The difficulties such as how to accurately locate acupoints and safely insert needles are presented in acupuncture robot. The puncture robot with high technological similarity to acupuncture robot is getting mature, and a large number of human trials and animal experiments have been conducted for the development of puncture robot. Through comparing the similarities and differences between puncture robot and acupuncture robot in the aspects of through-skin puncture, needle insertion and needle removal, the valuable technology of puncture robot is analyzed for the development of acupuncture robot, and the crucial direction of technology migration is determined. ①Integrating the mechanical feedback and medical imaging technology and utilizing the multi-modal perception to achieve the safety of acupuncture operation. ②Emphasizing the integration of the existing designs of chest puncture robot to realize the acupuncture operation with inhalation and exhalation involved. ③Focusing on the development of relevant technology of automatic needle removal through conducting the actual scenario of treatment with acupuncture robot in patients under non-anaesthetic condition.
针刺机器人存在如何精准定位腧穴、安全进针等难题，而技术上高度相似的穿刺机器人正日趋成熟并开展了大量的人体试验和动物实验。通过对比穿刺机器人与针刺机器人在破皮、进针、起针3个过程的相似性和差异，分析穿刺机器人对针刺机器人的研发有价值的技术，并指出其技术迁移的主要方向：①整合力学反馈和医学影像技术，多模态感知实现安全针刺；②重点集成胸部穿刺机器人的既有方案，实现伴随呼吸吐纳的针刺操作；③针对针刺机器人围绕非麻醉状态下患者展开治疗的实际场景，重点开发自动起针的相关技术。.
Keywords: acupuncture robot; medical robot; puncture robot.