艾灸机器人系统设计与实现OA北大核心CSTPCD

Aiming at the problems associated with traditional artificial moxibustion such as temperature imbalance,labor-intensive processes,and large differences in treatment effects,this paper proposes a new type of moxibustion robot system based on robot technology to reduce the labor intensity on doctors and improve treatment efficiency.The system adopts a master-slave bilateral structure design and is mainly composed of a moxibustion device at the slave end,a manipulator,and a master end.Through the improved design of the automatic propulsion device,hardware circuit,and communication flow of the slave moxibustion instrument,the automatic propulsion of the moxa stick during the moxibustion process as well as real-time collection and transmission of temperature,distance,and other information are realized.The master end system integrates and processes the information transmitted from the slave end.It also performs trajectory planning and motion control for the manipulator to optimize the moxibustion path and dynamically adjust the moxibustion distance.In addition,the human-computer interaction interface of the master end can display the information during the moxibustion process and the working status of the slave end in real time,enabling the visualization of the moxibustion process.Through this interface,doctors can flexibly adjust moxibustion parameters and remotely control robots for moxibustion to deal with different objects,environments,and task requirements.The experimental results show that,leveraging the proposed moxibustion robot system,the manipulator can operate according to an automatically planned path in a real environment,dynamically adjust the distance from the burning end of the moxa stick to the human acupuncture points,maintain the temperature deviation of the target acupuncture points less than 0.5℃,and operate smoothly,thereby meeting the requirements of safe and accurate moxibustion treatment.