Traditional Chinese medicine (TCM) treatments such as moxibustion and massage are often plagued by challenges such as imprecise positioning, and labor intensiveness. Hence, we propose an innovative solution by integrating infrared thermography and robotics into TCM practices. With our approach, doctors can select the treatment points on a patient’s thermal imaging, which are then accurately mapped onto the visible image of the patient through key point detection and coordinate mapping. Subsequently, the robot is precisely controlled to administer treatments such as moxibustion and massage on these points. The experimental results show that this TCM medical robot can operate stably during the treatment process and can complete the tasks of positioning and treatment.