基于Karnopp模型和数据驱动的虚拟针灸手法力建模

针灸学是一门实践性学科，操作训练的经验对针灸医学生掌握针灸技术十分重要。本文针对传统训练方法准确性和真实感低的问题，基于Touch X和 wity搭建了虚拟针灸训练平台，并通过采集针刺猪肉的数据建立提插和捻转手法力模型。针对提插手法可分为刺人力和提插力两部分，在刺人力模型中增加了衰减力建模，使刺人的分层感更加真实；借鉴 Kamoup模型建立不同组织层的单位长度阻尼函数，结合刺入力和提插力建立完整的提插手法力模型。针对捻转手法采用数据驱动建模，分为动态捻转和静态衰减两部分，两者测试集准确率分别为0.985 08和0.992 49。最后通过左右手对比实验和用户使用感受对模型进行评估，结果表明，本文建立的两种针灸手法力模型准确度高，真实性强，可扩展性好。

Virtual acupuncture manipulative force modeling based on Karnopp model and data-driven model

Acupuncture is a practical discipline,and the experience of operational training is very important for acupuncture medical students to master acupuncture techniques. To address the problems of low accuracy and realism of traditional training methods, this article establishes a virtual acupuncture training platform based onTouch X and unity. The force model is formulated by collecting data from the needle punched pork experiment and the lifting and twisting techniques. For the insertion method, the whole model is divided into two parts,including penetration force modeling and insertionforce modeling. Compared with the existing penetration force model, this article adds attenuation force modeling,which makes the layering sense of the needle punching process more realistic. The Karnopp model is used to solve the damping function per unit length of different tissue layers. Finally, the formula method is used to combine the penetration force and the insertion force to establish a complete mana model of the insertion. The data-driven modeling is used for the twisting maneuver,which is divided into two parts,including dynamic twisting and static decay. Both of them have test set accuracy values of 0.985 08 and 0.992 49,respectively.Finally,the model is evaluated by left-right hand comparison experiment and user perception experiment. The results show that the two acupuncture manipulative models have high accuracy,strong authenticity and good scalability.