智能针灸机器人针刺可行性及安全性评价实验动物平台建立的探索

Establishment of an experimental animal platform for evaluating the feasibility and safety of intelligent acupuncture robotic acupuncture

目的本研究旨在探索智能针灸机器人针刺可行性及安全性评价的实验动物平台,为后续进一步开展研究奠定基础。方法将6只2月龄广西巴马小型猪作为实验对象,进行麻醉后针刺验证。首先进行人工针刺验证,每只实验动物选取6个穴位,行提插捻转手法后留针20 min,并进行自身前后对照。实验共进行28 d,每2 d进行1次实验,共10次。人工针刺验证后在已选6个穴位的基础上每个穴旁10 mm处取一点,共12点,使用针灸机器人智能针刺模块对实验动物进行不同频率及角度的针刺操作进一步验证动物平台的稳定性及可行性。结果血常规中安全性相关指标均无异常,较自身前后对比稳定。血生化指标无异常,较自身前后对比稳定。在实验全程监测中动物的平均心率为每分钟124次。动物的平均血压为87/36 mmHg。巴马小型猪在室温25℃下的平均体温为36℃。体温在实验过程中及实验前后均无明显的变化。在搭建的实验平台基础上,针灸机器人智能针刺模块针刺手法操作预实验均顺利完成,实验过程中未出现针刺相关异常情况如弯针、断针、滞针等,实验动物未出现明显异常。结论本研究借鉴了已有的小型猪实验方法,初步建立起了稳定的智能针灸机器人针刺可行性及安全性评价实验动物平台,为进一步智能针灸机器人的相关研究开展奠定基础。

Objective This study aimed to develop an experimental animal platform for evaluating the feasibility and safety of intelligent acupuncture robots and to lay the foundation for further research.Methods Six 2-month-old Guangxi Bama miniature pigs were used as experimental subjects for acupuncture verification after anesthesia.First,manual acupuncture verification was carried out.Six acupoints were selected for each experimental animal and the needles were left for 20 min after the lifting,inserting,and twisting manipulation.Before and after controls were included.The experiment was carried out for 28 days,and each experiment was conducted once every 2 days for a total of 10 times.After verification of manual acupuncture,a point 10 mm from each of the six selected acupoints was selected,with a total of 12 points,and acupuncture operations were carried out on the experimental animals using the intelligent acupuncture module of the acupuncture robot at different frequencies and angles,to further verify the stability and feasibility of the animal platform.Results Routine safety-related blood indicators and blood biochemistry indicators after the procedure were normal and stable compared with those before the procedure.The average heart rate of the animals was 124 beats/min,the average blood pressure was 87/36 mmHg,and the average body temperature of was 36℃at a room temperature of 25℃,with no significant change in body temperature during and after the experiment.On the basis of this experimental platform,acupuncture manipulation using the intelligent acupuncture module of the acupuncture robot was completed successfully,with no abnormalities related to acupuncture such as bending,breaking,or stagnation of needles during the experimental process,and the experimental animals showed no obvious abnormalities.Conclusions This study established a stable experimental animal platform for evaluating the feasibility and safety of acupuncture carried out by intelligent acupuncture robots,based on the existing experimental method of miniature pigs.These result lay a foundation for further research related to the use of intelligent acupuncture robots.