Research Progress and Prospect of Acupuncture Robot
Journal: Journal of Clinical Medicine Research DOI: 10.32629/jcmr.v6i1.3673
Abstract
Acupuncture is a unique traditional medical technique in China. Acupuncture robot research has been gaining increasing attention, yet there is a lack of systematic summary and analysis. This paper therefore systematically reviews three core technologies in acupuncture robotics: (1) intelligent acupoint localization using electrical impedance measurement and image recognition, (2) multi-mode needle insertion mechanisms (mechanical ejection and motor-driven systems), and (3) advanced stimulation techniques (manual manipulation simulation, transcutaneous electrical acupoint stimulation, and laser stimulation). The research concludes that despite advancements, acupuncture robot research still faces challenges such as limited international collaboration, high development costs, and difficulties in core technology breakthroughs. Future acupuncture robots should integrate intelligent diagnosis, syndrome differentiation, precise localization, intelligent needle manipulation, accident handling, and human-machine interaction to form a comprehensive system, advancing clinical practice.
Keywords
Acupuncture; Acupuncture robots; Moxibustion robots
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[2] Xu TC, Lu DD, Han X, et al. Exploration of the Application of Acupuncture Robots in Quantitative Research on Acupuncture [J]. Journal of Traditional Chinese Medicine, 2017, 58(9): 752–755.
[3] Zhu MD. Hand-eye-force Coordination and human-robot interaction for acupuncture robot [D]. Shanghai: Shanghai Jiao Tong University, 2018.
[4] Yoshio Nakatani, Ye SL. Principles and Clinical Overview of Low-impedance Meridian)[J]. Journal of Zhejiang University School of Medicine, 1958(2): 191–197.
[5] Yang XP, Xia ZY. Design of new-style embedded acupoint recognition device[J]. Chinese Acupuncture & Moxibustion, 2018, 38(6): 675–678.
[6] Wu XL, Wang AC, Zhou PJ, et al. Research Status of Acupoint-specific Electrical Resistance in the Past Five Years at Home and Abroad [J]. China's Naturopathy, 2018, 26(1): 89–92.
[7] Yang WS, Zhang RJ. Research on Low-impedance Meridians I: Measurement Methods [J]. Acta Scientiarum Naturalium Universitatis Pekinensis, 1978(1): 128–134.
[8] Zhang MZ. New Exploration on Electrical Measurement Methods for Meridian and Acupoint [J]. Journal of Anhui University of Chinese Medicine, 1995(3): 35–36.
[9] Zhang HK, Lu SY, Du GY. Acupoint Positioning and Tracking based on Template Matching[J]. Bulletin of Science and Technology, 2011, 27(5): 666–670.
[10] Wang C. Research on Acupoint Fingding Method of Laser Acupuncture Robot Based on Vision[D]. Beijing: Beijing University of Posts and Telecommunications, 2020.
[11] Liu YB, Qin JH, Zeng GF. Back acupoint location method based on prior information and deep learning. Int J Numer Method Biomed Eng. 2023 Dec;39(12):e3776.
[12] Zhao W, Yan J, Chen H, et al. Human back acupuncture points location using RGB-D Image for TCM massage robots, 67-75. [J]. International Journal of Robotics and Automation, 2023, 38(1).
[13] Wang YZ, Wang P, Chen JJ, et al. Development and Application of a Continuous Sterile Operation Acupuncture Needle Insertion and Supply Device[J]. Journal of Basic Chinese Medicine, 2023:1-6.
[14] Wang PY, Wang PZ, Che YZ, et al. An Ejector-Type Needle Inserter for Acupuncture: CN106214476B [P]. 2018-10-19[2024-3-22].
[15] Zhang HW, Zhu XS, Wang ZH, et al. Development of Acupuncture Manipulator and Its Application in Animal Shock Model[J]. Journal of Biomedical Engineering, 2008(4): 801-804+841.
[16] Chen PQ, Pu SX, Xiang D. A Needle Inserter for Acupuncture: CN107174520B [P]. 2019-12-14[2024-3-22].
[17] Wang Y, Zhao C. A Novel Acupuncture Robot [J]. Robot Technique and Application, 2007(4): 37–39.
[18] Ma MY. Design and implementation of intelligent acupuncture quantification robot system[D].Tianjin: Tianjin University, 2018.
[19] Wang LY, Lu FG, Zhao JW, et al. Simulation Device for Acupuncture Technique: CN116672256A [P]. 2023-09-01[2024-3-22].
[20] Yu H, Zhu Z, Wang C, et al. Kinematic-driven human-robot interaction system with deep learning for flexible acupuncture needling manipulations[J]. Biomedical Signal Processing and Control, 2024, 92: 106098.
[21] Tao YW, Xi Q, Guo Y, et al. Problems and development directions with traditional electroacupuncture devices [J].Shanghai Journal of Acupuncture and Moxibustion, 2023, 42(4): 415–419.
[22] Hong Y-S, Kim B-K, Hong B-H. Implementation of intelligent electronic acupuncture system using sensor module[J]. International Journal of Distributed Sensor Networks, 2014, 10(3): 238502.
[23] He Y, Zhou BP. A Medical Robot: CN108068125B [P]. 2022-01-05[2024-3-22].
[24] Xu PT, Fang YL, Zhong YY. Clinical Research Progress on Microcomputer-based Electro-acupuncture Clinical Research Progress on Microcomputer-based Electroacupuncture [J]. Chinese Medicine Modern Distance Education of China, 2022, 20(22): 195–196.
[25] Baxter G D, Bleakley C, McDonough S. Clinical effectiveness of laser acupuncture: a systematic review[J]. Journal of Acupuncture and Meridian Studies, 2008, 1(2): 65–82.
[26] Chang S-C, Kuo C-C, Ni C-H, et al. Emulated laser-acupuncture system[J]. Applied Optics, 2014, 53(29): H170-176.
[27] Lan K-C, Lee C-Y, Chang S-C, et al. An initial study on multi-point laser acupuncture based on 2-D galvo mirror[J]. Medical Acupuncture, 2022, 34(4): 224–227.
[28] Li LP, Li KY. Research of Semiconductor Laser Acupuncture Simulation Instrument based on Simulation of Acupuncture[J]. Journal of Biomedical Engineering Research, 2017, 36(3): 243–248.
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