基于人工智能的中医远程教育机器人设计  

Design of TCM Distance Education Robot Based on Artificial Intelligence

作　　者：姜磊[1] 徐莹 JIANG Lei;XU Ying(Affiliated Hospital of Jiangxi University of Traditional Chinese Medicine;Nanchang City East Lake District Economic Census Center)

机构地区：[1]江西中医药大学附属医院,南昌330004 [2]南昌市东湖区经济普查中心,南昌330004

出　　处：《自动化与仪器仪表》2023年第4期233-238,共6页Automation & Instrumentation

基　　金：江西省科技厅科技攻关项目(S2020ZPYFG0006)。

摘　　要：针对传统中医采用人工施灸方法导致穴位识别和定位准确率低的问题,基于人工智能的中医远程教育机器人,基于中医热敏灸操作流程,选择适宜的硬件和软件搭建一个选择中医远程教育机器人;利用D-H参数法对机器人机械臂进行运动学建模;之后基于手眼关系进行人体三维扫描,提出融合机械臂末端位姿点云配准算法和基于SIFT特征匹配的穴位定位,得到基于热敏灸手法的机器人点云轨迹规划。实验结果表明,提出基于SIFT特征匹配的穴位定位方法的正检率高达98.54%,定位准确率较高,基于此算法能够生成准确的施灸轨迹。通过施灸人员对机器人进行远程指导和教育,可实现穴位准确定位,提升施灸治疗效果。According to the problem of low acupoint identification and positioning accuracy caused by traditional Chinese medicine,a TCM remote education robot based on artificial intelligence,appropriate hardware and software,and kinematic modeling with D-H parameter method,cloud registration algorithm and SIFT matching provide robot point cloud trajectory planning based on thermal moxibustion.The experimental results show that the positive detection rate of the acupoint positioning method based on SIFT feature matching is as high as 98.54%,and the positioning accuracy is high,so the accurate moxibustion trajectory can be generated.Through the remote guidance and education of the robot by moxibustion personnel,the accurate positioning of acupoints can be realized and improve the treatment effect of moxibustion.

关 键 词：中医远程教育机器人 热敏灸 运动建模 点云配准 穴位定位 

分 类 号：TP392[自动化与计算机技术—计算机应用技术]