艾灸机械臂的设计与应用

Design and application of moxibustion mechanical arm

传统艾灸治疗主要依靠医生运用特定手法,以点燃的艾条刺激患者穴位达到治病的目的。针对传统艾灸操作中存在的可重复性差、手法因人而异、不易进行定量研究的问题,本研究设计了一种艾灸机械臂。艾灸机械臂的硬件系统由电源模块、主控制器STM32、关节舵机、艾灸条推进、人机交互、传感器等模块构成;软件部分由主控制程序和中断服务程序构成。艾灸机械臂的使用增强了系统的多任务适应能力,可执行包括回旋灸和雀啄灸在内的多种灸法,实时采集到的数据通过蓝牙传递到PC端,并显示在OLED上,通过检测按键实现系统运行模式切换。艾灸治疗原发性痛经的临床试验表明,使用艾灸机械臂与传统艾灸方法的治疗效果相当,但在艾灸的便捷性、治疗的可重复性和医生与受试者的医治体验方面均优于传统艾灸方法。

Traditional moxibustion treatment mainly relies on doctors using specific techniques to stimulate the patient’s acupoints with ignited moxa sticks.In view of the poor reproducibility,and different methods of different doctors,difficult to carry out quantitative and qualitative research work in clinical research,a moxibustion mechanical arm was designed.The hardware modules of the mechanical arm are composed of power,micro controller STM32,position servos,moxibustion strip thruster,human-computer interaction panel and sensors;the software parts are composed of main control program and interrupt service program.The use of this moxibustion mechanical arm will enhance the system’s multi-task adaptability and could perform a variety of moxibustion methods including circling moxibustion and sparrow-pecking moxibustion.The data collected in real time will be transmitted to PC through bluetooth,displayed on OLED,and the system operation modes could be switched by button.Clinical trials showed that moxibustion mechanical arm had the same treatment effects with traditional moxibustion.Meanwhile,its convenience of ope-ration,repeatability of treatment,doctors and patients’s treatment experience are all better than those of traditional moxibustion.