Evidence map›Paper›PMID 39957175›Full record

ArticleJournal of traditional Chinese medicine = Chung i tsa chih ying wen pan2025

Research on acupuncture robots based on the OptiTrack motion capture system and a robotic arm.

H E Ling, Yang Hui, L I Kang, Wang Junwen, Sun Zhibo, Yang Jinsheng, Zhang Jing

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Journal of traditional Chinese medicine = Chung i tsa chih ying wen pan, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Review
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

7 authors.

H E LingCollege of Biomedical Engineering, Sichuan University, Chengdu 610065, China.
Yang HuiCollege of Biomedical Engineering, Sichuan University, Chengdu 610065, China.
L I KangWest China Biomedical Big Data Center, Sichuan University, Chengdu 610065, China.
Wang JunwenInstitute of Basic Theory for Chinese Medicine, Beijing 100700, China.
Sun ZhiboInstitute of Basic Theory for Chinese Medicine, Beijing 100700, China.
Yang JinshengInstitute of Basic Theory for Chinese Medicine, China Academy of Chinese Medical Sciences, Beijing 100700, China.
Zhang JingCollege of Biomedical Engineering, Sichuan University, Chengdu 610065, China.

Funding

Major Research and Development Project of The China Academy of Chinese Medical Sciences Innovation: Construction and application of the theoretical research mode of Traditional Chinese Medicine diagnosis and treatment of modern diseases CI2021A00104Modernization of Traditional Chinese Medicine Project of National Key R & D Program of China: The construction of the theoretical system of Traditional Chinese Medicine non-pharmacological therapy based on body surface stimulation 2023YFC3502704Research and Application of Chinese Medicine Diagnosis and Treatment Program for Herpes Zoster Treated by Shu Pai Fire Acupuncture 2024YFFK0089Research and Development of Chinese Medicine Intelligent Detection System for Intestinal Functions 2024YFFK0044Sichuan Provincial Science and Technology Program Project: Research and Development of Chinese Medicine Intelligent Tongue Diagnosis Equipment for Digestive System Chinese Medicine Advantageous Diseases 2023YFS0327
6 · The paper itself

Abstract

objectiveTo propose an automatic acupuncture robot system for performing acupuncture operations.

methodsThe acupuncture robot system consists of three components: automatic acupoint localization, acupuncture manipulations, and

resultsThrough repeated experiments for eight acupoints, the acupuncture robot achieved a positioning error within 3.3 mm, which is within the allowable range of needle extraction and acupoint insertion. During needle insertion, the robot arm followed the prescribed trajectory with a mean deviation distance of 0.02 mm and a deviation angle of less than 0.15°. The results of the lifting thrusting operation in the Xingzhen process show that the mean acupuncture depth error of the designed acupuncture robot is approximately 2 mm, which is within the recommended depth range for the Xingzhen operation. In addition, the average detection accuracy of the

conclusionThe proposed acupuncture robot system streamlines the acupuncture process, increases efficiency, and reduces practitioner fatigue, while also allowing for the quantification of acupuncture manipulations and evaluation of therapeutic effects. The development of an acupuncture robot system has the potential to revolutionize low back pain treatment and improve patient outcomes.

Indexed as

Acupuncture TherapyRoboticsAcupuncture PointsHumansMotionMotion Captureacupoint locationacupuncture quantificationacupuncture robotdetection

Identifiers

PMID39957175
PMCPMC11764947

What Socratic holds

Textmetadata
Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the Socratic graph.