Robot-Controlled Acupuncture—An Innovative Step towards Modernization of the Ancient Traditional Medical Treatment Method

摘要

Background: For several years now, research teams worldwide have been conducting high-tech research on the development of acupuncture robots. In this article, the design of such an acupuncture robot is presented. Methods: Robot-controlled acupuncture (RCA) equipment consists of three components: (a) Acupuncture point localization, (b) acupuncture point stimulation through a robotic arm, and (c) automated detection of a deqi event for the efficacy of acupuncture point stimulation. Results: This system is under development at the Department of Computer Science and Information Engineering, National Cheng Kung University, Tainan. Acupuncture point localization and acupuncture point stimulation through a robotic arm works well; however, automated detection of a deqi sensation is still under development. Conclusions: RCA has become a reality and is no longer a distant vision.