Research On Haptic Simulation System Of Acupuncture Operation

Acupuncture is a kind of treatment methods of traditional Chinese medicine withthe advantage of fewer side effects. It has been popular around the world. At present,the training methods of Chinese acupuncture has some problems, such as lowefficiency, limited resouces for training and only a part of acupoints can be fullypracticed, which restricted the cultivation of acupuncturists for a long time. To face it,this dissertation aims at developing a haptic simulation system for acupunctureoperation based on a self-designed force-reflecting device.Firstly, the characteristics and the mechanical model of acupuncture operationare analyzed. A acupoint model with four layer tissues is established. The acting forcebetween acupuncture needles and tissues is analyzed in detail. Then, the hardware ofthe simulation system is constructed. Open-loop impedance control method is selectedfor the self-designed haptic device to realize force-reflecting. Based on this, hardwareof the control system is chosen. With the mechanical model and hardware beingestablished, the interactive interface for the simulation system is developed inLabVIEW. The geometric models of the needle and tissues are displayed in3D virtualscene and the real-time display of needle depth is also showed. Various trainingenvironment can be created by simply changing the thickness of tissue layers.Operators can also see the real-time records of the operation like frequency andmagnitude. These records can help operators to improve skills rapidly. At last, CHAI3D toolkit is applied to explore the construction of simulation system based on3Ddigital human.