Abstract:

Aiming at the problems associated with traditional artificial moxibustion such as temperature imbalance, labor-intensive processes, and large differences in treatment effects, this paper proposes a new type of moxibustion robot system based on robot technology to reduce the labor intensity on doctors and improve treatment efficiency. The system adopts a master-slave bilateral structure design and is mainly composed of a moxibustion device at the slave end, a manipulator, and a master end. Through the improved design of the automatic propulsion device, hardware circuit, and communication flow of the slave moxibustion instrument, the automatic propulsion of the moxa stick during the moxibustion process as well as real-time collection and transmission of temperature, distance, and other information are realized. The master end system integrates and processes the information transmitted from the slave end. It also performs trajectory planning and motion control for the manipulator to optimize the moxibustion path and dynamically adjust the moxibustion distance. In addition, the human-computer interaction interface of the master end can display the information during the moxibustion process and the working status of the slave end in real time, enabling the visualization of the moxibustion process. Through this interface, doctors can flexibly adjust moxibustion parameters and remotely control robots for moxibustion to deal with different objects, environments, and task requirements. The experimental results show that, leveraging the proposed moxibustion robot system, the manipulator can operate according to an automatically planned path in a real environment, dynamically adjust the distance from the burning end of the moxa stick to the human acupuncture points, maintain the temperature deviation of the target acupuncture points less than 0.5 ℃, and operate smoothly, thereby meeting the requirements of safe and accurate moxibustion treatment.

Key words: human-computer interaction, moxibustion robot, bilateral control system, moxibustion instrument, trajectory planning

摘要：

传统的人工艾灸方式存在温度不均衡、耗费人力、治疗效果差异大等问题，结合机器人技术，提出一种新型艾灸机器人系统，以减轻医师的劳动强度并提高治疗效率。采用主从双边结构设计，主要由从端的艾灸器、机械臂和主端构成。通过对从端艾灸器的自动推进装置、硬件电路和通信流程的改进设计，实现艾灸过程中艾条的自动推进以及温度、距离等信息的实时采集和传输。主端系统对从端传输的信息进行整合处理，并对机械臂进行轨迹规划和运动控制，以优化艾灸路径和动态调整施灸距离。此外，主端的人机交互界面能够实时显示艾灸过程中的信息和从端的工作状态，实现艾灸过程的可视化。医师可通过该可视化界面灵活调节艾灸参数和远程控制机器人进行艾灸，以满足不同的艾灸对象、环境和任务需求。实验结果表明，该艾灸机器人系统能够在真实环境中使机械臂按照自动规划的路径运行，动态调控艾条燃烧端到人体穴位的距离，保持目标穴位的温度偏差小于0.5 ℃，运行过程平稳，满足安全且精准的艾灸治疗要求。

关键词: 人机交互, 艾灸机器人, 双边控制系统, 艾灸器, 轨迹规划