Intelligent auricle acupoint positioning method and device, storage medium and equipment

Abstract

The invention is suitable for the technical field of medical equipment, and provides an intelligent positioning method and device for auricle acupuncture points, a storage medium and equipment. The method comprises the following steps: acquiring an auricle image of a user, and extracting morphological characteristics of the auricle from the auricle image; based on the morphological characteristics, selecting an auricle template closest to the auricle shape of the user from an auricle template library; based on the morphological difference between the auricle image and the selected auricle template, obtaining a transfer function of mapping the selected auricle template to the auricle image; and obtaining default coordinates of a to-be-operated acupuncture point in the auricle template, and obtaining corrected coordinates of the to-be-operated acupuncture point in the auricle image based on the transfer function. The method has the advantages that by establishing a double-layer positioning mechanism of standardized template matching and personalized deformation compensation, both efficiency and precision are considered, and the precision of automatic positioning is remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to an intelligent positioning method, device, storage medium and equipment for auricular acupoints. Background Art

[0002] Acupoints are one of the important concepts in the traditional Chinese medicine system. In traditional Chinese medicine health care and treatment, it is often necessary to accurately locate the target acupoints, and then perform operations such as pressing, medicinal application, acupuncture, etc. on them to achieve the purpose of health care and treatment. Therefore, in traditional Chinese medicine practice, finding and locating specific acupoints is an important and commonly used step. In actual clinical practice, there are many acupoints on the human body, and their exact positions are not obvious and vary from person to person to a certain extent. Biased acupoint location will reduce the treatment effect, so accurately locating acupoints is of great significance.

[0003] For the human ear, there are many acupoints densely distributed on the auricle. Quickly and accurately locating auricular acupoints has become a major technical challenge in clinical practice. According to the current industry technical standards, the auricle can be roughly divided into 9 major regions (helix, scaphoid fossa, antihelix, concha, tragus, etc.), and there are a total of 93 auricular acupoints with a wide practical basis, commonly used in clinical practice and with good diagnosis and treatment effects. Even for professionals, it is difficult to accurately locate all of them.

[0004] However, there is currently no highly feasible acupoint location method for the auricle in clinical practice to assist medical staff in high-precision location. Therefore, it is necessary to provide an auxiliary method and device for auricular acupoint location. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide an intelligent positioning method for auricular acupoints, aiming to solve the problem that there is currently no highly feasible acupoint location method for the auricle in clinical practice to assist medical staff in high-precision location.

[0006] The embodiments of the present application are implemented as follows. An intelligent positioning method for auricular acupoints is provided, and the method includes:

[0007] Obtain an auricle image of a user, and extract the morphological features of the auricle from the auricle image;

[0008] Based on the morphological features, select the auricle template that is closest to the auricle morphology of the user from the auricle template library;

[0009] Based on the morphological differences between the auricle image and the selected auricle template, obtain the conversion function that maps the selected auricle template to the auricle image;

[0010] Obtain the default coordinates of the acupoints to be operated on in the auricle template, and based on the conversion function, obtain the corrected coordinates of the acupoints to be operated on in the auricle image.

[0011] Another object of the embodiments of the present application is to provide an intelligent positioning device for auricular acupoints, including a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the intelligent positioning method for auricular acupoints as described above.

[0012] Another object of the embodiments of the present application is to provide an intelligent positioning device for auricular acupoints, and the device includes:

[0013] A morphological feature acquisition module, configured to acquire an auricle image of a user and extract the morphological features of the auricle from the auricle image;

[0014] An auricle template acquisition module, configured to select, based on the morphological features, the auricle template that is closest to the auricle morphology of the user from the auricle template library;

[0015] A conversion function acquisition module, configured to obtain a conversion function for mapping the selected auricle template to the auricle image based on the morphological differences between the auricle image and the selected auricle template;

[0016] A corrected coordinate acquisition module, configured to obtain the default coordinates of the acupoints to be operated on in the auricle template, and based on the conversion function, obtain the corrected coordinates of the acupoints to be operated on in the auricle image.

[0017] Another object of the embodiments of the present application is to provide a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the processor executes the steps of the intelligent positioning method for auricular acupoints as described above.

[0018] An intelligent positioning method for auricular acupoints provided by the embodiments of the present application has the outstanding advantages that it does not rely on large-scale data, can realize accurate and real-time acupoint positioning functions, and the collected data can be used to establish an acupoint database. Moreover, by establishing a double-layer positioning mechanism of standardized template matching + personalized deformation compensation, both efficiency and accuracy are taken into account, and the accuracy of automatic positioning is significantly improved. Description of the Drawings

[0019] Figure 1 It is an application environment diagram of an intelligent positioning method for auricular acupoints provided by the embodiments of the present application;

[0020] Figure 2 It is a flowchart of an intelligent positioning method for auricular acupoints provided by the embodiments of the present application;

[0021] Figure 3 A mapping schematic diagram of the corresponding relationship of auricular acupoints provided by an embodiment of the present application;

[0022] Figure 4 A schematic diagram of a projection transformation provided by an embodiment of the present application;

[0023] Figure 5 A schematic diagram of an intelligent positioning device for auricular acupoints provided by an embodiment of the present application;

[0024] Figure 6 A structural block diagram of an intelligent positioning device for auricular acupoints provided by an embodiment of the present application;

[0025] Figure 7 The internal structural block diagram of a computer device in one embodiment. Detailed implementation manners

[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0027] It can be understood that the terms "first", "second", etc. used in the present application can be used herein to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish the first unit or module from another unit or module. For example, without departing from the scope of the present application, the first script can be called the second script, and similarly, the second script can be called the first script.

[0028] Figure 1 An application environment diagram of the intelligent positioning method for auricular acupoints provided by an embodiment of the present application, as Figure 1 shown. In this application environment, an image acquisition device 110 and a processor 120 are included.

[0029] The processor 120 can be an independent cloud processing server or a local processing terminal, can be a server cluster composed of multiple physical servers, or can be a local single-chip microcomputer, a dedicated processing chip, an integrated processor, etc., but is not limited thereto.

[0030] The image acquisition device 110 can be an intelligent camera, various imaging devices, etc., but is not limited thereto. The image acquisition device 110 and the processor 120 can be connected through a network, and the present application does not limit this here.

[0031] As Figure 2 shown. In one embodiment, an intelligent positioning method for auricular acupoints is proposed. In this embodiment, this method is mainly applied to the aboveFigure 1 Taking the processor 120 in

[0032] Step S10: Obtain the auricle image of the user, and extract the morphological features of the auricle from the auricle image.

[0033] In this embodiment, the ear image is obtained through a camera or a medical imaging device, and image processing algorithms such as edge detection are used to extract the morphological features of the auricle. The morphological features can refer to the contour, etc. Through non-contact automatic data collection, the subjective error of traditional manual observation is avoided.

[0034] Step S20: Based on the morphological features, select the auricle template that is closest to the auricle morphology of the user from the auricle template library.

[0035] In this embodiment, a standardized auricle template database needs to be constructed first, and the feature similarity algorithm is used for comparison to obtain the auricle template that is closest to the auricle morphology of the user, so as to solve the problem of individual ear shape differences and improve the accuracy of acupoint positioning.

[0036] Step S30: Based on the morphological difference between the auricle image and the selected auricle template, obtain the conversion function that maps the selected auricle template to the auricle image.

[0037] In this embodiment, as Figure 3 shown, a schematic diagram of mapping the real position of the human ear to the corresponding virtual position in the template is given. Figure 3 Only 6 typical position correspondence relationships are taken as examples. By establishing a mapping relationship of spatial positions through non-linear registration algorithms such as affine transformation, coordinate "scaling" changes can be performed based on the morphological differences of the positions of the auricle template and the real image obtained by collection in each local area, so as to perform personalized adaptation, further eliminate the positioning deviation caused by auricle deformation, and improve the positioning accuracy.

[0038] In one embodiment, the method for obtaining the conversion function is as follows:

[0039] Let the morphology of the corresponding auricle image extracted be M, and M can be a 3D matrix;

[0040] The corresponding closest auricle template is M o , which can be used to describe the relative positions of all auricular acupoints on the auricle;

[0041] Construct an auricle adaptation algorithm. Since the auricle template M oThere is a certain linear and non - linear projection similarity and homography between the collected patient's auricle M. Therefore, the selected template auricle and the extracted patient's auricle can be compared to calculate the transformation function for their mutual transformation, denoted as the auricle adaptation function matrix H. That is, M ∽ H M o (where ∽ represents fitting based on similarity). Specifically, methods such as Figure 4 the method of forming a projection heat by overlaying a real image and a template image and then performing a projection transformation as shown can be used, or affine transformation, perspective transformation and other methods can also be used, and there is no need to limit here.

[0042] In one embodiment, since there may not be an available large database at the initial stage during actual use, the operator can select several reference points r i (r xi , r yi ) on the auricle template and select the corresponding points t i (t xi , t yi ) on the patient's auricle on the touch screen. In this way, several pairs of reference points (r i， t i ) are generated, where i is a positive integer. The algorithm finds the corresponding transformation function H by fitting the selected pairs of reference points.

[0043] Step S40: Obtain the default coordinates of the acupoints to be operated on in the auricle template, and based on the transformation function, obtain the corrected coordinates of the acupoints to be operated on in the auricle image.

[0044] In this embodiment, coordinate transformation is performed based on the transformation function, breaking through the static positioning limitation of traditional acupoint atlases and further enhancing the dynamic adaptability.

[0045] As known to those skilled in the art, according to the national standard GB / T13734 - 2008 "Ear Acupoint Names and Locations", the auricle can be roughly divided into 9 major regions. Since there are many acupoints densely distributed on the auricle, quickly and accurately locating ear acupoints has become a major technical challenge in clinical practice. Moreover, the shapes and sizes of human ears are different, resulting in deviations in the positions of ear acupoints. Therefore, a method and device that can automatically identify human ears and automatically locate target acupoints according to different auricles will provide great convenience and help for the clinical implementation and popularization of medical methods such as ear acupoint bean embedding.

[0046] However, the positioning of auricular points is a complex function, and it is difficult for current existing devices to achieve accurately. The researchers of this application considered that in the current medical field, there is no relatively mature auricle and auricular point database, and it is difficult to directly use and fully rely on machine learning methods such as training neural networks. Moreover, collecting and establishing a database is time-consuming and consumable. Therefore, this application provides an automatic auricular point positioning method and device based on image processing and artificial learning, which does not rely on large-scale data, is used to achieve accurate and real-time acupoint positioning function, and the collected data can be used to establish an acupoint database. And by establishing a double-layer positioning mechanism of standardized template matching + personalized deformation compensation, taking into account both efficiency and accuracy, the accuracy of automatic positioning is significantly improved.

[0047] In a preferred embodiment, the method further includes:

[0048] Project the acupoint to be operated onto the user's auricle based on the corrected coordinates;

[0049] Obtain feedback information on the positioning accuracy of the acupoint to be operated by the user, and obtain feedback coordinates based on the feedback information;

[0050] Calibrate and update the conversion function in real time based on the feedback coordinates.

[0051] In the embodiment of this application, the acupoint points are displayed by AR projection. The user can feedback deviation information through the touch interface, which can form a human-computer interaction closed loop to solve the system error. And artificial real-time pressing and other acupoint stimulation methods can be used to obtain the user's stimulation sensations such as soreness, numbness, distension, and pain, and assist the online learning algorithm to dynamically update the parameters.

[0052] In an embodiment, the method for obtaining feedback coordinates is:

[0053] The medical staff adjusts the accurate position of the operated auricular point in real time according to the patient's feedback, that is, through a special pen tip (such as the pen tip is a red light spot), click on the confirmed auricular point, and capture the position of the corrected acupoint through the image to obtain the feedback coordinates. Even if the pen is taken away, the optical projection will still keep the acupoint highlighted, which can remind the medical staff of the operation without interference.

[0054] Moreover, the feedback coordinates can also be provided to the algorithm for machine learning, and stored in the database and the cloud. According to the large amount of auricular point and auricle data collected and stored, continuously learn and improve the adaptability and accuracy of auricular point positioning. An artificial intelligence neural network И can be trained with the obtained large database, so as to output the corresponding updated auricular point coordinates p = Иp according to the input auricle coordinates p of the patient o , output the corresponding updated auricular point coordinates p = Иp o .

[0055] In a preferred embodiment, the method for obtaining an image of the user's auricle and extracting the morphological features of the auricle from the auricle image is as follows:

[0056] Obtain an auricle image, preprocess the auricle image to improve the image quality of the auricle image, and obtain a preprocessed image;

[0057] Based on a contour extraction algorithm, extract the contour line of the preprocessed image to obtain an auricle contour;

[0058] Set the auricle contour as the morphological feature of the auricle.

[0059] In the embodiments of the present application, the morphological features may refer to, but are not limited to, the radian feature, length feature, width feature, etc. of the edge. The preprocessing algorithms include, but are not limited to, edge sharpening, jitter reduction and noise reduction, etc. The role of preprocessing is to reduce interference and improve the accuracy of subsequent algorithms.

[0060] In a preferred embodiment, the method for selecting the auricle template closest to the auricle morphology of the user from the auricle template library based on the morphological features is as follows:

[0061] Obtain the preset key feature parts of the auricle, and the key feature parts include, but are not limited to, one or more of the following parts: helix, tragus, concha, antitragus, and earlobe;

[0062] Obtain the contour features of the auricle contours of the key parts, and compare the contour features of the user's auricle with the contour features of several auricle templates in the auricle template library;

[0063] Based on the similarity comparison result, obtain the closest auricle template.

[0064] In the embodiments of the present application, since the most obvious features of the auricle are the contours of the helix, tragus, concha, antitragus, and earlobe, etc., these are used as key feature parts, and the features of these parts are extracted to construct an auricle template and compared with the detected auricle.

[0065] In a preferred embodiment, there is also provided an intelligent auricle acupoint positioning device, including a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the intelligent auricle acupoint positioning method as described above.

[0066] In the embodiments of the present application, the advantage of this device is that it does not rely on large-scale data, is used to achieve accurate and real-time acupoint positioning functions, and the collected data can be used to establish an acupoint database. And by establishing a double-layer positioning mechanism of standardized template matching and personalized deformation compensation, both efficiency and accuracy are taken into account, and the accuracy of automatic positioning is significantly improved.

[0067] In a preferred embodiment, the device further comprises:

[0068] An imaging module, configured to collect the auricle image of the user in real time and transmit the auricle image to a processor for analysis;

[0069] A projection module, configured to project the corrected coordinates onto the auricle of the user in real time;

[0070] A feedback control module, configured to collect and obtain the feedback information of the user on the positioning accuracy of the acupoints to be operated, and calibrate the corrected coordinates based on the feedback information.

[0071] In the embodiment of the present application, for example, a 3D structured light camera may be used to collect the auricle image of the user in real time, with high three-dimensional point cloud reconstruction accuracy. The projection module may adopt a micro laser point or an image projector to project the corrected coordinates onto the real position of the user's auricle in the form of light points, images, etc. The feedback control module may adopt PID closed-loop control, so as to realize the complete closed-loop control of perception - calculation - execution - feedback and improve the positioning accuracy.

[0072] In a preferred embodiment, the feedback control module comprises:

[0073] A sound collection unit, a sound processing unit and a speaker unit;

[0074] The speaker unit is configured to play operation prompt words to the user;

[0075] The sound processing unit is configured to collect the voice information of the user;

[0076] The sound processing unit identifies the meaning of the voice information based on a speech recognition algorithm to generate feedback information, and inputs the feedback information into the processor.

[0077] In the embodiment of the present application, the calculated auricular acupoint position can be optically projected onto the outer ear of the patient in real time, and at the same time, through voice prompts, the operation of auricular acupoint treatment can be guided. It can also generate feedback information based on the voice feedback of the patient, realizing hands-free operation, higher intelligence and more convenient use.

[0078] In a preferred embodiment, the voice processing unit is responsible for receiving a user's voice command, such as "display, tonsil", and conveying the target acupoint of the command to the processor. The processor transmits the coordinate information of the target acupoint obtained by the algorithm to the projection module, which projects it onto the auricle. Thus, it can guide medical staff to perform operations such as auricular plaster therapy in real time. When receiving a voice command such as "confirm, tonsil", the processing module records and updates the corresponding auricle and "tonsil" acupoint position information in the database. In this application, the memory is responsible for storing information and the database, and can connect to the network to communicate with the cloud, performing operations such as uploading auricle data and downloading updated algorithms.

[0079] In a preferred embodiment, as Figure 5 shown, the device further includes:

[0080] a head fixing module and a support rotating arm;

[0081] One end of the support rotating arm is connected to the head fixing module, and the other end is connected to the device body; the head fixing module is used to stably fix the support rotating arm on the user's head;

[0082] The support rotating arm includes a number of rotating joints and sub-rotating arms, which are used to increase the spatial position freedom of the device body.

[0083] In this embodiment, the head fixing module can adopt a composite material of memory foam + medical silicone, and the support rotating arm system can adopt a multi-degree-of-freedom robotic arm design. In this embodiment, image visual feedback, laser positioning, and voice interaction are combined, significantly improving the intelligence level of the device and having higher usage convenience.

[0084] As Figure 6 shown, in one embodiment, there is provided an intelligent positioning device for auricular acupoints, which can be integrated into the above-mentioned processor 120, and specifically may include:

[0085] a morphological feature acquisition module 510, which is used to acquire an image of the user's auricle and extract the morphological features of the auricle from the auricle image;

[0086] an auricle template acquisition module 520, which is used to select the auricle template that is closest to the morphology of the user's auricle from the auricle template library based on the morphological features;

[0087] a conversion function acquisition module 530, which is used to obtain the conversion function that maps the selected auricle template to the auricle image based on the morphological difference between the auricle image and the selected auricle template;

[0088] The corrected coordinate acquisition module 540 is configured to obtain the default coordinates of the acupoints to be operated in the auricle template, and obtain the corrected coordinates of the acupoints to be operated in the auricle image based on the conversion function.

[0089] In the embodiments of the present application, the explanations and descriptions of the above-mentioned intelligent positioning device for auricular acupoints can refer to the explanations and descriptions of the corresponding methods above. For the description of the intelligent positioning method for auricular acupoints, please refer to the above text and will not be repeated here.

[0090] In the embodiments of the present application, the advantage of the present device is that it does not rely on large-scale data, is used to achieve accurate and real-time acupoint positioning function, and the collected data can be used to establish an acupoint database. And by establishing a double-layer positioning mechanism of standardized template matching + personalized deformation compensation, both efficiency and accuracy are taken into account, and the accuracy of automatic positioning is significantly improved.

[0091] Figure 7 The internal structure diagram of a computer device in an embodiment is shown. The computer device may specifically be a processor 120 in the form of an independent cloud processing server. As Figure 7 shown, the computer device includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the intelligent positioning method for auricular acupoints. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can execute the intelligent positioning method for auricular acupoints. The display screen of the computer device may be a liquid crystal display screen, etc. The input device of the computer device may be a touch layer covered on the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0092] Those skilled in the art can understand that Figure 5 、 Figure 6 and Figure 7 The structures shown in are only block diagrams or schematic diagrams of some structures related to the solution of the present application, and do not constitute a limitation on the solution described in the present application. The specific structure or device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0093] In one embodiment, the intelligent positioning device for auricular acupoints provided by the present application can be implemented in the form of a computer program, and the computer program can run on a device as Figure 7 shown. Each program module constituting the intelligent positioning device for auricular acupoints can be stored in the memory of the device. For example,Figure 6 The morphological feature acquisition module 510, auricle template acquisition module 520, etc. shown above. The computer program composed of each program module enables the processor to execute the steps in the intelligent positioning method of auricular acupoints in each embodiment of the present application described in this specification.

[0094] For example, Figure 7 the computer device shown above can execute step S10 through the morphological feature acquisition module 510 in the intelligent positioning device of auricular acupoints shown in Figure 6 The computer device can execute step S20 through the auricle template acquisition module 520. And so on.

[0095] In one embodiment, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the processor is enabled to execute the steps of the intelligent positioning method of auricular acupoints as described above.

[0096] In the embodiments of the present application, for the description of the above intelligent positioning method of auricular acupoints, please refer to the above text and will not be repeated here.

[0097] In the embodiments of the present application, the program running based on the method stored in the storage medium of the embodiments of the present application has the advantages that it does not rely on large-scale data, can be used to achieve accurate and real-time acupoint positioning function, and the collected data can be used to establish an acupoint database. And by establishing a double-layer positioning mechanism of standardized template matching + personalized deformation compensation, it takes into account both efficiency and accuracy, and significantly improves the accuracy of automatic positioning.

[0098] It should be understood that although the steps in the flowcharts of the embodiments of the present application are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in each embodiment may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0099] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0100] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0101] The above embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. An intelligent positioning method for auricular acupoints, characterized in that, The method includes: Obtain an auricle image of the user, and extract the morphological features of the auricle from the auricle image; Based on the morphological features, select the auricle template closest to the auricle morphology of the user from the auricle template library; Based on the morphological differences between the auricle image and the selected auricle template, obtain the conversion function that maps the selected auricle template to the auricle image; Obtain the default coordinates of the acupoint to be operated in the auricle template, and based on the conversion function, obtain the corrected coordinates of the acupoint to be operated in the auricle image.

2. The intelligent positioning method of auricular acupoints according to claim 1, characterized in that, The method further includes: Based on the corrected coordinates, project the acupoint to be operated onto the auricle of the user; Obtain the feedback information on the positioning accuracy of the acupoint to be operated by the user, and obtain the feedback coordinates based on the feedback information; Based on the feedback coordinates, perform real-time calibration and update of the conversion function.

3. The intelligent positioning method for auricular acupoints according to claim 1, characterized in that, The method for obtaining an auricle image of the user and extracting the morphological features of the auricle from the auricle image is: Obtain the auricle image, preprocess the auricle image to improve the image quality of the auricle image, and obtain the preprocessed image; Based on the contour extraction algorithm, extract the contour line of the preprocessed image to obtain the auricle contour; Set the auricle contour as the morphological features of the auricle.

4. The intelligent positioning method for auricular acupoints according to claim 1, characterized in that The method for selecting the auricle template closest to the auricle morphology of the user from the auricle template library based on the morphological features is: Obtain the preset key feature parts of the auricle, and the key feature parts include but are not limited to one or more of the following parts: helix, tragus, concha, antitragus, and lobule; Obtain the contour features of the auricle contours of the key parts, and compare the contour features of the user's auricle with the contour features of several auricle templates in the auricle template library; Based on the similarity comparison result, obtain the closest auricle template.

5. An intelligent positioning device for auricular acupoints, characterized in that, It includes a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the intelligent positioning method for auricle acupoints as described in any one of claims 1 to 4.

6. The intelligent positioning device for auricular acupoints according to claim 5, wherein The device further includes: A camera module for real-time collecting the auricle image of the user and transmitting the auricle image to the processor for analysis; A projection module for real-time projecting the corrected coordinates onto the auricle of the user; A feedback control module for collecting and obtaining the feedback information on the positioning accuracy of the acupoint to be operated by the user, and calibrating the corrected coordinates based on the feedback information.

7. The intelligent positioning device for auricular acupoints according to claim 6, characterized in that, The feedback control module includes: A sound collection unit, a sound processing unit, and a speaker unit; The speaker unit is used to play operation prompt words for the user; The sound processing unit is used to collect the voice information of the user; The sound processing unit identifies the meaning of the voice information based on the speech recognition algorithm to generate feedback information, and inputs the feedback information into the processor.

8. An intelligent positioning device for auricular acupoints according to claim 5, characterized in that, The device further includes: A head fixing module and a bracket swing arm; One end of the bracket swing arm is connected to the head fixing module, and the other end is connected to the device body; the head fixing module is used to stably fix the bracket swing arm on the head of the user; The bracket swing arm includes a plurality of rotating joints and sub-swing arms, which are used to improve the spatial position freedom of the equipment body.

9. An intelligent positioning device for auricular acupoints, characterized in that, The device includes: A morphological feature acquisition module, which is used to acquire an image of the user's auricle and extract the morphological features of the auricle from the auricle image; An auricle template acquisition module, which is used to select the auricle template that is closest to the auricle morphology of the user from the auricle template library based on the morphological features; A conversion function acquisition module, which is used to obtain the conversion function that maps the selected auricle template to the auricle image based on the morphological difference between the auricle image and the selected auricle template; A corrected coordinate acquisition module, which is used to obtain the default coordinates of the acupoints to be operated on in the auricle template and obtain the corrected coordinates of the acupoints to be operated on in the auricle image based on the conversion function.

10. A computer-readable storage medium, characterized in that, A computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the processor is caused to execute the steps of the intelligent positioning method for auricular acupoints according to any one of claims 1 to 4.

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