摘要
针刺机器人存在如何精准定位腧穴、安全进针等难题,而技术上高度相似的穿刺机器人正日趋成熟并开展了大量的人体试验和动物实验.通过对比穿刺机器人与针刺机器人在破皮、进针、起针3个过程的相似性和差异,分析穿刺机器人对针刺机器人的研发有价值的技术,并指出其技术迁移的主要方向:①整合力学反馈和医学影像技术,多模态感知实现安全针刺;②重点集成胸部穿刺机器人的既有方案,实现伴随呼吸吐纳的针刺操作;③针对针刺机器人围绕非麻醉状态下患者展开治疗的实际场景,重点开发自动起针的相关技术.
The difficulties such as how to accurately locate acupoints and safely insert needles are presented in acupuncture robot.The puncture robot with high technological similarity to acupuncture robot is getting mature,and a large number of human trials and animal experiments have been conducted for the development of puncture robot.Through comparing the similarities and differences between puncture robot and acupuncture robot in the aspects of through-skin puncture,needle insertion and needle removal,the valuable technology of puncture robot is analyzed for the development of acupuncture robot,and the crucial direction of technology migration is determined.OIntegrating the mechanical feedback and medical imaging technology and utilizing the multi-modal perception to achieve the safety of acupuncture operation.②Emphasizing the integration of the existing designs of chest puncture robot to realize the acupuncture operation with inhalation and exhalation involved.@Focusing on the development of relevant technology of automatic needle removal through conducting the actual scenario of treatment with acupuncture robot in patients under non-anaestheticcondition.
作者
杨雯尹
王郭洁
唐明霞
钱旗
贺晓桐
徐天成
YANG Wen-yin;WANG Guo-jie;TANG Ming-xia;QIAN Qi;HE Xiao-tong;XU Tian-cheng(Key Laboratory of Acupuncture and Medicine Research of Ministry of Education,Nanjing University of Chinese Medicine,Nanjing 210023,Jiangsu Province,China;First Clinical School of Medicine,Nanjing University of Chinese Medicine,Nanjing 210023,Jiangsu Province;School of Medicine/Holistic Integrative Medicine,Nanjing University of Chinese Medicine;School of Artificial Intelligence and Information Technology,Nanjing University of Chinese Medicine)
出处
《中国针灸》
CAS
CSCD
北大核心
2023年第4期463-468,共6页
Chinese Acupuncture & Moxibustion
基金
国家级大学生创新创业训练计划项目:202110315037
南京中医药大学科研项目:XT202001。