Optical motion capture based acupuncture robot control method, system and terminal

Abstract

The application relates to an acupuncture robot control method and system based on optical motion capture and a terminal, and relates to the technical field of medical robots, which comprises the following steps: controlling a preset optical motion capture subsystem to collect an expert original needle insertion track according to a preset expert marker point and a preset disease type; analyzing the expert original needle insertion track to generate a disease needle insertion scheme corresponding relationship; collecting actual diseases and patient feature point positions of a preset patient; finding out a target needle insertion scheme in the disease needle insertion scheme corresponding relationship according to the actual diseases; and controlling a preset acupuncture robot to perform needle insertion on the patient according to the patient feature point positions and the target needle insertion scheme. The application has the effects of improving treatment effect and treatment safety.

Description

Technical Field

[0001] This application relates to the technical field of medical robots, and in particular to a control method, system and terminal for acupuncture robots based on optical motion capture. Background Technology

[0002] Acupuncture robots are intelligent acupuncture diagnostic and treatment equipment used to assist or replace manual acupuncture treatment. Acupuncture robots can simulate the acupuncture operation process and techniques of professional TCM doctors to achieve full automation and intelligence of acupoint positioning, needle insertion, and needle withdrawal.

[0003] Among related technologies, the human acupoint location technology mainly uses 3D visual imaging and infrared thermal imaging technology as its core, combined with algorithms such as human contour recognition. First, it captures the patient's body surface and deep physiological characteristics through visual scanning, and then compares them with standardized meridian and acupoint charts. Through multi-position adaptive calibration technology, it realizes the function of acupoint location.

[0004] Regarding the aforementioned technologies, on the one hand, when determining the acupuncture points for a patient, if the patient's body shape does not match the body shape corresponding to the standardized meridian acupuncture point chart, the acupuncture robot's determination of the needle placement location will deviate from the actual placement location, thereby weakening the treatment effect and even endangering the patient's life. On the other hand, using only the standardized meridian acupuncture point chart to determine the needle placement location for the patient will result in unclear lifting, insertion, or twisting movements for each acupuncture point, thus making it impossible to achieve precise treatment and affecting the treatment effect. There is still room for improvement. Summary of the Invention

[0005] To improve treatment efficacy and safety, this application provides a method, system, and terminal for controlling acupuncture robots based on optical motion capture.

[0006] Firstly, this application provides a control method for an acupuncture robot based on optical motion capture, employing the following technical solution: Optical motion capture-based control methods for acupuncture robots include: The preset optical motion capture subsystem is controlled to collect the expert's original acupuncture trajectory based on preset expert markers and preset disease types. Analyze the original acupuncture trajectory of experts to generate the corresponding relationship of acupuncture plans for the disease; Collect the actual symptoms and patient characteristic point locations of the preset patients; Find the target acupuncture treatment plan in the correspondence between the actual symptoms and acupuncture treatment plans; The acupuncture robot is controlled to perform acupuncture on the patient based on the patient's characteristic points and the target acupuncture plan.

[0007] Optionally, the steps of analyzing the expert's original acupuncture trajectory to generate the correspondence between acupuncture plans and symptoms include: The original acupuncture trajectory of the expert is cleaned according to the preset anti-shake algorithm to generate the acupuncture intention trajectory; The intended trajectory of the needle insertion is substituted into the preset needle insertion angle calculation formula to generate the corresponding relationship between the needle insertion angle and the acupoint. Find the needle insertion position, the first contact position of the needle tip, the duration of lifting and thrusting, the number of cycles, and the position of the lifting and thrusting needle tip in the trajectory of the acupuncture intention. The corresponding relationships between disease type, acupuncture angle, acupoint, needle tip insertion position, first contact position of needle tip, lifting and thrusting duration, number of cycles, and lifting and thrusting position are analyzed to generate acupuncture treatment plans for diseases.

[0008] Optionally, the steps to generate acupuncture treatment plans by analyzing the correspondence between disease type, acupuncture angle, acupoint insertion position, initial contact position of acupoint, duration of insertion and withdrawal, number of cycles, and position of insertion and withdrawal needles at each acupoint include: The Z-axis coordinate components of the needle insertion positions of each acupoint are sorted to generate the maximum insertion depth; Calculate the absolute value of the difference between the maximum insertion depth and the initial contact position of the needle tip at each acupoint to generate the target insertion depth for each acupoint; Calculate the quotient between the number of reciprocating cycles for each acupoint and the duration of insertion / retraction for each acupoint to generate the insertion / retraction frequency for each acupoint; The Z-axis coordinate components of the needle tip positions at each acupoint are sorted to generate the minimum insertion depth. Calculate the absolute value of the difference between the maximum and minimum insertion depths to generate the lifting and thrusting amplitude for each acupoint; Based on the type of disease and the intended trajectory of acupuncture, the corresponding relationships of needle insertion position, insertion angle, target insertion depth, lifting and thrusting frequency, and lifting and thrusting amplitude of each acupoint are mapped one by one to generate a corresponding relationship for the acupuncture plan for the disease.

[0009] Optionally, the steps of controlling a pre-set acupuncture robot to perform acupuncture on the patient based on the location of the patient's characteristic points and the target acupuncture plan include: The patient's characteristic point locations and target acupuncture plan are analyzed to generate corrected baseline characteristic point locations and actual acupuncture plans; Real-time and historical locations of reflective markers are collected based on the actual acupuncture treatment plan; Calculate the difference between the real-time position of the reflective marker and the historical position of the reflective marker to generate the reflective marker displacement vector; Find the position of the needle tip movement in the actual acupuncture procedure; Calculate the sum between the displacement vector of the reflective marker point and the position of the needle tip to generate the actual position of the needle tip. The actual acupuncture plan is replaced based on the actual needle tip movement position to generate the final acupuncture plan; The acupuncture robot is controlled to perform acupuncture on the patient based on the corrected reference feature point positions and the final acupuncture plan.

[0010] Optionally, the steps of analyzing patient feature point locations and target needling patterns to generate corrected baseline feature point locations and actual needling patterns include: Input the preset reference anatomical feature point positions and patient feature point positions into the preset iterative nearest point algorithm to generate an angle correction matrix and a position correction vector; The product of the baseline anatomical feature point position and the angle correction matrix is ​​summed with the position correction vector to generate the corrected baseline feature point position; Collect patient body parameters for the acupuncture area based on the actual symptoms and the target acupuncture plan; The patient's body parameters in the acupuncture area are input into a preset nonlinear mapping algorithm for analysis to generate a body shape correction ratio vector. Calculate the product between the target acupuncture plan and the body shape correction ratio vector to generate the actual acupuncture plan.

[0011] Optionally, the steps of controlling the acupuncture robot to perform acupuncture on the patient based on the corrected reference feature point positions and the final acupuncture plan include: The acupuncture robot is controlled to perform acupuncture on the patient based on the corrected reference feature point position and the final acupuncture plan, and the axial resistance change curve and needle tip deformation curve are collected. Determine whether the axial resistance change curve and the needle tip deformation curve meet the preset requirements for normal needle tip change during needle application; If satisfied, continue to collect axial resistance change curves and needle tip deformation curves for iterative judgment; If not, determine whether the axial resistance change curve and the needle tip deformation curve meet the preset requirements for muscle spasm needle tip change. If the conditions are not met, the acupuncture robot is controlled to make adjustments according to the preset needle tip adjustment parameters, and the axial resistance change curve and needle tip deformation curve are collected for cyclic judgment. If satisfied, then find the real-time axial resistance, the axial resistance at the previous moment, and the real-time needle tip deformation angle in the axial resistance change curve and the needle tip deformation curve. The real-time axial resistance, the axial resistance at the previous moment, and the real-time needle tip deformation angle are analyzed to generate needle tip adjustment parameters for muscle spasm. The acupuncture robot is adjusted according to the needle tip adjustment parameters based on muscle spasms, and the axial resistance change curve and needle tip deformation curve are continuously collected for cyclic judgment.

[0012] Optionally, the steps of analyzing real-time axial resistance, previous-time axial resistance, and real-time needle tip deformation angle to generate muscle spasm needle tip adjustment parameters include: Calculate the quotient between the difference between the real-time axial resistance and the preset normal axial resistance and the preset safe axial resistance threshold to generate the needle tip retraction ratio. Calculate the product between the needle tip retraction ratio and the preset reference needle tip retraction distance to generate the actual needle tip retraction distance; Calculate the quotient between the difference between the axial resistance at the previous moment and the real-time axial resistance and the preset sampling time to generate the actual axial resistance change rate; The normal resistance change rate and the actual axial resistance change rate are normalized according to the preset normal resistance change rate to generate the needle tip retraction speed correction ratio. Calculate the product between the preset baseline needle tip retraction speed and the needle tip retraction speed correction ratio to generate the actual needle tip retraction speed; Calculate the product between the real-time needle tip deformation angle and the preset needle tip angle correction coefficient to generate the actual needle insertion angle; The actual needle tip retraction distance, actual needle tip retraction speed, and actual needle insertion angle are summarized to generate needle tip adjustment parameters for muscle spasm.

[0013] Secondly, this application provides an acupuncture robot control system based on optical motion capture, which adopts the following technical solution: The optical motion capture-based acupuncture robot control system includes: The data acquisition module is used to collect the expert's original acupuncture trajectory, actual symptoms, and patient feature point locations; A memory for storing a program for the optical motion capture-based acupuncture robot control method as described in any of the preceding claims; The processor and the program in the memory can be loaded and executed by the processor to implement the optical motion capture-based acupuncture robot control method as described in any of the above.

[0014] Thirdly, this application provides a terminal that adopts the following technical solution: A terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any of the preceding claims for the control of an acupuncture robot based on optical motion capture.

[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. By analyzing the original acupuncture trajectory of experts, the corresponding relationship of acupuncture plans for diseases can be obtained. Based on the actual disease, the target acupuncture plan can be found in the corresponding relationship of acupuncture plans for diseases. Then, the acupuncture robot can be controlled to perform acupuncture on the patient based on the patient's characteristic point location and the target acupuncture plan, thereby highly reproducing the expert's acupuncture technique and improving the safety, comfort and standardization of acupuncture treatment. 2. By cleaning the expert's original needling trajectory using a shake-reduction algorithm, the intended needling trajectory can be obtained. Substituting this trajectory into the needle insertion angle calculation formula, the corresponding relationship between the needle insertion angle and acupoints can be calculated. The needle tip insertion position, the first contact position, the duration of insertion and withdrawal, the number of cycles, and the position of the needle tip can be identified in the intended needling trajectory. This allows for analysis of the disease type, the corresponding relationship between the needle insertion angle and acupoints, the first contact position, the duration of insertion and withdrawal, the number of cycles, and the position of the needle tip. This yields the corresponding relationship of the acupuncture treatment plan for the disease, thereby eliminating the shaking at the operating end from a physical perspective, achieving high-fidelity reproduction of the expert's needling technique, and improving the standardization level of acupuncture treatment. 3. By analyzing the patient's characteristic point positions and the target acupuncture plan, the corrected baseline characteristic point positions and the actual acupuncture plan are obtained. Based on the actual acupuncture plan, the real-time and historical reflective marker positions are collected, and the difference between the real-time and historical reflective marker positions is calculated to obtain the reflective marker displacement vector. The needle tip movement position is found in the actual acupuncture plan, and the sum of the reflective marker displacement vector and the needle tip movement position is calculated to obtain the actual needle tip movement position. The actual acupuncture plan is replaced based on the actual needle tip movement position to obtain the final acupuncture plan. Thus, the acupuncture robot is controlled to perform acupuncture on the patient based on the corrected baseline characteristic point positions and the final acupuncture plan, thereby effectively solving the needle insertion deviation caused by the patient's respiratory movements and improving the safety and comfort of acupuncture treatment. Attached Figure Description

[0016] Figure 1 This is a flowchart of the acupuncture robot control method based on optical motion capture in the embodiments of this application.

[0017] Figure 2 This is a flowchart of the steps in this application embodiment to analyze the expert's original acupuncture trajectory to generate the corresponding relationship of acupuncture treatment plan for the disease.

[0018] Figure 3 This application embodiment is a flowchart of the steps to generate the corresponding relationship of acupuncture treatment plan for the disease by analyzing the disease type, the correspondence between acupuncture points and the angle of needle insertion, the needle tip insertion position of each acupuncture point, the first contact position of the needle tip of each acupuncture point, the duration of lifting and thrusting of each acupuncture point, the number of cycles of reciprocation of each acupuncture point, and the position of lifting and thrusting needle tip of each acupuncture point.

[0019] Figure 4 This is a flowchart of the steps in this application embodiment to control a preset acupuncture robot to perform acupuncture on a patient based on the patient's feature point location and target acupuncture plan.

[0020] Figure 5 This is a flowchart of the steps in this application embodiment to analyze the patient's feature point location and target acupuncture plan to generate a corrected baseline feature point location and actual acupuncture plan.

[0021] Figure 6 This is a flowchart of the steps in this application embodiment to control the acupuncture robot to perform acupuncture on the patient based on the position of the corrected reference feature point and the final acupuncture plan.

[0022] Figure 7 This is a flowchart of the steps in this application embodiment to analyze the real-time axial resistance, the axial resistance at the previous moment, and the real-time needle tip deformation angle to generate the needle tip adjustment parameters for muscle spasm. Detailed Implementation

[0023] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0024] This application discloses a control method for an acupuncture robot based on optical motion capture. This method primarily addresses the problems in acupuncture robot control, specifically disclosing an optical capture subsystem, an acupuncture robot, and a processing terminal. The processing terminal is communicatively connected to both the optical capture subsystem and the acupuncture robot to achieve data interaction and control. The processing terminal controls the optical capture subsystem to acquire the expert's original acupuncture trajectory, analyzes the expert's original acupuncture trajectory to obtain the correspondence between the acupuncture plan and the patient's condition, then determines the patient's actual condition and the location of the patient's characteristic points. Based on the actual condition, the target acupuncture plan is found in the correspondence between the acupuncture plan and the patient's characteristic points. Finally, the acupuncture robot is controlled to perform acupuncture on the patient based on the target acupuncture plan and the location of the patient's characteristic points. This aims to provide rapid and appropriate acupuncture treatment, thereby improving the safety, comfort, and standardization of acupuncture treatment.

[0025] Reference Figure 1 This application discloses a control method for an acupuncture robot based on optical motion capture, including the following steps: Step S100: Based on the preset expert marker points and preset disease type, control the preset optical motion capture subsystem to collect the expert's original acupuncture trajectory.

[0026] Among them, the expert's original acupuncture trajectory refers to the unprocessed data set of the expert's actions and timing during acupuncture, collected by the optical motion capture subsystem when the expert performs acupuncture according to the type of disease. The optical motion capture subsystem continuously captures the real-time three-dimensional position coordinates and pose angles of the expert's marker points at a high frame rate. Then, the processing terminal associates and integrates the data collected from multiple marker points according to the same time dimension, thereby reconstructing the overall motion state of the expert at each time point during the acupuncture process. Finally, the overall motion states of all time points are connected and fitted in chronological order to obtain the expert's original acupuncture trajectory.

[0027] The optical motion capture subsystem refers to a data acquisition device for acquiring spatial three-dimensional coordinate data at high frame rates. It includes at least two sets of infrared optical cameras and several highly reflective passive markers. By attaching several highly reflective passive markers to the areas to be tracked, such as the expert's arm, needles, or the patient's body surface, the markers are rigidly bound to the target. The infrared optical cameras are then deployed above the treatment area so that their detection range can completely cover the treatment area. After deployment, the infrared optical cameras are controlled to track and acquire data from the highly reflective passive markers to obtain the required data.

[0028] Expert markers refer to highly reflective passive markers worn on the expert's arm and the teaching needles used by the expert; disease type refers to the name of the disease to be treated corresponding to the acupuncture action performed by the expert during the acupuncture demonstration, which is used to provide data support for combining the acupuncture action with the disease name in the future.

[0029] Step S101: Analyze the expert's original acupuncture trajectory to generate a corresponding relationship between acupuncture treatment plans for the disease.

[0030] The correspondence between disease-specific acupuncture treatment plans refers to the relationship between disease types and expert acupuncture treatment plans. This correspondence can be obtained by analyzing the expert's original acupuncture trajectory using a processing terminal. For specific methods, please refer to [link to relevant documentation]. Figure 2 This process provides data support for patients to determine their acupuncture treatment plans based on their specific symptoms.

[0031] Step S102: Collect the actual symptoms and patient feature point locations of the preset patients.

[0032] The actual symptom refers to the name of the symptom that the patient needs to treat. It is used to send signals to the processing terminal to determine the corresponding acupuncture plan. In one embodiment, it is obtained by the doctor sending relevant signals to the processing terminal based on the patient's actual condition.

[0033] The patient feature point location refers to the coordinates of bony feature points on the patient's body. It is used to modify the corresponding acupuncture plan in the correspondence between the disease and the acupuncture plan, so that the standard coordinate system in the acupuncture process is converted into the patient's coordinate system, so as to accurately match the patient's body features during acupuncture. By attaching highly reflective passive markers to the bony locations on the patient's body, the markers are rigidly attached to the patient's skin, thus obtaining an optical recognition target as the patient's body surface feature. Then, the optical motion capture subsystem tracks the optical recognition target to obtain the patient feature point location.

[0034] A patient is someone who has a medical condition and needs acupuncture.

[0035] Step S103: Find the target acupuncture treatment plan in the correspondence between the actual symptoms and the acupuncture treatment plan.

[0036] The target acupuncture plan refers to the acupuncture plan corresponding to the patient's symptoms. The target acupuncture plan can be obtained by searching the corresponding relationship between symptoms and acupuncture plans in the processing terminal according to the actual symptoms.

[0037] Step S104: Control the preset acupuncture robot to perform acupuncture on the patient according to the patient's characteristic point location and target acupuncture plan.

[0038] After the processing terminal determines the target acupuncture plan, it controls the acupuncture robot to perform acupuncture on the patient based on the patient's characteristic point locations and the target acupuncture plan. The specific method is described in [reference needed]. Figure 4 This process improves the safety, comfort, and standardization of acupuncture treatment.

[0039] An acupuncture robot is an intelligent acupuncture diagnostic and treatment device used to assist or replace manual acupuncture treatment. The acupuncture robot can simulate the acupuncture operation process and techniques of professional TCM doctors to achieve full automation and intelligence of the entire process, such as precise acupoint positioning, needle insertion, and needle withdrawal. The acupuncture robot consists of a 6-DOF or 7-DOF collaborative robotic arm, a needle holding different sizes, and a six-dimensional force sensor. After receiving the acupuncture plan, the acupuncture robot controls the robotic arm to execute the expert trajectory according to the acupuncture plan, and monitors the needle insertion resistance in real time through the six-dimensional force sensor. After detecting that the needle has been inserted in place, the robotic arm can release the needle to operate on the next acupoint or hold the needle handle to perform continuous "lifting, inserting, and twisting" needle treatment according to the frequency recorded by the expert.

[0040] Reference Figure 2 The steps for analyzing the expert's original acupuncture trajectory to generate the corresponding relationship between acupuncture plans and symptoms include: Step S200: Clean the original acupuncture trajectory of the expert according to the preset anti-shake algorithm to generate the acupuncture intention trajectory.

[0041] Among them, the expert's original hand trajectory refers to the data set that records the expert's acupuncture actions and timing after the original acupuncture trajectory of the expert is cleaned by the anti-shake algorithm. The original acupuncture trajectory of the expert is input into the anti-shake algorithm for data cleaning through the processing terminal to obtain the acupuncture intention trajectory.

[0042] The de-jitter algorithm refers to the algorithm used to separate the original expert acupuncture trajectory into low-frequency intentional movements (lifting, twisting, and needle insertion) and high-frequency physiological tremors, and retain only the low-frequency intentional movement data in the original expert acupuncture trajectory as the acupuncture intention trajectory. By processing the terminal, the original expert acupuncture trajectory is set as Traw(t), and Traw(t) = Tintent(t) + Tremor(t), where Tintent(t) refers to low-frequency intentional movements and Tremor(t) refers to high-frequency physiological tremors. The threshold is then set to 5Hz, and the original expert acupuncture trajectory is input into a low-pass filter, thereby discarding the trajectory data in the original expert acupuncture trajectory that is higher than the threshold, so as to obtain the acupuncture intention trajectory.

[0043] Step S201: Substitute the intended trajectory of the needle insertion into the preset needle insertion angle calculation formula to generate the needle insertion angle correspondence between acupoints.

[0044] Among them, the needle insertion angle correspondence between acupoints refers to the correspondence between the needle insertion angle and the location of each acupoint. The intention trajectory of the needle application is substituted into the needle insertion angle calculation formula through the processing terminal. The needle insertion angle can be obtained by calculation, where, This refers to the needle insertion angle at each acupoint. , and This refers to the difference between the x, y, and z axis coordinates when the needle tip stops at each acupoint and the x, y, and z axis coordinates when the needle tip touches the patient's skin. Then, based on the intended needling trajectory and time sequence, the needling angle for each acupoint is calculated. The results are mapped to the time sequence and acupoint location to form a mapping table, thus obtaining the correspondence between needling angles and acupoints. The formula for calculating the needling angle essentially solves for the angle between the needle axis and the patient's body surface by using spatial displacement components. This is achieved by taking the first and last points of the needling process at each acupoint in the intended needling trajectory as the two endpoints of a spatial line segment. This is the projected length of the spatial line segment in the vertical direction, used to represent the opposite side of the right triangle containing the needle insertion angle. The projection length of the spatial line segment onto the horizontal plane is used to represent the adjacent side of the right triangle where the needle insertion angle is located. Therefore, by dividing the opposite side by the adjacent side, the sine value of the needle insertion angle can be obtained. Then, by obtaining the arcsine value of the sine value, the needle insertion angle of each acupoint can be obtained.

[0045] Step S202: Locate the needle tip insertion position, the first contact position of the needle tip, the duration of insertion and withdrawal, the number of cycles, and the position of the needle tip in the acupuncture intention trajectory.

[0046] Among them, the needle insertion position of each acupoint refers to the set of coordinates of the position reached when the needle tip penetrates the skin during the acupuncture treatment of each acupoint; the first contact position of the needle tip of each acupoint refers to the coordinates of the position of the needle tip when it contacts the skin surface during the acupuncture treatment of each acupoint. The needle insertion position and the first contact position of the needle tip of each acupoint can be obtained by searching in the acupuncture intention trajectory through the processing terminal.

[0047] The duration of insertion and withdrawal at each acupoint refers to the time required for an expert to perform insertion and withdrawal at each acupoint. By processing the terminal, the time period in which the z-axis component of the position coordinates corresponding to each acupoint in the acupuncture intention trajectory shows continuous and periodic up and down fluctuations is selected, and the start and end times of this time period are found. Then, the duration of insertion and withdrawal at each acupoint is obtained by subtracting the start time from the end time.

[0048] The number of cycles for each acupoint refers to the number of times the needle tip moves back and forth during the insertion and withdrawal process of the acupuncturist at each acupoint. The processing terminal finds the number of peaks and troughs corresponding to each acupoint in the intention trajectory of the acupuncture, compares the number of peaks and troughs, and determines the number of cycles for each acupoint as the smallest value.

[0049] The position of the needle tip at each acupoint refers to the set of coordinates of the needle tip at each acupoint during the lifting and thrusting process of the acupuncturist. By processing the terminal to find the position of the needle tip at each acupoint during the lifting and thrusting process in the acupuncture intention trajectory, and summarizing the results, the position of the needle tip at each acupoint can be obtained.

[0050] Step S203: Analyze the disease type, the correspondence between the acupuncture point and the needle insertion angle, the needle tip insertion position of each acupuncture point, the first contact position of the needle tip of each acupuncture point, the duration of lifting and thrusting at each acupuncture point, the number of cycles of reciprocating at each acupuncture point, and the position of the lifting and thrusting needle tip at each acupuncture point to generate the corresponding relationship of the acupuncture treatment plan for the disease.

[0051] The correspondence between the acupuncture treatment plans in this step and those in step S101 above is consistent. By analyzing the disease type, acupuncture angle, acupoint correspondence, needle tip insertion position, initial contact position of the needle tip, duration of insertion and withdrawal, number of cycles, and needle tip position, the correspondence between the acupuncture treatment plans can be obtained. The specific method is described in [reference needed]. Figure 3 This process allows for the recording of the expert's needle placement trajectory and the filtering out of physiological vibrations, achieving high-fidelity reproduction of the expert's techniques and thus improving the safety, comfort, and standardization of acupuncture treatment.

[0052] Reference Figure 3 The steps for generating acupuncture treatment plans by analyzing the correspondence between disease type, acupuncture angle, acupoint insertion position, initial contact position of acupoint, duration of insertion and withdrawal, number of cycles, and position of insertion and withdrawal needles at each acupoint include: Step S300: Sort the Z-axis coordinate components of the needle insertion positions of each acupoint to generate the maximum insertion depth.

[0053] The maximum insertion depth refers to the absolute value of the Z-axis coordinate component when the needle tip reaches the maximum position during acupuncture at each acupoint. The maximum insertion depth is obtained by sorting the absolute values ​​of the Z-axis coordinate components of the needle tip insertion position at each acupoint from largest to smallest through the processing terminal and extracting the data with the largest value.

[0054] Step S301: Calculate the absolute value of the difference between the maximum insertion depth and the initial contact position of the needle tip at each acupoint to generate the target insertion depth for each acupoint.

[0055] The target insertion depth of each acupoint refers to the maximum depth of insertion into the skin corresponding to each acupoint, based on the first contact position of each acupoint. The target insertion depth of each acupoint is obtained by subtracting the Z-axis coordinate component of the first contact position of each acupoint from the maximum insertion depth through the processing terminal, and then taking the absolute value of the difference.

[0056] Step S302: Calculate the quotient between the number of reciprocating cycles for each acupoint and the duration of insertion / retraction for each acupoint to generate the insertion / retraction frequency for each acupoint.

[0057] The insertion and withdrawal frequency of each acupoint refers to the number of times the needle tip moves up and down repeatedly per unit time when the expert performs the insertion and withdrawal operation on each acupoint. The insertion and withdrawal frequency of each acupoint can be obtained by dividing the number of reciprocating cycles of each acupoint by the insertion and withdrawal time of each acupoint through the processing terminal.

[0058] Step S303: Sort the Z-axis coordinate components of the needle tip positions at each acupoint to generate the minimum insertion depth.

[0059] The minimum insertion depth refers to the absolute value of the Z-axis coordinate component when the needle tip reaches the smallest position during the lifting and inserting operation of each acupoint. The absolute values ​​of the Z-axis coordinate components of the needle tip positions of each acupoint are sorted in ascending order by the processing terminal, and the data with the smallest absolute value is extracted to obtain the minimum insertion depth.

[0060] Step S304: Calculate the absolute value of the difference between the maximum and minimum insertion depths to generate the lifting and thrusting amplitude for each acupoint.

[0061] The lifting and insertion amplitude of each acupoint refers to the maximum displacement difference of the needle tip when the expert performs lifting and insertion operations on each acupoint. The lifting and insertion amplitude of each acupoint can be obtained by subtracting the minimum insertion depth from the maximum insertion depth through the processing terminal and then obtaining the absolute value of the difference.

[0062] Step S305: Based on the disease type and the intended trajectory of acupuncture, correspond the needle tip insertion position, insertion angle, acupoint, target insertion depth, lifting and thrusting frequency, and lifting and thrusting amplitude of each acupoint to generate a corresponding relationship for the acupuncture plan for the disease.

[0063] In this step, the correspondence between the acupuncture treatment plans for the symptoms is consistent with that in step S101 above. After the expert demonstrates acupuncture for all symptom types through the processing terminal and processes the data for each acupoint required for each symptom according to the above steps, the corresponding acupuncture intention trajectory of each acupoint is mapped to form a mapping table based on the symptom type, which corresponds to the needle tip insertion position, needle insertion angle, acupoint insertion depth, acupoint lifting and thrusting frequency, and acupoint lifting and thrusting amplitude. Thus, the correspondence between the acupuncture treatment plans for the symptoms can be obtained.

[0064] Reference Figure 4 The steps for controlling a pre-set acupuncture robot to perform acupuncture on a patient based on the patient's characteristic point locations and target acupuncture plan include: Step S400: Analyze the patient's feature point location and target acupuncture plan to generate a corrected baseline feature point location and actual acupuncture plan.

[0065] The "corrected reference feature point position" refers to transforming the feature points referenced during expert acupuncture demonstrations into a set of feature point coordinates with the patient's coordinate system as the reference coordinate system through rigid body transformation. This ensures that the acupuncture robot aligns the acupuncture plan with the patient's body during acupuncture. The "actual acupuncture plan" refers to the corrected acupuncture plan corresponding to the patient's condition. By analyzing the patient's feature point positions and the target acupuncture plan through the processing terminal, the corrected reference feature point positions and the actual acupuncture plan can be obtained. Specific methods are described in [reference needed]. Figure 5 These steps improve the safety and accuracy of the acupuncture process.

[0066] Step S401: Collect the real-time and historical locations of reflective markers according to the actual needle application plan.

[0067] The real-time reflective marker position refers to the set of position coordinates of the bony feature points of the acupoints to be acupunctured by the patient at the current moment. The processing terminal determines the body area to be acupunctured by the patient based on the needle insertion position of each acupoint in the actual acupuncture plan. The optical motion capture subsystem is controlled to collect the position coordinates of the high reflective passive markers in this area at a high frame rate and summarize them to obtain the real-time reflective marker position.

[0068] Historical reflective marker locations refer to the set of coordinates of highly reflective passive markers in the area where the acupoints for acupuncture are located, at adjacent times before the current time. The historical reflective marker locations can be obtained by the processing terminal searching through historical data based on the current time.

[0069] Historical data refers to the data set that corresponds to the location of all highly reflective passive markers on the patient's body and the time of collection.

[0070] Step S402: Calculate the difference between the real-time reflective marker position and the historical reflective marker position to generate the reflective marker displacement vector.

[0071] Among them, the reflective marker displacement vector refers to the data set of the displacement change of highly reflective passive markers in the area where the acupoints to be acupunctured are located on the patient during the most recent sampling time. The reflective marker displacement vector can be obtained by subtracting the historical reflective marker positions from the real-time reflective marker positions through the processing terminal.

[0072] Step S403: Locate the needle tip movement position in the actual acupuncture procedure.

[0073] Among them, the needle tip movement position refers to the movement position of the needle tip during the acupuncture process after the acupuncture plan has been modified according to the patient's physical characteristics for the first time. The needle tip movement position can be obtained by searching in the actual acupuncture plan through the processing terminal.

[0074] Step S404: Calculate the sum between the displacement vector of the reflective marker point and the position of the needle tip movement to generate the actual position of the needle tip movement.

[0075] The actual needle tip movement position refers to the set of needle tip movement position coordinates that need to be compensated for by breathing, due to the patient's breathing amplitude and muscle contraction causing the position of the bony feature point with the reflective passive marker to change in real time within the acupuncture area. By processing the terminal, the displacement vector of the reflective marker point is added to the corresponding needle tip movement position and then summed to obtain the actual needle tip movement position. This allows for real-time compensation for the micro-movements caused by the patient's breathing, so that from the observer's perspective, the robotic arm moves up and down with the patient's breathing, but from the patient's skin perspective, the needle tip is absolutely stable and without shaking.

[0076] Step S405: Replace the actual acupuncture plan with the actual needle tip movement position to generate the final acupuncture plan.

[0077] The final acupuncture plan refers to the acupuncture plan after body shape and breathing corrections to the target acupuncture plan. By replacing the needle tip movement position in the actual acupuncture plan with the actual needle tip movement position through the processing terminal, the final acupuncture plan can be obtained, thereby effectively solving the needle insertion deviation caused by the patient's breathing movement and ensuring that the acupuncture plan is aligned with the patient's body.

[0078] Step S406: Control the acupuncture robot to perform acupuncture on the patient based on the corrected reference feature point position and the final acupuncture plan.

[0079] In this process, after the processing terminal determines the position of the corrected reference feature points and the final acupuncture plan, the processing terminal aligns the acupuncture robot with the patient's body according to the corrected reference feature point positions. Then, it controls the acupuncture robot to perform acupuncture on the patient according to the final acupuncture plan. The specific method is described in [reference needed]. Figure 6 This process allows the acupuncture robot to perform millisecond-level emergency stops and gentle retraction when muscle spasms occur during acupuncture, thereby improving the safety of the acupuncture robot during the acupuncture process.

[0080] Reference Figure 5 The steps for analyzing patient feature point locations and target acupuncture plans to generate corrected baseline feature point locations and actual acupuncture plans include: Step S500: Input the preset reference anatomical feature point positions and patient feature point positions into the preset iterative nearest point algorithm to generate an angle correction matrix and a position correction vector.

[0081] Among them, the angle correction matrix is ​​a correction matrix used to correct the angle of the feature points referenced during the expert acupuncture demonstration by rigid body transformation into feature points with the patient's coordinate system as the reference coordinate system; the position correction vector is a correction vector used to correct the position of the feature points referenced during the expert acupuncture demonstration by rigid body transformation into feature points with the patient's coordinate system as the reference coordinate system. By inputting the reference anatomical feature point position and the patient feature point position into the iterative nearest point algorithm through the processing terminal, the angle correction matrix and the position correction vector can be obtained.

[0082] The reference anatomical feature point location refers to the set of feature point coordinates used as a reference when an expert performs acupuncture demonstration, with the coordinate system of the demonstration object as the reference coordinate system. In one embodiment, the reference anatomical feature point location can be obtained by searching historical data through a processing terminal.

[0083] The Iterative Closest Point Algorithm (ILAB) is an algorithm for 3D point cloud registration. This algorithm iteratively optimizes the coordinates from the expert demonstration coordinate system to the patient's corresponding coordinate system, resulting in higher accuracy for the acupuncture robot in determining acupuncture points during patient acupuncture. The ILAB consists of a data layer, a correspondence layer, an optimization layer, and a convergence layer. First, the reference anatomical feature point positions and the patient's feature point positions are input into the data layer. Then, the correspondence layer finds the nearest coordinates for each position in the reference anatomical feature point positions within the patient's feature point positions to establish an initial point correspondence. The algorithm then uses the least squares method to solve for the angle correction matrix and position correction vector based on the current correspondence in the optimization layer. The positions of the reference anatomical feature points are updated according to the obtained angle correction matrix and position correction vector. The algorithm then returns to the corresponding layer to rematch the nearest point to update the correspondence. After updating the correspondence, the algorithm returns to the optimization layer to solve for the data iteratively, thereby minimizing the mean square error of all corresponding points. Finally, the algorithm checks whether the calculated mean square error is less than a set threshold in the convergence layer. If it is less than the threshold, the algorithm terminates and outputs the angle correction matrix and position correction vector obtained at this time as the output values.

[0084] Step S501: Calculate the sum between the product of the reference anatomical feature point position and the angle correction matrix and the position correction vector to generate the corrected reference feature point position.

[0085] In this step, the position of the corrected reference feature point is consistent with the position of the corrected reference feature point in step S400 above. The corrected reference feature point position is obtained by multiplying the reference anatomical feature point position and the angle correction matrix by the processing terminal, and then adding the product to the position correction vector.

[0086] Step S502: Collect body parameters of the patient's acupuncture area according to the actual symptoms and target acupuncture plan.

[0087] Among them, the patient's acupuncture area body parameters refer to a set of parameters that reflect the body characteristics of the body area to be acupunctured. These parameters reflect the body morphology of the patient's acupuncture area, including the body surface contour data, bone protrusion coordinates, and curvature features of the body area to be acupunctured. The processing terminal determines the patient's acupuncture area based on the target acupuncture plan and the actual symptoms. Based on the determined area, the optical motion capture subsystem scans the patient's body surface features to obtain three-dimensional point cloud data of the area. The processing terminal then analyzes the three-dimensional point cloud data to obtain the patient's acupuncture area body parameters. In one embodiment, the processing terminal inputs the three-dimensional point cloud data into the acupuncture area body parameter extraction algorithm. The preprocessing layer denoises, smooths, and registers the three-dimensional point cloud data to output three-dimensional point cloud data with the same coordinate system. The preprocessed three-dimensional point cloud data is then input into the feature extraction layer to extract bone protrusion coordinates, body surface contour data, and curvature features. Finally, the output layer integrates the bone protrusion coordinates, body surface contour data, and curvature features to obtain the patient's acupuncture area body parameters.

[0088] Step S503: Input the patient's body parameters in the acupuncture area into a preset nonlinear mapping algorithm for analysis to generate a body shape correction ratio vector.

[0089] Among them, the body shape correction ratio vector refers to the correction coefficient used to reflect the difference in body characteristics between the model used in the expert acupuncture demonstration and the patient, and to correct the target acupuncture plan so that the corrected acupuncture plan can conform to the patient's body characteristics. By inputting the body parameters of the patient's acupuncture area into the nonlinear mapping algorithm for analysis through the processing terminal, the body shape correction ratio can be obtained.

[0090] The nonlinear mapping algorithm refers to an algorithm used to transform the body parameters of the baseline acupuncture area and the patient's acupuncture area into a computable multivariate correction relationship. It consists of a data input layer, a mapping layer, and an output layer. The data input layer receives both the baseline and patient acupuncture area body parameters via a processing terminal. Then, the mapping layer's geometric transformation layer, feature fitting layer, and deep learning fitting layer transform and fit the baseline acupuncture area body parameters based on the patient's acupuncture area body parameters, making the baseline acupuncture area body parameters approximate the patient's acupuncture area body parameters, thus outputting a set of multivariate correction coefficients. Finally, the output layer standardizes and vectorizes the parameters output by the mapping layer to obtain a body shape correction ratio vector. The baseline acupuncture area body parameters refer to the body feature parameters of the model corresponding to the acupuncture area when an expert demonstrates acupuncture for an actual condition; these parameters are obtained by searching historical data through the processing terminal.

[0091] Step S504: Calculate the product between the target acupuncture plan and the body shape correction ratio vector to generate the actual acupuncture plan.

[0092] In this step, the actual acupuncture plan is the same as that in step S400 above. The actual acupuncture plan is obtained by multiplying the target acupuncture plan with the body shape correction ratio vector dimension by dimension through the processing terminal and then integrating the obtained data into a vectorized form.

[0093] Reference Figure 6 The steps for controlling the acupuncture robot to perform acupuncture on the patient based on the corrected reference feature point positions and the final acupuncture plan include: Step S600: Control the acupuncture robot to perform acupuncture on the patient according to the corrected reference feature point position and the final acupuncture plan, and collect the axial resistance change curve and the needle tip deformation curve.

[0094] The axial resistance variation curve refers to the curve of the resistance experienced by the needle tip during acupuncture as a function of time. The force sensor integrated on the end-effector of the acupuncture robot monitors the resistance in real time during the acupuncture process. After the resistance experienced by the needle tip is transmitted to the needle-holding mechanism through the needle body, the force sensor captures the resistance data. The collected resistance data is used as the vertical axis coordinate and the corresponding acquisition time is used as the horizontal axis coordinate to obtain the resistance-time coordinate set. The resistance-time coordinate set is then marked in a two-dimensional rectangular coordinate system and all coordinates are connected in chronological order to obtain the axial resistance variation curve.

[0095] The needle tip deformation curve refers to the curve showing the change of needle tip deformation over time during acupuncture. Data is collected during acupuncture by an optical fiber sensor integrated into the end-effector of the acupuncture robot. The micro-deformation of the needle tip is rigidly transmitted to the contact area between the needle holder and the needle tail through the needle body. The optical fiber sensor detects the micro-deformation at this area, indirectly obtaining the needle tip deformation data. The collected needle tip deformation data is then used as the vertical axis and the corresponding acquisition time is used as the horizontal axis to obtain the needle tip deformation time coordinate set. The needle tip deformation time coordinate set is then marked in a two-dimensional rectangular coordinate system and all coordinates are connected in chronological order to obtain the needle tip deformation curve.

[0096] Step S601: Determine whether the axial resistance change curve and the needle tip deformation curve meet the preset normal needle tip change requirements.

[0097] Among them, the normal needle tip change requirement means that during the needle application process, the axial resistance change curve is uniform in shape, the resistance change is gradual without abrupt changes, and the needle tip deformation curve is a straight line that approaches y=0.

[0098] By processing the terminal to determine whether the axial resistance change curve and the needle tip deformation curve meet the requirements for normal needle tip change during acupuncture, it can be determined whether the acupuncture robot touches the patient's bony structure or encounters muscle spasms during the acupuncture process.

[0099] Step S6011: If satisfied, continue to collect the axial resistance change curve and the needle tip deformation curve for cyclic judgment.

[0100] If the processing terminal determines that the axial resistance change curve and the needle tip deformation curve meet the requirements for normal needle tip change during acupuncture, it means that the patient's bony structure was not touched or the patient did not experience muscle spasm during the acupuncture process. Therefore, the processing terminal continues to collect the axial resistance change curve and the needle tip deformation curve for cyclical judgment, thereby realizing real-time monitoring during the acupuncture robot acupuncture process and improving the safety of the acupuncture process.

[0101] Step S6012: If not satisfied, determine whether the axial resistance change curve and the needle tip deformation curve meet the preset requirements for muscle spasm needle tip change.

[0102] If the processing terminal determines that the axial resistance change curve and the needle tip deformation curve do not meet the requirements for normal needle tip change during acupuncture, it indicates that the patient's bony structure may have been touched or the patient may have experienced muscle spasm during the acupuncture process. Therefore, the processing terminal determines whether the axial resistance change curve and the needle tip deformation curve meet the requirements for needle tip change during muscle spasm, thereby determining whether the patient's bony structure has been touched or the patient may have experienced muscle spasm during the acupuncture process.

[0103] The requirement for needle tip variation in muscle spasm refers to the uneven shape of the axial resistance change curve during acupuncture, frequent abrupt changes in resistance, and a change in needle tip deformation curve with an amplitude greater than 0.5°.

[0104] Step S60121: If not satisfied, the acupuncture robot is controlled to make adjustments according to the preset needle tip adjustment parameters, and the axial resistance change curve and needle tip deformation curve are collected for cyclic judgment.

[0105] If the processing terminal determines that the axial resistance change curve and the needle tip deformation curve do not meet the requirements for needle tip change during muscle spasm, it indicates that the patient's bony structure has been touched during the acupuncture process. Therefore, the processing terminal controls the acupuncture robot to stop, and controls the acupuncture robot to perform a slight retraction according to the needle tip adjustment parameters, and adjusts the needle insertion angle. After the adjustment is completed, the acupuncture robot is controlled to re-apply the needle.

[0106] Needle tip adjustment parameters refer to the set of parameters that need to be adjusted when the needle tip of the acupuncture robot touches a bony structure during the acupuncture robot's needle application to the patient. In one embodiment, the needle tip adjustment parameters include the needle tip retraction distance and the needle tip insertion angle. The needle tip retraction distance is 0.6 mm and the needle tip insertion angle is 1°.

[0107] Step S60122: If satisfied, find the real-time axial resistance, the axial resistance at the previous moment, and the real-time needle tip deformation angle in the axial resistance change curve and the needle tip deformation curve.

[0108] If the processing terminal determines that the axial resistance change curve and the needle tip deformation curve meet the requirements for needle tip changes during muscle spasm, it indicates that muscle spasm has occurred in the patient during acupuncture. Therefore, by determining the real-time axial resistance, the axial resistance at the previous moment, and the real-time needle tip deformation angle through the processing terminal, data support can be provided for subsequent adjustments to the acupuncture robot when muscle spasm occurs in the patient.

[0109] Real-time axial resistance refers to the resistance experienced by the needle tip at the current moment; previous axial resistance refers to the resistance experienced by the needle tip at the moment before the current moment. By searching the axial resistance change curve at the current moment through the processing terminal, the real-time axial resistance and the previous axial resistance can be obtained.

[0110] The real-time needle tip deformation angle refers to the angle of deformation of the needle tip at the current moment. The real-time needle tip deformation angle can be obtained by searching the needle tip deformation curve at the current moment through the processing terminal.

[0111] Step S601221: Analyze the real-time axial resistance, the axial resistance at the previous moment, and the real-time needle tip deformation angle to generate muscle spasm needle tip adjustment parameters.

[0112] Among them, the muscle spasm needle tip adjustment parameters refer to the adjustment parameters that the acupuncture robot needs to make when the patient experiences muscle spasms. These parameters are obtained by analyzing the real-time axial resistance, the axial resistance at the previous moment, and the real-time needle tip deformation angle through the processing terminal. The specific method is described in [reference needed]. Figure 7 These steps provide data support for subsequent adjustments to the acupuncture robot to improve the safety of the acupuncture process.

[0113] Step S601222: Adjust the acupuncture robot according to the needle tip adjustment parameters based on muscle spasm, and continue to collect the axial resistance change curve and needle tip deformation curve for cyclic judgment.

[0114] In this process, after the processing terminal determines the adjustment parameters for the needle tip in cases of muscle spasm, the processing terminal controls the acupuncture robot to make adjustments based on these parameters. It also continues to collect axial resistance change curves and needle tip deformation curves for cyclical judgment, thereby achieving real-time monitoring of the acupuncture process and improving the safety and patient comfort of the acupuncture process.

[0115] Reference Figure 7 The steps for analyzing real-time axial resistance, previous-time axial resistance, and real-time needle tip deformation angle to generate muscle spasm needle tip adjustment parameters include: Step S700: Calculate the quotient between the difference between the real-time axial resistance and the preset normal axial resistance and the preset safe axial resistance threshold to generate the needle tip retraction ratio.

[0116] The needle tip retraction ratio refers to the correction parameter used to adjust the needle tip retraction distance set by the system to match the actual situation of the patient. The needle tip retraction ratio is obtained by subtracting the normal axial resistance from the real-time axial resistance by the processing terminal, and then dividing the difference by the safe axial resistance threshold.

[0117] Normal axial resistance refers to the resistance experienced by the needle tip when the acupuncture robot is performing acupuncture on the patient normally, without touching the patient's bony structure or causing muscle spasms. In one embodiment, normal axial resistance is 3-5 N.

[0118] The safe axial resistance threshold refers to the resistance range between normal axial resistance and axial resistance when muscle spasm occurs. In one embodiment, the safe axial resistance threshold is 5-7N.

[0119] Step S701: Calculate the product between the needle tip retraction ratio and the preset reference needle tip retraction distance to generate the actual needle tip retraction distance.

[0120] The actual needle tip retraction distance refers to the distance the needle tip needs to retract when the patient experiences muscle spasm, in order to ensure the safety of the acupuncture process. The actual needle tip retraction distance can be obtained by multiplying the needle tip retraction ratio by the reference needle tip retraction distance through the processing terminal.

[0121] The reference needle tip retraction distance refers to the distance that the needle tip can retract when the acupuncture robot encounters a patient's muscle spasm, which is preset in the acupuncture robot. In one embodiment, the reference needle tip retraction distance is 3mm.

[0122] Step S702: Calculate the quotient between the difference between the axial resistance at the previous moment and the real-time axial resistance and the preset sampling time to generate the actual axial resistance change rate.

[0123] The actual axial resistance change rate refers to the change in axial resistance experienced by the needle tip within a sampling time. The actual axial resistance change rate is obtained by subtracting the axial resistance at the previous moment from the real-time axial resistance through the processing terminal, and then dividing the difference by the sampling time.

[0124] The sampling time is the time interval between two consecutive measurements of axial resistance during the acupuncture robot's needle application process. In one embodiment, it is set by the operator before the acupuncture robot begins needle application, based on the actual situation.

[0125] Step S703: Normalize the normal resistance change rate and the actual axial resistance change rate according to the preset normal resistance change rate to generate the needle tip retraction speed correction ratio.

[0126] Among them, the needle tip retraction speed correction ratio refers to the correction coefficient of the retraction speed of the acupuncture robot when the patient experiences muscle spasm. The needle tip retraction speed correction ratio is obtained by subtracting the actual axial resistance change rate from the normal resistance change rate through the processing terminal, and then dividing the difference by the normal resistance change rate.

[0127] The normal resistance change rate refers to the change in resistance experienced by the needle tip over a sampling time when the acupuncture robot is performing acupuncture on the patient normally, without touching the patient's bony structure or causing muscle spasms. In one embodiment, the normal resistance change rate is 10 N / ms.

[0128] Step S704: Calculate the product between the preset reference needle tip retraction speed and the needle tip retraction speed correction ratio to generate the actual needle tip retraction speed.

[0129] The actual needle tip retraction speed is the actual retraction speed of the needle tip controlled by the acupuncture robot. The actual needle tip retraction speed can be obtained by multiplying the reference needle tip retraction speed by the needle tip retraction speed correction ratio through the processing terminal.

[0130] The reference needle tip retraction speed refers to the speed at which the needle tip retracts when the acupuncture robot encounters a patient's muscle spasm, which is preset in the acupuncture robot. In one embodiment, the reference needle tip retraction speed is 2 mm / s.

[0131] Step S705: Calculate the product between the real-time needle tip deformation angle and the preset needle tip angle correction coefficient to generate the actual needle insertion angle.

[0132] The actual needle insertion angle is the angle at which the needle tip needs to be adjusted when the acupuncture robot encounters a patient's muscle spasm. The actual needle insertion angle can be obtained by multiplying the real-time needle tip deformation angle with the needle tip angle correction coefficient through the processing terminal.

[0133] The needle tip angle correction factor refers to the adjustment parameter of the needle tip angle that needs to be adjusted when encountering a patient's muscle spasm. In one embodiment, the needle tip angle correction factor is 0.7.

[0134] Step S706: Summarize the actual needle tip retraction distance, actual needle tip retraction speed, and actual needle insertion angle to generate muscle spasm needle tip adjustment parameters.

[0135] In this step, the muscle spasm needle tip adjustment parameters are the same as those in step S601221 above. The muscle spasm needle tip adjustment parameters can be obtained by summarizing the actual needle tip retraction distance, actual needle tip retraction speed and actual needle insertion angle through the processing terminal.

[0136] Based on the same inventive concept, embodiments of this application provide an acupuncture robot control system based on optical motion capture, including: The data acquisition module is used to collect the expert's original needle application trajectory, actual symptoms, patient feature point locations, real-time reflective marker locations, historical reflective marker locations, patient body parameters in the needle application area, axial resistance change curves, and needle tip deformation curves. Memory for storing programs for the control method of acupuncture robots based on optical motion capture; The processor and memory can load and execute programs to implement an acupuncture robot control method based on optical motion capture.

[0137] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0138] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a control method for an acupuncture robot based on optical motion capture.

[0139] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0140] Based on the same inventive concept, embodiments of this application provide a terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to control an acupuncture robot based on optical motion capture.

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0142] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A control method for an acupuncture robot based on optical motion capture, characterized in that, include: The preset optical motion capture subsystem is controlled to collect the expert's original acupuncture trajectory based on preset expert markers and preset disease types. Analyze the original acupuncture trajectory of experts to generate the corresponding relationship of acupuncture plans for the disease; Collect the actual symptoms and patient characteristic point locations of the preset patients; Find the target acupuncture treatment plan in the correspondence between the actual symptoms and acupuncture treatment plans; The acupuncture robot is controlled to perform acupuncture on the patient based on the patient's characteristic points and the target acupuncture plan. The steps for analyzing the expert's original acupuncture trajectory to generate the corresponding relationship between acupuncture plans and symptoms include: The original acupuncture trajectory of the expert is cleaned according to the preset anti-shake algorithm to generate the acupuncture intention trajectory; The intended trajectory of the needle insertion is substituted into the preset needle insertion angle calculation formula to generate the corresponding relationship between the needle insertion angle and the acupoint. Find the needle insertion position, the first contact position of the needle tip, the duration of lifting and thrusting, the number of cycles, and the position of the lifting and thrusting needle tip in the trajectory of the acupuncture intention. The corresponding relationships between disease type, acupuncture angle, acupoint, needle tip insertion position, first contact position of needle tip, lifting and thrusting duration, number of cycles, and lifting and thrusting position are analyzed to generate acupuncture treatment plans for diseases.

2. The acupuncture robot control method based on optical motion capture according to claim 1, characterized in that, The steps to generate acupuncture treatment plans for diseases by analyzing the correspondence between disease type, acupuncture angle, acupoint insertion position, initial contact position of acupoint, duration of lifting and thrusting, number of cycles, and lifting and thrusting positions of acupoints include: The Z-axis coordinate components of the needle insertion positions of each acupoint are sorted to generate the maximum insertion depth; Calculate the absolute value of the difference between the maximum insertion depth and the initial contact position of the needle tip at each acupoint to generate the target insertion depth for each acupoint; Calculate the quotient between the number of reciprocating cycles for each acupoint and the duration of insertion / retraction for each acupoint to generate the insertion / retraction frequency for each acupoint; The Z-axis coordinate components of the needle tip positions at each acupoint are sorted to generate the minimum insertion depth. Calculate the absolute value of the difference between the maximum and minimum insertion depths to generate the lifting and thrusting amplitude for each acupoint; Based on the type of disease and the intended trajectory of acupuncture, the corresponding relationships of needle insertion position, insertion angle, target insertion depth, lifting and thrusting frequency, and lifting and thrusting amplitude of each acupoint are mapped one by one to generate a corresponding relationship for the acupuncture plan for the disease.

3. The acupuncture robot control method based on optical motion capture according to claim 1, characterized in that, The steps involved in controlling a pre-set acupuncture robot to perform acupuncture on a patient based on the patient's characteristic point locations and target acupuncture plan include: The patient's characteristic point locations and target acupuncture plan are analyzed to generate corrected baseline characteristic point locations and actual acupuncture plans; Real-time and historical locations of reflective markers are collected based on the actual acupuncture treatment plan; Calculate the difference between the real-time position of the reflective marker and the historical position of the reflective marker to generate the reflective marker displacement vector; Find the position of the needle tip movement in the actual acupuncture procedure; Calculate the sum between the displacement vector of the reflective marker point and the position of the needle tip to generate the actual position of the needle tip. The actual acupuncture plan is replaced based on the actual needle tip movement position to generate the final acupuncture plan; The acupuncture robot is controlled to perform acupuncture on the patient based on the corrected reference feature point positions and the final acupuncture plan.

4. The acupuncture robot control method based on optical motion capture according to claim 3, characterized in that, The steps for analyzing patient feature point locations and target needling plans to generate corrected baseline feature point locations and actual needling plans include: Input the preset reference anatomical feature point positions and patient feature point positions into the preset iterative nearest point algorithm to generate an angle correction matrix and a position correction vector; The product of the baseline anatomical feature point position and the angle correction matrix is ​​summed with the position correction vector to generate the corrected baseline feature point position; Collect patient body parameters for the acupuncture area based on the actual symptoms and the target acupuncture plan; The patient's body parameters in the acupuncture area are input into a preset nonlinear mapping algorithm for analysis to generate a body shape correction ratio vector. Calculate the product between the target acupuncture plan and the body shape correction ratio vector to generate the actual acupuncture plan.

5. The acupuncture robot control method based on optical motion capture according to claim 3, characterized in that, The steps involved in controlling the acupuncture robot to perform acupuncture on the patient based on the corrected reference feature point positions and the final acupuncture plan include: The acupuncture robot is controlled to perform acupuncture on the patient based on the corrected reference feature point position and the final acupuncture plan, and the axial resistance change curve and needle tip deformation curve are collected. Determine whether the axial resistance change curve and the needle tip deformation curve meet the preset requirements for normal needle tip change during needle application; If satisfied, continue to collect axial resistance change curves and needle tip deformation curves for iterative judgment; If not, determine whether the axial resistance change curve and the needle tip deformation curve meet the preset requirements for muscle spasm needle tip change. If the conditions are not met, the acupuncture robot is controlled to make adjustments according to the preset needle tip adjustment parameters, and the axial resistance change curve and needle tip deformation curve are collected for cyclic judgment. If satisfied, then find the real-time axial resistance, the axial resistance at the previous moment, and the real-time needle tip deformation angle in the axial resistance change curve and the needle tip deformation curve. The real-time axial resistance, the axial resistance at the previous moment, and the real-time needle tip deformation angle are analyzed to generate needle tip adjustment parameters for muscle spasm. The acupuncture robot is adjusted according to the needle tip adjustment parameters based on muscle spasms, and the axial resistance change curve and needle tip deformation curve are continuously collected for cyclic judgment.

6. The acupuncture robot control method based on optical motion capture according to claim 5, characterized in that, The steps for analyzing real-time axial resistance, previous-time axial resistance, and real-time needle tip deformation angle to generate muscle spasm needle tip adjustment parameters include: Calculate the quotient between the difference between the real-time axial resistance and the preset normal axial resistance and the preset safe axial resistance threshold to generate the needle tip retraction ratio. Calculate the product between the needle tip retraction ratio and the preset reference needle tip retraction distance to generate the actual needle tip retraction distance; Calculate the quotient between the difference between the axial resistance at the previous moment and the real-time axial resistance and the preset sampling time to generate the actual axial resistance change rate; The normal resistance change rate and the actual axial resistance change rate are normalized according to the preset normal resistance change rate to generate the needle tip retraction speed correction ratio. Calculate the product between the preset baseline needle tip retraction speed and the needle tip retraction speed correction ratio to generate the actual needle tip retraction speed; Calculate the product between the real-time needle tip deformation angle and the preset needle tip angle correction coefficient to generate the actual needle insertion angle; The actual needle tip retraction distance, actual needle tip retraction speed, and actual needle insertion angle are summarized to generate needle tip adjustment parameters for muscle spasm.

7. An acupuncture robot control system based on optical motion capture, characterized in that, include: The data acquisition module is used to collect the expert's original acupuncture trajectory, actual symptoms, and patient feature point locations; A memory for storing the program of the acupuncture robot control method based on optical motion capture as described in any one of claims 1 to 6; The processor and the program in the memory can be loaded and executed by the processor to implement the acupuncture robot control method based on optical motion capture as described in any one of claims 1 to 6.

8. A terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 6, which is an optical motion capture-based acupuncture robot control method.

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