject's skin surface, and the pressing hand pressure monitoring mechanism detects the contact pressure between the two-finger bionic component 22 and the human tissue. When the contact pressure reaches the preset pressure, the pressing hand mechanism 2 stops and remains in place for 1 to 2 seconds to relax the stress of the human tissue and eliminate instantaneous deformation interference. The initial impedance value is then measured in this state. Preferably, the preset pressure is 0.1 N to 0.2 N.

[0101] The measurement of the initial impedance value is specifically as follows: controlling the bio-impedance monitoring mechanism 3 to perform continuous multi-frequency scanning to collect data, and obtaining the initial impedance value, which is recorded as Z0 and is expressed in ohms (Ω);

[0102] Preferably, the samples are continuously taken 5 times, and the average value is obtained after the maximum and minimum values ​​are eliminated; each sampling includes a sampling frequency of 1 kHz, 10 kHz and 100 kHz.

[0103] It can be understood that the low frequency of 1kHz is used to measure the extracellular fluid, the medium frequency of 10kHz is used to measure the mixed impedance of the extracellular and extracellular fluids, and the high frequency of 100kHz is used to penetrate the cell membrane to measure the intracellular fluid.

[0104] It is understandable that data collection also includes real-time subtraction of environmental noise components, such as electromagnetic interference from power lines and wireless devices, background noise of the measurement circuit, and motion artifacts caused by slight movement of the patient; these noises will be superimposed on the real bioimpedance signal, resulting in distortion of the measurement value; the measurement and calculation of the environmental noise components are existing technologies, and those skilled in the art can select the method for measuring and calculating the environmental noise components according to actual conditions, which will not be repeated here.

[0105] See also Figure 4 , which is a schematic diagram of the acupoint tissue deformation when the adaptive acupuncture robot control system based on multimodal feedback according to an embodiment of the present invention performs the lifting, pinching and pressing hand manipulation;

[0106] Specifically, the data integration unit determines a basic impedance change reference range corresponding to the target acupoint according to the first pressing hand parameter and the initial impedance value of the target acupoint, and adjusts the basic impedance change reference range according to the environmental data to obtain the impedance change reference range;

[0107] The environmental data includes indoor temperature data and indoor humidity data.

[0108] In this embodiment, the basic impedance variation reference range is specifically:

[0109] For the lifting, pinching, and pressing hand techniques, the basic impedance variation range is:

[0110] It is understood that the pinching technique, which involves gripping the skin and subcutaneous tissue with two biomimetic fingertips (22), increases the impedance of acupoint tissue in three ways: First, the compression narrows the gaps between cells (41), blocking ion channels and increasing impedance; second, the compression causes local tissue fluid to diffuse to the surrounding area, reducing the electrolyte concentration between the two pinching points and increasing impedance; and third, the compression compresses blood vessels (42), reducing microcirculatory blood flow and weakening the conductive contribution of blood (including electrolytes), thereby increasing impedance. The impedance increase is 15% to 30%, which was calibrated based on several sets of experimental data and will not be repeated here.

[0111] For the diastolic pressure hand technique, the basic impedance change range is:

[0112] It is understandable that the relaxation technique stretches the skin and subcutaneous tissue through the two-finger bionic component 22, which reduces the impedance of the acupoint tissue in two ways: first, stretching causes the stratum corneum of the skin to become thinner and the ion channels to expand, thereby reducing the resistance; second, stretching causes the subcutaneous tissue to activate stretch receptors, triggering sympathetic nerve reflexes, resulting in increased sweat gland secretion, and Na in sweat + 、Cl - The impedance decreases by 10% to 20%, which is determined by several sets of experimental data and will not be described in detail here.

[0113] For the in-situ hand pressing technique, the basic impedance change range is:

[0114] It is understandable that slight pressure pressing allows human tissue to maintain its natural state, and its baseline range fluctuates less: it has been calibrated through several sets of experimental data, which will not be repeated here.

[0115] In this embodiment, the basic impedance change reference range is adjusted according to the indoor humidity data and the indoor temperature data in the environmental data to obtain the impedance change reference range, which is specifically:

[0116] According to the ambient temperature, the basic impedance change reference range is corrected to obtain the first-level corrected impedance change reference range:

[0117] Wherein, T is the ambient temperature in degrees Celsius (°C); T0 is the reference ambient temperature in degrees Celsius (°C), preferably, 25°C; Z base According to the corresponding first pressing hand technique type, the corresponding or or It is understood that T and T0 do not carry dimensions in the calculation, and 1-0.004(T-T0) is used to correct Z base The lower limit of the range, 1-0.003 (T-T0) is used to correct Z base The upper limit of the range.

[0118] It is understandable that an increase in temperature will lead to an increase in skin conductivity. For every 1°C increase in temperature relative to 25°C, the lower limit of the impedance benchmark is lowered by 0.4% and the upper limit is lowered by 0.3%. This is determined based on historical data and will not be repeated here.

[0119] According to the ambient humidity, the first-level correction impedance change reference range is corrected to obtain the second-level correction impedance change reference range:

[0120] Where H is the relative humidity of the environment, in units of relative humidity %RH; H0 is the relative humidity of the reference environment, in units of relative humidity %RH, preferably 50%RH. It is understood that H and H0 are dimensionless in the calculation, and 1-0.02(H-H0) is used to correct Z base The lower limit of the range, 1-0.015 (H-H0) is used to correct Z base The upper limit of the range.

[0121] It is understandable that increased humidity will cause the water content of the human stratum corneum to increase, and the impedance baseline decrease gradient will expand: for every 1% RH increase in humidity relative to 50% RH, the lower limit of the impedance baseline will be lowered by 2% and the upper limit will be lowered by 1.5%. This is determined based on historical data and will not be repeated here.

[0122] The impedance variation reference range

[0123] Specifically, the data integration unit is further configured to calculate the impedance deviation based on the second impedance value of the target acupoint tissue obtained by the pressing hand mechanism 2 after performing the pressing hand operation and the impedance change reference range.

[0124] In this embodiment, based on the pressing hand manipulations of each target acupoint and the pressing hand pressures corresponding to each manipulation, the two-finger bionic assembly 22 is controlled to perform lifting, pinching, relaxing, or flattening of the tissue surrounding the target acupoint (an in-situ pressing hand manipulation type). The pressing hand pressure monitoring mechanism detects the contact pressure between the two-finger bionic assembly 22 and the human tissue. When the contact pressure reaches the corresponding pressing hand pressure, the pressing hand mechanism 2 stops operating, and the second impedance value is then measured in this state.

[0125] The impedance value is measured specifically by controlling the bio-impedance monitoring mechanism 3 to perform continuous multi-frequency scanning to collect data, and obtaining the impedance value, which is recorded as ΔZ and is expressed in ohms (Ω);

[0126] Preferably, the samples are continuously taken 5 times, and the average value is obtained after the maximum and minimum values ​​are eliminated; each sampling includes a sampling frequency of 1 kHz, 10 kHz and 100 kHz.

[0127] Specifically, the control unit determines that the bio-impedance monitoring is invalid according to a determination result that the second impedance value is not within the impedance change reference range.

[0128] In this embodiment, if the bio-impedance monitoring is judged to be invalid, the control unit controls the pressing hand mechanism 2 to release the acupoint tissue and skin and re-perform the pressing hand operation with the first pressing hand parameter. When the bio-impedance monitoring is judged to be invalid for three consecutive times, an alarm is issued for manual review.

[0129] Specifically, the control unit adjusts the pressing hand pressure in the first pressing hand parameter according to the impedance deviation to obtain a second pressing hand parameter.

[0130] In this embodiment, the calculation formula of the deviation degree is specifically:

[0131]

[0132] Where D is the degree of deviation; Z mid is the center reference value of the impedance change reference range, in ohms (Ω); ΔZ is the second impedance value; the center reference value Z of the impedance change reference range is mid The calculation formula is as follows:

[0133]

[0134] Wherein, f is the allowable impedance deviation coefficient, preferably, f=0.05.

[0135] When D≤10%, for the pressing hand pressure of the lifting and pinching pressing hand technique type, the pressing hand pressure is increased by 0.1N; for the pressing hand pressure of the relaxing pressing hand technique type, the pressing hand pressure is reduced by 0.05N; for the pressing hand pressure of the in-situ pressing hand technique type, the pressing hand pressure is maintained unchanged, and the second pressing hand parameter is obtained.

[0136] When D>10%, for the pressing hand pressure of the lifting and pinching pressing hand technique, the pressing hand pressure is increased by 0.2N; for the pressing hand pressure of the relaxing pressing hand technique, the pressing hand pressure is reduced by 0.1N; for the pressing hand pressure of the in-situ pressing hand technique type, the pressing hand pressure is increased by 0.05N, and the second pressing hand parameter is obtained.

[0137] Specifically, the pressing hand technique type in the second pressing hand parameter is consistent with the corresponding pressing hand technique type in the first pressing hand parameter, and the pressing hand pressure in the second pressing hand parameter is obtained by increasing or decreasing the pressing hand pressure in the first pressing hand parameter as described above.

[0138] It can be understood that by adjusting the pressure of the pressing hand, the impedance value is returned to the impedance change reference range to improve the credibility of subsequent impedance value measurements, wherein positive compensation is performed for the pinching pressure to further compress the fat layer to enhance the tissue compression effect, and negative compensation is performed for the diastolic pressure to release excessive stretching to prevent tearing of the dermis. Ordinary needle insertion is fine-tuned to avoid destroying the natural state. The adjustment range is determined based on historical data and will not be repeated here.

[0139] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. An adaptive acupuncture robot control system based on multimodal feedback, characterized in that: include: an acupuncture implementation unit, comprising a hand-pricking mechanism for performing a hand-pricking operation on a target acupoint and a hand-pressing mechanism for performing a hand-pressing operation on the target acupoint; A sample collection unit is used to obtain acupuncture sample data during several acupuncture sessions, including the pressing hand manipulation type and pressing hand pressure corresponding to each acupoint during any acupuncture session, wherein the pressing hand manipulation types include lifting and pinching, relaxation, and in-situ; a monitoring unit connected to the acupuncture implementation unit, comprising a pressure monitoring mechanism provided on the pressure mechanism for collecting contact pressure between the pressure mechanism and human tissue in real time, a bioimpedance monitoring mechanism for collecting acupoint tissue impedance in real time, and an environmental monitoring mechanism for collecting physiological characteristic data of the target subject and current environmental data; a data integration unit, connected to the sample collection unit and the monitoring unit, respectively, for determining a first pressing hand parameter of each target acupoint based on the acupuncture sample data and corresponding human physiological characteristic data, and determining a reference range of impedance change of the acupoint tissue after the pressing hand mechanism performs the pressing hand operation based on the first pressing hand parameter and the environmental data; a control unit connected to the acupuncture implementation unit, the monitoring unit, and the data integration unit, respectively, for controlling the acupuncture implementation unit to perform a pressing hand operation during the acupuncture process using the first pressing hand parameter, determining whether bio-impedance monitoring is effective based on whether the impedance value of the acupoint tissue after the pressing hand operation is within the impedance reference variation range, and adjusting the first pressing hand parameter corresponding to the pressing hand operation according to the impedance deviation based on the determination result that the bio-impedance monitoring is effective, so as to obtain a second pressing hand parameter.

2. The adaptive acupuncture robot control system based on multimodal feedback according to claim 1, characterized in that: The hand-piercing mechanism includes a first mechanical arm and a filiform needle assembly arranged at the end of the first mechanical arm; The pressing hand mechanism includes a second robotic arm and a two-finger bionic component arranged at the end of the second robotic arm; Wherein, the bio-impedance monitoring mechanism and the pressing hand pressure monitoring mechanism are both arranged on the side of the two-finger bionic component in contact with the skin of the target object.

3. The adaptive acupuncture robot control system based on multimodal feedback according to claim 1 or 2, characterized in that: The environmental monitoring mechanism collects body fat percentage and skin elasticity data from the physiological characteristic data of the target object, and determines the skin laxity index of the corresponding acupoint area of ​​the target object based on the skin elasticity data.

4. The adaptive acupuncture robot control system based on multimodal feedback according to claim 3, characterized in that: The data integration unit determines initial pressing hand parameters based on the pressing hand manipulation type and pressing hand pressure corresponding to each target acupoint in the acupuncture sample data, and adjusts the initial pressing hand parameters based on the body fat percentage and skin elasticity data of the target subject to determine the first pressing hand parameters for each target acupoint, including: Adjusting the initial pressing hand manipulation type according to the skin laxity index of the target object to obtain a first pressing hand manipulation type; The initial pressing hand pressure is adjusted according to the body fat percentage of the target object to obtain a first pressing hand pressure.

5. The adaptive acupuncture robot control system based on multimodal feedback according to claim 4, characterized in that: The control unit determines the initial impedance value based on a first impedance value of the target acupoint tissue obtained by contacting the skin surface of the target acupoint with a preset pressure before performing the pressing hand manipulation; Wherein, the preset pressure is less than or equal to the initial pressing hand pressure.

6. The adaptive acupuncture robot control system based on multimodal feedback according to claim 5, characterized in that: The data integration unit determines a basic impedance change reference range corresponding to the target acupoint according to the first pressing hand parameter and the initial impedance value of the target acupoint, and adjusts the basic impedance change reference range according to the environmental data to obtain the impedance change reference range; The environmental data includes indoor temperature data and indoor humidity data.

7. The adaptive acupuncture robot control system based on multimodal feedback according to claim 6, characterized in that: The data integration unit is further configured to calculate the impedance deviation based on the second impedance value of the target acupoint tissue obtained by the pressing hand mechanism after performing the pressing hand operation and the impedance change reference range.

8. The adaptive acupuncture robot control system based on multimodal feedback according to claim 7, characterized in that: The control unit determines that the bioimpedance monitoring is invalid based on a determination result that the second impedance value is not within the impedance change reference range.

9. The adaptive acupuncture robot control system based on multimodal feedback according to claim 8, wherein the control unit adjusts the pressing hand pressure in the first pressing hand parameter according to the impedance deviation to obtain a second pressing hand parameter.

10. The adaptive acupuncture robot control system based on multimodal feedback according to claim 1, characterized in that: Also includes: an acupoint positioning unit connected to the data integration unit, configured to obtain position information of the target object, scan the target object to establish a three-dimensional model including the position information, and generate an acupuncture process model for each target acupoint of the target object based on the three-dimensional model in combination with the acupuncture sample data and the second pressing hand parameter; A data conversion unit is connected to the data integration unit and the control unit respectively, and is used to generate an instruction set executable by the control unit according to the acupuncture process model and output the instruction set to the control unit.

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