Research On The Key Technology Of Control Safety Of Laser Acupuncture Robot

In recent years,the state has attached great importance to the development of traditional Chinese medicine.Under the background of globalization,the demand and expectation for acupuncture talents in the world have been increasing.However,it takes a long time for the training and inheritance of Chinese acupuncture and moxibustion talents,which makes the training of acupuncture and moxibustion doctors relatively slow and unable to meet the needs of more patients for acupuncture and moxibustion treatment.With the continuous development and progress of artificial intelligence technology and robot technology,intelligent medical robot is becoming an important support for medical health.The combination of laser acupuncture technology and intelligent robot technology has become a research hotspot.However,since the laser acupuncture robot needs to have direct contact with the human body,the safety of the laser acupuncture robot has become the primary problem for the research and development of the laser acupuncture robot.Therefore,the research on the control safety of laser acupuncture robot has important theoretical significance and practical application value for the development of laser acupuncture robot.Taking the laser acupuncture robot as the research object,this paper carried out the research on the controller redundancy technology,dynamic obstacle avoidance technology of the non-treatment site interference,and the safety disengagement technology under special circumstances in the process of acupoint treatment of the laser acupuncture robot,and verified the safety and reliability of the relevant theoretical technology through the experimental simulation respectively.First of all,a dual-machine thermal backup hardware system is designed for laser acupuncture robot controller.The RS485 communication protocol and heartbeat pulse signal mechanism between two controllers are designed.The dual-machine synchronization strategy is designed based on the hardware system,which mainly includes the controller clock cycle synchronization,task initialization synchronization,dual-machine data monitoring synchronization and dual-machine resynchronization.The arbitration strategy of laser acupuncture robot was designed,the fault types of the controller were analyzed,and the arbitration switch strategy was designed.Based on the controller redundancy strategy of laser acupuncture robot,the reliability of the proposed strategy is verified by the simulation experiment of OMNet++.Then,the dynamic obstacle avoidance path planning method was considered when the patient’s non-therapeutic site interfered with the treatment planning path.The common collision detection methods are analyzed and selected as the means of collision detection in this paper.The dynamic obstacle avoidance planning strategy is designed and an improved A*algorithm for dynamic 3d environment is proposed based on the traditional 2d A*algorithm.The effectiveness of the proposed algorithm is verified by MATLAB design simulation experiment.After that,In view of the actual acupuncture treatment process,patients may feel tingling,electric shock,gastrointestinal peristalsis and other uncomfortable feelings,which may cause patients’ involuntary activities,resulting in safety risks,the research of safe departure from special situations in the process of acupuncture treatment was carried out.The contact force model between laser acupuncture instrument and human body was established.The laser acupuncture robot disengagement strategy is designed after the contact force exceeds the limit.And the MATLAB simulation is used to verify the effectiveness of the proposed security strategy.Finally,experimental research is carried out on the control safety of laser acupuncture robot proposed in this paper.The experimental platform of laser acupuncture robot will built.The dynamic obstacle avoidance experiment of laser acupuncture robot under non-therapeutic site interference and the safe escape experiment of laser acupuncture robot under special circumstances were designed respectively.The experimental data are compared and analyzed to verify the security and reliability of the relevant theoretical algorithm proposed in this paper.