Baliao point positioning and labeling device and system based on CT sacrum three-dimensional reconstruction

Abstract

The invention provides a labeling device of a Baliao point positioning system based on CT sacrum three-dimensional reconstruction, which comprises two groups of symmetrically arranged supporting columns and a supporting frame at the tops of the supporting columns, first sliding rails are symmetrically arranged in the supporting frame, the first sliding rails are connected with a first moving frame in a matched manner, and a second sliding rail is arranged at the bottom of the first moving frame; the second sliding rail is connected with a second moving plate in a matched mode, the bottom of the second moving plate is connected with a lifting air cylinder, the bottom of the lifting air cylinder is connected with a marking device, the side face of the supporting column is provided with a control host, and the bottom of the supporting frame is provided with a marking bed and a Baliao point positioning system used in a matched mode. Skin and fat of sacrococcygeal regions of different patients are different in thickness, and when a needle is applied each time, the change of the body position can cause the change of the needle inserting position and angle, so that the difficulty of accurate needle inserting is increased. The system and the device mainly solve the problem that the Baliao acupoint is difficult to accurately position and the needle inserting angle is difficult due to the series of reasons.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of Baliao acupoint positioning, and in particular to a Baliao acupoint positioning labeling device and system based on CT sacrum three-dimensional reconstruction. Background Art

[0002] The eight points of the Eight Liao acupoints refer to Shang Liao, Ciliao, Zhong Liao and Xia Liao, which are eight points in total, located in the first, second, third and fourth posterior sacral foramina, collectively known as the "Eight Liao acupoints". The Eight Liao acupoints are located in the lumbar sacral region of the human body and belong to the acupoints of the bladder meridian. The pelvic cavity corresponding to the Eight Liao acupoints is where the human urinary and reproductive organs are located. It is mainly used to treat lumbar and sacral diseases, lower back pain, sciatica, paralysis of the lower limbs, dysuria, irregular menstruation, lower abdominal distension and pain, pelvic inflammatory disease and other diseases.

[0003] At present, the positioning of the Baliao acupoints in clinical practice mainly adopts the body surface landmark method, that is, the position of the hole is calculated through the posterior superior iliac spine, sacral angle and sacral canal hiatus. This method is mostly a summary of the doctor's personal experience, without clinical data support, and some of the accuracy needs to be verified, and most of the time, a single acupoint is positioned. In clinical practice, during the acupuncture treatment of the Baliao acupoints, sometimes the positioning range is accurate, but it is relatively vague. Due to the inaccurate positioning and the deviation of the needle insertion angle, the needle body cannot penetrate the anterior sacral space and the posterior sacral foramen after the needle is inserted, and even cannot enter the posterior sacral foramen, resulting in poor treatment effect and a poor medical experience for patients.

[0004] Three-dimensional reconstruction of CT images is currently used in many medical fields. For example, the application of spiral CT three-dimensional reconstruction in calcaneal fractures can significantly improve the diagnosis rate and detection rate of calcaneal fractures; the application of CT three-dimensional reconstruction in the status of sentinel lymph nodes (SLN) in breast cancer and their drainage pathways is helpful for the precise positioning of SLNs and the discovery of SLNs with unconventional drainage pathways; the application of multi-slice spiral CT (MSCT) three-dimensional reconstruction in the diagnosis of intertrochanteric fractures and guidance of surgical plans can clearly show the patient's fracture site and spatial anatomical relationship, providing important reference and guidance value for preoperative diagnosis and selection of surgical plans. The above examples show the important value of CT image three-dimensional modeling in medicine.

[0005] In the field of Baliao acupoint, Yin Xin of Nanjing University of Chinese Medicine published a master's thesis in 2015, proposing to reconstruct the sacrum through CT three-dimensional reconstruction technology, accurately measure the meridians related to Baliao acupoint, statistically analyze the measurement indicators, find the correlation, and obtain a more accurate positioning method for Baliao acupoint, making CT three-dimensional reconstruction technology play an important role in the relevant measurement of Baliao acupoint. In 2016, Zhou Huifen's team from the Third Affiliated Hospital of Nanjing University of Chinese Medicine proposed the "individualized bone landmark equation method", that is, by measuring the horizontal distance, vertical distance and iliac distance, sacral distance and iliosacral distance, calculating the corresponding regression equation, and summarizing the clinical practical acupoint selection method. After that, this team used CT three-dimensional reconstruction to summarize and analyze the variation rate and variation type of Baliao acupoint, which attracted the attention of the field to the variability of Baliao acupoint and provided a theoretical basis for the study of acupoint selection methods. It was concluded that the vertebral number variation will lead to changes in the number of sacral nerves, the fusion variation and the mixed type will increase the difficulty of acupoint selection, and the posterior superior iliac spine generally does not mutate, which is better for the location of Baliao acupoint. The line connecting the posterior superior iliac spine is mostly located on the horizontal line of Shangliao; the midpoint of the iliosacral distance is mostly located on the horizontal line of Zhongliao. In 2017, Jin Xun's team from the Second Clinical Medical College of Nanjing University of Chinese Medicine studied the insertion angle and effective depth of deep needling of Baliao acupoint under CT three-dimensional reconstruction, and used CT three-dimensional reconstruction to accurately, reasonably and scientifically measure the anatomical measurements of the acupoints, so that the clinical efficacy and safety of the needling parameters were considered. Then the team proposed an analysis of the bone degree deflection positioning of Baliao acupoint based on CT three-dimensional reconstruction, and concluded that the positioning of Baliao acupoint based on surface landmarks and using proportional relationships and bone degree measurements has clinical reference value.

[0006] There are also many studies on the in vitro auxiliary devices of the Baliao acupoint. For example, Yu Chang's team from Changsha Traditional Chinese Medicine Hospital invented a Baliao acupoint massage device in 2021, which can massage eight acupoints at the same time, and realize the arbitrary adjustment of two groups of eight massage blocks in the plane of the frame to adapt to patients of different body shapes. Nie Bin's team from Guangdong Provincial Second Hospital of Traditional Chinese Medicine invented a portable, flexible and convenient Baliao acupoint moxibustion device with improved efficacy, which can be freely adjusted according to the differences in the lumbar and sacral curves of people of different body shapes. Yue Zenghui's team from Hunan University of Traditional Chinese Medicine invented a simple Baliao acupoint positioning device, which can accurately locate the position of the Baliao acupoint in clinical Baliao acupoint acupuncture treatment, and effectively reduce the phenomenon of deviation after needle insertion and piercing the bone. Qiao Ming's team from Nanjing Jiangning Hospital invented an integrated Baliao acupoint transcutaneous electrical stimulation patch, which can be used exclusively for Baliao acupoint transcutaneous electrical stimulation, realize integrated direct attachment, clear positioning range, and simple use.

[0007] At present, the acupuncture of the Baliao acupoint mainly relies on the doctor's rich experience to make judgments. The thickness of the skin and fat in the sacral coccyx of different patients is different. Each time the acupuncture is performed, the change of body position will lead to the change of the needle insertion position and angle, thereby increasing the difficulty of accurate needle insertion.

[0008] It should be noted that the above contents belong to the technical cognition scope of the inventor. Since the technical contents in this field are vast and too complicated, the above contents of this application do not necessarily constitute prior art. Summary of the invention

[0009] 1. Technical problems to be solved by the invention: The present invention provides a device and system for positioning and labeling the baliao acupoints based on CT sacrum three-dimensional reconstruction, so as to solve the technical problems existing in the above-mentioned background technology.

[0010] 2. Technical solution: To achieve the above-mentioned purpose, the technical solution provided by the present invention is: a labeling device of the Baliao acupoint positioning system based on CT sacrum three-dimensional reconstruction, comprising two groups of symmetrically arranged support columns, the bottom and top of the support columns are connected to a support frame, a first slide rail is symmetrically arranged in the support frame, the first slide rail is matched and connected to a first movable frame, a second slide rail is arranged at the bottom of the first movable frame, the second slide rail is matched and connected to a second movable plate, the bottom of the second movable plate is connected to a lifting cylinder, the bottom of the lifting cylinder is connected to a marking device, a control host is arranged on the side of the support column, and a marked bed is arranged at the bottom of the support frame. When the device is working, the patient needs to lie on the marked bed, and the patient's data to be marked is input into the control host. The control host will drive the first movable frame and the second movable plate to perform a preset moving operation. After moving to the acupuncture position of the Baliao acupoint, the lifting cylinder descends to perform the marking operation, and the acupoint label is marked at the corresponding position. The subsequent doctor performs acupuncture according to the information recorded on the label.

[0011] Furthermore, a first rotating screw is disposed in the first slide rail, the first rotating screw is connected to a first driving motor, and the first driving motor is disposed on a side surface of the supporting frame.

[0012] Furthermore, a second rotating screw is provided at the bottom of the second slide rail, a rear end of the second rotating screw is connected to a second driving motor, and the second rotating screw is matched and connected to the second movable plate.

[0013] And a sacral 3D reconstruction based on CT, including the following modules: Data scanning module: the patient lies prone and enters the scanning device, and the CT scanner is used to perform a CT scan on the patient's baliao acupoints, and the CT scan data is collected, organized and packaged; The three-dimensional modeling module sends the CT scanning data collected by the data scanning module to the three-dimensional modeling module, and the modeling system of the three-dimensional modeling module performs three-dimensional modeling and calculates the position parameters of the Baliao acupoint; The acupoint marking module sends the patient to the marked bed and makes him lie on the top of the marked bed. After the control host of the labeling device receives the Baliao acupoint data, it controls the marking device to move in the horizontal direction and cooperates with the lifting cylinder to stick the Baliao acupoint label on the designated part of the patient.

[0014] Furthermore, the three-dimensional modeling module also includes an automatic judgment module, which selects three acupuncture points closest to the body surface according to the three-dimensional map made by the modeling system, and uses the three points as reference points to automatically judge the positions of all eight acupuncture points.

[0015] Furthermore, the 3D modeling module also includes an angle error elimination module, which obtains the coordinates of the actual reference point of the human body, extracts the coordinates of the corresponding simulation point during 3D reconstruction, compares the coordinates of the actual reference point with the length and angle of the simulation point during 3D reconstruction, and obtains the error curve between the actual reference point and the simulation point. The coordinates of the eight acupuncture points at the simulation point are further corrected to obtain the actual coordinates of the final eight needle insertion positions, and the actual coordinates are sent to the subsequent acupuncture point marking module; Furthermore, the 3D modeling module also includes a height error elimination module. The skin thickness at the Baliao acupoint of the human body is different from the needle insertion angle. According to the reference point of the thinner skin, the acupoint information of the thicker Baliao acupoint is further corrected. The corrected translation distance formula is as follows: x=h / tanɑ Among them, x is the translation distance, h is the height difference between the reference point and the acupuncture point entrance, and a is the needle insertion angle of the acupuncturist. Finally, the corrected actual coordinates can be sent to the subsequent acupuncture point marking module.

[0016] 3. Beneficial effects: Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: The invention is reasonably designed, and the labeling device can automatically label the corresponding label at the position of the Baliao acupoint of the human body according to the data transmitted by the positioning system, so as to facilitate the subsequent acupuncture operation of the doctor; The Baliao acupoint positioning system can construct a three-dimensional model of the Baliao acupoint on the human body through CT data, and then obtain the coordinate data of the Baliao acupoint, and finally mark the corresponding position of the human body through a labeling device. In addition, the system is equipped with an angle error elimination module, an automatic judgment module, and a height error elimination module, which can further determine the actual position of the acupuncture based on the constructed three-dimensional model to reduce the error of the acupuncture.

[0017] It should be noted that the structures not introduced in the present invention are the same as the prior art or can be implemented by using the prior art, and are not described in detail here because they do not involve the design points and improvement directions of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the labeling device of the present invention; Figure 2 This is a schematic diagram of the structure of the labeling device of the present invention when it is disassembled; Figure 3 It is a flowchart of the positioning system of the present invention; Figure 4 This is a schematic diagram of the angle error elimination module of the present invention; Figure 5 This is a schematic diagram of the height error elimination module of the present invention.

[0019] Reference numerals: 1. Support column; 2. Support frame; 3. First slide rail; 31. First rotating screw rod; 32. First drive motor; 4. First moving frame; 5. Second slide rail; 51. Second drive motor; 6. Second moving plate; 7. Lifting cylinder; 8. Marking device; 9. Control host; 10. Marking bed position. DETAILED DESCRIPTION

[0020] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "page", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0023] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", "provided with", "provided on" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example

[0024] See attached Figure 1-2 The labeling device of the eight sacral acupoint positioning system based on CT sacral three-dimensional reconstruction comprises two symmetrically arranged support columns 1, wherein the bottom and top of the support columns 1 are connected to a support frame 2, wherein a first slide rail 3 is symmetrically arranged in the support frame 2, wherein the first slide rail 3 is matched and connected to a first moving frame 4, wherein a second slide rail 5 is arranged at the bottom of the first moving frame 4, wherein the second slide rail 5 is matched and connected to a second moving plate 6, wherein the bottom of the second moving plate 6 is connected to a lifting cylinder 7, wherein the bottom of the lifting cylinder 7 is connected to a marking device 8, wherein a control host 9 is arranged on the side of the support column 1, and a marking bed 10 is arranged at the bottom of the support frame 2. When the device is working, , the patient needs to lie on the marked bed 10, and after the patient's data to be marked is input into the control host 9, the control host 9 will drive the first movable frame 4 and the second movable plate 6 to perform the preset moving operation. After moving to the acupuncture position of the Baliao acupoint, the lifting cylinder 7 descends to perform the marking operation, and the acupoint label is marked at the corresponding position. The subsequent doctor will perform the acupuncture operation according to the information recorded on the label. The Baliao acupoint acupoint label can display the name of the acupoint, the angle of the needle, the name of the acupuncturist and other related information, which is convenient for the acupuncturist to perform the acupuncture operation. The acupoint label can be an arrow label, the front end of the arrow is the acupoint position, and the rear end of the arrow records the corresponding information.

[0025] A first rotating screw rod 31 is provided in the first slide rail 3, and the first rotating screw rod 31 is connected to a first driving motor 32. The first driving motor 32 is provided on the side of the supporting frame 2. After receiving an electrical signal, the first driving motor 32 drives the first rotating screw rod 31 to rotate, thereby driving the entire first moving frame 4 to move to a preset position in the first slide rail 3.

[0026] A second rotating screw is provided at the bottom of the second slide rail 5, and the rear end of the second rotating screw is connected to the second drive motor 51. The second rotating screw is matched and connected to the second movable plate 6. When the second rotating screw rotates, it will drive the second movable plate 6 to move, and then cooperate with the first movable frame 4 to position in the horizontal direction.

[0027] As well as the Baliao acupoint positioning system based on CT sacral 3D reconstruction, please refer to the attached Figure 3, including the following modules: Data scanning module, the patient lies prone and enters the scanning device, uses the CT scanner to perform CT scanning on the patient's baliao acupoints, and collects, organizes and packages the CT scanning data; The three-dimensional modeling module sends the CT scanning data collected by the data scanning module to the three-dimensional modeling module, and the modeling system of the three-dimensional modeling module performs three-dimensional modeling and calculates the position parameters of the Baliao acupoint; The acupoint marking module sends the patient to the marked bed 10 and makes him lie on the top of the marked bed 10. After the control host 9 of the labeling device receives the Baliao acupoint data, it controls the marking device 8 to move in the horizontal direction, and cooperates with the lifting cylinder 7 to stick the Baliao acupoint label on the designated part of the patient. Through the mutual cooperation between various modules, this system can automatically label the Baliao acupoint part of the human body, which is convenient for the subsequent doctor's acupuncture work and solves the technical problem of difficult judgment of acupuncture points.

[0028] It should be noted that the present application can be used not only for the positioning marking of the Baliao acupoint, but also for the positioning marking of acupoints at other depths, such as the positioning marking of the pudendal nerve acupoint. The pudendal bone data is scanned by the data scanning module, and the pudendal bone model is built and the corresponding positions are marked by the three-dimensional modeling module. Finally, the acupoint marking operation is performed by the acupoint marking module.

[0029] The three-dimensional modeling module also includes an automatic judgment module, which selects three acupuncture points closest to the body surface according to the three-dimensional map made by the modeling system, and uses the three points as reference points to automatically judge the positions of all eight acupuncture points. Please refer to the attached Figure 3 When scanning the human body's Bladder Points, there are errors between the marked points and the actual points, especially in areas with more flesh and less flesh. The errors of the automatically determined Bladder Points are relatively large. Because Bladder Points are generally eight symmetrically set points, the automatic judgment module will push the positions of the remaining five points based on the three points closest to the body surface, which can eliminate the errors to a certain extent.

[0030] The 3D modeling module also includes an angle error elimination module, which obtains the coordinates of the actual reference point of the human body, extracts the coordinates of the corresponding simulation point during 3D reconstruction, compares the coordinates of the actual reference point with the length and angle of the simulation point during 3D reconstruction, and obtains the error curve between the actual reference point and the simulation point. The coordinates of the eight acupuncture points at the simulation point are further corrected to obtain the actual coordinates of the final eight needle insertion positions, and the actual coordinates are sent to the subsequent acupuncture point marking module; In the process of CT scanning to human body positioning, a certain angle error will be generated due to the patient's lying posture, so the labeling device will have errors when positioning on the human body according to the position information provided by the 3D modeling module. These will affect the true position information of the baliao acupoints. Therefore, it is necessary to correct the point calculated by the automatic judgment module again to obtain the point information of the needle position; This module needs to combine the reference points that the doctor manually feels when the patient is lying flat for acupuncture to eliminate this error. Please refer to the attached Figure 4 First, determine a point A where the skin is thinner, and regard it as the origin of the polar coordinates. The other two reference points B and C and the eight acupoints are located starting from A, and the lengths and angles of AB and AC are obtained. After entering the angle error elimination module, the angle error elimination module will retrieve the information of the corresponding three points in the 3D modeling module, that is, the length and angle between A1B1 and A1C1. The angle error elimination module compares the length and angle of AB and AC with the length and angle between A'B' and A'C' to obtain the error curve of the length and angle between the actual point and the modeling point. Finally, the polar coordinates are converted to the rectangular coordinates on the labeling device. After the path from A to the eight acupoints is corrected in combination with the error curve, the actual positions of the eight acupoints on the human body are determined, and then the labeling device is used to accurately locate them. The specific calculation process is as follows: Assume that the lengths of AB and AC on the CT image are , the angle is , the length difference between A'B' and A'C' measured by laser on the human body and the length difference is , the angle difference is ; Will , , , and , , , Substitute into the equation middle; Where k represents the coefficient of the function, and b represents compensation; the values ​​of K and b are obtained through multiple simulations and actual references in the early stage, and their sizes can be adjusted according to multiple use verifications of this system to obtain a suitable value respectively; Separately and ; Solve , that is, the relationship between the length and angle errors and the length on the CT image ; After the system is adjusted to the actual position according to the above relationship, the needle insertion point after eliminating the angle error can be obtained.

[0031] The 3D modeling module also includes a height error elimination module. The skin thickness at the Baliao acupoint of the human body is different from the needle insertion angle. According to the reference point of the thinner skin, the acupoint information of the thicker Baliao acupoint is further corrected. The corrected translation distance formula is as follows: x=h / tanɑ Among them, x is the translation distance, h is the height difference between the reference point and the acupoint entrance, and a is the needle insertion angle of the acupuncturist. Finally, the corrected actual coordinates are sent to the subsequent acupoint marking module. Due to the different thickness of the human body's Baliao acupoints, there will be an angle error in the needle insertion position. Therefore, a height error elimination module is designed. Please refer to the attached working principle. Figure 5 , A is a reference point where the skin is thinner, B is one of the automatically converted acupoint entrances, C is the projection of acupoint entrance B, and a is the needle insertion angle. Since there is a height difference h between reference point A and acupoint entrance B, if the needle is inserted from point C, it can be seen from the needle insertion trajectory l that it has not been correctly inserted into the acupoint, so the needle insertion trajectory needs to be corrected, that is, the length of h / tanɑ is translated to the left so that the correct needle insertion trajectory is k, that is, the correct needle insertion point should be corrected to D.

[0032] The above-described embodiments only express a certain implementation mode of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A labeling device for the Baliao acupoint positioning system based on CT sacrum three-dimensional reconstruction, characterized in that: The invention comprises two groups of support columns (1) which are symmetrically arranged, wherein the bottom and top of the support columns (1) are connected to a support frame (2), a first slide rail (3) is symmetrically arranged inside the support frame (2), the first slide rail (3) is matched and connected to a first moving frame (4), a second slide rail (5) is arranged at the bottom of the first moving frame (4), the second slide rail (5) is matched and connected to a second moving plate (6), the bottom of the second moving plate (6) is connected to a lifting cylinder (7), the bottom of the lifting cylinder (7) is connected to a marking device (8), a control host (9) is arranged on the side of the support column (1), and a marking bed (10) is arranged at the bottom of the support frame (2).

2. The labeling device of the Baliao acupoint positioning system based on CT sacrum three-dimensional reconstruction according to claim 1 is characterized in that: A first rotating screw (31) is provided in the first slide rail (3), the first rotating screw (31) is connected to a first driving motor (32), and the first driving motor (32) is provided on a side surface of the supporting frame (2).

3. The labeling device of the Baliao acupoint positioning system based on CT sacrum three-dimensional reconstruction according to claim 1, characterized in that: A second rotating screw is provided at the bottom of the second slide rail (5), the rear end of the second rotating screw is connected to a second drive motor (51), and the second rotating screw is matched and connected to the second movable plate (6).

4. The Baliao acupoint positioning system based on CT sacrum three-dimensional reconstruction is characterized by: Includes the following modules Data scanning module: the patient lies prone and enters the scanning device, and the CT scanner is used to perform a CT scan on the patient's baliao acupoints, and the CT scan data is collected, organized and packaged; The three-dimensional modeling module sends the CT scanning data collected by the data scanning module to the three-dimensional modeling module, and the modeling system of the three-dimensional modeling module performs three-dimensional modeling and calculates the position parameters of the Baliao acupoint; The acupoint marking module sends the patient to the marked bed (10) so that the patient lies on the top of the marked bed (10). After receiving the Baliao acupoint data, the control host (9) of the labeling device controls the marking device (8) to move in the horizontal direction and cooperates with the lifting cylinder (7) to affix the Baliao acupoint label to the designated part of the patient.

5. The Baliao acupoint positioning system based on CT sacrum three-dimensional reconstruction according to claim 4 is characterized in that: The three-dimensional modeling module also includes The automatic judgment module selects three acupuncture points closest to the body surface according to the three-dimensional diagram made by the modeling system, and uses the three points as reference points to automatically judge the positions of all eight acupuncture points.

6. The Baliao acupoint positioning system based on CT sacrum three-dimensional reconstruction according to claim 5, characterized in that: The 3D modeling module also includes The angle error elimination module obtains the coordinates of the actual reference point of the human body, extracts the coordinates of the corresponding simulation point during three-dimensional reconstruction, compares the coordinates of the actual reference point with the length and angle of the simulation point during three-dimensional reconstruction, and obtains the error curve between the actual reference point and the simulation point. The coordinates of the eight acupuncture points at the simulation point are further corrected to obtain the actual coordinates of the final eight needle insertion positions, and the actual coordinates are sent to the subsequent acupuncture point labeling module.

7. The Baliao acupoint positioning system based on CT sacrum three-dimensional reconstruction according to claim 6, characterized in that: The 3D modeling module also includes Height error elimination module: The skin thickness at the Baliao acupoint of the human body is different from the angle of needle insertion. According to the reference point of the thinner skin, the acupoint information of the thicker Baliao acupoint is further corrected. The corrected translation distance formula is as follows: x=h / tanɑ Among them, x is the translation distance, h is the height difference between the reference point and the acupuncture point entrance, and a is the needle insertion angle of the acupuncturist. Finally, the corrected actual coordinates can be sent to the subsequent acupuncture point marking module.

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