【作者】 王超；

【导师】 赵洪华； 刘方铭；

【作者基本信息】 济南大学 ， 机械工程（专业学位）， 2023， 硕士

【摘要】 现代针灸过程中,主观因素占据主导,针灸师在针灸过程中大多凭借个人经验所以很难实现针灸过程的标准化。同时,医生将过多的精力和体力耗费在扎针环节而非治疗方案的制定、患者状态的判断,这就使得老医师在针灸的过程中十分疲惫,而很多指力不够的医生无法准确的进行针灸。因此,本课题设计穴位自动定位技术,采用配准导航方案及空间配准方法使得该机器人能够辅助医师进行针灸操作,使医生在会诊的过程中能够更好的制定针灸过程中的方案,并在治疗过程中判断患者的整体状态,减轻医生的工作量和患者的痛苦程度。对针灸机器人进行了方案选型,并对法奥FR5型机械臂进行了运动学分析验证其合理性。针对机器人模拟中医针灸的手法,对针灸机器人的末端执行器进行了设计并完成了仿真分析验证方案可行性。通过相机内外参数的标定确定空间坐标的转换参数,并使用优化后的角点检测和张正友标定法技术完成针灸机器人的空间配准。搭建实验平台进行进针精度实验和定位精度实验研究。控制末端执行器模拟进针退针操作,记录误差并分析。使用棋盘格标定法确定位姿信息,并通过配准导航方案及空间配准方法完成针灸机器人的手眼标定,在上位机界面引导针灸机器人到达指定穴位点进行针灸操作,得出结论针灸机器人的定位误差在合理的范围内。更多还原

【Abstract】 In the process of modern acupuncture and moxibustion,subjective factors dominate,and acupuncture and moxibustion mostly rely on personal experience in the process of acupuncture and moxibustion,so it is difficult to realize the standardization of acupuncture and moxibustion process.At the same time,doctors spend too much energy and physical strength on acupuncture rather than the formulation of treatment plans and the judgment of patients’ status,which makes old doctors very tired in the process of acupuncture and moxibustion,while many doctors with insufficient finger power cannot accurately conduct acupuncture and moxibustion.Therefore,this topic designs the automatic acupoint positioning technology,uses the registration navigation scheme and the spatial registration method to enable the robot to assist doctors in acupuncture and moxibustion operations,so that doctors can better formulate plans in the process of acupuncture and moxibustion consultation,and judge the overall state of patients in the treatment process,reducing the workload of doctors and the pain of patients.The scheme selection of the acupuncture and moxibustion robot was carried out,and the Kinematics analysis of the FAO FR5 manipulator was carried out to verify its rationality.The end effector of the acupuncture and moxibustion robot is designed and the simulation analysis is completed to verify the feasibility of the scheme.The conversion parameters of spatial coordinates are determined by calibrating the internal and external parameters of the camera,and the optimized corner detection and Zhengyou Zhang calibration method are used to complete the spatial registration of the acupuncture and moxibustion robot.Build an experimental platform for needle insertion accuracy experiments and positioning accuracy research.Control the end effector to simulate needle insertion and withdrawal operations,record errors,and analyze them.The chessboard calibration method is used to determine the position and posture information,and the hand eye calibration of the acupuncture and moxibustion robot is completed through the registration navigation scheme and the spatial registration method.The acupuncture and moxibustion robot is guided to the designated acupoint on the upper computer interface to perform acupuncture and moxibustion operation,and the conclusion is reached that the positioning error of the acupuncture and moxibustion robot is within a reasonable range.更多还原