基于巴马小型猪的智能针灸机器人仿人针刺初步实验  

Preliminary experiment on simulated human manual acupuncture of intelligent acupuncture robot based on Bama miniature pigs

作　　者：马唯刚 董钰格 张长帅 罗凯耀 张永龙 高卫芳 唐瑜紫 邱继文 任海燕 李忠正 潘兴芳[1,2] 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,China;School of Computer Science and Engineering, Northeastern University;School of Automation, Guangdong University of Technology;School of TCM, Tianjin University of TCM)

机构地区：[1]天津中医药大学针灸推拿学院,天津301617 [2]天津中医药大学实验针灸学研究中心,天津301617 [3]东北大学计算机科学与工程学院 [4]广东工业大学自动化学院 [5]天津中医药大学中医学院

出　　处：《中国针灸》2024年第12期1472-1478,共7页Chinese Acupuncture & Moxibustion

基　　金：国家重点研发计划项目:2022YFB4703100。

摘　　要：目的:通过小型猪动物实验对已完成研发的智能针灸机器人仿人复刻针刺进行评估。方法:选择3月龄巴马小型猪2只,一只用于施针者手法采集,一只用于智能针灸机器人仿人复刻针刺。选取小型猪“抢风”“膊尖”“小胯”“会阳”“百会”穴,均直刺25~35 mm,以90次/min的频率进行提插捻转平补平泻手法操作,提插幅度约10 mm,捻转角度约180°,提插捻转各进行30 s,共1 min。利用光学运动捕捉系统对施针者的针刺手法进行采集,将施针者的手法数据输入智能针灸机器人中,由智能针灸机器人进行基于巴马小型猪的施针者手法复刻。单次实验5个穴位均完成针刺为一轮,共进行3轮,隔日1次,共5次,总计完成15轮针刺。将智能针灸机器人仿人复刻针刺数据与采集的施针者手法数据以Fréchet distance为方法,进行曲线拟合度分析以评价智能针灸机器人仿人复刻针刺的完成度和精确性。结果:智能针灸机器人75次针刺操作的复刻完成率为96.00%,未完成率为4.00%。智能针灸机器人完成的手法与施针者预录入的手法拟合程度较好,多个特征点高度重合。Fréchet distance平均值为18.67。“百会”“会阳”穴提插、捻转手法的Fréchet distance小于“小胯”“抢风”穴(P<0.01);“小胯”“抢风”穴提插手法的复刻精确性低于捻转手法(P<0.01)。结论:智能针灸机器人能够基本完成预录入人工手法参数的复刻操作。Objective To evaluate the performance of a newly developed intelligent acupuncture robot that simulates human manual acupuncture techniques through an animal experiment using miniature pigs.Methods Two 3-month-old Bama 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.Results 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(P<0.01).The accuracy of the lifting-thrusting technique at "Xiaokua" and "Qiangfeng" acupoints was lower than the twisting technique(P<0.01).Conclusion The intelligent acupuncture robot is able to replicate the pre-recorded manual

关 键 词：智能针灸机器人 针灸 手法 人工智能 中医智能装备 小型猪 

分 类 号：R245-33[医药卫生—针灸推拿学] TP242[医药卫生—中医临床基础]