中医针刺手法的量化方法与机器辅助针灸实验研究

Quantification methods of acupuncture manipulation in traditional Chinese medicine and experimental research on the machine-assisted acupuncture

针对仿人工针刺手法难以精确控制且缺乏规范化量化方法等问题,建立一套多参数的针灸量化规范和标准实验规程,模拟多种针刺手法,实现三自由度针刺平台的运动控制,利用Origin2021和SPSS27软件分析各针刺手法的特征。结果表明:单式捻转补泻手法的捻转幅度和速度与理论一致且均匀变化;各针刺手法机器施针时间与理论时间的最大相对误差为3.203%;复式烧山火手法在天部、人部、地部上提和下插过程中,机器施针的上提平均力小于下插平均力,且各部的提插平均力无显著性差异(P>0.05),即受力波动小,机器针灸的运行稳定性好。研究结果可为后续中医针刺手法的量化研究提供一定借鉴。

A set of multi parameter quantification specifications and standard experimental protocols are established for acupuncture in view of difficulties in precise control of human simulating acupuncture manipulation and the lack of standardized quantification methods.A variety of acupuncture manipulations are simulated,and the motion control of the three degree of freedom acupuncture platform is realized.The characteristics of various acupuncture manipulations are analyzed by using software Origin2021 and SPSS27.The results indicate that the twisting amplitude and speed of single twisting and tonifying technique are consistent with theory and vary uniformly.The maximum relative error between the application time of each acupuncture technique done by machine and the theoretical time is 3.203%.In the process of lifting and inserting the three parts of sky,man and ground,the average lifting force of mountain-burning fire of the machine is less than average inserting force.There is no significant difference in the average lifting and inserting force of each part(P>0.05),which means the force fluctuation is slight and the operation stability of the machine is good.The research results can provide certain reference for quantification research of traditional Chinese acupuncture manipulation in the future.