XU Tiancheng¹, LU Dongdong², WANG Xuejun ², LU Mengye ³, LIN Qi ³, ZHANG Xiaoqiang ², LIN Xiaofeng ², LU Peng ⁴, JIA Boyu ², SUN Jianhua ^5*

(1.the First Affiliated Hospital of Nanjing University of Chinese Medicine, 210023; 2.Nanjing University of Science and Technology 2, 210089 ;3.the Second Clinical Medical College of Nanjing University of Chinese Medicine, 210023; 4.Tianjin University, 300072; 5.Jiangsu Province Hospital of TCM, 210029, address: Nanjing City, Hanzhoung Road No. 282)

Abstract: Based on traditional meridian, introducing chaos theory and fractal geometry, generating digital meridian as the theoretical basis of robot automatic point positioning; Research into quantitative relationship between the needle speed and patients' pain, develop features of fast and painless needle inserting in acupuncture robots; Build acupoint-symptom complex networks, provides mathematical model for TCM AI simulation ; design interactive wireless control platform AcuCloud, endow robots dual roles of scientific research and clinic; promote the establishment of quantitative research and international standards of accurate acupuncture, inherit traditional Chinese medicine based on science and technology.

Key words: Acupuncture and moxibustion, Medical robot, meridian and acupoints, fractal geometry theory