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Related Experiment Video

Updated: May 11, 2026

Medicated Thread Moxibustion Therapy of Zhuang Medicine and its Application in a Rat Model of Cold-Congealing Syndrome of Primary Dysmenorrhea
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Medicated Thread Moxibustion Therapy of Zhuang Medicine and its Application in a Rat Model of Cold-Congealing Syndrome of Primary Dysmenorrhea

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Portable Moxibustion Robot With Intelligent Acupoint Positioning Guided by Visual Sensing.

Lanhui Wang1,2,3, Pengcheng Zhang2,3, Ziqi Wang2

  • 1Department of Medical Engineering, Medical Supplies Center of PLA General Hospital, Beijing, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|May 9, 2026
PubMed
Summary

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This summary is machine-generated.

This study introduces an intelligent robotic system for automated moxibustion, addressing challenges in traditional methods. The system achieves precise acupoint positioning and safe, automated moxibustion delivery.

Area of Science:

  • Robotics
  • Biomedical Engineering
  • Traditional Chinese Medicine

Background:

  • Traditional moxibustion faces challenges including practitioner shortages and labor-intensive procedures.
  • An intelligent robotic system was developed to automate acupoint positioning and moxibustion execution.

Purpose of the Study:

  • To develop and validate an automated robotic system for moxibustion.
  • To overcome limitations of manual moxibustion, enhancing precision and scalability.

Main Methods:

  • A standardized acupoint coordinate map was created using DensePose-based body normalization and statistical modeling from 50 subjects.
  • A hybrid serial-parallel robot design was employed for a large workspace and high precision.
  • A Model Predictive Controller with real-time thermal feedback ensured safety through dynamic distance adjustment.
Keywords:
acupoint positioninghybrid serial‐parallel robotmoxibustion robottemperature control

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Last Updated: May 11, 2026

Medicated Thread Moxibustion Therapy of Zhuang Medicine and its Application in a Rat Model of Cold-Congealing Syndrome of Primary Dysmenorrhea
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Main Results:

  • Precise spatial positioning was achieved with mean errors ranging from 4.3 ± 2.7 mm (upper limbs) to 9.4 ± 6.2 mm (lower limbs).
  • The system demonstrated rapid response to temperature changes within 0.25 seconds.
  • Temperature overshoot was effectively limited to below 0.8°C.

Conclusions:

  • The integrated robotic system offers a precise and scalable solution for automated moxibustion.
  • This technology is particularly beneficial for resource-limited clinical settings, improving accessibility and consistency of care.