Intelligent Acupuncture Robotic System Based on Precise Acupoint Localization

Jing GUO; Zhe LONG; Jin-kang HUANG; Kai-yao LUO; Hao-cheng LIU; Zhao-shui HE; Wen-jun TAN; Qiao-kang LIANG; Yu-ge DONG; Xing-fang PAN; Zhong-meng WEN

doi:10.12404/j.issn.1671-1815.2507798

Science Technology and Engineering ›› 2026, Vol. 26 ›› Issue (21) : 8902-8913 DOI: 10.12404/j.issn.1671-1815.2507798

research-article

Intelligent Acupuncture Robotic System Based on Precise Acupoint Localization

Author information +

History +

PDF

Abstract

To address the issues of insufficient acupoint localization accuracy and the difficulty of achieving complete functional integration in traditional acupuncture robots, a fully functional intelligent acupuncture robot system was developed. The system integrates four major modules: precise acupoint recognition and localization, an end-effector, a six-axis robotic arm, and a human-computer interaction interface. Human acupoint recognition and localization were achieved through image segmentation and deep learning. The modularly designed end-effector enables functions including lifting-thrusting, twirling, pressing, and the reproduction of expert acupuncture manipulation techniques. According to third-party testing, the acupoint localization and needling error of the acupuncture robot does not exceed 1 mm. Furthermore, animal experiments and clinical trials have validated the safety, functional effectiveness, and reliability of the acupuncture robot system.

Graphical abstract

Keywords

acupuncture robot system / acupoint recognition system / end-effector / deep learning

Cite this article

Download citation ▾

Jing GUO, Zhe LONG, Jin-kang HUANG, Kai-yao LUO, Hao-cheng LIU, Zhao-shui HE, Wen-jun TAN, Qiao-kang LIANG, Yu-ge DONG, Xing-fang PAN, Zhong-meng WEN. Intelligent Acupuncture Robotic System Based on Precise Acupoint Localization. Science Technology and Engineering, 2026, 26(21): 8902-8913 DOI:10.12404/j.issn.1671-1815.2507798