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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.
Summary
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.
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.
