An acupoint positioning system and method

Abstract

This application discloses an acupoint location system and method, applicable to the field of modern TCM technology. The system includes a scanning module, an acupoint location module, and a control module. The scanning module is mounted on a robotic arm equipped with a 3D scanning device. When the robotic arm moves to a preset position, the scanning module controls the 3D scanning device to scan, obtaining a first image and a second image. The acupoint location module matches multiple key points in the second image with multiple annotation points in a preset annotation model. The control module controls the robotic arm to move in manual or automatic mode. Thus, by controlling the robotic arm equipped with the scanning device to move, after the robotic arm reaches the preset position, it further acquires key points from the target image and then matches them with annotation points in the preset annotation model to obtain the key points in the second image. This acupoint location system makes the acupoint location process more convenient.

Description

Technical Field

[0001] This application relates to the field of modern TCM technology, and in particular to an acupoint location system and method. Background Technology

[0002] Traditional Chinese medicine (TCM) physical therapy (including acupuncture, massage, and cupping) is an important part of my country's rehabilitation medicine, with a long history and unique methods. Its core and essence lies in the theory of meridians and acupoints. Thousands of years of development in TCM have proven that physical therapy based on the accurate location of meridian acupoints produces the best therapeutic effects. Therefore, the accuracy of acupoint location has a significant impact on the effectiveness of disease treatment.

[0003] Traditional Chinese medicine (TCM) physiotherapy relies on manual acupoint selection and treatment, which is highly subjective and lacks standardized criteria and rules for acupoint location, resulting in significant differences in efficacy and hindering the modernization of TCM. While some simplified TCM rehabilitation robots have emerged on the market, they still require manual assistance in acupoint selection before the robot can treat the selected points. Therefore, the acupoint selection process remains subjective and lacks a high degree of automation.

[0004] Therefore, there is an urgent need for a method that can automatically locate acupoints to reduce the difficulty of acupoint location and improve the accuracy of acupoint location. Summary of the Invention

[0005] In view of this, this application provides an acupoint location system and method to solve the problem of inaccurate acupoint location caused by manual acupoint selection.

[0006] Firstly, this application provides a method for locating acupoints, including:

[0007] A robotic arm equipped with a 3D scanning device is controlled to move. When the robotic arm moves to a preset position, the 3D scanning device is controlled to scan and obtain a first image and a second image. The second image is obtained based on the first image.

[0008] Match multiple key points in the second image with multiple annotation points in a preset annotation model;

[0009] The robotic arm can move in either manual or automatic mode.

[0010] Optionally, controlling the movement of the robotic arm equipped with a 3D scanning device includes:

[0011] The robotic arm can be moved according to different control modes;

[0012] When the control mode is automatic, the robotic arm is controlled to move at a constant speed along a preset path to the preset position.

[0013] When the control mode is manual mode, the robotic arm moves to the preset position in response to the remote operation command.

[0014] Optionally, the method further includes: detecting the distance between the robotic arm and objects in the surrounding environment in real time, and issuing an alarm when the distance is less than a preset value.

[0015] Optionally, matching multiple key points in the second image with multiple annotation points in a preset annotation model includes:

[0016] Obtain a set of points in the second image, and select multiple key points from the set of points;

[0017] The second image is adjusted according to the adaptive size calculation method until multiple annotation points in the preset annotation model correspond one-to-one with multiple key points in the second image.

[0018] Optionally, the 3D scanning device is a dual scanning device, which is used to perform 3D point cloud scanning on the environment within the line of sight of the dual scanning device to obtain the first image and the second image, and to perform RGB scanning on the obtained second image to identify the RGB information in the second image.

[0019] Secondly, this application provides an acupoint location system, the system comprising:

[0020] The system includes a scanning module, an acupoint location module, and a control module.

[0021] The scanning module is mounted on a robotic arm equipped with a 3D scanning device. When the robotic arm moves to a preset position, the scanning module controls the 3D scanning device to perform scanning and obtain a first image and a second image, wherein the second image is obtained based on the first image.

[0022] The acupoint positioning module is used to match multiple key points in the second image with multiple annotation points in a preset annotation model;

[0023] The control module is used to control the robotic arm to move in manual mode or automatic mode.

[0024] Optionally, the control module is specifically used to control the movement of the robotic arm according to different control modes;

[0025] When the control mode is automatic, the robotic arm is controlled to move at a constant speed along a preset path to the preset position.

[0026] When the control mode is manual mode, the robotic arm moves to the preset position in response to the remote operation command.

[0027] Optionally, the system further includes: a distance detection module;

[0028] The distance detection module is specifically used to detect the distance between the robotic arm and objects in the surrounding environment in real time, and to issue an alarm when the distance is less than a preset value.

[0029] Optionally, matching multiple key points in the second image with multiple annotation points in a preset annotation model includes:

[0030] Obtain a set of points in the second image, and select multiple key points from the set of points;

[0031] The second image is adjusted according to the adaptive size calculation method until multiple annotation points in the preset annotation model correspond one-to-one with multiple key points in the second image.

[0032] Optionally, the 3D scanning device is a dual scanning device, which is used to perform 3D point cloud scanning on the environment within the line of sight of the dual scanning device to obtain the first image and the second image, and to perform RGB scanning on the obtained second image to identify the RGB information in the second image.

[0033] This application provides an acupoint location system, comprising a scanning module, an acupoint location module, and a control module. The scanning module is mounted on a robotic arm equipped with a 3D scanning device. When the robotic arm moves to a preset position, the scanning module controls the 3D scanning device to scan, obtaining a first image and a second image. The second image is obtained based on the first image. The acupoint location module is used to match multiple key points in the second image with multiple annotation points in a preset annotation model. The control module is used to control the robotic arm to move in manual or automatic mode. Thus, by controlling the robotic arm equipped with the scanning device to move, after the robotic arm reaches the preset position, it further collects key points from the target image and then matches them with annotation points in the preset annotation model to obtain the key points in the second image. This acupoint location system makes the acupoint location process more convenient and accurate. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A flowchart illustrating an acupoint location method provided in this application embodiment;

[0036] Figure 2 This is a schematic diagram of face image acquisition provided in an embodiment of this application;

[0037] Figure 3 A schematic diagram of dimensional measurement provided for an embodiment of this application;

[0038] Figure 4 This is a schematic diagram of an acupoint positioning system provided in an embodiment of this application. Detailed Implementation

[0039] As described in the background section of this application, traditional Chinese medicine physiotherapy relies on manual acupoint selection and treatment, which is highly subjective and lacks unified standards and rules for acupoint location, resulting in significant differences in therapeutic effects and hindering the modernization of traditional Chinese medicine. Although some simple TCM rehabilitation physiotherapy robots have appeared on the market, they still require manual assistance in acupoint selection, and then the TCM rehabilitation physiotherapy robot treats the obtained acupoints. Therefore, the acupoint selection process still suffers from strong subjectivity and low level of intelligence.

[0040] To address the aforementioned problems, this application provides an acupoint location system and method. The system includes a scanning module, an acupoint location module, and a control module. The scanning module is mounted on a robotic arm equipped with a 3D scanning device. When the robotic arm moves to a preset position, the scanning module controls the 3D scanning device to scan, obtaining a first image and a second image. The second image is obtained based on the first image. The acupoint location module is used to match multiple key points in the second image with multiple annotation points in a preset annotation model. The control module is used to control the robotic arm to move in manual or automatic mode. Thus, by controlling the robotic arm equipped with the scanning device to move, after the robotic arm reaches the preset position, key points are further collected from the target image and then matched with annotation points in the preset annotation model to obtain the key points in the second image. This acupoint location system makes the acupoint location process more convenient and accurate.

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0042] Figure 1This is a flowchart illustrating an acupoint location method provided in an embodiment of this application. (In conjunction with...) Figure 1 As shown, the acupoint location method provided in this application embodiment may include:

[0043] S101. Control the movement of a robotic arm equipped with a three-dimensional scanning device, wherein the movement mode of the robotic arm is manual mode or automatic mode.

[0044] A 3D scanning device is used to scan a target environment, which refers to all the environment within the field of view that the 3D scanning device can capture. The 3D scanning device is mounted on a robotic arm, which is a multi-degree-of-freedom robotic arm capable of free movement within a certain range. The movement of the robotic arm drives the 3D scanning device to move, allowing it to capture images of the environment.

[0045] The robotic arm has two movement modes: manual mode and automatic mode. Manual mode refers to the movement of the robotic arm by human remote control, while automatic mode refers to the movement of the robotic arm according to a pre-planned route.

[0046] The 3D scanning device is a dual scanning device. The dual scanning device is used to perform 3D point cloud scanning on the environment within the line of sight of the dual scanning device to obtain the first image and the second image, and to perform RGB scanning on the obtained second image to identify the RGB information in the second image.

[0047] S102. After the robotic arm moves to a preset position, the three-dimensional scanning device is controlled to perform scanning to obtain a first image and a second image, wherein the second image is obtained based on the first image.

[0048] The preset position is the location where the robotic arm will acquire images. To ensure a clearer image, the preset position needs to be set in advance. For example, when acquiring an image of a face, it needs to be captured from the front of the face so that the acquired image includes all parts of the face.

[0049] In one implementation of this application, the first image can be a full image of the human body or an image of the upper half of the human body, and the second image is a face image. To make the acquired face image clearer, the robotic arm needs to first move to the vicinity of the human body to acquire the human body image, and then further acquire the face image. It should be noted that to obtain the acupoint locations on the face, image acquisition needs to be performed from the front of the face; that is, the side of the face cannot be acquired. Figure 2 As shown in the diagram of facial image acquisition, image acquisition needs to be performed on the front of the face in order to capture all acupoints on the face.

[0050] S103. Match multiple key points in the second image with multiple annotation points in a preset annotation model.

[0051] When acquiring the second image, key points need to be selected within it. These key points are then matched with various annotation points in the annotation model. The annotation model is trained using a large amount of accurate 3D acupoint feature point cloud data. The model contains multiple annotation points and is a feature analysis model, where each annotation point represents an acupoint corresponding to a face. By matching the key points in the acquired second image with the annotation points in the annotation model, the location of each acupoint in the second image is obtained.

[0052] In one implementation of this embodiment, controlling the movement of the robotic arm equipped with a 3D scanning device includes:

[0053] The robotic arm can be controlled to move according to different control modes. In automatic mode, the robotic arm moves to the preset position at a constant speed along a preset path. In manual mode, the robotic arm moves to the preset position in response to remote operation commands. It is understood that in scenarios involving acupoint location on a face, accurate acupoint location results require image acquisition from directly above the face. The robotic arm needs to move gradually until the 3D scanning device on the robotic arm can acquire the entire image of the front of the face. By pre-setting a movement route, the robotic arm can automatically move to the target position to acquire images. To make the acquired images clearer, the robotic arm can be set to move at a constant speed to achieve uniform scanning.

[0054] After the 3D scanning device acquires the second image, if the second image has unclear parts or is missing a certain part, the image can be acquired again in manual mode. In manual mode, the movement of the robotic arm can be controlled by remote operation. The remote operation can be achieved by a remote control or other remote control device, which is not limited here.

[0055] Since acupoints are located on specific parts of the human body, and different people have different body shapes, in order to ensure that the robotic arm does not collide with the human body or objects in the surrounding environment during movement, a distance detection module needs to detect the distance between the robotic arm and objects in the surrounding environment in real time, and set a preset value as a safety distance, for example, 5 centimeters. When the distance between the robotic arm and any object in the environment, including the human body, is less than the preset value of 5 centimeters, the distance detection module issues an alarm to prevent the robotic arm from colliding with objects and causing damage to the robotic arm or colliding with the human body and causing injury.

[0056] Once the robotic arm moves to the preset position, it begins acquiring images. In one implementation, when the second image is a face image, multiple key points in the acquired image need to be matched with multiple annotation points in a preset annotation model. These annotation points include the names of various acupoints. After matching the multiple key points in the second image with the annotation points one-to-one, the specific locations of the acupoints in the second image, as well as their corresponding names, can be obtained. The process of matching the multiple key points in the second image with the annotation points one-to-one is described in detail below:

[0057] It should be noted that the human face contains multiple acupoints, which can be divided into two categories: one related to facial organs and directly visible (obtained through surface features), and the other requiring touch to locate. Since the second type of acupoints lacks any features in the image, the method proposed in this embodiment only applies to the first type. The acupoint positioning module performs keypoint positioning by recognizing facial feature points, further determining the positions of facial feature points, including eyes, eyebrows, nose, mouth, and facial contours, based on face detection. After acquiring facial feature points, an adaptive size calculation method is used to adjust the image in the preset annotation model. Because everyone's physiological characteristics are different, this "inch" also varies from person to person. Specifically, a bone length measurement method can be used to obtain a first length and a second length, then the average of the first and second lengths is taken to obtain the specific length of each "inch." The measurement methods for the first and second lengths are as follows... Figure 3 As shown, Figure 3 This is a schematic diagram of a dimensional measurement. (Example) Figure 3 As shown, the adaptive size calculation method uses the distance from the glabella (Yintang) to the midpoint of the anterior hairline as 3 inches and the distance between the two hairlines at the temples (Touwei) as 9 inches. Then, the length of each inch is calculated as follows: 3 inches for the distance from the glabella (Yintang) to the midpoint of the anterior hairline, and 9 inches for the distance between the two hairlines at the temples (Touwei), respectively, as the second length. The average of the first and second lengths is then taken to obtain the length of each "inch" in the second image. Following the national standard for acupoint names and location methods, the corresponding facial acupoints are located. Since the second image is a two-dimensional image, after obtaining the facial acupoints in the second image, each point is labeled, and then the three-dimensional spatial coordinates of the acupoints under the sequence number are read to achieve three-dimensional spatial positioning.

[0058] The above embodiments of this application provide an acupoint location method. The method first controls a robotic arm equipped with a 3D scanning device to move. Once the robotic arm reaches a preset position, the 3D scanning device scans the image to obtain a first image and a second image. The second image is derived from the first image. Then, multiple key points in the second image are matched with multiple annotation points in a preset annotation model. The robotic arm can move in either manual or automatic mode. Thus, this acupoint location method, by controlling the movement of a robotic arm equipped with a scanning device, and after the robotic arm reaches a preset position, further acquires key points from the target image and matches them with annotation points in a preset annotation model to obtain the key points in the second image. This acupoint location system makes the acupoint location process more convenient.

[0059] The above are some specific implementations of an acupoint location method provided in the embodiments of this application. Based on this, this application also provides a corresponding system. The system provided in the embodiments of this application will be described below from the perspective of functional modularization.

[0060] Figure 4 This is a schematic diagram of an acupoint positioning system provided in an embodiment of this application. (Combined with...) Figure 4 As shown, the acupoint positioning system 400 provided in this embodiment includes:

[0061] The scanning module 410, the acupoint positioning module 420, and the control module 430 are included.

[0062] The scanning module 410 is mounted on a robotic arm equipped with a 3D scanning device. When the robotic arm moves to a preset position, the scanning module controls the 3D scanning device to perform scanning and obtain a first image and a second image. The second image is obtained based on the first image.

[0063] The acupoint positioning module 420 is used to match multiple key points in the second image with multiple annotation points in a preset annotation model;

[0064] The control module 430 is used to control the robotic arm to move in manual mode or in automatic mode.

[0065] In one implementation of this application, the control module is specifically used to control the movement of the robotic arm according to different control modes;

[0066] When the control mode is automatic, the robotic arm is controlled to move at a constant speed along a preset path to the preset position.

[0067] When the control mode is manual mode, the robotic arm moves to the preset position in response to the remote operation command.

[0068] Optionally, the system further includes: a distance detection module;

[0069] The distance detection module is specifically used to detect the distance between the robotic arm and objects in the surrounding environment in real time, and to issue an alarm when the distance is less than a preset value.

[0070] In one implementation of this application, matching multiple key points in the second image with multiple annotation points in a preset annotation model includes:

[0071] Obtain a set of points in the second image, and select multiple key points from the set of points;

[0072] The second image is adjusted according to the adaptive size calculation method until multiple annotation points in the preset annotation model correspond one-to-one with multiple key points in the second image.

[0073] In one implementation of this application, the three-dimensional scanning device is a dual-scanning device. The dual-scanning device is used to perform three-dimensional point cloud scanning on the environment within the line of sight of the dual-scanning device to obtain the first image and the second image, and to perform RGB scanning on the obtained second image to identify the RGB information in the second image.

[0074] The above embodiments provide an acupoint location system, comprising a scanning module, an acupoint location module, and a control module. The scanning module is mounted on a robotic arm equipped with a 3D scanning device. When the robotic arm moves to a preset position, the scanning module controls the 3D scanning device to scan, obtaining a first image and a second image. The second image is obtained based on the first image. The acupoint location module is used to match multiple key points in the second image with multiple annotation points in a preset annotation model. The control module is used to control the robotic arm to move in manual or automatic mode. Thus, by controlling the robotic arm equipped with the scanning device to move, after the robotic arm moves to the preset position, it further collects key points from the target image and then matches them with annotation points in the preset annotation model to obtain the key points in the second image. This acupoint location system makes the acupoint location process more convenient and accurate.

[0075] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0076] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0077] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0078] Furthermore, in describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims for the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied while still remaining within the spirit and scope of the embodiments of this application. The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An acupoint positioning system, characterized in that, The system includes: a scanning module, an acupoint positioning module, and a control module; The scanning module is mounted on a robotic arm equipped with a 3D scanning device. When the robotic arm moves to a preset position, the scanning module controls the 3D scanning device to perform scanning and obtain a first image and a second image, wherein the second image is obtained based on the first image. The acupoint positioning module is used to match multiple key points in the second image with multiple annotation points in a preset annotation model; The control module is used to control the robotic arm to move in manual mode or automatic mode; The step of matching multiple key points in the second image with multiple annotation points in a preset annotation model includes: Obtain a set of points in the second image, and select multiple key points from the set of points; The second image is adjusted according to the adaptive size calculation method until multiple annotation points in the preset annotation model correspond one-to-one with multiple key points in the second image; The adaptive size calculation method includes: obtaining a first distance from the center of the eyebrows to the hairline in the second image as a first bone dimension, and a second distance between the hairlines at the two temples as a second bone dimension; calculating the first length and the second length respectively and taking the average value as the bone dimension of the object to be tested in the second image.

2. The system according to claim 1, characterized in that, The control module is specifically used to control the movement of the robotic arm according to different control modes; When the control mode is automatic, the robotic arm is controlled to move at a constant speed along a preset path to the preset position. When the control mode is manual mode, the robotic arm moves to the preset position in response to the remote operation command.

3. The system according to claim 1, characterized in that, The system also includes: a distance detection module; The distance detection module is specifically used to detect the distance between the robotic arm and objects in the surrounding environment in real time, and to issue an alarm when the distance is less than a preset value.

4. The system according to claim 1, characterized in that, The 3D scanning device is a dual scanning device. The dual scanning device is used to perform 3D point cloud scanning on the environment within the line of sight of the dual scanning device to obtain the first image and the second image, and to perform RGB scanning on the obtained second image to identify the RGB information in the second image.

5. A method for locating acupoints, characterized in that, The method includes: A robotic arm equipped with a 3D scanning device is controlled to move. When the robotic arm moves to a preset position, the 3D scanning device is controlled to scan and obtain a first image and a second image. The second image is obtained based on the first image. Match multiple key points in the second image with multiple annotation points in a preset annotation model; The robotic arm can move in either manual or automatic mode. The step of matching multiple key points in the second image with multiple annotation points in a preset annotation model includes: Obtain a set of points in the second image, and select multiple key points from the set of points; The second image is adjusted according to the adaptive size calculation method until multiple annotation points in the preset annotation model correspond one-to-one with multiple key points in the second image; The adaptive size calculation method includes: obtaining a first distance from the center of the eyebrows to the hairline in the second image as a first bone dimension, and a second distance between the hairlines at the two temples as a second bone dimension; calculating the first length and the second length respectively and taking the average value as the bone dimension of the object to be tested in the second image.

6. The method according to claim 5, characterized in that, The control of the robotic arm equipped with a 3D scanning device to move includes: The robotic arm can be moved according to different control modes; When the control mode is automatic, the robotic arm is controlled to move at a constant speed along a preset path to the preset position. When the control mode is manual mode, the robotic arm moves to the preset position in response to the remote operation command.

7. The method according to claim 5, characterized in that, The method further includes: The distance between the robotic arm and objects in the surrounding environment is detected in real time, and an alarm is issued when the distance is less than a preset value.

8. The method according to claim 5, characterized in that, The 3D scanning device is a dual scanning device. The dual scanning device is used to perform 3D point cloud scanning on the environment within the line of sight of the dual scanning device to obtain the first image and the second image, and to perform RGB scanning on the obtained second image to identify the RGB information in the second image.

Images