Research On The Methods Of Treatment Planning And Compliance Control For Laser Acupuncture Robot

The laser acupuncture robot is a medical robot with a manipulator as the carrier and a laser acupuncture treatment instrument as the end effector.It is a cross-product of robot technology and medical technology.The use of it will effectively promote the process of telemedicine,solve the social problems of medical services as well as the uneven distribution of resources in medical services,and relieve the pressure of acupuncture doctors on treatment.Acupuncture prescriptions include treatment of multiple acupoints,so the motion of robot will run throughout the whole treatment process.Simultaneously,the laser acupuncture treatment instrument needs to make vertical contact with the acupoint of the human body with a certain force during the treatment,so the compliance control of laser acupuncture robot can guarantee the effectiveness and safety of treatment.Therefore,research on the methods of treatment planning and compliance control for laser acupuncture robot has important theoretical significance and practical application value for the development of laser acupuncture robot technology.Based on the needs of laser acupuncture robot treatment,the methods of treatment planning and compliance control for laser acupuncture robot are studied in this thesis.Specifically,this thesis focuses on the pose estimation of laser acupuncture treatment of acupoints,the robot motion planning during multi-acupoints treatment,the compliance Control of laser acupuncture robot.Then the effectiveness and advancement of related algorithm are verified by simulations and experiments.The main research includes:Firstly,aiming at the need for vertical contact between the laser acupuncture instrument and the acupoint of the human body during the treatment,the pose estimating method of laser acupuncture robot during the treatment is studied.In this thesis,RGBD cameras are used to collect information and fuse it into point cloud information.Then,down-sampling,pass-through filtering and other preprocessing methods are used to reduce the amount and improve the accuracy of point cloud information,based on which,the three-dimensional(3D)information of the human body at the acupoint can be obtain.In order to further improve the integrity and accuracy of 3D information,the point cloud information collected from multiple directions is stitched and filtered.Aiming at the treatment pose estimation problem,it is transformed into the estimation of point cloud normal at the acupoint,and the neighborhood cloud analysis method is used.Then,considering the characteristics of multiple acupoints in acupuncture prescriptions,the laser acupuncture robot motion planning method based on Rapidly-exploring Random Trees(RRT)is studied.This thesis analyzes and divides the working space of laser acupuncture robot by Monte Carlo method.Based on which,combining the joint space planning and RRT algorithm to reduce the search space of the RRT algorithm,so that the efficiency of the algorithm is improved.In addition,this thesis improves the RRT algorithm to realize the simultaneous search of paths between multiple points,which can satisfy the needs of multi-acupoints treatment.Aiming at the non-optimal problem of the RRT algorithm results,a path extraction and optimization method is proposed.After that,aiming at the need of vertical contact between the laser acupuncture treatment instrument and the human acupoint during the treatment process,the research on compliance control method of the laser acupuncture robot is implemented.As the basis of robot control,the dynamics of the robot are decoupled from the operating space and the zero space through the analysis of the Jacobian matrix of the robot.Then,the motion constraints of the robot in each treatment stage are analyzed.In order to ensure the continuity and stability of the robot control in each stage,an adaptive controller is designed based on the impedance control technology,which can achieve the stable force control of the robot when the stiffness of the human body changes.Finally,the experiments of the methods of treatment planning and compliance control for laser acupuncture robot are carried out.An experimental platform are build based on laboratory equipment,and then the robot motion planning experiments for multi-acupoint traversal and experiments on adaptive impedance control methods for laser acupuncture robots are designed.Experimental results show the validity and practicability of proposed algorithms.