基于三维视觉定位穴位的艾灸系统设计  

Design of Moxibustion System Based on 3D Vision Positioning of Acupoints

作　　者：孔凡国 王炜洲 KONG Fan-guo;WANG Wei-zhou(Faculty of Intelligent Manufacturing,Wuyi University,Jiangmen 529020,China)

机构地区：[1]五邑大学智能制造学部,广东江门529020

出　　处：《机械工程与自动化》2023年第3期13-15,共3页Mechanical Engineering & Automation

基　　金：广东省普通高校重点领域专项(2021ZDZX1045)。

摘　　要：传统的艾灸疗法需要手持灸条对患者进行治疗,持续时间长会造成疲劳,导致定位精度不稳定。利用协作机器人来实现艾灸自动化,并自动寻找穴位,以解决时间长和精度差的问题。因此设计了一款基于三维视觉的自动化艾灸机器人,运用RealSense D435来定位穴位,并采用HRNet来检测穴位以提高定位精度,实现艾灸机器人获取艾灸信息后利用三维视觉和协作机器人共同完成艾灸。结果表明:艾灸机器人能在一定精度范围内寻找到穴位并按照艾灸手法实施艾灸。Traditional moxibustion therapy requires handheld moxibustion strips to treat patients,and the long duration can cause fatigue and lead to unstable positioning accuracy.Collaborative robots are used to automate moxibustion and find acupuncture points automatically to solve the problems of long duration and poor accuracy.Therefore,design an automated moxibustion robot based on 3D vision,use RealSense D435 to locate acupoints,and use HRNet to detect acupoints to improve the localization accuracy.Realize the moxibustion robot to obtain moxibustion information,and use 3D vision and collaborative robot to complete moxibustion together.The results show that the moxibustion robot can find the acupuncture points and perform moxibustion according to the moxibustion techniques within a certain accuracy range.

关 键 词：三维视觉 艾灸机器人 穴位定位 艾灸 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]