[Current research on intelligent acupuncture robots: breakthroughs and challenges in key technologies]

The intelligent acupuncture robot, which integrates traditional acupuncture with modern technologies, aims to enhance the accuracy, standardization, and objectivity of acupuncture treatments. This paper explores the key technological breakthroughs and challenges in the development of intelligent acupuncture robots, focusing on acupoint localization, manipulation acquisition, human-machine interaction, mechanisms of acupuncture, and detection of the deqi (arrival of qi) response. The application of deep learning and image recognition has improved the precision of acupoint localization, while the adoption of high-precision sensors (e.g., force sensors, acceleration sensors, optical sensors, and motion capture systems) and advances in machine learning have significantly enhanced the fidelity of manipulation acquisition and reproduction. Progress in human-machine interaction, particularly through visual and force feedback technologies, has improved the naturalness and accuracy of acupuncture procedures. However, as a multidisciplinary research topic, acupuncture robots require not only the data-driven study of clinical acupuncture issues (e.g., deqi and manipulation techniques), but also the in-depth exploration of the engineering realization of AI and robotics in acupuncture, with particular focus on meridian modeling, acupoint dynamic characterization, and their implementation in robotic systems.