Zhao Guo-You, Liu Yi-Cheng, Tu Hai-Yan, Zhang Han-Rui, Xia Shi-Lin, Li Ying-Kun
College of Electrical Engineering, Sichuan University, Chengdu 610065, China.
Department of Rehabilitation, Chengdu Fifth Hospital, Chengdu 611130.
Zhen Ci Yan Jiu. 2020 Nov 25;45(11):936-40. doi: 10.13702/j.1000-0607.200030.
Traditional moxibustion treatment mainly relies on doctors using specific techniques to stimulate the patient's acupoints with ignited moxa sticks. In view of the poor reproducibility, and different methods of different doctors, difficult to carry out quantitative and qualitative research work in clinical research, a moxibustion mechanical arm was designed. The hardware modules of the mechanical arm are composed of power, micro controller STM32, position servos, moxibustion strip thruster, human-computer interaction panel and sensors; the software parts are composed of main control program and interrupt service program. The use of this moxibustion mechanical arm will enhance the system's multi-task adaptability and could perform a variety of moxibustion methods including circling moxibustion and sparrow-pecking moxibustion. The data collected in real time will be transmitted to PC through bluetooth, displayed on OLED, and the system operation modes could be switched by button. Clinical trials showed that moxibustion mechanical arm had the same treatment effects with traditional moxibustion. Meanwhile, its convenience of ope-ration, repeatability of treatment, doctors and patients's treatment experience are all better than those of traditional moxibustion.
传统艾灸治疗主要依靠医生运用特定手法，用点燃的艾条刺激患者穴位。鉴于其重复性差，且不同医生手法各异，难以在临床研究中开展定量和定性研究工作，故而设计了一种艾灸机械臂。该机械臂的硬件模块由电源、微控制器STM32、位置伺服器、艾条推进器、人机交互面板和传感器组成；软件部分由主控制程序和中断服务程序组成。使用这种艾灸机械臂将增强系统的多任务适应性，并能执行多种艾灸方法，包括回旋灸和雀啄灸。实时采集的数据将通过蓝牙传输到PC，显示在OLED上，并且可以通过按钮切换系统操作模式。临床试验表明，艾灸机械臂与传统艾灸具有相同的治疗效果。同时，其操作便利性、治疗重复性以及医患治疗体验均优于传统艾灸。
