多学科交叉的腧穴针灸机器人实验平台设计  

Design of acupoint acupuncture robot experimental platform for interdisciplinary

作　　者：于赫洋 韩洪洪 郭丽琼[3] 陈泽涛 周航 YU Heyang;HAN Honghong;GUO Liqiong;CHEN Zetao;ZHOU Hang(School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China;National Virtual Simulation Experimental Teaching Center of Electrical Engineering and Automation,Tianjin University,Tianjin 300072,China;School of Disaster and Emergency Medicine,Tianjin University,Tianjin 300072,China)

机构地区：[1]天津大学电气自动化与信息工程学院,天津300072 [2]天津大学电气工程与自动化国家级虚拟仿真实验教学中心,天津300072 [3]天津大学卫生应急学院,天津300072

出　　处：《实验室科学》2025年第2期226-229,234,共5页Laboratory Science

基　　金：国家重点研发计划(项目编号:2022YFC3006203);教育部产学合作协同育人项目(项目编号:202002192018)。

摘　　要：为了探索新工科为导向的工程教育改革新模式,以中国传统医学针灸治疗为切入点,开发了腧穴针灸机器人实验平台。基于计算机视觉识别技术,完成了中医针灸中人体手部腧穴的定位。采用了工业机械手,实现针灸中的扎、捻、插、提、拔等操作,设计实现了人机控制界面,并创新性地开发出两种模式;基于虚拟仿真技术构建了数字孪生模型,拓展实验内容。平台实现了医工多学科交叉,丰富了实验教学手段,为推进新工科的建设与卓越工程师的培养助力。In order to explore a new mode of engineering education reform oriented by new engineering subjects,a robot experimental platform for acupoint acupuncture was developed based on acupuncture treatment of traditional Chinese medicine.Based on computer vision recognition technology,the positioning of human hand acupoints in acupuncture and moxibustion of traditional Chinese medicine was completed.Manipulator is used to realize the operations of pricking,twisting,inserting,lifting and pulling in acupuncture.The man-machine control interface is designed and realized,and two modes are innovatively developed;based on the virtual simulation technology,the digital twin model is built to expand the experimental content.The platform has realized the multi-disciplinary intersection of medical and engineering,enriched the experimental teaching means,and helped promote the construction of new engineering disciplines and the training of outstanding engineers.

关 键 词：新工科 腧穴针灸 实验平台 学科交叉 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]