A free-flowing meridian robot operation method based on three-dimensional meridian mapping

Abstract

The application discloses a kind of based on three-dimensional meridian mapping's smooth qi and dredging collaterals robot operation method, it is related to smooth qi and dredging collaterals robot control technical field, comprising the following steps: step one, through wearable equipment collection patient body surface temperature field, meridian sensitive point distribution and body surface morphological characteristic data, combine traditional Chinese medical meridian theory and construct patient three-dimensional meridian digital model, and mark the key acupoint of patient body surface and the mechanical sensitive area of meridian trend;Step two, based on three-dimensional meridian digital model, the preset smooth qi and dredging collaterals operation path is converted into the spatial motion trajectory of robot end, according to patient body surface morphological characteristic data adjustment end effector's contact angle, initial force control curve is generated simultaneously;It can ensure the effectiveness of operation and patient comfort, avoid the problem of excessive stimulation or insufficient effect, to avoid the harm caused to patient due to improper operation force, improve the safety of treatment.

Description

Technical Field

[0001] This invention relates to the field of air circulation and meridian flow control technology, specifically to an air circulation and meridian flow robot operation method based on three-dimensional meridian mapping. Background Technology

[0002] In traditional Chinese medicine theory, the meridian system is the channel through which qi and blood circulate in the human body, connecting the internal organs, limbs, and body surface. It plays a vital role in maintaining human health. In traditional Chinese medicine diagnosis and treatment methods, unblocking qi and blood circulation is an important treatment method. By stimulating the meridians and acupoints, the circulation of qi and blood is regulated to achieve the purpose of treating diseases and maintaining health. With the development of robotics and digital healthcare, applying robotics to the field of traditional Chinese medicine diagnosis and treatment to automate and refine the operation of unblocking qi and collaterals has become an important way to improve the effectiveness and efficiency of traditional Chinese medicine diagnosis and treatment. However, existing robot-assisted unblocking qi and collaterals techniques are mostly based on two-dimensional planar models or simple three-dimensional models, which make it difficult to accurately reflect the complexity of the human meridian system and individual differences. In particular, they cannot dynamically adapt to changes in the patient's body surface morphology, resulting in limited operational precision and effectiveness.

[0003] Therefore, in view of this, the present invention proposes a method for operating a robot based on three-dimensional meridian mapping to facilitate the flow of qi and blood through meridians, in order to make up for and improve the shortcomings of the existing technology. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a method for operating a robot based on three-dimensional meridian mapping to facilitate the flow of Qi and blood through meridians, thereby resolving the corresponding technical issues raised in the background section.

[0005] To achieve the above objectives, the technical solution adopted by this invention is: a method for operating a robot to promote the flow of Qi and blood based on three-dimensional meridian mapping, comprising the following steps: Step 1: Collect data on the patient's body surface temperature field, distribution of meridian sensitive points, and body surface morphological characteristics using wearable devices. Combine this with traditional Chinese medicine meridian theory to construct a three-dimensional digital model of the patient's meridians and mark key acupoints and mechanically sensitive areas of the meridian pathways on the patient's body surface. Step 2: Based on the three-dimensional meridian digital model, the preset Qi-clearing and meridian-unblocking operation path is converted into the spatial motion trajectory of the robot end effector. The contact angle of the end effector is adjusted according to the patient's body surface morphological characteristics data, and the initial force control curve is generated simultaneously. Step 3: The actual contact force is monitored in real time by the force sensor built into the end effector, and the patient's physiological signals are monitored in real time by the physiological signal monitor. Based on the patient's physiological signals, the real-time feedback index of the patient is calculated by weighted average method and compared with the preset feedback threshold. Based on the comparison results, the actual contact force between the end effector and the patient is adjusted according to the initial force control curve and the actual contact force to obtain the updated contact force. Step 4: The end effector continuously performs Qi-regulating and meridian-clearing operations on key acupoints and mechanically sensitive areas of the patient's body surface according to the updated contact force, adjusted spatial motion trajectory, and contact angle, until the preset Qi-regulating and meridian-clearing operation task is completed.

[0006] Preferably, in step two, the initial force control curve is pre-set based on the patient's body surface morphology and the conventional force requirements of different acupoints and meridian areas in traditional Chinese medicine meridian theory, and is used to provide an initial reference benchmark for adjusting the actual contact force. In step three, the updated contact force refers to the actual contact force that has been adjusted to better suit the patient's current physiological state and comfort requirements. The purpose is to improve the patient's comfort while ensuring the effectiveness of the Qi-regulating and meridian-clearing operation, and to avoid harm to the patient due to improper operation force.

[0007] As a preferred method, the specific process of marking key acupoints and biomechanically sensitive areas along meridian pathways on the patient's body surface is as follows: S101. The wearable device includes an infrared thermal imager, a patch with pressure and electrophysiological sensors, and a three-dimensional laser scanner. The wearable device collects the patient's body surface temperature field data, meridian sensitive point distribution data, and body surface morphological feature data as follows: The patient's body surface is scanned using an infrared thermal imager to obtain temperature values ​​at various points on the body surface, forming a body surface temperature field data matrix. ,in, It represents the spatial coordinates of a point on the body surface, and T represents the temperature value at that point; By detecting changes in pressure and electrophysiological signals on the patient's body surface using patches equipped with pressure and electrophysiological sensors, sensitive points along the meridians are identified. When the pressure value or electrophysiological signal intensity at a certain point exceeds a preset pressure threshold or electrophysiological signal threshold, that point is marked as a sensitive point along the meridian, and its spatial coordinates are recorded simultaneously. This forms a dataset of meridian sensitive point distribution. , where n is the number of meridian sensitive points detected; A 3D laser scanner is used to perform a 3D scan of the patient's body surface, acquiring 3D point cloud data of the body surface. This point cloud data is then preprocessed to obtain a 3D model of the patient's body surface. Morphological feature parameters are extracted from the body surface to form a body surface morphological feature dataset. , where m is the number of morphological feature parameters; S102. Based on the meridian pathways, distribution, and relationship with the body surface in Traditional Chinese Medicine meridian theory, the collected body surface temperature field data, meridian sensitive point distribution data, and body surface morphological feature data are integrated. Based on the body surface temperature field data, the meridian sensitive points are located according to their positions on the meridians. At the same time, based on the meridian qi and blood circulation status reflected by the body surface temperature field data, a three-dimensional meridian digital model of the patient is constructed. The three-dimensional meridian digital model is used to display the distribution, pathways, and qi and blood circulation of the patient's body surface meridians. S103. On the three-dimensional meridian digital model, the key acupoints are marked according to the location information of key acupoints in the theory of meridians in traditional Chinese medicine. At the same time, the mechanical properties of different regions along the meridian are analyzed by combining the distribution data of meridian sensitive points and the morphological characteristics of the body surface. Regions with more special mechanical properties are marked as mechanically sensitive regions of the meridian. The regions with more special mechanical properties are regions with greater curvature changes and higher pressure sensitivity.

[0008] As a preferred method, the specific process for synchronously generating the initial force control curve is as follows: S201. Obtain the preset Qi-clearing and meridian-unblocking operation path, and display it as a series of discrete path points in the three-dimensional meridian digital model. This indicates that k is the number of path points; By using robot inverse kinematics algorithms, path points are converted into a sequence of joint angles for the robot's end effector. , where j is the number of joints in the robot; Based on the joint angle sequence and the robot's forward kinematics model, the position and orientation of the robot's end effector in Cartesian space are calculated, forming a spatial motion trajectory. ,in, The position coordinates of the end effector. Let be the attitude angle of the end effector, and ; S202. Based on the body surface morphological feature dataset, analyze the degree of curvature of the patient's body surface at different locations, and based on the curvature value... Calculate the adjustment amount of the contact angle. and The formula is adjusted as follows: ; ; in, and For adjustment coefficients; Adjusted contact angle and Applying this to the spatial motion trajectory L, we obtain the adjusted spatial motion trajectory. ; S203. Based on the conventional force requirements of different acupoints and meridian regions in traditional Chinese medicine meridian theory, and combined with the patient's body surface morphological characteristics and body surface temperature field data, the spatial motion trajectory is determined. Generate an initial force value for each path point on the path. ; Connect the initial force values ​​in the order of the path points to form the initial force control curve. .

[0009] As a preferred method, the specific process for calculating the patient's real-time feedback index is as follows: S301. The actual contact force between the end effector and the patient's body surface is measured in real time by the force sensor built into the end effector, and the actual contact force data sequence is obtained. Where t is the sampling time point, This represents the actual contact force value at the i-th sampling time point; S302. Monitor the patient's physiological signals in real time using a physiological signal detector, including heart rate, blood pressure, and brain waves. Based on the patient's physiological signals, calculate the patient's real-time feedback index using a weighted average method. Its formula is: ; Where HR is the real-time heart rate. Baseline heart rate Maximum heart rate; BP is real-time blood pressure. Baseline blood pressure Maximum blood pressure; EEG is the real-time brainwave intensity. Baseline EEG intensity This represents the highest brainwave intensity. , , All are weighting coefficients.

[0010] As a preferred method, the specific process for obtaining the updated contact force is as follows: S401, Combine the real-time feedback index with the preset feedback threshold. The comparison is as follows: like This indicates that the patient is experiencing discomfort due to the current pressure applied during the procedure. like This indicates that the patient is relatively comfortable with the current level of pressure applied. S402. Based on the comparison results, when At that time, the adjustment amount of the contact force is calculated based on the initial force control curve and the actual contact force. The formula is adjusted as follows: ; in, and All are adjustment coefficients; Adjusted contact force As a contact force in the renewed state; when At that time, the current actual contact force remains unchanged, that is .

[0011] Compared with existing technologies, the beneficial effects of this invention are as follows: By collecting data on the patient's body surface temperature field, distribution of meridian sensitive points, and body surface morphological characteristics through wearable devices, a three-dimensional digital model of the patient's meridians is constructed, and key acupoints and mechanically sensitive areas of the meridian pathways on the patient's body surface are marked. The preset qi-clearing and meridian-unblocking operation path is converted into the spatial motion trajectory of the robot end effector, and an initial force control curve is generated simultaneously. By real-time monitoring of the actual contact force and the patient's physiological signals, the patient's real-time feedback index is calculated and compared with a preset feedback threshold. Based on the comparison results, the actual contact force between the end effector and the patient is adjusted to obtain an updated contact force. The end effector continuously performs qi-clearing and meridian-unblocking operations on the key acupoints and mechanically sensitive areas of the meridian pathways on the patient's body surface according to the updated contact force and the adjusted spatial motion trajectory and contact angle until the preset qi-clearing and meridian-unblocking operation task is completed. This ensures the effectiveness of the operation and the patient's comfort, avoids the problems of overstimulation or insufficient effect, and thus avoids harm to the patient caused by improper operation force, improving the safety of treatment. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of the present invention. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] Embodiments of the present invention: Please refer to Figure 1 As shown, a method for operating a Qi-regulating and meridian-clearing robot based on three-dimensional meridian mapping includes the following steps: Step 1: Collect data on the patient's body surface temperature field, distribution of meridian sensitive points, and body surface morphological characteristics using wearable devices. Combine this with traditional Chinese medicine meridian theory to construct a three-dimensional digital model of the patient's meridians and mark key acupoints and mechanically sensitive areas of the meridian pathways on the patient's body surface. Step 2: Based on the three-dimensional meridian digital model, the preset Qi-clearing and meridian-unblocking operation path is converted into the spatial motion trajectory of the robot end effector. The contact angle of the end effector is adjusted according to the patient's body surface morphological characteristics data, and the initial force control curve is generated simultaneously. Step 3: The actual contact force is monitored in real time by the force sensor built into the end effector, and the patient's physiological signals are monitored in real time by the physiological signal monitor. Based on the patient's physiological signals, the real-time feedback index of the patient is calculated by weighted average method and compared with the preset feedback threshold. Based on the comparison results, the actual contact force between the end effector and the patient is adjusted according to the initial force control curve and the actual contact force to obtain the updated contact force. Step 4: The end effector continuously performs Qi-regulating and meridian-clearing operations on key acupoints and mechanically sensitive areas of the patient's body surface according to the updated contact force, adjusted spatial motion trajectory, and contact angle, until the preset Qi-regulating and meridian-clearing operation task is completed.

[0015] In step two, the initial force control curve is pre-set based on the patient's body surface morphology and the conventional force requirements of different acupoints and meridian areas in traditional Chinese medicine meridian theory, and is used to provide an initial reference benchmark for adjusting the actual contact force. In step three, the updated contact force refers to the actual contact force that has been adjusted to better suit the patient's current physiological state and comfort requirements. The purpose is to improve the patient's comfort while ensuring the effectiveness of the Qi-regulating and meridian-clearing operation, and to avoid harm to the patient due to improper operation force.

[0016] The specific process of marking key acupoints and biomechanically sensitive areas along meridian pathways on the patient's body surface is as follows: S101. The wearable device includes an infrared thermal imager, a patch with pressure and electrophysiological sensors, and a three-dimensional laser scanner. The wearable device collects the patient's body surface temperature field data, meridian sensitive point distribution data, and body surface morphological feature data as follows: The patient's body surface is scanned using an infrared thermal imager to obtain temperature values ​​at various points on the body surface, forming a body surface temperature field data matrix. ,in, It represents the spatial coordinates of a point on the body surface, and T represents the temperature value at that point; By detecting changes in pressure and electrophysiological signals on the patient's body surface using patches equipped with pressure and electrophysiological sensors, sensitive points along the meridians are identified. When the pressure value or electrophysiological signal intensity at a certain point exceeds a preset pressure threshold or electrophysiological signal threshold, that point is marked as a sensitive point along the meridian, and its spatial coordinates are recorded simultaneously. This forms a dataset of meridian sensitive point distribution. , where n is the number of meridian sensitive points detected; A 3D laser scanner is used to perform a 3D scan of the patient's body surface, acquiring 3D point cloud data of the body surface. This point cloud data is then preprocessed to obtain a 3D model of the patient's body surface. Morphological feature parameters are extracted from the body surface to form a body surface morphological feature dataset. , where m is the number of morphological feature parameters; S102. Based on the meridian pathways, distribution, and relationship with the body surface in Traditional Chinese Medicine meridian theory, the collected body surface temperature field data, meridian sensitive point distribution data, and body surface morphological feature data are integrated. Based on the body surface temperature field data, the meridian sensitive points are located according to their positions on the meridians. At the same time, based on the meridian qi and blood circulation status reflected by the body surface temperature field data, a three-dimensional meridian digital model of the patient is constructed. The three-dimensional meridian digital model is used to display the distribution, pathways, and qi and blood circulation of the patient's body surface meridians. S103. On the three-dimensional meridian digital model, the key acupoints are marked according to the location information of key acupoints in the theory of meridians in traditional Chinese medicine. At the same time, the mechanical properties of different regions along the meridian are analyzed by combining the distribution data of meridian sensitive points and the morphological characteristics of the body surface. Regions with more special mechanical properties are marked as mechanically sensitive regions of the meridian. The regions with more special mechanical properties are regions with greater curvature changes and higher pressure sensitivity.

[0017] The specific process for synchronously generating the initial force control curve is as follows: S201. Obtain the preset Qi-clearing and meridian-unblocking operation path, and display it as a series of discrete path points in the three-dimensional meridian digital model. This indicates that k is the number of path points; By using robot inverse kinematics algorithms, path points are converted into a sequence of joint angles for the robot's end effector. , where j is the number of joints in the robot; Based on the joint angle sequence and the robot's forward kinematics model, the position and orientation of the robot's end effector in Cartesian space are calculated, forming a spatial motion trajectory. ,in, The position coordinates of the end effector. Let be the attitude angle of the end effector, and ; S202. Based on the body surface morphological feature dataset, analyze the degree of curvature of the patient's body surface at different locations, and based on the curvature value... Calculate the adjustment amount of the contact angle. and The formula is adjusted as follows: ; ; in, and For adjustment coefficients; Adjusted contact angle and Applying this to the spatial motion trajectory L, we obtain the adjusted spatial motion trajectory. ; S203. Based on the conventional force requirements of different acupoints and meridian regions in traditional Chinese medicine meridian theory, and combined with the patient's body surface morphological characteristics and body surface temperature field data, the spatial motion trajectory is determined. Generate an initial force value for each path point on the path. ; Connect the initial force values ​​in the order of the path points to form the initial force control curve. .

[0018] The specific process for calculating the patient's real-time feedback index is as follows: S301. The actual contact force between the end effector and the patient's body surface is measured in real time by the force sensor built into the end effector, and the actual contact force data sequence is obtained. Where t is the sampling time point, This represents the actual contact force value at the i-th sampling time point; S302. Monitor the patient's physiological signals in real time using a physiological signal detector, including heart rate, blood pressure, and brain waves. Based on the patient's physiological signals, calculate the patient's real-time feedback index using a weighted average method. Its formula is: ; Where HR is the real-time heart rate. Baseline heart rate Maximum heart rate; BP is real-time blood pressure. Baseline blood pressure Maximum blood pressure; EEG is the real-time brainwave intensity. Baseline EEG intensity This represents the highest brainwave intensity. , , All are weighting coefficients.

[0019] The specific process of obtaining the updated contact force is as follows: S401, Combine the real-time feedback index with the preset feedback threshold. The comparison is as follows: like This indicates that the patient is experiencing discomfort due to the current pressure applied during the procedure. like This indicates that the patient is relatively comfortable with the current level of pressure applied. S402. Based on the comparison results, when At that time, the adjustment amount of the contact force is calculated based on the initial force control curve and the actual contact force. The formula is adjusted as follows: ; in, and All are adjustment coefficients; Adjusted contact force As a contact force in the renewed state; when At that time, the current actual contact force remains unchanged, that is .

[0020] Wearable devices are used to collect data on the patient's body surface temperature field, distribution of meridian sensitive points, and body surface morphological characteristics. A three-dimensional digital model of the patient's meridians is constructed, and key acupoints and mechanically sensitive areas along the meridian pathways are marked. The preset Qi-clearing and meridian-unblocking operation path is converted into the spatial motion trajectory of the robot's end effector, and an initial force control curve is generated simultaneously. By monitoring the actual contact force and the patient's physiological signals in real time, the patient's real-time feedback index is calculated and compared with a preset feedback threshold. Based on the comparison results, the actual contact force between the end effector and the patient is adjusted to obtain an updated contact force. The end effector continuously performs Qi-clearing and meridian-unblocking operations on the key acupoints and mechanically sensitive areas along the meridian pathways of the patient's body surface according to the updated contact force and the adjusted spatial motion trajectory and contact angle until the preset Qi-clearing and meridian-unblocking operation task is completed. This ensures the effectiveness of the operation and the patient's comfort, avoids overstimulation or insufficient effect, and prevents injury to the patient caused by improper operation force, thereby improving the safety of treatment.

[0021] The size of the interval and threshold is set to facilitate comparison. The size of the threshold depends on the amount of sample data and the number of bases set by those skilled in the art for each set of sample data; as long as it does not affect the ratio between the parameter and the quantized value.

[0022] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation. In the two embodiments provided in this application, it should be understood that the disclosed apparatus and system can be implemented in other ways; for example, the apparatus embodiments described above are merely illustrative, and the division of modules is merely a logical functional division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed; furthermore, the coupling or direct coupling or communication connection between the shown or discussed mutuals can be through some interfaces, and the indirect coupling or communication connection between the apparatus or modules can be electrical, mechanical or other forms. The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for robot operation based on three-dimensional meridian mapping to promote Qi circulation and unblock meridians, characterized in that, Includes the following steps: Step 1: Collect data on the patient's body surface temperature field, distribution of meridian sensitive points, and body surface morphological characteristics using wearable devices. Combine this with traditional Chinese medicine meridian theory to construct a three-dimensional digital model of the patient's meridians and mark key acupoints and mechanically sensitive areas of the meridian pathways on the patient's body surface. Step 2: Based on the three-dimensional meridian digital model, the preset Qi-clearing and meridian-unblocking operation path is converted into the spatial motion trajectory of the robot end effector. The contact angle of the end effector is adjusted according to the patient's body surface morphological characteristics data, and the initial force control curve is generated simultaneously. Step 3: The actual contact force is monitored in real time by the force sensor built into the end effector, and the patient's physiological signals are monitored in real time by the physiological signal monitor. Based on the patient's physiological signals, the real-time feedback index of the patient is calculated by weighted average method and compared with the preset feedback threshold. Based on the comparison results, the actual contact force between the end effector and the patient is adjusted according to the initial force control curve and the actual contact force to obtain the updated contact force. Step 4: The end effector continuously performs Qi-regulating and meridian-clearing operations on key acupoints and mechanically sensitive areas of the patient's body surface according to the updated contact force, adjusted spatial motion trajectory, and contact angle, until the preset Qi-regulating and meridian-clearing operation task is completed.

2. The method for robot operation based on three-dimensional meridian mapping for promoting Qi circulation and unblocking meridians according to claim 1, characterized in that, In step two, the initial force control curve is preset based on the patient's body surface morphology and the conventional force requirements of different acupoints and meridian areas in traditional Chinese medicine meridian theory, and is used to provide an initial reference benchmark for adjusting the actual contact force. In step three, the updated contact force refers to the actual contact force that has been adjusted to better suit the patient's current physiological state and comfort requirements. The purpose is to improve the patient's comfort while ensuring the effectiveness of the Qi-regulating and meridian-clearing operation, and to avoid harm to the patient due to improper operation force.

3. The method for operating a robot based on three-dimensional meridian mapping for promoting Qi circulation and unblocking meridians according to claim 2, characterized in that, The specific process of marking key acupoints and biomechanically sensitive areas along meridian pathways on the patient's body surface is as follows: S101. The wearable device includes an infrared thermal imager, a patch with pressure and electrophysiological sensors, and a three-dimensional laser scanner. The wearable device collects the patient's body surface temperature field data, meridian sensitive point distribution data, and body surface morphological feature data as follows: The patient's body surface is scanned using an infrared thermal imager to obtain temperature values ​​at various points on the body surface, forming a body surface temperature field data matrix. ,in, It represents the spatial coordinates of a point on the body surface, and T represents the temperature value at that point; By detecting changes in pressure and electrophysiological signals on the patient's body surface using patches equipped with pressure and electrophysiological sensors, sensitive points along the meridians are identified. When the pressure value or electrophysiological signal intensity at a certain point exceeds a preset pressure threshold or electrophysiological signal threshold, that point is marked as a sensitive point along the meridian, and its spatial coordinates are recorded simultaneously. This forms a dataset of meridian sensitive point distribution. , where n is the number of meridian sensitive points detected; A 3D laser scanner is used to perform a 3D scan of the patient's body surface, acquiring 3D point cloud data of the body surface. This point cloud data is then preprocessed to obtain a 3D model of the patient's body surface. Morphological feature parameters are extracted from the body surface to form a body surface morphological feature dataset. , where m is the number of morphological feature parameters; S102. Based on the meridian pathways, distribution, and relationship with the body surface in Traditional Chinese Medicine meridian theory, the collected body surface temperature field data, meridian sensitive point distribution data, and body surface morphological feature data are integrated. Based on the body surface temperature field data, the meridian sensitive points are located according to their positions on the meridians. At the same time, based on the meridian qi and blood circulation status reflected by the body surface temperature field data, a three-dimensional meridian digital model of the patient is constructed. The three-dimensional meridian digital model is used to display the distribution, pathways, and qi and blood circulation of the patient's body surface meridians. S103. On the three-dimensional meridian digital model, the key acupoints are marked according to the location information of key acupoints in the theory of meridians in traditional Chinese medicine. At the same time, the mechanical properties of different regions along the meridian are analyzed by combining the distribution data of meridian sensitive points and the morphological characteristics of the body surface. Regions with more special mechanical properties are marked as mechanically sensitive regions of the meridian. The regions with more special mechanical properties are regions with greater curvature changes and higher pressure sensitivity.

4. The method for operating a robot based on three-dimensional meridian mapping for promoting Qi circulation and unblocking meridians according to claim 3, characterized in that, The specific process for synchronously generating the initial force control curve is as follows: S201. Obtain the preset Qi-clearing and meridian-unblocking operation path, and display it as a series of discrete path points in the three-dimensional meridian digital model. This indicates that k is the number of path points; By using robot inverse kinematics algorithms, path points are converted into a sequence of joint angles for the robot's end effector. , where j is the number of joints in the robot; Based on the joint angle sequence and the robot's forward kinematics model, the position and orientation of the robot's end effector in Cartesian space are calculated, forming a spatial motion trajectory. ,in, The position coordinates of the end effector. Let be the attitude angle of the end effector, and ; S202. Based on the body surface morphological feature dataset, analyze the degree of curvature of the patient's body surface at different locations, and based on the curvature value... Calculate the adjustment amount of the contact angle. and The formula is adjusted as follows: ； ； in, and For adjustment coefficients; Adjusted contact angle and Applying this to the spatial motion trajectory L, we obtain the adjusted spatial motion trajectory. ; S203. Based on the conventional force requirements of different acupoints and meridian regions in traditional Chinese medicine meridian theory, and combined with the patient's body surface morphological characteristics and body surface temperature field data, the spatial motion trajectory is determined. Generate an initial force value for each path point on the path. ; Connect the initial force values ​​in the order of the path points to form the initial force control curve. .

5. The method for operating a robot based on three-dimensional meridian mapping for promoting Qi circulation and unblocking meridians according to claim 4, characterized in that, The specific process for calculating the patient's real-time feedback index is as follows: S301. The actual contact force between the end effector and the patient's body surface is measured in real time by the force sensor built into the end effector, and the actual contact force data sequence is obtained. Where t is the sampling time point, This represents the actual contact force value at the i-th sampling time point; S302. Monitor the patient's physiological signals in real time using a physiological signal detector, including heart rate, blood pressure, and brain waves. Based on the patient's physiological signals, calculate the patient's real-time feedback index using a weighted average method. Its formula is: ； Where HR is the real-time heart rate. Baseline heart rate Maximum heart rate; BP is real-time blood pressure. Baseline blood pressure Maximum blood pressure; EEG is the real-time brainwave intensity. Baseline EEG intensity This represents the highest brainwave intensity. , , All are weighting coefficients.

6. The method for operating a robot based on three-dimensional meridian mapping for promoting Qi circulation and unblocking meridians according to claim 5, characterized in that, The specific process of obtaining the updated contact force is as follows: S401, Combine the real-time feedback index with the preset feedback threshold. The comparison is as follows: like This indicates that the patient is experiencing discomfort due to the current pressure applied during the procedure. like This indicates that the patient is relatively comfortable with the current level of pressure applied. S402. Based on the comparison results, when At that time, the adjustment amount of the contact force is calculated based on the initial force control curve and the actual contact force. The formula is adjusted as follows: ； in, and All are adjustment coefficients; Adjusted contact force As a contact force in the renewed state; when At that time, the current actual contact force remains unchanged, that is .

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