Painless non-intrusive simulation acupuncture therapy VR system integrating multi-sensory stimulation and personalized adaptation

Abstract

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

Description

Technical Field

[0001] This invention relates to the field of VR acupuncture treatment technology, and in particular to a painless, non-invasive simulated acupuncture therapy VR system that integrates multi-sensory stimulation and personalized adaptation. Background Technology

[0002] Traditional acupuncture, a common treatment in Traditional Chinese Medicine for periorbital disorders, has accumulated rich clinical experience, but its limitations are significant. Firstly, traditional acupuncture is an invasive procedure requiring needle insertion at acupoints. This necessitates a high degree of expertise from the practitioner, demanding precise control of the needle angle and depth to avoid damaging the delicate periorbital tissues. Furthermore, the procedure can easily cause pain, leading some pain-sensitive individuals to refuse continued treatment due to fear, resulting in poor adherence.

[0003] While existing simulated acupuncture devices attempt to overcome the limitations of invasive treatments, several technical bottlenecks remain: First, the sensory stimulation is limited, with most devices relying solely on vibration or heat stimulation, failing to simulate the complex sensations of soreness, numbness, and distension experienced in traditional acupuncture, resulting in a significant gap between the actual treatment experience and the desired therapeutic feedback. Second, acupoint positioning lacks personalized adaptation capabilities, often employing fixed templates or static positioning methods, failing to consider the differences in the three-dimensional structure of different users' faces, leading to insufficient positioning accuracy and potential stimulation deviations. Third, treatment plans are highly homogenized, with only a few pre-set fixed plans, failing to adjust parameters based on individual characteristics such as user age, skin sensitivity, and past treatment feedback, resulting in discomfort from excessively strong or weak stimulation for some users, further impacting treatment adherence. Fourth, the lack of immersive treatment scenarios, failing to combine virtual vision with physical stimulation and audio guidance, can easily cause anxiety or distraction during treatment, hindering the use of psychological relaxation techniques to improve treatment effectiveness, and resulting in an overall treatment experience that deviates from the mind-body synergy concept of traditional acupuncture. The relatively stringent disinfection requirements also limit their widespread adoption in home or grassroots settings. Summary of the Invention

[0004] The purpose of this invention is to address the technical deficiencies in the existing technology by providing a painless, non-invasive simulated acupuncture therapy VR system that integrates multi-sensory stimulation and personalized adaptation.

[0005] The technical solution adopted to achieve the purpose of this invention is: A painless, non-invasive simulated acupuncture therapy VR system that integrates multi-sensory stimulation and personalized adaptation includes... Intelligent Treatment Plan Management Module: The intelligent treatment plan management module receives personalized factor information data input by the current user and retrieves recommended treatment plans for the current user from the simulated acupuncture plan database; A processing and control module is used to receive recommended treatment plans from the intelligent treatment plan management module and control the multi-sensory stimulation module. Multi-sensory stimulation module; The virtual scene of acupuncture treatment of the recommended treatment plan is displayed in the VR headset. The array of micro-stimulators deployed on the target acupoints in the VR headset receives and processes the information from the control module and executes the stimulation instructions of the target acupoints in the recommended treatment plan. Dynamic acupoint adaptation module: When the multi-sensory stimulation module executes stimulation commands, if the current user has acupoint offset, the dynamic acupoint adaptation module corrects the target acupoint coordinates of the current user. The multi-sensory stimulation module then performs a position change, moves to the corrected target acupoint coordinates, and executes the stimulation command. Audio guidance module: When the multi-sensory stimulation module receives and processes the signal from the control module to execute the stimulation command, it calls the audio resources that match the recommended treatment plan and plays them in a loop for the current user.

[0006] In the above technical solution, the intelligent treatment plan management module uses a nearest neighbor algorithm (existing technology) based on the stimulation intensity coefficient in the simulated acupuncture plan database to find the best treatment plan for a historical user group that is similar to the current user's personalized factor information data. The nearest neighbor algorithm uses a cosine similarity formula (existing technology) to quantify the consistency of the personalized factors between the current user and the historical user group. Then, it locates the nearest neighbor treatment plan for the historical user from the best treatment plan and, based on the preset rules of the treatment plan, adjusts the acupoint stimulation intensity coefficient of the neighboring treatment plans. k Adjustments are made, and the target acupoint sequence of adjacent treatment plans is corrected to serve as the recommended treatment plan for the current user.

[0007] In the above technical solution, the recommended treatment plan includes the target acupoint stimulation sequence and the acupoint stimulation intensity coefficient. k Treatment frequency and duration.

[0008] In the above technical solution, the target acupoints include Zanzhu, Yuyao, Sizhukong, Chengqi, and Jingming.

[0009] In the above technical solution, the acupoint stimulation intensity coefficient is adjusted in the preset rules of the treatment plan in the following way. k Assign weights and scores to each user's personalized factors, and calculate the stimulation intensity coefficient for each acupoint based on these weights and scores. k Personalization factors include the user's age, sensitivity, and historical feedback.

[0010] In the above technical solution, the target acupoint sequence is adjusted in the preset rules of the treatment plan in the following way: if the current user's indication corresponds to a clear meridian, the main acupoint on that meridian is stimulated first to activate the meridian's qi and blood, and then the auxiliary acupoints are stimulated to enhance the regulatory effect.

[0011] In the above technical solution, in the multi-sensory stimulation module, key event points are pre-marked on specific animation key frames of the acupuncture treatment virtual scene. The multi-sensory stimulation module checks whether the current animation time has reached a certain key event point. If it has, the key event point signal is released and captured by the processing control module. The micro-stimulator array receives and executes the stimulation instructions of the target acupoints in the recommended treatment plan.

[0012] In the above technical solution, the micro-stimulator array includes a micro-vibration massage telescopic head, a flexible micro-heating plate, and a micro-electromagnetic coil.

[0013] In the above technical solution, the key event points include five treatment nodes: greeting, needle insertion, needle retention, needle removal, and instructions.

[0014] In the above technical solution, the audio resources include five-tone therapy music and physician guidance. When the virtual scene of acupuncture treatment is displayed in the VR headset, the five-tone therapy music is played in a loop, and the physician guidance is played at key event points.

[0015] In the above technical solution, the coordinates of the target acupoints are corrected in the following way: Infrared images of the current user's facial 3D point cloud data and the initial 3D coordinates of the current user's body surface feature points are acquired, and the user scan point set is converted from the 3D point cloud data. U As input, the standard model point set of the standard meridian acupoint 3D model. S For each point in the current user's scan point set, find its closest Euclidean distance point. Based on the first rotation matrix and the first translation vector, minimize the mean square error between the corresponding points. If the mean square error between the corresponding points is less than a preset threshold based on the first rotation matrix and the first translation vector, it is determined to be in a convergent state. Output the optimal first rotation matrix, the first translation vector, and the personalized acupoint coordinates to complete the initial registration. Based on the KLT feature tracker, the 3D coordinates of the initially scanned body surface feature points are obtained. The 2D projected coordinates are then calculated using a second rotation matrix and a second translation vector. These coordinates are then matched with the 2D projected coordinates in the infrared image. The optimal solution is the second rotation matrix and second translation vector that minimizes the matching error. The algorithm that minimizes the matching error (existing technology) is a nonlinear optimization algorithm such as EPnP or Levenberg-Marquardt. The personalized acupoint coordinates obtained from the initial registration are corrected using the second rotation matrix and second translation vector to obtain the corrected target acupoint coordinates in the current frame. After the target acupoint coordinates are corrected, the micro-vibration massage telescopic head, flexible micro-heating pad, and micro-electromagnetic coil of the micro-stimulator array are moved to the corrected target acupoint coordinates by the electronic control components.

[0016] Compared with the prior art, the beneficial effects of the present invention are: The system of this invention fundamentally avoids safety risks such as acupuncture pain, subcutaneous bleeding, and local infection, eliminates the fear of treatment for people who are sensitive to pain, and improves user acceptance and long-term treatment compliance. Compared with traditional invasive acupuncture, this system does not require strict disinfection procedures and full-time operation and monitoring by professional physicians, reducing safety hazards during treatment. It is more suitable for use in diverse scenarios such as home and primary care, breaking the strict dependence of traditional acupuncture on treatment environment and professional resources. The dynamic acupoint adaptation module of this invention is based on a standard meridian acupoint three-dimensional model, combined with infrared-acquired three-dimensional point cloud data of the user's face and body surface feature points, and achieves precise acupoint positioning through personalized registration and mapping algorithms (existing technology); at the same time, it relies on the KLT feature tracker to correct the deviation caused by changes in head posture in real time, ensuring that the stimulator array always accurately acts on the target acupoint, effectively solving the problems that traditional manual acupoint selection is easily affected by individual facial differences and that existing simulation equipment lacks dynamic adaptation, ensuring the pertinence and effectiveness of acupoint stimulation, and providing core support for the treatment effect; By weighting, calculating stimulation intensity coefficients, and aggregating similar user treatment plans, a personalized recommended treatment plan is generated for the current user. This includes adjusting the target acupoint sequence, stimulation parameters, treatment frequency, and duration. Simultaneously, it optimizes the acupoint ranking according to the TCM operational logic of working from the inside out and from primary to secondary points, avoiding the cancellation of acupoint effects and enhancing synergistic effects. This design completely solves the problem of homogenization in existing simulation equipment solutions, ensuring that users with different characteristics can obtain suitable treatment plans, improving treatment accuracy and effectiveness feedback. Attached Figure Description

[0017] Figure 1 This is a flowchart of the present invention; Figure 2 This is a flowchart of the painless, non-invasive acupuncture treatment method of the present invention. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] like Figure 1 As shown, a painless, non-invasive simulated acupuncture therapy VR system that integrates multi-sensory stimulation and personalized adaptation includes... The intelligent treatment plan management module receives personalized factor information data input by the current user. In the simulated acupuncture plan database, it uses a nearest neighbor algorithm based on stimulation intensity coefficients to find the best treatment plan for historical user groups similar to the current user's personalized factor information data. The nearest neighbor algorithm quantifies the consistency of personalized factors between the current user and historical user groups using a cosine similarity formula. Then, it locates the nearest adjacent treatment plans from the best treatment plans and, based on preset rules for treatment plans, adjusts the acupoint stimulation intensity coefficients of adjacent treatment plans. k Adjustments are made, and the target acupoint sequence of adjacent treatment plans is corrected to serve as the recommended treatment plan for the current user. The recommended treatment plan includes the target acupoint stimulation order and the acupoint stimulation intensity coefficient. k Treatment frequency and duration, the target acupoints include Zanzhu, Yuyao, Sizhukong, Chengqi and Jingming.

[0020] The preset rules of the treatment plan adjust the acupoint stimulation intensity coefficient in the following ways. k Assign weights and scores to each personalized factor for the user, and calculate the stimulation intensity coefficient for each acupoint based on the weights and scores of the personalized factors. k Personalization factors include the user's age, sensitivity, and historical feedback, etc. Preferably, the stimulation intensity coefficient for the Yuyao acupoint is... Determined by the following formula: ,in, This refers to the standard strength coefficient, such as 1.0, etc. The weighting of age obtained through expert experience or data learning. The weights of sensitivity factors obtained through expert experience or data learning. Rate age as follows: teenagers = +0.1, middle-aged = 0.0, elderly = -0.1. Sensitivity scores are assigned, for example, high sensitivity = -0.2, normal = 0.0, low sensitivity = +0.1, and the stimulation intensity coefficient of the user's Yuyao acupoint is calculated. k ; The preset rules of the treatment plan adjust the target acupoint sequence correction in the following way: if the current user's indication corresponds to a clear meridian, the main acupoints on that meridian are stimulated first to activate the meridian's Qi and blood, and then the auxiliary acupoints are stimulated to enhance the regulatory effect, avoid the acupoints' effects from canceling each other out, and improve synergistic effects. For example, in the prevention and control of myopia in adolescents, the corresponding meridians are the liver and bladder meridians, and the main acupoints are Zanzhu, Jingming, and Yuyao. At the same time, the order of stimulating acupoints is adjusted according to the logic of traditional Chinese medicine operation.

[0021] A processing and control module is used to receive recommended treatment plans from the intelligent treatment plan management module and control the multi-sensory stimulation module. A multi-sensory stimulation module displays a virtual acupuncture treatment scene of the recommended treatment plan within the VR headset. Key event points are pre-marked on specific animation keyframes of the virtual acupuncture treatment scene. The multi-sensory stimulation module checks whether the current animation time has reached a certain key event point. If it has, it issues a key event point signal, which is captured by the processing control module. A micro-stimulator array receives and executes stimulation instructions for the target acupoints in the recommended treatment plan. The micro-stimulator array is deployed on the target acupoints within the VR headset. The key event points include five treatment nodes: greeting, needle insertion, needle retention, needle removal, and instructions. The micro-stimulator array includes a micro-vibrating massage telescopic head, a flexible micro-heating plate, and a micro-electromagnetic coil. The micro-vibrating massage telescopic head is used to vibrate at a specific frequency and amplitude. The flexible micro-heating plate is used to heat the acupoints and is connected to a temperature sensor to maintain the temperature. The micro-electromagnetic coil generates an alternating electromagnetic field with pulsed currents of specific waveform, frequency, and intensity.

[0022] Dynamic acupoint adaptation module: When the multi-sensory stimulation module executes stimulation commands, if the current user has acupoint offset (e.g., the distance between acupoints around a child's eyes is small, resulting in acupoint offset), the dynamic acupoint adaptation module corrects the target acupoint coordinates for the current user. The coordinates of the target acupoints are corrected by: acquiring infrared images of the current user's facial 3D point cloud data and the initial 3D coordinates of the current user's body surface feature points, and converting the 3D point cloud data into a user scan point set. As input, the standard model point set of the standard meridian acupoint 3D model. For each point in the current user's scan point set, find its closest Euclidean distance point. Based on the first rotation matrix and the first translation vector, minimize the mean square error between the corresponding points. If the mean square error between the corresponding points is less than a preset threshold based on the first rotation matrix and the first translation vector, it is determined to be in a convergent state. Output the optimal first rotation matrix, the first translation vector, and the personalized acupoint coordinates to complete the initial registration. Based on the KLT feature tracker, the 3D coordinates of the initially scanned body surface feature points are obtained. The 2D projected coordinates are then calculated using a second rotation matrix and a second translation vector. These coordinates are then matched with the 2D projected coordinates in the infrared image. The optimal solution is the second rotation matrix and second translation vector that minimizes the matching error. The algorithm that minimizes the matching error is a nonlinear optimization algorithm such as EPnP or Levenberg-Marquardt. The personalized acupoint coordinates obtained from the initial registration are then corrected using the second rotation matrix and second translation vector to obtain the corrected target acupoint coordinates in the current frame. After the target acupoint coordinates are corrected, the micro-vibration massage telescopic head, flexible micro-heating pad, and micro-electromagnetic coil of the micro-stimulator array are moved to the corrected target acupoint coordinates by the electronic control components.

[0023] Audio guidance module: When the multi-sensory stimulation module receives and processes the stimulation command from the control module, it calls the audio resources matching the recommended treatment plan (the audio resources are stored in local memory in WAV lossless format to ensure clear sound quality). First, it initializes the bone conduction vibration intensity, and then plays the audio resources through the bone trauma guidance headphones, while simultaneously playing the ambient sound of the acupuncture clinic. The audio resources include five-tone therapy music and physician guidance. When the virtual scene of acupuncture treatment is displayed in the VR headset, the five-tone therapy music is played in a loop, and the physician guidance is played at key event points. Preferably, the five-tone therapy music is segmented into three parts: pre-treatment relaxation, in-treatment loop, and post-treatment conclusion, which are played through the bone trauma guidance headphones. Each part is preloaded into the cache to avoid playback stuttering. For example, when the virtual scene shows an acupuncture needle being inserted into a target acupoint, the bone conduction headphones play the doctor's guidance when the acupuncture needle is inserted into the target acupoint, along with five-tone therapy music. Specifically, when the virtual scene shows an acupuncture needle being inserted into the Zanzhu acupoint, the micro-stimulator array executes the stimulation command for that acupoint, while the bone conduction headphones play five-tone therapy music and the doctor's guidance: "The Zanzhu acupoint has been inserted. Carefully feel the warmth and distension around the eyes." After the doctor's guidance finishes playing, the volume of the five-tone therapy music is increased, thus forming a closed loop of doctor's guidance instruction reminder, stimulation perception, and music assistance.

[0024] Furthermore, when playing the doctor's guidance, in the virtual acupuncture treatment scene, pre-programmed synchronization frames drive the vertices of the model to realize the mouth movements composed of multiple keyframes and synchronize the timing of the doctor's guidance instructions by driving the skeletal hierarchy structure inside the virtual doctor.

[0025] Furthermore, to enhance the realism of needle insertion, this invention also simulates minute deformations of the skin. In the VR scene, at the instant the needle tip contacts the skin, the multi-sensory stimulation module drives the vertices of the skin around the contact point to concave along the normal direction through a distance function-based algorithm running in the vertex shader. In the virtual acupuncture treatment scene, when the rendering frame rate may drop, an intermediate frame is quickly generated by reusing the depth information of the previous frame and combining it with the latest head posture, effectively reducing dizziness and ensuring smooth visuals.

[0026] Furthermore, the vertex shader of the multi-sensory stimulation module drives the model vertices to achieve complex actions composed of multiple keyframes through the skeletal hierarchy structure inside the physician in the acupuncture treatment virtual scene. It calculates the skeletal pose of the intermediate frame based on the interpolation algorithm between two keyframes. The most commonly used interpolation algorithms are quaternion spherical linear interpolation for rotation and linear interpolation for translation. The interpolation algorithm takes the two keyframes as known data points, that is, the moment when the current user touches the skin with the needle tip in the acupuncture treatment virtual scene. It takes the skeletal pose action data that is about to appear as known data, constructs a mathematical function to predict the skeletal pose of the intermediate frame, and performs action connection. Quaternion spherical linear interpolation for rotation and linear interpolation for translation are the tools for realizing the action of the intermediate frame.

[0027] like Figure 2 As shown, the method of using the system of the present invention includes the following steps: Based on the personalized factor information entered by the current user, the system matches the recommended treatment plan for the current user. The current user wears a VR headset and is presented with a virtual acupuncture treatment scene of the recommended treatment plan: an acupuncture clinic (including an acupuncture treatment bed, medical partition curtains, acupuncture treatment cart, electroacupuncture therapy device, etc.) and an acupuncturist waiting (of a certain age and qualifications, with regular facial features, and a friendly and reliable demeanor).

[0028] Users wear bone conduction headphones that play background music for the Five Tones Therapy on a loop, along with guidance from acupuncturists, including self-introductions, questions about the patient's condition, and guidance on relaxation.

[0029] Needle insertion and stimulation activation: In the VR screen, after selecting acupoints, the acupuncturist disinfects their hands and the acupuncture site, inserts the acupuncture needle into a specific acupoint (such as Zanzhu) in the current user's recommended treatment plan, and connects it to the electroacupuncture therapy device.

[0030] Synchronous signal triggering: At the same time as the acupuncture needle is inserted, the processing and control module sends a stimulation command to the micro stimulator array corresponding to the "Zanzhu" acupoint. The current user feels a warm sensation (flexible micro heating plate working), a vibration or distending sensation (micro vibration massage telescopic head working), and a sore and numb sensation (micro electromagnetic coil working) from the acupoint.

[0031] The guided instructions continue to play. The needle is left in place for 1 minute. The micro-vibration massage telescopic head vibrates slightly. The micro-electromagnetic coil and flexible micro-heating plate continue to work, maintaining a complex stimulation of thermal stimulation, electromagnetic stimulation, and tactile stimulation.

[0032] In the VR scene, the acupuncturist removes the acupuncture needle, presses the needle hole with a cotton swab or sterile cotton ball for a moment, and the guided dialogue plays until the acupuncture ends. The processing control module then shuts down the micro-stimulator array.

[0033] Then, following the above process, stimulate the Yuyao, Sizhukong, Chengqi, and Jingming acupoints in sequence, and repeat the above process three times to complete one treatment.

[0034] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A painless, non-invasive simulated acupuncture therapy VR system integrating multi-sensory stimulation and personalized adaptation, characterized in that, include: Intelligent Treatment Plan Management Module: The intelligent treatment plan management module receives personalized factor information data input by the current user and retrieves recommended treatment plans for the current user from the simulated acupuncture plan database; Processing control module; Used to receive recommended treatment plans from the intelligent treatment plan management module and control the multi-sensory stimulation module; Multi-sensory stimulation module; The virtual scene of acupuncture treatment of the recommended treatment plan is displayed in the VR headset. The array of micro-stimulators deployed on the target acupoints in the VR headset receives and processes the information from the control module and executes the stimulation instructions of the target acupoints in the recommended treatment plan. Dynamic acupoint adaptation module: When the multi-sensory stimulation module executes stimulation commands, if the current user has acupoint offset, the dynamic acupoint adaptation module corrects the target acupoint coordinates of the current user. The multi-sensory stimulation module then performs a position change, moves to the corrected target acupoint coordinates, and executes the stimulation command. Audio guidance module: When the multi-sensory stimulation module receives and processes the signal from the control module to execute the stimulation command, it calls the audio resources that match the recommended treatment plan and plays them in a loop for the current user.

2. The painless, non-invasive simulated acupuncture therapy VR system according to claim 1, characterized in that, The intelligent treatment plan management module uses a nearest neighbor algorithm based on stimulation intensity coefficients in the simulated acupuncture plan database to find the best treatment plan for historical user groups that are similar to the current user's personalized factor information data. The nearest neighbor algorithm quantifies the consistency of personalized factors between the current user and historical user groups using a cosine similarity formula. Then, it locates the nearest neighboring treatment plans from the best treatment plans and, based on preset rules for treatment plans, adjusts the acupoint stimulation intensity coefficients of the neighboring treatment plans. k Adjustments are made, and the target acupoint sequence of adjacent treatment plans is corrected to serve as the recommended treatment plan for the current user.

3. The painless, non-invasive simulated acupuncture therapy VR system according to claim 1, characterized in that, The recommended treatment plan includes the sequence of target acupoint stimulation and the acupoint stimulation intensity coefficient. k Treatment frequency and duration, the target acupoints include Zanzhu, Yuyao, Sizhukong, Chengqi and Jingming.

4. The painless, non-invasive simulated acupuncture therapy VR system according to claim 1, characterized in that, The preset rules of the treatment plan adjust the acupoint stimulation intensity coefficient in the following ways. k Assign weights and scores to each personalized factor for the user, and calculate the stimulation intensity coefficient for each acupoint based on the weights and scores of the personalized factors. k Personalization factors include the user's age, sensitivity, and historical feedback.

5. The painless, non-invasive simulated acupuncture therapy VR system according to claim 1, characterized in that, The preset rules of the treatment plan adjust the target acupoint sequence correction in the following way: if the current user's indication corresponds to a clear meridian, the main acupoints on that meridian are stimulated first to activate the meridian's Qi and blood, and then the auxiliary acupoints are stimulated to enhance the regulatory effect.

6. The painless, non-invasive simulated acupuncture therapy VR system according to claim 1, characterized in that, In the multi-sensory stimulation module, key event points are pre-marked on specific animation keyframes of the acupuncture treatment virtual scene. The multi-sensory stimulation module checks whether the current animation time has reached a certain key event point. If it has, the key event point signal is released and captured by the processing control module. The micro-stimulator array receives and executes the stimulation instructions for the target acupoints in the recommended treatment plan.

7. The painless, non-invasive simulated acupuncture therapy VR system according to claim 1, characterized in that, The micro-stimulator array includes a micro-vibration massage telescopic head, a flexible micro-heating plate, and a micro-electromagnetic coil.

8. The painless, non-invasive simulated acupuncture therapy VR system according to claim 1, characterized in that, The key event points include five treatment nodes: greeting, needle insertion, needle retention, needle removal, and instructions.

9. The painless, non-invasive simulated acupuncture therapy VR system according to claim 1, characterized in that, The audio resources include five-tone therapy music and physician guidance. When the virtual acupuncture treatment scene is displayed in the VR headset, the five-tone therapy music plays in a loop, and the physician guidance is played at key event points.

10. The painless, non-invasive simulated acupuncture therapy VR system according to claim 1, characterized in that, The coordinates of the target acupoints are corrected by: acquiring infrared images of the current user's facial 3D point cloud data and the initial 3D coordinates of the current user's body surface feature points, and converting the 3D point cloud data into a user scan point set. U As input, the standard model point set of the standard meridian acupoint 3D model. S For each point in the current user's scan point set, find its closest Euclidean distance point. Based on the first rotation matrix and the first translation vector, minimize the mean square error between the corresponding points. If the mean square error between the corresponding points is less than a preset threshold based on the first rotation matrix and the first translation vector, it is determined to be in a convergent state. Output the optimal first rotation matrix, the first translation vector, and the personalized acupoint coordinates to complete the initial registration. Based on the KLT feature tracker, the 3D coordinates of the initially scanned body surface feature points are obtained. The 2D projected coordinates are then calculated using a second rotation matrix and a second translation vector. These coordinates are then matched with the 2D projected coordinates in the infrared image. The optimal solution is the second rotation matrix and second translation vector that minimizes the matching error. The algorithm that minimizes the matching error is a nonlinear optimization algorithm such as EPnP or Levenberg-Marquardt. The personalized acupoint coordinates obtained from the initial registration are then corrected using the second rotation matrix and second translation vector to obtain the corrected target acupoint coordinates in the current frame. After the target acupoint coordinates are corrected, the micro-vibration massage telescopic head, flexible micro-heating pad, and micro-electromagnetic coil of the micro-stimulator array are moved to the corrected target acupoint coordinates by the electronic control components.

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