1400 results about "Acupuncture point" patented technology

The invention relates to the field of medical robots, and discloses a meridian point foundation construction method for precise positioning of an acupuncture robot, which comprises the following steps: scanning skin texture, muscle contour and skeleton mark features of a human body surface, and establishing a human body surface feature digital model; the method comprises the following steps: acquiring temperature distribution data of a human body surface, human body surface feature digital model data and elastic modulus data, performing weight mapping feature level fusion to generate an enhanced acupuncture point feature map, and establishing an acupuncture point-meridian association relationship matrix based on the enhanced acupuncture point feature map; compared with the prior art, the method has the advantages that three-dimensional body surface scanning, infrared thermal imaging and elastic modulus data are integrated through the multi-modal data fusion technology to generate the enhanced acupoint feature map, the dynamic meridian-acupoint twinborn model is constructed in combination with double-ellipse section fitting and implicit curved surface reconstruction, and tissue deformation is simulated in real time.

The invention discloses an intelligent auxiliary acupuncture system based on the AR technology, and the system comprises the following modules: a multi-modal sensing module which is used for collecting a multi-modal sensing data set containing the surface information of a patient; the visual SLAM guiding module is used for outputting a relative pose between the camera and the skin of the patient; the three-dimensional reconstruction module is used for generating a three-dimensional skin grid model; the candidate acupoint generation module is used for generating a candidate acupoint set under the condition that the density threshold value and the minimum spacing are met; the stable matching module is used for outputting a stable matching result set; the trajectory planning module is used for binding the needle insertion trajectory to the three-dimensional skin grid model to form a needle insertion guide set; and the augmented reality rendering module is used for carrying out real-time visual rendering on the virtual acupuncture point target and the needle inserting track through an augmented reality display terminal. The invention constructs an intelligent acupuncture guide system which is oriented to a real clinical scene and has a real-time correction capability and a medical significance interpretation capability.

The invention discloses a man-machine cooperation type high-precision acupuncture method and system based on digital twinning, and relates to the technical field of acupuncture, and the method comprises the steps: obtaining user body surface image data, local subcutaneous tissue structure data, standard meridian model data and real-time electrophysiological data; generating a three-dimensional point cloud model based on the body surface image data, and mapping the standard meridian model data to the three-dimensional point cloud model to generate initial acupuncture point coordinates; dynamically correcting the initial acupuncture point coordinates based on the real-time electrophysiological data to obtain individualized acupuncture point coordinates; constructing a hierarchical tissue model containing neural distribution based on the local subcutaneous tissue structure data; the method has the advantages that dynamic acupuncture point correction is achieved by fusing three-dimensional point cloud modeling and real-time electrophysiological feedback, a precise acupuncture path is generated in combination with nerve activation probability prediction, real-time path adjustment is conducted based on physiological feedback, and the method has the advantages of improving acupuncture point positioning precision, achieving dynamic optimization of the acupuncture path and improving treatment safety.

The invention provides an AR-assisted acupoint dynamic positioning method and system based on biological characteristics, and relates to the technical field of medical assistance, and the method comprises the steps: building a three-dimensional body model based on the body shape point cloud data, collected in real time, of a current user, and calculating the theoretical coordinates of acupoints in combination with a traditional Chinese medicine acupoint positioning rule; dynamically calibrating the theoretical coordinates on the basis of synchronously acquired body surface conductivity change characteristics and body surface temperature distribution characteristics of the to-be-acupunctured body area of the current user, and generating acupuncture point coordinates and corresponding needle inserting parameters; the acupuncture point coordinates are mapped to the body part of the current user, visual acupuncture point marks are displayed in real time through AR equipment, and operation guidance related to the needle inserting parameters is synchronously provided; when it is detected that the body position change of the user exceeds the preset threshold value, the above steps are executed again, and the acupoint coordinates and the operation guidance are updated, and through multi-modal biological feature fusion, dynamic calibration and AR visualization interaction, acupoint positioning is precise, dynamic and visualized.

The invention relates to the technical field of traditional Chinese medicine acupuncture and moxibustion and big data processing, in particular to a massive human tissue structure big data accurate identification method and system for traditional Chinese medicine acupuncture and moxibustion, and the system comprises a data fusion module, a knowledge graph module, a baseline model construction module, an effect prediction module, a remote monitoring module and a curative effect evaluation module. Compared with the prior art, a closed loop of'precise modeling-real-time feedback-intelligent optimization-safe evidence storage 'is formed through deep fusion of data driving and an intelligent algorithm, the acupuncture point positioning precision is improved by 30% or above, the risk early warning response time is shortened to be within 200 ms, the curative effect prediction accuracy rate reaches 85%, and the method has the advantages of being high in practicability and easy to popularize. Systematic technical support is provided for standardization and intellectualization of acupuncture treatment, and clinical safety and effectiveness are remarkably improved.

The invention relates to the technical field of acupuncture, in particular to an intelligent acupuncture point precise positioning and stimulation regulation and control system based on combination of traditional Chinese medicine and western medicine, and the system firstly collects body surface acupuncture point information of a user, analyzes sensitivity and generates visual data. The information processing module fuses the data, generates acupoint comprehensive characteristics and marks a target acupoint. And the virtual visualization module generates a virtual acupoint image and marks a target acupoint. The needling instrument massage module formulates a needling instrument pushing scheme according to acupuncture point characteristics and needling instrument parameters, and the needling instrument pushing scheme is executed by the body surface needling instrument pushing device. Meanwhile, the electrical stimulation regulation and control module generates parameters, the electrical stimulation intensity, frequency and time are controlled, and the electric acupuncture massage device is combined with body surface acupuncture massage operation to execute treatment. According to the system, accurate acupoint positioning, personalized needle pushing scheme making and electrical stimulation regulation and control are achieved, the effect and safety of needle pushing treatment are improved, and innovative technical support is provided for modernization of traditional Chinese medicine.

The invention relates to the field of medical informatization, in particular to a multifunctional acupuncture point training simulation system and an application method thereof. Simulation tissue, force feedback, an acupoint simulation database and an intelligent evaluation technology are fused, and a vivid acupuncture training environment is created. The system simulates human tissues layer by layer, accurately collects acupuncture pressure and resistance, feeds back force feeling in real time, intelligently evaluates acupuncture performance in combination with acupuncture point characteristic data, and generates a detailed evaluation report. The virtual reality display module visually displays the acupuncture process and provides all-around feedback information. According to the innovative design, the acupuncture training effect and efficiency are remarkably improved, a safe and efficient learning platform is created for students, the modernization and standardization process of acupuncture education is promoted, and new power is injected for traditional medical inheritance and development.

The invention discloses an acupoint recognition system based on a multi-modal digital twinning technology, which comprises a multi-modal data acquisition module, a multi-modal data transmission module, a multi-modal data processing module, a digital twinning construction module, an acupoint state and positioning prediction network, a result presentation module and a multi-modal data acquisition module integrated high-performance sensor group, a high-precision clock synchronization system is connected, and acupoint and human body data are acquired in all directions by utilizing a space calibration frame; the data transmission module integrates multiple transmission modes and supports flexible switching and cooperation; the data processing module runs in a special customized RISC-V architecture processor and performs preprocessing, conversion, feature extraction, fusion and dimension reduction on the data; the digital twinning construction module constructs an acupoint physiological and pathological state digital twinning model according to the processed data; the acupuncture point state and positioning prediction network module operates an algorithm in the NPU processor, and accurately predicts the state and position of the acupuncture point according to the human body data; and the result display module displays related information on a human-computer interaction interface.

The invention relates to the technical field of traditional Chinese medicine acupuncture and moxibustion, in particular to a human body acupuncture and moxibustion scheme intelligent screening method and system based on the brain-computer interface technology. Inputting the nerve response characteristic parameters into an acupoint efficacy prediction model, outputting nerve regulation efficacy scores of the acupoints, and generating an initial acupuncture scheme; in the process of executing the initial acupuncture scheme, electroencephalogram signals are collected in real time, and a neural feedback intensity value is calculated; and when the feedback intensity is lower than a preset response baseline, triggering a dynamic weight optimization algorithm, updating the scoring model and generating an optimized acupuncture scheme. According to the invention, objective evaluation and dynamic optimization of the human body to different acupoint nerve responses are realized, and the method has the advantages of high intelligence, high real-time performance, excellent individualized adaptation capability and the like, and is suitable for intelligent decision system deployment for assisting acupuncture therapy.

The invention relates to the technical field of automatic acupuncture and moxibustion, in particular to an intelligent acupuncture and moxibustion mechanical arm precise positioning and needle moving method and system.The method comprises the steps that an acupuncture and moxibustion mechanical arm collects posture visual data through a preset multi-mode visual sensor, and analyzes personnel posture image change features corresponding to the posture visual data; when the personnel posture image change feature is the same as the preset posture adjustment feature, performing analysis based on the posture visual data to obtain personnel body surface feature point data; body surface feature point displacement vectors are calculated according to the body surface feature point data, and dynamic acupuncture point coordinate positions are obtained according to preset reference acupuncture point coordinate fusion; and continuously updating the acupuncture points based on the dynamic point coordinate positions, and adjusting the contact force between a needling instrument and a human body according to a preset self-adaptive micro-motion flexible contact force adjusting strategy when the personnel micro-moves. The acupuncture mechanical arm has the advantages that the acupuncture point identification accuracy of the acupuncture mechanical arm during posture adjustment of the acupuncture personnel is improved, and the acupuncture effect is improved.

The invention provides a force control method and device for massage AI navigation rehabilitation equipment. The problem that flexible adjustment and real-time dynamic adjustment cannot be achieved through an existing force control mode for massage AI navigation rehabilitation equipment is effectively solved. The method comprises the following steps: visually identifying acupuncture points on the back of a user, and determining massage track points through the acupuncture points; generating coordinate sites on the basis of the acupuncture points and the massage track points, and setting massage parameters for the user on the basis of the coordinate sites; the mechanical arm is controlled to move according to the moving route, the massage head is controlled to massage the user, and the real-time massage force applied to the user by the massage head is detected in real time; and calculating the real-time massage strength based on multiple dimensions to obtain corresponding adjustment data, and performing flexible adjustment on the massage strength of the massage head and the mechanical arm based on the adjustment data until the massage time ends.

The invention relates to the technical field of medical teaching aids, and provides an acupoint acupuncture manipulation auxiliary training system special for bone fracture rehabilitation, which comprises the following steps: acquiring acupuncture depths and change angles of a plurality of detection time periods under multiple acupuncture; analyzing the variation difference relationship of the acupuncture depths of adjacent detection time periods, and dividing a plurality of segmentation time periods; based on the variation trend and the variation amplitude of the acupuncture depth in each segmentation time period, quantifying the force application unbalance degree of each acupuncture; analyzing the change relation of the change angle along with the change of the detection time period when the needle is inserted and after the needle is stopped in the needling process, and determining the out-of-control degree of the angle of each needling; in combination with the force application unbalance degree and the needling depth change difference between needle insertion starting and needle insertion stopping in the needling process, the mold deformation degree of each time of needling is obtained; and the suggested needle application depth of subsequent needling is determined, and auxiliary prompting is carried out. The invention aims to solve the problem that the non-uniform mold material affects the judgment of the uniformity of needle applying force by students.

The invention relates to the field of traditional Chinese medicine clinical auxiliary diagnosis, and discloses an acupuncture point recommendation method, an acupuncture point recommendation model obtaining method, an acupuncture point recommendation model obtaining device, acupuncture point recommendation equipment and a medium, and the acupuncture point recommendation model obtaining method comprises the following steps: collecting patient medical record data to form a medical record data sample set; preprocessing the medical record data sample set to obtain a standard medical record data sample set; inputting the standard medical record data sample set into a preset language model, performing preliminary training on the language model based on the standard medical record data sample set, so that the language model establishes a semantic mapping relationship between the patient symptom information and the acupuncture points, and performing parameter fine tuning and strategy optimization on the preliminarily trained language model in sequence, obtaining an acupuncture point recommendation model; according to the acupuncture point recommendation model obtaining method, the accuracy and individual adaptability of acupuncture clinical treatment are improved, the diagnosis and treatment efficiency is optimized, and a scientific and systematic treatment scheme is provided for a patient.

The invention discloses a buccal needle positioning navigation method and system based on multi-mode perception driving, and the method comprises the steps: collecting the image information and depth information of the face of a patient; generating an individualized face three-dimensional model according to the image information and the depth information; determining a standard meridian map according to a meridian database, and registering the standard meridian map to the individualized face three-dimensional model through non-rigid deformation to obtain acupuncture point positioning; according to the acupuncture point positioning and a pre-stored organization hierarchy model, needle insertion path guiding information is calculated and generated, and in an interactive interface, the acupuncture point positioning and the needle insertion path guiding information are displayed in an overlapped mode so as to execute the needle insertion guiding process; and in the needle insertion guiding process, collision detection is carried out according to the needle insertion path guiding information and the organization level model, and safety early warning is carried out when a collision risk is detected. The precision and safety of the acupuncture treatment process can be effectively improved.

The invention provides an intelligent mental disease recognition method and device based on multi-modal data and a medium. The method comprises the steps that illness state self-described text information and ear image data of a to-be-tested person and impedance and / or temperature information of all designated acupoints in the auricular concha area and the helix area of the to-be-tested person are obtained; performing local feature extraction on the ear image data to obtain an image feature vector; capturing measured value feature vectors between impedance and / or temperature information of different acupoints by using a multi-head attention mechanism; extracting semantic feature vectors of the illness state self-described text information; and forming a multi-modal fusion feature vector from the image feature vector, the measured value feature vector and the semantic feature vector, inputting the multi-modal fusion feature vector into an intelligent disease identification model for classification, and outputting a mental disease prediction result. According to the method, the ear image, the impedance and / or temperature information of each acupuncture point and the multi-modal data of the text information of the patient are fused, and the deep learning model is combined to realize disease classification, so that the recognition efficiency and accuracy are improved.

The invention relates to an eye thermal therapy instrument with a massage assembly, and relates to the technical field of eye thermal therapy instruments, the eye thermal therapy instrument comprises a thermal therapy instrument shell and a physical therapy mechanism arranged on the thermal therapy instrument shell; the physiotherapy mechanism comprises a massage assembly and a hot compress assembly which are used for carrying out massage and hot compress on the eyes of the human body, and a sealing assembly which is used for carrying out sealing fit on the thermal therapy instrument shell and the eyes of the human body. The hot compress assembly comprises a water tank, a heating wire and a plurality of atomizing nozzles which are arranged on the thermal therapy instrument shell, a water storage part for storing water for the plurality of atomizing nozzles, an adjusting part for automatically adjusting the water yield of the atomizing nozzles, and a heating part for heating the heating wire. The purpose that the thermal therapy instrument precisely regulates and controls the massage force of the designated eye position of the patient and the spraying amount of the liquid medicine at the corresponding eye position is achieved, the larger the pressing force of the designated eye position of the patient is, the larger the spraying amount of the liquid medicine at the corresponding acupuncture point is, the phenomenon that the skin absorbs the liquid medicine unevenly is avoided, and the eye hot compress effect is guaranteed.

The invention discloses an auxiliary stroke rehabilitation method and device based on a multi-source physiological signal wearable device. The method comprises the steps that the pulse waveform variation rate and sublingual vein feature parameters of a subject are monitored through a self-powered five-hidden monitoring wrist strap; dynamically evaluating the internal organ imbalance index of the subject according to the pulse waveform variation rate and the sublingual vein characteristic parameters; generating personalized rehabilitation adjustment parameters according to the internal organ imbalance index of the subject; synchronously acquiring an electroencephalogram signal of a subject and a surface electromyogram signal of a target muscle, and generating an acupoint activation time sequence map of preset hand actions; the acupoint activation time sequence map is optimized according to the personalized rehabilitation adjustment parameters so as to adjust acupoint selection, stimulation intensity and stimulation time sequence; and presenting a built-in foot yangming stomach meridian virtual acupuncture scene to the subject through the VR guide instrument. According to the apoplexy rehabilitation method, electroencephalogram and myoelectricity cooperative decoding, personalized parameter adjustment, VR and a viscera imbalance traditional Chinese medicine diagnosis method are integrated into a rehabilitation scheme, and the apoplexy rehabilitation effect is improved.

The invention discloses an intelligent acupuncture optimization method, system and device based on acupoint electric signal feedback, and relates to the field of electric data processing, the method comprises the following steps: obtaining associated acupoints of a target diagnosis and treatment mode and treatment parameters corresponding to the associated acupoints; controlling an electric needle to apply electric stimulation to associated acupuncture points according to the treatment parameters; after the electrical stimulation is applied to the associated acupuncture points, acquiring an electrical stimulation feedback signal in the target diagnosis and treatment mode, and determining a signal characteristic parameter according to the electrical stimulation feedback signal; the current treatment state is evaluated according to the signal characteristic parameters, and treatment parameters are adjusted according to the evaluation result. The electrical stimulation feedback signals of intelligent acupuncture in different diagnosis and treatment modes are analyzed in real time, the treatment state is evaluated, the treatment parameters of the acupuncture diagnosis and treatment equipment are correspondingly adjusted, real-time feedback and dynamic optimization of acupuncture treatment are achieved, and the accuracy and the curative effect of acupuncture treatment are improved.

The massage method for identifying the back acupoints based on the intelligent AI comprises the steps that a back image of a user is collected, feature extraction is conducted on the back image, back muscle textures and skeleton contour features in the image are obtained, regional features with the acupoints are highlighted through an attention mechanism, and acupoint candidate feature vectors are obtained; inputting the acupoint candidate feature vectors into a trained acupoint positioning model to obtain an acupoint positioning result; generating an optimization strategy based on the acupuncture point positioning result; acquiring a massage demand input by a user, and matching a corresponding initial massage strategy by using a decision tree algorithm based on the massage demand; optimizing the initial massage strategy based on an optimization strategy to obtain a personalized massage strategy; based on the personalized massage strategy, a control instruction of the massage equipment is generated to control the massage equipment to complete back acupoint massage. According to the method and the device, the defect that a targeted massage strategy cannot be quickly generated based on the difference of users at present is overcome.

The invention relates to the field of virtual reality (VR) and medical image processing, in particular to an acupuncture copper human visual frame selection system combined with 3D digital human body modeling. The main components of the scheme comprise 3D modeling software, a multi-level 3D acupuncture copper human model (including skin, meridians and collaterals, acupuncture points and skeleton layers), a J2000 coordinate system, an interactive interface, an infrared thermal imager, a six-axis force sensor, an AI clustering algorithm, a force steering algorithm, a decision tree algorithm, an ICP algorithm, a v-mode l technology, a BERT model and the like, and the components work cooperatively to construct a high-precision 3D model and calibrate coordinates. A frame selection instruction is received through multi-modal interaction, temperature and force data are collected to generate a dynamic matrix, label arrangement and rule generation are carried out, multi-source data are integrated and exported, real-time binding and intelligent recommendation of acupuncture points and models are achieved, a complete acupuncture point visual frame selection system is formed, and the acupuncture point positioning accuracy and the operation intelligent level are improved.

The invention relates to a personalized traditional Chinese medicine health-care intelligent recommendation system combined with an acupuncture theory. The system comprises a multi-modal data acquisition module, an AI diagnosis module and an acupuncture scheme generation module. According to the invention, the health information of the user is acquired through the multi-modal data acquisition module, the deep learning model fused with the acupuncture meridian theory is utilized to realize physique identification and disease diagnosis, and the personalized acupuncture health care scheme is generated based on the established acupuncture point, physique and disease three-dimensional association database. A reinforcement learning algorithm is combined with a user real-time feedback dynamic optimization scheme, the limitation that traditional acupuncture depends on physician experience is broken through, intelligentization, individuation and dynamics of acupuncture health care are achieved, the accuracy and operability of the health care scheme are improved, and the method is suitable for various scenes such as family health care and community medical treatment and has a wide application prospect. The method has remarkable innovativeness and practicability, the physique and the disease of the user are accurately identified based on multi-modal data, the acupuncture scheme adaptive to personal characteristics is generated, and the problem that a traditional universal scheme is insufficient in adaptability is solved.

The invention discloses a portable spontaneous transcutaneous acupoint electrical stimulation device. The portable spontaneous transcutaneous acupoint electrical stimulation device comprises a wireless communication and control module; the wireless module is in wireless connection with an external control end to realize remote control and parameter setting; the electrical stimulation generation and output module is responsible for generating electrical stimulation information according to the received stimulation parameters and outputting the electrical stimulation information to human body acupuncture points through a plaster sheet or an ear clip; the physiological monitoring interface module is responsible for providing a connecting interface with other physiological monitoring devices; the stimulation parameter adjusting and feedback module is responsible for automatically adjusting stimulation parameters according to user settings and physiological monitoring data; the safety protection module is responsible for ensuring the safety of the equipment in the operation process; according to the invention, wireless connection is established between the wireless communication and control module and the external control end, so that remote control and parameter setting are realized, and a user can flexibly control the device through mobile equipment such as a mobile phone anytime and anywhere without being limited by a wire.

The invention relates to the field of acupuncture teaching simulation, in particular to an acupuncture teaching simulation system and method. The method comprises the steps that based on acupuncture operation position data in historical stages, acupuncture point coordinates in acupuncture operation in all the stages are corrected; further calculating a positioning accuracy evaluation value of each stage based on the acquired acupuncture operation data; calculating the stimulation intensity of each acupuncture operation in each stage based on acupuncture operation data, and further calculating the comprehensive biological signal response in each stage; calculating a learning effect quantized value of each stage by using a learning effect evaluation algorithm based on the positioning accuracy evaluation value of each stage and the comprehensive biological signal response of each stage; and calculating the difficulty of the next stage based on the learning effect quantized value of each stage. The problems that in traditional acupuncture teaching, a standard acupuncture point model generally cannot adapt to individual differences of all students, each acupuncture operation of the students is difficult to be evaluated immediately and accurately, and the difficulty cannot be dynamically adjusted are solved.

The invention provides an acupuncture point accurate positioning device based on machine learning, and relates to the field of artificial intelligence. Comprising a multi-modal data acquisition module, a data preprocessing module, a machine learning processing module, a dynamic adaptive calibration module, a gender specificity optimization module, a laser projection module and an interaction and control module, wherein the multi-modal data acquisition module is used for acquiring human body surface sign information and human body three-dimensional space coordinate information; temperature difference information and human body posture data of the acupoint area and surrounding tissues; the machine learning processing module is internally provided with a trained improved convolutional neural network model, performs feature extraction and fusion on the data processed by the preprocessing module, and outputs initial acupuncture point coordinates; the dynamic self-adaptive calibration module dynamically corrects the coordinates of the acupuncture points; the gender specificity optimization module analyzes gender information of a patient and performs targeted adjustment on initial acupuncture point coordinates. According to the invention, the defects in precision, efficiency, adaptability and scene expansibility in the prior art are overcome.

The invention provides a control method and device of a massage robot, electronic equipment and a readable storage medium, and the method comprises the steps: scanning the acupoint position of each human body acupoint in an initial to-be-massaged area of a target user through a depth camera; detecting a key massage area in the initial to-be-massaged area through an infrared thermal imager; determining a to-be-massaged target meridian of the target user based on the position of the key massage area on the target user; generating a massage path based on each human body acupoint on the target meridian and the acupoint position of each human body acupoint on the target meridian; and controlling a mechanical arm of the massage robot to execute massage operation on the target user according to the massage path. Through the method, the massage effectiveness of the massage robot is improved.

The invention relates to the field of medical instruments, in particular to a percutaneous microflow acupuncture system closed-loop regulation and control method and system based on multi-channel acupoint impedance, and the method comprises the steps: obtaining a first surface electromyogram signal in a human body action period, and constructing a relation between an action behavior and surface electromyogram; determining a multi-channel implementation path of the percutaneous microflow acupuncture system according to the relationship; impedance characteristics of acupuncture points along the multi-channel implementation path are obtained, and percutaneous microflow electrical stimulation operation is set according to the impedance characteristics; acquiring a second surface electromyogram signal during the implementation of the electrical stimulation operation, and adjusting the electrical stimulation operation according to the first surface electromyogram signal and the second surface electromyogram signal; and acquiring a response signal for adjusting the multi-channel implementation path association region during the implementation of the electrical stimulation operation so as to change the multi-channel electrical stimulation mode. According to the invention, path calibration of multiple acupoint associated stimulation areas is implemented through multiple channels, feedback closed-loop stimulation regulation is formed by combining acupoint impedance and electromyographic signals formed during stimulation, and the stimulation efficiency is improved.

The invention discloses a traditional Chinese medicine human body acupuncture point recognition method and system based on virtual reality, and relates to the technical field of acupuncture point recognition. The system can collect action acupuncture point position data and curative effect data of a patient in the massage process in real time through an action tracking and acupuncture point recognition module in combination with VR equipment and a sensor group; and the data are transmitted to a cloud platform through a wireless network to be processed and analyzed. And the data integration processing module carries out visual display and standardized processing on the acquired data, so that the accuracy and consistency of the data are ensured. And the operation error analysis module can calculate an action space error D and evaluate the massage operation precision according to the value. When the output result of the motion space error D exceeds a certain deviation, the system gives a prompt to a physiotherapist through a visual interface to guide the physiotherapist to adjust the massage manipulation, and the integration of the system not only improves the transparency of the treatment process, but also greatly reduces errors caused by human factors.

Provided is a system used for acupuncture treatment, including a helmet that includes: a base having at least one hole positioned at strategically designated acupuncture points; at least one object placed within the at least one hole; and a heat source, wherein the heat source is configured to heat up the at least one object for acupuncture treatment. Also provided is a method for acupuncture treatment including: configuring at least one strategically placed hole in a helmet according to specific acupuncture points; having a patient wear the helmet snugly; inserting at least one object into the at least one strategically placed hole; heating up the at least one object with a heat source; and administering heat-based acupuncture treatment to the patient via the heated up at least one object through the at least one strategically placed hole.

The invention belongs to the technical field of robot application, and particularly relates to an acupoint recognition and mechanical arm control method for assisting expectoration, which uses a lightweight Inverted Residual convolution module containing depth separable convolution and residual connection to carry out high-precision recognition on 13 acupoints on the back, and on the basis of RGB three-channel image input, the acupoint recognition and mechanical arm control method for assisting expectoration is realized. A spine central axis channel is added, and a user-defined loss function including MSE loss, spine symmetry constraint and acupoint position constraint is designed to optimize the deep learning model, so that the accuracy and symmetry of acupoint recognition are further improved; after identification is completed, the system combines an improved near-end strategy optimization reinforcement learning algorithm and a visual servo technology to design a self-defined reward function which comprehensively considers distance reward, angle reward, cross punishment and target completion reward. And a voice coil motor of an end effector of the mechanical arm is guided to approach the target acupuncture point and align with the normal of the back of the human body, so that accurate control and dynamic motion planning of the voice coil motor are realized, and auxiliary sputum excretion actions are effectively executed.

The portable moxibustion device comprises a base, a lifting rod, a telescopic rod and a moxibustion cylinder, the lower end of the lifting rod is connected with the base, the upper end of the lifting rod is connected with one end of the telescopic rod through a connector, the other end of the telescopic rod is connected with the moxibustion cylinder through a spherical holder, and a moxa cone inserting needle is connected to the bottom of the moxibustion cylinder. The moxibustion device is used for solving the problems that an existing moxibustion device generally lacks precise positioning and moxibustion application angle adjusting functions aiming at the characteristics of the acupoints at the tail ends of the four limbs, and the requirement for precise moxibustion treatment on the acupoints at the tail ends of the four limbs in clinic cannot be met.