基於二維振鏡技術之自動化多穴位雷射針灸系統

Automated multi-point laser acupuncture system based on two-dimensional mirror technology

吳昕諭(Xin-Yu Wu)

指導教授 ： 王智昱

共同指導教授 ： 藍崑展(Kun-Chan Lan)

義守大學/醫學科技學院/生物醫學工程學系/碩士(2023年)

摘要

在傳統中醫針灸中，根據不同的病症醫師常會以多個不同穴位進行組合提高針灸的療效，發揮協同作用。雷射針灸作為傳統針灸的替代療法接受度高、感染風險低，因此也有以雷射針灸進行多穴位刺激的研究，而此類研究大多是通過多通道雷射進行刺激，需對穴位位置有一定的瞭解，接著以人力操作完成治療，在使用上還是相當依靠人為操作。
近年來，隨著技術的進步，在雷射針灸的操作方法上已有視覺化穴位定位後使用機械手臂進行自動雷射針灸的研究，雖然解決了對穴位位置不熟悉的人取穴的困擾，但在操作範圍上仍受到機械的限制，且只能逐點進行多個位置的雷射針灸無法達到多個位置同時刺激。因此，本研究旨在架設一套穴位辨識後可快速在多個穴位進行雷射針灸的系統，以二維振鏡取代機械手臂的功能使雷射光束可在空間中自由移動改變雷射落點位置，由於偏轉速度快，可達到幾乎同時在多穴位上被雷射光照射的狀態，將此定義為多個位置同時刺激。
研究結果為在65.3*35.0*51.0(cm3)硬體架構中，以多元線性迴歸模型、類神經網路模型和校正公式輸出二維振鏡的轉動值，在穴位定位驗證雷射光點與目標位置達到平均誤差最大為1.28mm。在類神經網路模型部分使用隨機參數搜索搭建類神經網路模型架構，和以往使用固定架構對標定資料進行訓練比起來有更好的靈活度。執行多穴位雷射針灸系統時使用者可以輕鬆地完成多個穴位的雷射針灸，達成可自動辨識穴位、同時作用於穴位上進行刺激的目的。

關鍵字

二維振鏡 ； 類神經網路 ； 雷射針灸 ； 多穴位

並列摘要

In traditional acupuncture, physicians often combine multiple different acupoints to improve the efficacy of acupuncture and play a synergistic effect.As an alternative to traditional acupuncture, laser acupuncture has high acceptance and low risk of infection.
Therefore, there are also studies on multi-acupoint stimulation using laser acupuncture.Most of these studies use multi-channel laser stimulation.The location has some knowledge and is quite dependent on human manipulation.
In recent years, with the advancement of technology, there have been researches on the operation method of laser acupuncture using a robotic arm to perform automatic laser acupuncture after visual acupoint positioning.
However, the operating range is still limited by machinery, and laser acupuncture at multiple positions can only be performed point by point and cannot achieve simultaneous stimulation of multiple positions.
Therefore, this research aims to set up a system that can quickly perform laser acupuncture on multiple acupoints after acupoint identification.
The function of the mechanical arm is replaced by a two-dimensional vibrating mirror so that the laser beam can move freely in space to change the laser path. Due to the fast deflection speed, it can reach the state of being irradiated by laser light on multiple acupoints almost at the same time, which is defined as simultaneous stimulation of multiple points in this study.
In Research results, hardware framework is 65.3*35.0*51.0 (cm3).the rotation value of the two-dimensional vibrating mirror is output by the multiple linear regression model, the neural network model and the correction formula, and the laser light spot and the target position are verified at the acupoints. The maximum average error is 1.28mm. In the part of the neural network model, random parameter search is used to build a neural network model architecture, which is more flexible than using a fixed
architecture to train calibration data in the past. When implementing the multil-acupoint laser acupuncture system, users can easily complete laser acupuncture at multiple acupoints, achieving the goal of automatically identifying acupoints and simultaneously acting on the acupoints for stimulation.

並列關鍵字

Two-dimensional galvanometer ； Neural Network ； Laser acupuncture ； Multi-acupuncture

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