中国中医药信息杂志2025，Vol.32Issue(5)：154-161,8.DOI:10.19879/j.cnki.1005-5304.202408495
穴位自动定位艾灸机器人治疗腰椎间盘突出症临床研究
Clinical Study on Acupoint Automatic Positioning Moxibustion Therapy Robot for Treatment of Lumbar Disc Herniation
摘要
Abstract
Objective To investigate the clinical advantages and safety of an acupoint auto-positioning moxibustion robot combined with massage techniques in the treatment of lumbar disc herniation.Methods Totally 114 patients with lumbar disc herniation treated between June 2021 and December 2023 at Yueyang Hospital of Integrated Traditional Chinese and Western Medicine,Shanghai University of Traditional Chinese Medicine,the Outpatient Department of Rehabilitation Medicine,Changhai Hospital and Shanghai Third Rehabilitation Hospital were divided into control group and experimental group with random number table method,with 57 cases in each group.The control group received conventional moxibustion combined with massage techniques,while the experimental group was treated using an acupoint auto-positioning moxibustion robot combined with massage techniques.Both groups underwent treatment once every three days,totaling 10 sessions over one month.Clinical efficacy was observed between the two groups by comparing pre-treatment and post-treatment(after 3,6 and 10 sessions)scores on the visual analogue scale(VAS)for pain,the Japanese Orthopaedic Association(JOA)lower back pain score,and lumbar range of motion(LROM).Adverse reactions during the intervention were recorded.Satisfaction with the moxibustion robot in the experimental group was assessed using a Likert scale.Additionally,20 healthy subjects were recruited to evaluate the accuracy of the robot's acupoint auto-positioning function.Results The overall effective rate was 91.23%(52/57)in the experimental group and 94.74%(54/57)in the control group,without statistical significance between the two groups(P>0.05).Compared to pre-treatment,both groups showed significant improvements in VAS scores,JOA scores and LROM across all measured directions after 3,6,and 10 treatment sessions(P<0.001).In the Likert scale assessment,86.96%of subjects agreed that the device was convenient to use,87.72%agreed that the device was safer than conventional moxibustion therapy,and 94.74%were willing to recommend the device to other patients.The accuracy evaluation of the acupoint auto-positioning moxibustion robot demonstrated that the average deviation between robot-positioned acupoints and standard acupoints was(1.68±0.46)mm,achieving a positioning accuracy rate exceeding 95%.No adverse reactions were reported during the intervention.Conclusion The combination of an acupoint auto-positioning moxibustion robot with massage techniques is as effective as conventional moxibustion combined with massage techniques in improving clinical symptoms,alleviating pains,enhancing lumbar function and increasing lumbar mobility in patients with lumbar disc herniation.Participants have exhibited a high willingness to use the device,and the robot achieved a high accuracy rate in acupoint positioning.关键词
穴位自动定位/艾灸/推拿/腰椎间盘突出症Key words
automatic positioning of acupoints/moxibustion/tuina/lumbar disc herniation分类
医药卫生引用本文复制引用
李双月,张国辉,严隽陶,方凡夫,郑雨欣,曹程兵,袁元,赵斐然,徐卿,苏小杰..穴位自动定位艾灸机器人治疗腰椎间盘突出症临床研究[J].中国中医药信息杂志,2025,32(5):154-161,8.基金项目
国家重点研发计划—中医药现代化研究重点专项(2019YFC1711805) （2019YFC1711805）
国家自然科学基金(82074572) （82074572）
国家中医药管理局高水平中医药重点学科建设项目(ZYYZDXK-2023065) （ZYYZDXK-2023065）
上海中医药大学关键领域优秀博士生培育项目(GJ2023018) （GJ2023018）
上海市卫生健康委员会—上海市"十三五"临床重点专科(shslczdzk04601) （shslczdzk04601）
