生物医学工程研究2025，Vol.44Issue(4)：256-263,8.DOI:10.19529/j.cnki.1672-6278.2025.04.08
基于六自由度机械臂的穴位定位与针刺手法模拟系统研究
Research on the simulation system of acupuncture point localization and needling technique based on six-degree-of-freedom robotic arm
摘要
Abstract
To enhance the standardization of traditional Chinese medicine(TCM)acupuncture treatment by applying modern intel-ligent technologies,we developed a six-degree-of-freedom robotic arm system for acupoint positioning and manipulation.Firtly,the system combined the meridian theory of TCM,and realized acupoint recognition through RealSense depth camera and YOLOv8n-pose model.Secondly,the acupuncture manipulation simulation device was designed,the stepping motor and the lead screw slides were used to master the lifting-thrusting and twisting manipulation.Finally,the six-DOF robotic arm of myCobot 280 M5 was used,and the map-ping relationship between the coordinate system of the camera and that of the robotic arm through the nine-point calibration was estab-lished to realize the automated point searching.The accuracy test results showed that the average error of positioning was within 3 mm,the average deviation of lifting-thrusting amplitude was 2 mm,the twisting angle was negligible,and the average errors of the left and right arm point searching was 8.64 mm and 9.28 mm,respectively.In the stability test of the system,the overall success rate of the sys-tem reached 98.70%in 4 h of continuous operation.The system positioning accuracy,manipulation simulation accuracy,and system stability are good,can provide solutions for the modernization and intelligence of TCM acupuncture.关键词
六自由度机械臂/穴位定位/针刺手法模拟/YOLOv8-pose模型Key words
Six-degree-of-freedom robotic arm/Acupuncture point localization/Needle manipulation simulation/YOLOv8-pose models分类
医药卫生引用本文复制引用
马安妮,张一鸣,杨华元..基于六自由度机械臂的穴位定位与针刺手法模拟系统研究[J].生物医学工程研究,2025,44(4):256-263,8.基金项目
国家自然科学基金项目(82474647). （82474647）
