OBJECTIVE:To propose an automatic acupuncture robot system for performing acupuncture operations.METHODS:The acupuncture robot system consists of three components:automatic acupoint localization,acupuncture manipulati...OBJECTIVE:To propose an automatic acupuncture robot system for performing acupuncture operations.METHODS:The acupuncture robot system consists of three components:automatic acupoint localization,acupuncture manipulations,and De Qi sensation detection.The OptiTrack motion capture system is used to locate acupoints,which are then translated into coordinates in the robot control system.A flexible collaborative robot with an intelligent gripper is then used to perform acupuncture manipulations with high precision.In addition,a De Qi sensation detection system is proposed to evaluate the effect of acupuncture.To verify the stability of the designed acupuncture robot,acupoints'coordinates localized by the acupuncture robot are compared with the Gold Standard labeled by a professional acupuncturist using significant level tests.RESULTS:Through repeated experiments for eight acupoints,the acupuncture robot achieved a positioning error within 3.3 mm,which is within the allowable range of needle extraction and acupoint insertion.During needle insertion,the robot arm followed the prescribed trajectory with a mean deviation distance of 0.02 mm and a deviation angle of less than 0.15°.The results of the lifting thrusting operation in the Xingzhen process show that the mean acupuncture depth error of the designed acupuncture robot is approximately 2 mm,which is within the recommended depth range for the Xingzhen operation.In addition,the average detection accuracy of the De Qi keywords is 94.52%,which meets the requirements of acupuncture effect testing for different dialects.CONCLUSION:The proposed acupuncture robot system streamlines the acupuncture process,increases efficiency,and reduces practitioner fatigue,while also allowing for the quantification of acupuncture manipulations and evaluation of therapeutic effects.The development of an acupuncture robot system has the potential to revolutionize low back pain treatment and improve patient outcomes.展开更多
The widespread Carboniferous KT-I dolomite in the eastern margin of the Pre-Caspian Basin is an important hydrocarbon reservoir. The dolomite lithology is dominated by crystalline dolomite. The δ18O values range from...The widespread Carboniferous KT-I dolomite in the eastern margin of the Pre-Caspian Basin is an important hydrocarbon reservoir. The dolomite lithology is dominated by crystalline dolomite. The δ18O values range from -6.71‰ to 2.45‰, and average 0.063‰, obviously larger than -2.5‰, indicating low-temperature dolomite of evaporation origin. Stable strontium isotope ratios （87Sr/86Sr） range from 0.70829 to 0.70875 and average 0.708365, very consistent with 87Sr/86Sr ratios in Carboniferous seawater. Chemical analysis of Ca and Mg elements shows that the dolomite has 9.1 mole% excess Ca or even higher before stabilization. The degree of order of dolomite is medium–slightly poor, varying in a range of 0.336-0.504 and averaging 0.417. It suggests that the dolomite formed under near-surface conditions. There are two models for the origin of the Carboniferous KT-I dolomite reservoir. These are 1） the evaporation concentration – weathering crust model and 2） the shoal facies – seepage reflux model. The former is mainly developed in restricted platforms – evaporate platforms of restricted marine deposition environments with a representation of dolomite associated with gypsum and mudstone. The latter mainly formed in platform edge shoals and intra-platform shoals and is controlled by dolomitization due to high salinity sea water influx from adjacent restricted sea or evaporate platform.展开更多
基金Modernization of Traditional Chinese Medicine Project of National Key R&D Program of China:The construction of the theoretical system of Traditional Chinese Medicine nonpharmacological therapy based on body surface stimulation(2023YFC3502704)Sichuan Provincial Science and Technology Program Project:Research and Development of Chinese Medicine Intelligent Tongue Diagnosis Equipment for Digestive System Chinese Medicine Advantageous Diseases(2023YFS0327)+2 种基金Research and Development of Chinese Medicine Intelligent Detection System for Intestinal Functions(2024YFFK0044)Research and Application of Chinese Medicine Diagnosis and Treatment Program for Herpes Zoster Treated by Shu Pai Fire Acupuncture(2024YFFK0089)Major Research and Development Project of The China Academy of Chinese Medical Sciences Innovation:Construction and application of the theoretical research mode of Traditional Chinese Medicine diagnosis and treatment of modern diseases(CI2021A00104)。
文摘OBJECTIVE:To propose an automatic acupuncture robot system for performing acupuncture operations.METHODS:The acupuncture robot system consists of three components:automatic acupoint localization,acupuncture manipulations,and De Qi sensation detection.The OptiTrack motion capture system is used to locate acupoints,which are then translated into coordinates in the robot control system.A flexible collaborative robot with an intelligent gripper is then used to perform acupuncture manipulations with high precision.In addition,a De Qi sensation detection system is proposed to evaluate the effect of acupuncture.To verify the stability of the designed acupuncture robot,acupoints'coordinates localized by the acupuncture robot are compared with the Gold Standard labeled by a professional acupuncturist using significant level tests.RESULTS:Through repeated experiments for eight acupoints,the acupuncture robot achieved a positioning error within 3.3 mm,which is within the allowable range of needle extraction and acupoint insertion.During needle insertion,the robot arm followed the prescribed trajectory with a mean deviation distance of 0.02 mm and a deviation angle of less than 0.15°.The results of the lifting thrusting operation in the Xingzhen process show that the mean acupuncture depth error of the designed acupuncture robot is approximately 2 mm,which is within the recommended depth range for the Xingzhen operation.In addition,the average detection accuracy of the De Qi keywords is 94.52%,which meets the requirements of acupuncture effect testing for different dialects.CONCLUSION:The proposed acupuncture robot system streamlines the acupuncture process,increases efficiency,and reduces practitioner fatigue,while also allowing for the quantification of acupuncture manipulations and evaluation of therapeutic effects.The development of an acupuncture robot system has the potential to revolutionize low back pain treatment and improve patient outcomes.
文摘The widespread Carboniferous KT-I dolomite in the eastern margin of the Pre-Caspian Basin is an important hydrocarbon reservoir. The dolomite lithology is dominated by crystalline dolomite. The δ18O values range from -6.71‰ to 2.45‰, and average 0.063‰, obviously larger than -2.5‰, indicating low-temperature dolomite of evaporation origin. Stable strontium isotope ratios （87Sr/86Sr） range from 0.70829 to 0.70875 and average 0.708365, very consistent with 87Sr/86Sr ratios in Carboniferous seawater. Chemical analysis of Ca and Mg elements shows that the dolomite has 9.1 mole% excess Ca or even higher before stabilization. The degree of order of dolomite is medium–slightly poor, varying in a range of 0.336-0.504 and averaging 0.417. It suggests that the dolomite formed under near-surface conditions. There are two models for the origin of the Carboniferous KT-I dolomite reservoir. These are 1） the evaporation concentration – weathering crust model and 2） the shoal facies – seepage reflux model. The former is mainly developed in restricted platforms – evaporate platforms of restricted marine deposition environments with a representation of dolomite associated with gypsum and mudstone. The latter mainly formed in platform edge shoals and intra-platform shoals and is controlled by dolomitization due to high salinity sea water influx from adjacent restricted sea or evaporate platform.
