[1] FEI Honglin HUANG Lijie LU Donghai GUO Chengxiang YANG Renxuan,.A Vision Based Acupoint Localization Method for Traditional Chinese Medicine Tongluo Robot in the Lumbar and Back [J]. Modern Traditional Chinese Medicine, 2023, (05): 24-30. [doi: 10.13424/j.cnki.mtcm.2023.05.005]
A Vision Based Acupoint Localization Method for Traditional
Chinese Medicine Tongluo Robot in the Lumbar and Back
- Article number:
- 1672-0571(2023)05-0024-07
- Keywords:
- Key words:Smooth Qi and dredge collaterals therapy; Tongluo robot; Acupoint positioning; Traditional Chinese medicine massage robot; Traditional Chinese medicine characteristic therapy
- ZTFLH:
- R245-33
- Code:
- A
- Abstract:
- Abstract：Objective To accelerate the innovation，inheritance and development of traditional Chinese medicine，and break the limitations of traditional Chinese medicine inheritance methods.Methods The method of this project is derived from the Changqi Tongluo characteristic therapy technology of traditional Chinese medicine，which is developed by renowned experts in traditional Chinese medicine in China.The traditional Chinese medicine achievement is transformed into a traditional Chinese medicine Tongluo robot，which includes robot force control technology，3D visual recognition technology，artificial intelligence assisted positioning technology，voice interaction technology，etc.Acupoint selection along the meridian is a very core technology in the transformation of traditional Chinese medicine achievements.This project uses a visual camera as a tool to conduct training sampling，deep learning model is trained to obtain an intelligent traditional Chinese medicine acupoint localization model.And predict samples based on the trained model to achieve acupoint recognition of unknown human data.During this period，a systematic evaluation was conducted on the accuracy of various artificial intelligence models，including RESNET based on position regression，UNET based on heat map regression，and DMNET network based on attention mechanism.Results The RESNET scheme based on position regression has high robustness and can preserve the structural correlation between different acupoints.The final model deployment experiment was conducted using a RESNET based network structure，and the evaluation results showed certain differences in different acupoints.Conclusion The application of this method in the traditional Chinese medicine Changqi Tongluo robot can achieve some unique techniques of renowned traditional Chinese medicine.
References:
［1］郭程湘.峨嵋畅气通络精要［M］.广州:广东科技出版社,2019：9.
［2］杜光月,鲁守银,张化凯.中医按摩机器人人体穴位寻找功能设计［J］.科技通报,2011，27(5):637-640.
［3］董诗绘,王旭.基于ABB机器人的人体经络腧穴识别［J］.行业交流,2018（2）:187-190.
［4］党丽峰,罗天瑞,施琴.基于视觉定位的按摩机器人穴位跟踪系统设计与研究［J］.农业装备技术,2020，46(4):39-42.
［5］王逸卉,江淼,黄娜,等.一种基于活动形状模型算法的耳郭穴区定位方法［J］.北京生物医学工程,2021,40(2):145-150.
［6］杨志威,冯国斌.安全中医按摩机器人臂系统研究［J］.中国设备工程,2021(24):29-30.
［7］胡磊.按摩机器人关键技术研究［D］.哈尔滨:哈尔滨工程大学,2015.
［8］李云江,焦成彬.按摩机器人捏拿机构的优化设计［J］.机器人技术,2016(1):40-42.
［9］王占礼,庞在祥,张邦成.仿人按摩机器人手臂结构设计及改进［J］.机械设计与制造,2011(7):38-40.
［10］严家琪.仿生柔性按摩机器人的设计与试验研究［D］.长春:吉林大学,2020.
［11］李银倩,吕杰,曹金凤等.国内推拿机器人研究进展［J］.现代仪器与医疗,2020,26(5):89-93.
［12］王洪玲，刘存根.基于模糊控制器的按摩机器人的力度控制［J］.山东建筑大学学报,2010,25(6):587-590.
［13］何源,罗金良,严庆.基于视觉的冗余型机械臂在按摩理疗业的应用探讨［J］.科技风,2018(6):147.
［14］刘震,赵壮,林祺,等.基于图论的智能针灸机器人取穴原理研究［J］.World Chinese Medicine,2018,13(8):1992-1996.
［15］乐文辉.热敏灸辅助机器人结构设计及其优化与控制［D］.南昌：南昌大学,2020.
［16］张俊.实用新型中医推拿机器人机械臂结构设计与研究［D］.镇江:江苏大学,2012.
［17］张竞心,孙琦,林祺,等.数字经络智能针灸机器人的研发思路探讨［J］.中医药导报,2018,24(19):66-68.
［18］张竞心,卢东东,林祺,等.智能针灸机器人研发进展及关键技术分析［J］.中国数字医学,2018,13(10):2-4.
［19］徐天成,王雪军,卢东东,等.智能针灸机器人关键技术及发展趋势［J］.智能科学与技术学报,2019,1(3):306-310.
［20］匡俐辉.中医按摩机器人串联机械臂的设计与研究［D］.镇江：江苏大学,2011.
［21］鲁守银,李臣.中医按摩机器人关键技术研究进展［J］.山东建筑大学学报,2017,32(1):61-68.
［22］曹端江,刘存根,鲁守银,等.中医按摩机器人双臂推拿过程的避碰控制［J］.计算机系统应用,2013,22(5):94-97.
［23］高焕兵,鲁守银,王涛,等.中医按摩机器人研制与开发［J］.机器人,2011,33(5):554-562.
［24］方礼明,蒋均远,胡磊,等.中医按摩机器人治疗军事训练伤50例分析［J］.人民军医,2011,54(7):567-568.
［25］李树佳,中医热敏灸机器人的视觉建模及轨迹自动规划［D］.广州:广东工业大学,2021.
［26］谢俊,张俊,马履中,等.中医推拿机械臂机构设计及运动仿真［J］.工程设计学报,2011,18(5):345-348.
［27］肖春生,何倩伟.郭程湘采用双凤锤手法推拿治疗急性腰扭伤经验［J］.广州中医药大学学报,2021,38(3):599-602.
［28］杨仁轩,郑德采,范京强,等.郭程湘畅气通络手法精要［J］.西部中医药,2012,25（6):37-38.
［29］刁鸿辉,杨仁轩,关铭坤,等.郭程湘畅气通络治疗腰椎间盘突出症随机平行对照研究［J］.实用中医内科杂志,2016,30(9):105-110.
［30］范京强,陈达,郭程湘,等.郭氏“畅气通络”推拿手法结合针刺治疗急性腰扭伤70例疗效观察［J］.新中医,2012,44(2):81-82.
［31］肖春生,何倩伟,杨仁轩,等.气沉丹田在峨眉畅气通络推拿中的作用［J］.中医药导报,2020,26(11):68-69.
［32］陈茂水,吴永生,曾浩彬,等.畅气通络手法治疗颈前路椎间盘切除椎间融合术后疼痛的临床研究［J］.中国医药导报,2020,17(27):100-103.
［33］吴树旭，黄俊霖，郭俊彪.畅气通络点穴法治疗非特异性下腰痛的临床观察［J］，广州中医药大学学报，2021,38(5):973-979.
Memo
基金项目：广东省新黄埔中医药联合创新研究院联合创新研究项目（2021IR003）；中医畅气通络“智能佛手”机器人广州高新技术产业开发区