基于六自由度机械臂的艾灸机器人手法控制算法  

Manipulative Control Algorithm of Moxibustion Robot Based on 6-DOF Manipulator

作　　者：白善明 崔娟[1] 张志东[1] 张天生 郑永秋[1] 薛晨阳[1] BAI Shan-ming;CUI Juan;ZHANG Zhi-dong;ZHANG Tian-sheng;ZHENG Yong-qiu;XUE Chen-yang(Key Laboratory of Instrumentation Science&Dynamic Measurement Ministry of Education,North University of China,Taiyuan 030051,China;Shanxi Hospital of Acupuncture and Moxibustion,Taiyuan 030000,China)

机构地区：[1]中北大学仪器科学与动态测试教育部重点实验室,太原030051 [2]山西省针灸医院,太原030000

出　　处：《科学技术与工程》2023年第6期2403-2410,共8页Science Technology and Engineering

基　　金：山西省基础研究计划(20210302124033);山西省医学重点研项目重大科技攻关专项(2021XM05)。

摘　　要：传统的艾灸治疗中医学消耗较大,医师负担较重,而当前可代替医生进行艾灸治疗的机器人或机械装置结构简单,自由度及智能化程度低,仅能实现简单的定点操作,难以模拟复杂、多角度变换的艾灸手法。针对以上问题,基于六自由度机械臂,提出了模拟艾灸治疗手法的艾灸机器人轨迹规划算法。该机器人通过采集人体不同方向上的穴位点,建立机械臂的运动控制坐标系,然后针对不同艾灸手法的轨迹,解算机械臂艾灸的轨迹关键点,从而真实再现复杂多变的艾灸手法,实现治疗过程中对于多种艾灸手法的精确控制和智能变换。同时,该机器人引入温度监测与反馈系统,确保艾灸过程中人机交互的安全性和友好性。最后经过实验测试验证了该艾灸机器人在实现真实艾灸治疗手法方面的可行性、准确性和智能性,证明该研究不仅有望替代医生进行艾灸治疗,也可用于家庭自助理疗,具有广阔的市场和应用前景。The burden of doctors is heavy and the consumption of medical supply is large in the process of traditional moxibustion treatment.Currently,the robots and the mechanical devices that can replace doctors to complete moxibustion treatment has simple structures,low degree of freedom(DOF)and intelligence,and can only complete simple operation control at fixed points.It is difficult to simulate complex and multi-angle moxibustion techniques.In view of the above development status,a trajectory planning algorithm for moxibustion manipulations was designed based on the 6-DOF manipulator to simulate moxibustion treatment techniques.Through capturing acupuncture points in different directions of the human body,a mechanical arm motion control system of the robot was established.Based on the trajectory of different moxibustion methods,the manipulator trajectory key point of the moxibustion by the mechanical arm were calculated.Thus,the precise control and intelligent transformation of different moxibustion techniques were realized,and the complex moxibustion techniques were recreated.At the same time,the temperature monitoring and feedback system were integrated in the robot to ensure the safety and friendliness of man-machine interaction during moxibustion.Finally,the feasibility and accuracy of the robot were verified by system tests in the process of realizing moxibustion treatment.The research not only is expected to take place of doctors to complete the moxibustion,but also has broad market and application prospects to be used in home self-therapy.

关 键 词：艾灸机器人 六自由度机械臂 轨迹规划 温度反馈 

分 类 号：TH115[机械工程—机械设计及理论]