DESIGN AND EXPERIMENTAL RESEARCH OF HAND–EYE COORDINATION CONTROL SYSTEM FOR ACUPUNCTURE ROBOT

Aiming at the problems of the acupuncture robot’s difficulty in positioning acupoints and poor acupuncture accuracy, a hand–eye coordination control method is proposed in this paper. First, according to the specificity of acupuncture, a label-based acupoint positioning method was designed, and then the task of acupuncture acupoints was transformed into acupuncture with specific shapes of labels. Second, the vision subsystem was designed from detection, to label contour matching, to multi-label recognition based on tracking algorithm. Last, according to the control signal amount processed by the vision subsystem, the image Jacobian matrix, and the strategy of monocular hierarchical control, the main hand–eye coordination problem of the fixed-point needling in the acupuncture task is completed. The experimental results show that the method is used for acupuncture and acupuncture puncture with better puncture effect and higher positioning accuracy, which can meet the needs of acupuncture tasks.