Vision Modeling And Automatic Trajectory Planning Of TCM Moxibustion Robot

Moxibustion technology is an important part of traditional Chinese medicine(TCM)technology in China.It is widely favored by consumers because of its good effect in disease prevention and treatment.The moxibustion method of heat sensitive acupoints proposed by Professor Chen Rixin has been improved on this basis,which has a very significant effect on a variety of diseases.With the increasing demand of rehabilitation physiotherapy and the increasing pressure of life in China,more and more people need heat sensitive moxibustion of traditional Chinese medicine,and heat sensitive moxibustion needs to be completed by professional moxibustion personnel according to the patient’s disease and their own situation,choosing the appropriate acupoints and moxibustion techniques.There are some problems,such as long time of moxibustion process,more repetitive labor,and hand-held moxibustion equipment can not be accurately positioned for a long time Questions.The use of thermal moxibustion robot instead of moxibustion workers can reduce the repetitive labor of TCM nursing staff,solve the defect that TCM nursing staff can not accurately locate the moxibustion equipment for a long time in the existing technology,reduce the burden of medical staff holding moxibustion equipment,and accurately control the distance between the burning end of moxa stick and human acupoints in the process of thermal moxibustion Better.In this paper,the 6-DOF thermal moxibustion robot of traditional Chinese medicine is taken as the research object,and the 3D scanning modeling of the target is studied by using the depth camera vision modeling method and robot trajectory planning method,so that the moxibustion head can move to the acupoint position automatically and perform moxibustion action automatically.The main contents of this paper include the following aspects:(1)According to the operation process of TCM thermal moxibustion,a TCM thermal moxibustion robot system which can realize the basic process of thermal moxibustion is built as the experimental principle verification platform.According to the need to achieve the function of the overall design,and the selection of hardware and software,and finally complete the construction of the experimental platform.In addition,the D-H parameter method is used to build the kinematics model of the manipulator,which paves the way for the following chapters.(2)Through the analysis and understanding of camera imaging principle and hand eye relationship,combined with the current camera calibration method,the camera internal parameters and hand eye relationship are calibrated.Based on the lack of good initial value in traditional ICP algorithm,combined with the relationship between the end pose of the manipulator and the camera,a rigid body point cloud coarse registration algorithm is proposed,which combines the end pose of the manipulator.Finally,the feasibility and efficiency of the algorithm are demonstrated through experiments.Under the same conditions,the registration efficiency of the new algorithm is 50% higher than that of the traditional ICP algorithm.(3)Aiming at the recognition and location of acupoints on the back,chest and abdomen of human body,the red circular markers are used as artificial markers.The template matching algorithm based on SIFT features is used to extract features to obtain acupoint coordinates.Then the normal vector of the point cloud model is estimated by PCA method.Combined with the transformation between coordinate systems,the final point cloud manipulation trajectory based on the manipulator base coordinate system is obtained The experimental results show that the manipulation trajectory has good accuracy.(4)In combination with the algorithm of the above chapters,this paper develops a visual user interface software to generate the corresponding execution trajectory according to different moxibustion techniques.The operator of heat sensitive moxibustion can choose the appropriate technique according to the needs,set the corresponding technique parameters,and generate and derive the moxibustion technique trajectory.The experimental results show that the generated trajectory is feasible and achieves the ideal effect.