Ma Weigang, Dong Yuge, Zhang Changshuai, Luo Kaiyao, Zhang Yonglong, Gao Weifang, Tang Yuzi, Qiu Jiwen, Ren Haiyan, Li Zhongzheng, Pan Xingfang
College of Acupuncture-Moxibustion and Tuina, Tianjin University of TCM, Tianjin 301617, China; Experimental Acupuncture Research Center, Tianjin University of TCM, Tianjin 301617.
School of Computer Science and Engineering, Northeastern University.
Zhongguo Zhen Jiu. 2024 Dec 12;44(12):1472-78. doi: 10.13703/j.0255-2930.20240729-k0003.
To evaluate the performance of a newly developed intelligent acupuncture robot that simulates human manual acupuncture techniques through an animal experiment using miniature pigs.
Two 3-month-old miniature pigs were selected. One pig was used for the manual needling techniques of the practitioner, and the other pig was used for the intelligent acupuncture robot. The acupoints selected were "Qiangfeng" "Bojian" "Xiaokua" "Huiyang" (BL 35) and "Baihui" (GV 20), with a straight insertion depth of 25-35 mm. The manipulation techniques, including lifting-thrusting and twisting at a frequency of 90 times/min, were applied for 1 min, with 30 s each for lifting-thrusting (10 mm amplitude) and twisting (180° angle). The practitioner's needling techniques were captured using an optical motion capture system, and the collected data were input into the intelligent acupuncture robot for replication on the second miniature pig. A complete needling session of five acupoints was considered one round, and three rounds were performed per session, every other day, for a total of five sessions, completing 15 rounds. The Fréchet distance method was used to compare the robot's replicated needling data with the practitioner's data, and curve fitting analysis was conducted to evaluate the robot's performance and precision.
The intelligent acupuncture robot achieved a total completion rate of 96.00% for 75 needling operations, with a non-completion rate of 4.00%. The robot's replication of the practitioner's needling techniques showed a good fit, with many characteristic points overlapping. The average Fréchet distance was 18.67. The Fréchet distance for the lifting-thrusting and twisting techniques at Baihui (GV 20) and "Huiyang" (BL 35) acupoints was smaller than that at "Xiaokua" and "Qiangfeng" points (<0.01). The accuracy of the lifting-thrusting technique at "Xiaokua" and "Qiangfeng" acupoints was lower than the twisting technique (<0.01).
The intelligent acupuncture robot is able to replicate the pre-recorded manual needling parameters with a high degree of accuracy.
通过使用小型猪的动物实验，评估一种新开发的模拟人类手动针刺技术的智能针刺机器人的性能。
选取两只3月龄的小型猪。一只猪用于从业者的手动针刺技术，另一只猪用于智能针刺机器人。选取的穴位为“强风”“膊尖”“小胯”“会阳”（BL 35）和“百会”（GV 20），直刺深度为25 - 35毫米。采用提插和捻转手法，频率为90次/分钟，持续1分钟，提插（幅度10毫米）和捻转（角度180°）各30秒。使用光学动作捕捉系统捕捉从业者的针刺技术，并将收集的数据输入智能针刺机器人，以便在第二只小型猪上进行复制。五个穴位的完整针刺过程视为一轮，每次针刺 sessions 进行三轮，隔天进行一次，共进行五次 sessions，完成15轮。使用弗雷歇距离法将机器人复制的针刺数据与从业者的数据进行比较，并进行曲线拟合分析以评估机器人的性能和精度。
智能针刺机器人在75次针刺操作中的总完成率为96.00%，未完成率为4.00%。机器人对从业者针刺技术的复制显示出良好的拟合度，许多特征点重叠。平均弗雷歇距离为18.67。百会（GV 20）和会阳（BL 35）穴位的提插和捻转技术的弗雷歇距离小于小胯和强风穴位（<0.01）。小胯和强风穴位的提插技术准确性低于捻转技术（<0.01）。
智能针刺机器人能够高度准确地复制预先记录 的手动针刺参数。
