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Article(id=1320389028202000885, tenantId=1146029695717560320, journalId=1319373289681944729, issueId=1320388863101612371, articleNumber=null, orderNo=null, doi=10.11876/mimt202502001, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=null, receivedDateStr=null, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1792734875965, onlineDateStr=2026-10-23, pubDate=1744214400000, pubDateStr=2025-04-10, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1792734875965, onlineIssueDateStr=2026-10-23, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1792734875965, creator=13701087609, updateTime=1792734875965, updator=13701087609, issue=Issue{id=1320388863101612371, tenantId=1146029695717560320, journalId=1319373289681944729, year='2025', volume='31', issue='2', pageStart='1', pageEnd='96', issueExtLink='null', onlineDate='null', pubDate='1744214400000', pubDateStr='2025-04-10', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1792734836602, creator='13701087609', updateTime=1792746450319, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1320437574611620097, tenantId=1146029695717560320, journalId=1319373289681944729, issueId=1320388863101612371, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1320437574611620098, tenantId=1146029695717560320, journalId=1319373289681944729, issueId=1320388863101612371, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=1, endPage=5, ext={EN=ArticleExt(id=1320389028554322422, articleId=1320389028202000885, tenantId=1146029695717560320, journalId=1319373289681944729, language=EN, title=The application of VR/AR/MR combined with biomechanics in acupuncture assisted training, columnId=null, journalTitle=Modern Instruments & Medical Treatment, columnName=null, runingTitle=null, highlight=null, articleAbstract=
Objective

In the current development of acupuncture and moxibustion, there are problems such as traditional teaching methods, low efficiency, difficult quantification of technology and long training cycle of talents. This paper discusses the application value of virtual reality, augmented reality, mixed reality and biomechanical cross technology in acupuncture and moxibustion teaching and clinical practice, focusing on the analysis of acupuncture and moxibustion interactive power and application characteristic technology.

Methods

Selecting the relevant researches at home and abroad in recent ten years, the force feedback, characteristic technique and function realization of acupuncture auxiliary system were summarized and distinguished.

Results

Virtual reality, augmented reality and mixed reality were closely combined with biomechanical feedback when applied to acupuncture assistance, and their respective technologies were focused on realizing functions such as acupuncture knowledge assisted memory, acupuncture point positioning, acupuncture training, etc., but there were some problems such as the limitation of edge computing power, insufficient precision of force feedback model, and insufficient functional integration.

Conclusions

Continuous optimization should be carried out in the direction of force feedback refinement, algorithm lightweight and multi-scene integration, and intelligent transformation of acupuncture and moxibustion teaching and clinical practice should be promoted by combining with large language model.

, authors=Yulan Liu, Lei Wang, Zixuan Liu, Shilong Han, Murong Li*, Lizhen Wang, Yubo Fan, authorsList=Yulan Liu, Lei Wang, Zixuan Liu, Shilong Han, Murong Li, Lizhen Wang, Yubo Fan, authorCompany=null, correspAuthors=Murong Li, authorNote=null, correspAuthorsNote=null, copyrightStatement=All copyrights in 2025 belong to the sponsor of the journal.Not content published by the journal may be reproduced or abridged without authorization., copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1320389029040861688, articleId=1320389028202000885, tenantId=1146029695717560320, journalId=1319373289681944729, language=CN, title=VR/AR/MR与生物力学交叉技术在针灸辅助训练中的应用, columnId=1320389028667568631, journalTitle=现代仪器与医疗, columnName=专论——探索智能康复设备的中医应用, runingTitle=null, highlight=null, articleAbstract=
目的

当前针灸发展中存在的教学方式传统、效率低下、技术难以量化及人才培养周期长等问题，本文探讨虚拟现实、增强现实、混合现实及生物力学交叉技术在针灸教学和临床实践中的应用价值，重点对针灸交互力量化和应用特征技术展开分析。

方法

选取近十年国内外相关研究，对针灸辅助系统的力反馈、特征技术及功能实现进行总结区分。

结果

虚拟现实、增强现实及混合现实应用于针灸辅助时都与生物力学反馈密切结合，各自技术实现有所侧重，能够实现针灸知识辅助记忆、穴位定位、针刺训练等功能，但存在边端计算能力限制、力反馈模型精细度不足、功能集成度欠缺等问题。

结论

需在力反馈精细化、算法轻量化与多场景集成化方向持续优化，结合大语言模型推动针灸教学与临床实践的智能化转型。

, authors=刘宇兰, 王磊, 刘子轩, 韩世龙, 李沐蓉*, 王丽珍, 樊瑜波, authorsList=刘宇兰, 王磊, 刘子轩, 韩世龙, 李沐蓉, 王丽珍, 樊瑜波, authorCompany=null, correspAuthors=李沐蓉, authorNote=

刘宇兰，女，硕士研究生在读，研究方向：多针穿刺路径规划、针灸智能化

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李沐蓉，女，博士，副研究员，研究方向：多针穿刺路径规划、手术机器人、智能针灸
, copyrightStatement=2025年版权归本刊主办单位所有未经本刊书面许可, 不得转载、摘编本刊所有文章内容。, copyrightOwner=中国科学器材公司, extLink=null, articleAbsUrl=null, sourceXml=s3qM30Qs/FpG3gNPyTbQhQ==, magXml=o3IfqU/m3YoplUrwnMlm4g==, pdfUrl=null, pdf=QB2Pzm5CyYbQb6n4LO0b5A==, pdfFileSize=1606851, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=UL6tbo+9Y53+zJW5Jz71rA==, mapNumber=null, fund=null)}, authors=[Author(id=1320389029539983869, tenantId=1146029695717560320, journalId=1319373289681944729, articleId=1320389028202000885, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=null, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1320389029623869951, tenantId=1146029695717560320, journalId=1319373289681944729, articleId=1320389028202000885, authorId=1320389029539983869, language=EN, stringName=Yulan Liu, firstName=Yulan, middleName=null, lastName=Liu, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=null, address=Medical Engineering & Engineering Medicine Innovation Center, Hangzhou International Innovation Institute of Beihang University (International Innovation Institute of Beihang University), Hangzhou 311115, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1320389029686784512, tenantId=1146029695717560320, journalId=1319373289681944729, articleId=1320389028202000885, authorId=1320389029539983869, language=CN, stringName=刘宇兰, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=null, address=杭州市北京航空航天大学国际创新研究院（北京航空航天大学国际创新学院）医工交叉科创中心，杭州　311115, bio={"content":"

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VR/AR/MR与生物力学交叉技术在针灸辅助训练中的应用
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刘宇兰 , 王磊 , 刘子轩 , 韩世龙 , 李沐蓉 * , 王丽珍 , 樊瑜波
现代仪器与医疗 | 专论——探索智能康复设备的中医应用 2025,31(2): 1-5
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现代仪器与医疗 |专论——探索智能康复设备的中医应用 2025 , 31 (2) : 1 -5
VR/AR/MR与生物力学交叉技术在针灸辅助训练中的应用
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刘宇兰, 王磊, 刘子轩, 韩世龙, 李沐蓉*, 王丽珍, 樊瑜波
作者信息
  • 杭州市北京航空航天大学国际创新研究院（北京航空航天大学国际创新学院）医工交叉科创中心，杭州　311115
通讯作者:
李沐蓉，女，博士，副研究员，研究方向：多针穿刺路径规划、手术机器人、智能针灸
作者简介:

刘宇兰，女，硕士研究生在读，研究方向：多针穿刺路径规划、针灸智能化

The application of VR/AR/MR combined with biomechanics in acupuncture assisted training
Yulan Liu, Lei Wang, Zixuan Liu, Shilong Han, Murong Li*, Lizhen Wang, Yubo Fan
Affiliations
  • Medical Engineering & Engineering Medicine Innovation Center, Hangzhou International Innovation Institute of Beihang University (International Innovation Institute of Beihang University), Hangzhou 311115
出版时间: 2025-04-10 doi: 10.11876/mimt202502001
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摘要
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目的

当前针灸发展中存在的教学方式传统、效率低下、技术难以量化及人才培养周期长等问题，本文探讨虚拟现实、增强现实、混合现实及生物力学交叉技术在针灸教学和临床实践中的应用价值，重点对针灸交互力量化和应用特征技术展开分析。

方法

选取近十年国内外相关研究，对针灸辅助系统的力反馈、特征技术及功能实现进行总结区分。

结果

虚拟现实、增强现实及混合现实应用于针灸辅助时都与生物力学反馈密切结合，各自技术实现有所侧重，能够实现针灸知识辅助记忆、穴位定位、针刺训练等功能，但存在边端计算能力限制、力反馈模型精细度不足、功能集成度欠缺等问题。

结论

需在力反馈精细化、算法轻量化与多场景集成化方向持续优化，结合大语言模型推动针灸教学与临床实践的智能化转型。

虚拟现实  /  增强现实  /  混合现实  /  生物力学  /  力反馈  /  穴位定位
Objective

In the current development of acupuncture and moxibustion, there are problems such as traditional teaching methods, low efficiency, difficult quantification of technology and long training cycle of talents. This paper discusses the application value of virtual reality, augmented reality, mixed reality and biomechanical cross technology in acupuncture and moxibustion teaching and clinical practice, focusing on the analysis of acupuncture and moxibustion interactive power and application characteristic technology.

Methods

Selecting the relevant researches at home and abroad in recent ten years, the force feedback, characteristic technique and function realization of acupuncture auxiliary system were summarized and distinguished.

Results

Virtual reality, augmented reality and mixed reality were closely combined with biomechanical feedback when applied to acupuncture assistance, and their respective technologies were focused on realizing functions such as acupuncture knowledge assisted memory, acupuncture point positioning, acupuncture training, etc., but there were some problems such as the limitation of edge computing power, insufficient precision of force feedback model, and insufficient functional integration.

Conclusions

Continuous optimization should be carried out in the direction of force feedback refinement, algorithm lightweight and multi-scene integration, and intelligent transformation of acupuncture and moxibustion teaching and clinical practice should be promoted by combining with large language model.

Virtual reality (VR)  /  Augmented reality (AR)  /  Mixed reality (MR)  /  Biomechanics  /  Force feedback  /  Acupoint location
刘宇兰, 王磊, 刘子轩, 韩世龙, 李沐蓉, 王丽珍, 樊瑜波. VR/AR/MR与生物力学交叉技术在针灸辅助训练中的应用. 现代仪器与医疗, 2025 , 31 (2) : 1 -5 . DOI: 10.11876/mimt202502001
Yulan Liu, Lei Wang, Zixuan Liu, Shilong Han, Murong Li, Lizhen Wang, Yubo Fan. The application of VR/AR/MR combined with biomechanics in acupuncture assisted training[J]. Modern Instruments & Medical Treatment, 2025 , 31 (2) : 1 -5 . DOI: 10.11876/mimt202502001
基金
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  • 国家自然科学基金项目(52405043)
  • 浙江省自然科学基金项目(LQ24F030017)
  • 国家自然科学基金杰青项目(12425209)
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2025年第31卷第2期
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doi: 10.11876/mimt202502001
  • 首发时间：2026-10-23
  • 出版时间：2025-04-10
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国家自然科学基金项目(52405043)
浙江省自然科学基金项目(LQ24F030017)
国家自然科学基金杰青项目(12425209)
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    杭州市北京航空航天大学国际创新研究院（北京航空航天大学国际创新学院）医工交叉科创中心，杭州　311115

通讯作者:

李沐蓉，女，博士，副研究员，研究方向：多针穿刺路径规划、手术机器人、智能针灸
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2种不同金属材料的力学参数
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Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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