Development and Validation of a Real-Time Force/Torque Sensing System for Precision Acupuncture Robots

Acupuncture transmits the treatment of systemic diseases through meridians and acupoints, relying on specific operation techniques. However, traditional acupuncture has some problems such as strong subjectivity in acupoint selection and difficulty in technical standardization. With the development of artificial intelligence and medical robot technology, acupuncture treatment has a new opportunity.This study developed a model for the acupuncture robot's end effector based on SolidWorks, establishing a complete control mathematical model that includes the motor drive and needle contact process. The control system simulation design and physical prototype debugging were completed. By calibrating the coaxial six-axis force sensor with the force and torque at the needle tip, a compensation mathematical model was established to achieve force correction at the end effector. This research provides technical support and theoretical foundation for the automation and standardization of acupuncture operations.