1237results about "Acupuncture" patented technology

The present invention relates to a skin care device using RF needles, and more specifically to a skin care device using RF needles, which applies RF energy to needles driven forward and backward, and inserts the needles into skin, thereby enabling a thermal effect to be applied to skin tissue. The skin care device, according to one embodiment of the present invention, comprises: a handpiece; a needle assembly attachable to / detachable from the front end of the handpiece, and comprising needles which may be driven forward and backward by means of a motor and are inserted into skin; an RF generation part for applying RF energy to the needles inserted into skin at the needle assembly; a skin contact part formed on the front end of the needle assembly; and a vacuum pressure formation part comprising a suction tube connected from one side of the needle assembly to one side of the hand piece, and forming vacuum pressure so as to pull the skin contacting the skin contact part.

The present invention provides a facial acupoint locating method, an acupuncture method, an acupuncture robot, and a storage medium. The facial acupoint locating method includes: collecting an RGB image and a depth image of a face by using a depth camera, and generating three-dimensional point cloud data of the face based on the RGB image and the depth image; inputting the three-dimensional point cloud data of the face into a trained face segmentation model to obtain a plurality of facial feature regions, where the plurality of the facial feature regions include eyebrow regions, eye regions, a nose region, and a mouth region; and acquiring an association relationship between the plurality of the facial feature regions and key acupoint points, and determining locations of the facial acupoints based on the association relationship and the plurality of the facial feature regions.

The invention discloses a medical integrated module type electroacupuncture anesthesia therapeutic apparatus, and belongs to the technical field of medical apparatuses and instruments. A medical integrated module type electroacupuncture anesthesia therapeutic apparatus comprises a signal collecting and monitoring module, a main control module, a parameter self-adaptive adjusting module, a stimulation output module and a safety monitoring unit. The problems that existing current output parameters depend on manual adjustment and doctor experience, an objective quantitative basis is lacked, a real-time physiological monitoring and feedback mechanism is lacked in the treatment process, and current adjustment lags behind the state change of a patient are solved. Through a multi-parameter fusion decision algorithm and a closed-loop real-time feedback mechanism, 'experience-driven open-loop control 'of traditional electro-acupuncture equipment is upgraded to'data-driven closed-loop control', the subjectivity and hysteresis problems of manual adjustment are solved, and treatment safety and individual adaptability are greatly improved through high-precision monitoring and quick response.

The invention relates to the technical field of acupuncture, in particular to an intelligent acupuncture point precise positioning and stimulation regulation and control system based on combination of traditional Chinese medicine and western medicine, and the system firstly collects body surface acupuncture point information of a user, analyzes sensitivity and generates visual data. The information processing module fuses the data, generates acupoint comprehensive characteristics and marks a target acupoint. And the virtual visualization module generates a virtual acupoint image and marks a target acupoint. The needling instrument massage module formulates a needling instrument pushing scheme according to acupuncture point characteristics and needling instrument parameters, and the needling instrument pushing scheme is executed by the body surface needling instrument pushing device. Meanwhile, the electrical stimulation regulation and control module generates parameters, the electrical stimulation intensity, frequency and time are controlled, and the electric acupuncture massage device is combined with body surface acupuncture massage operation to execute treatment. According to the system, accurate acupoint positioning, personalized needle pushing scheme making and electrical stimulation regulation and control are achieved, the effect and safety of needle pushing treatment are improved, and innovative technical support is provided for modernization of traditional Chinese medicine.

The invention discloses a multifunctional sensor integrating force sense and visual touch sense and a measurement method thereof. The sensor comprises an elastic structure, an optical fiber, a camera, a shell, a reflector, a light emitting diode, a contact body and a depth reconstruction and three-dimensional force measurement module. The elastic structure comprises an upper platform, a lower platform and a plurality of springs vertically fixed between the upper platform and the lower platform; the optical fibers and the springs are consistent in number and are arranged in the springs one by one; two ends of the optical fibers are fixed with the upper and lower platforms and are in a tight suspension state; the upper platform is connected with the reflecting plate in an embedded manner; the contact body is fixed on the inner side of the top boss of the upper platform, and the top contact surface is just exposed at the opening position of the top of the shell; the camera is fixed on the lower platform and is aligned with the bottom center of the contact body; the depth reconstruction algorithm module is used for outputting a depth map according to the contact body image; and the three-dimensional force measurement algorithm module is used for calculating the three-dimensional force of the contact body according to the central wavelength drift of the optical fiber. According to the invention, the force information and depth information contacting the sensor can be obtained simultaneously.

The invention relates to the technical field of traditional Chinese medicine acupuncture and moxibustion, in particular to a human body acupuncture and moxibustion scheme intelligent screening method and system based on the brain-computer interface technology. Inputting the nerve response characteristic parameters into an acupoint efficacy prediction model, outputting nerve regulation efficacy scores of the acupoints, and generating an initial acupuncture scheme; in the process of executing the initial acupuncture scheme, electroencephalogram signals are collected in real time, and a neural feedback intensity value is calculated; and when the feedback intensity is lower than a preset response baseline, triggering a dynamic weight optimization algorithm, updating the scoring model and generating an optimized acupuncture scheme. According to the invention, objective evaluation and dynamic optimization of the human body to different acupoint nerve responses are realized, and the method has the advantages of high intelligence, high real-time performance, excellent individualized adaptation capability and the like, and is suitable for intelligent decision system deployment for assisting acupuncture therapy.

The invention relates to the technical field of automatic acupuncture and moxibustion, in particular to an intelligent acupuncture and moxibustion mechanical arm precise positioning and needle moving method and system.The method comprises the steps that an acupuncture and moxibustion mechanical arm collects posture visual data through a preset multi-mode visual sensor, and analyzes personnel posture image change features corresponding to the posture visual data; when the personnel posture image change feature is the same as the preset posture adjustment feature, performing analysis based on the posture visual data to obtain personnel body surface feature point data; body surface feature point displacement vectors are calculated according to the body surface feature point data, and dynamic acupuncture point coordinate positions are obtained according to preset reference acupuncture point coordinate fusion; and continuously updating the acupuncture points based on the dynamic point coordinate positions, and adjusting the contact force between a needling instrument and a human body according to a preset self-adaptive micro-motion flexible contact force adjusting strategy when the personnel micro-moves. The acupuncture mechanical arm has the advantages that the acupuncture point identification accuracy of the acupuncture mechanical arm during posture adjustment of the acupuncture personnel is improved, and the acupuncture effect is improved.

The invention provides an electronic acupuncture closed-loop control method and system based on multi-modal information feedback. The method comprises the following steps: acquiring long-term, short-term and real-time representation information of a testee under an initial stimulation scheme; the long-term and short-term characterization information is input into a collaborative generative network model for learning, a target stimulation scheme is output, the collaborative generative network model comprises traditional Chinese and western medicine agents, the traditional Chinese and western medicine agents learn the long-term and short-term characterization information, and a corresponding traditional Chinese medicine treatment scheme and an electrical stimulation scheme are output. The collaborative generation network model carries out collaborative training on traditional Chinese and western medicine agents; calculating an index deviation between the real-time characterization information and the standard characterization information to generate a real-time information deviation matrix; inputting the target electrical stimulation scheme and the real-time information deviation matrix into a parameter deviation prediction agent for learning and prediction; and performing parameter adjustment on the target stimulation scheme based on the predicted stimulation parameter deviation matrix to realize long / short time and real-time double-layer closed-loop control of the electronic acupuncture.

The invention discloses a buccal needle positioning navigation method and system based on multi-mode perception driving, and the method comprises the steps: collecting the image information and depth information of the face of a patient; generating an individualized face three-dimensional model according to the image information and the depth information; determining a standard meridian map according to a meridian database, and registering the standard meridian map to the individualized face three-dimensional model through non-rigid deformation to obtain acupuncture point positioning; according to the acupuncture point positioning and a pre-stored organization hierarchy model, needle insertion path guiding information is calculated and generated, and in an interactive interface, the acupuncture point positioning and the needle insertion path guiding information are displayed in an overlapped mode so as to execute the needle insertion guiding process; and in the needle insertion guiding process, collision detection is carried out according to the needle insertion path guiding information and the organization level model, and safety early warning is carried out when a collision risk is detected. The precision and safety of the acupuncture treatment process can be effectively improved.

The invention relates to a personalized traditional Chinese medicine health-care intelligent recommendation system combined with an acupuncture theory. The system comprises a multi-modal data acquisition module, an AI diagnosis module and an acupuncture scheme generation module. According to the invention, the health information of the user is acquired through the multi-modal data acquisition module, the deep learning model fused with the acupuncture meridian theory is utilized to realize physique identification and disease diagnosis, and the personalized acupuncture health care scheme is generated based on the established acupuncture point, physique and disease three-dimensional association database. A reinforcement learning algorithm is combined with a user real-time feedback dynamic optimization scheme, the limitation that traditional acupuncture depends on physician experience is broken through, intelligentization, individuation and dynamics of acupuncture health care are achieved, the accuracy and operability of the health care scheme are improved, and the method is suitable for various scenes such as family health care and community medical treatment and has a wide application prospect. The method has remarkable innovativeness and practicability, the physique and the disease of the user are accurately identified based on multi-modal data, the acupuncture scheme adaptive to personal characteristics is generated, and the problem that a traditional universal scheme is insufficient in adaptability is solved.

The invention belongs to the technical field of acupuncture and moxibustion, and provides an acupuncture point recognition method, system and device for an acupuncture part and a medium, the method comprises the following steps: establishing a body surface anatomical marker coordinate system, and determining body surface coordinates of human body acupuncture points in the body surface anatomical marker coordinate system; determining coordinates of an acupuncture part in the body surface anatomical marker coordinate system; human body acupuncture point body surface coordinates near the acupuncture part coordinates are determined; calculating the distance between the coordinates of the acupuncture part and the body surface coordinates of the acupuncture points of the human body near the acupuncture part; determining an acupuncture point of the acupuncture part according to the distance and a preset acupuncture point weight; by calculating the spatial distance between the recognized coordinates of the acupuncture part and the body surface coordinates of the human body acupuncture points near the body surface of the patient and weighting the scores of the corresponding acupuncture points according to the acupuncture point use frequency, the acupuncture points of the acupuncture part are determined according to the scores, clinical experience factors are added for acupuncture point recognition, and the recognition accuracy is improved.

The invention discloses a preparation method and application of a glucose sensor based on an acupuncture needle, the sensor is prepared based on a specific structural design and a molecular recognition mechanism by taking the acupuncture needle as a substrate, and high-specificity and high-sensitivity detection of glucose concentration is realized through drain current change. According to the present invention, the biosensor has the ultra-wide dynamic detection range (0-40 mmol.L <-1 >), covers the clinical range from hypoglycemia to severe hyperglycemia, has the low detection limit of 54 mol.L <-1 >, has excellent grid regulation and control ability, shows the significant on-off ratio and the rapid response characteristic during the detection process, and meets the requirements of the biosensor on sensitivity and real-time performance; and the device has quick response capability to grid voltage change, so that the device has good stability and repeatability under repeated operation, and a direction and a basis can be provided for the development of a blood glucose monitoring technology with continuous, real-time and accurate characteristics.

Provided is a system used for acupuncture treatment, including a helmet that includes: a base having at least one hole positioned at strategically designated acupuncture points; at least one object placed within the at least one hole; and a heat source, wherein the heat source is configured to heat up the at least one object for acupuncture treatment. Also provided is a method for acupuncture treatment including: configuring at least one strategically placed hole in a helmet according to specific acupuncture points; having a patient wear the helmet snugly; inserting at least one object into the at least one strategically placed hole; heating up the at least one object with a heat source; and administering heat-based acupuncture treatment to the patient via the heated up at least one object through the at least one strategically placed hole.

The invention discloses a head acupuncture semi-supervised intelligent acupoint selection method and system based on visual positioning, and belongs to the technical field of intelligent auxiliary medical treatment. The method comprises the steps of collecting a face image and extracting face standard two-dimensional feature points; constructing a first training data set by using the three-dimensional space coordinates of the face standard two-dimensional feature points and the three-dimensional space coordinates of the head acupuncture point feature points, and training a multi-layer perceptron mapping network; training a Yolo two-dimensional mapping network by using a second training data set constructed by the virtual face image and the two-dimensional coordinates of the head acupoint feature points; and inputting an unmarked face image into the trained multilayer perceptron mapping network and the trained Yolo network, and carrying out weighted fusion on two-dimensional coordinates output by the two networks to complete head acupuncture intelligent auxiliary acupoint selection. According to the invention, semi-supervised accurate recognition and positioning of face acupuncture points are realized, so that the accuracy and safety of self-service acupuncture treatment of a patient are improved on the premise of depending on a small amount of labeled data.

The present invention relates to the technical field of microwave physiotherapy instruments. Disclosed is a multi-probe intelligent microwave physiotherapy instrument. Pressure-bearing air bags are fixedly connected between the tops of physiotherapy probes and the top of an inner cavity of a protective shell. The inner side wall of a circulation plate is uniformly provided with second circulation holes, and the outer side wall of the circulation plate is sleeved with an expansion air bag, the expansion air bag communicating with the second circulation holes by means of an air conveying pipe. An air blowing disc is fixedly mounted on the bottom of the protective shell, the pressure-bearing air bags being connected to the air blowing disc by means of air guide pipes. Pressure electromagnetic valves are fixedly mounted on the air guide pipes, an electric control valve is fixedly mounted on the air conveying pipe, and air feeding one-way valves are fixedly mounted on the pressure-bearing air bags. Thus, physiotherapy assemblies can be in contact with the surface of the skin instead of the physiotherapy probes and finally can reach the state of being attached to the surface of the skin. Therefore, treatment can be uniformly applied to the physiotherapy site so as to timely reduce the heat brought to the skin surface, thereby achieving automatic cooling and preventing the skin of patients from burning.

The invention provides an ultrasonic acupuncture device based on an ultrasonic transducer and a using method of the ultrasonic acupuncture device, and relates to the technical field of ultrasonic acupuncture. In order to solve the problems that an ultrasonic acupuncture device in the prior art is single in focusing mode and fixed in sound field and cannot effectively simulate multi-element core techniques such as lifting, inserting, twisting, rotating and oblique acupuncture in the traditional Chinese medicine acupuncture process, a target acupuncture technique type and operation time are converted into cooperative control signals for a concave fan-shaped phased array transducer and an acoustic lens; executing three operation modes: synchronously exciting all array elements and adjusting the distance between a transducer and an acoustic lens to realize axial dynamic focusing, and simulating a hand lifting and inserting method; array elements are excited according to specific phase difference time delay to generate a vortex sound field, and a twisting technique is simulated; a part of array elements are symmetrically opened, so that the acoustic beam deflects to generate an inclined focal region, and an inclined thorn technique is simulated. The simulation precision and flexibility of ultrasonic acupuncture are improved, the treatment process is completely noninvasive, and the safety and acceptability of a patient are improved.

The invention relates to an acupuncture rehabilitation training data processing method based on the combination of VR and digital therapy, and the method comprises the steps: obtaining an acupuncture stimulation signal and a VR training interaction signal, carrying out the synchronous association of the two signals based on a unified time reference, and dynamically determining a signal processing priority according to the state of a patient when the acupuncture operation and a virtual training task conflict, carrying out backtracking calibration on the offset signal; the task action rhythm, force and completion condition of a patient are monitored in real time in VR rehabilitation training, data of abnormal behaviors are collected and recorded, whether the abnormal behaviors are caused by acupuncture stimulation or not is analyzed by combining acupuncture stimulation parameters and time sequence information, and data confirmed to belong to acupuncture effect interference are marked as independent samples; real-time subjective feedback information of a patient is collected in a VR scene, subjective indexes of comfort, aching feeling and fatigue are associated with physiological and behavior data, analysis weights of corresponding data segments are adjusted according to feedback, and an individualized rehabilitation data processing strategy of the patient is formed based on historical feedback data.

The invention discloses a multi-mode closed-loop feedback thumbtack needle electrical stimulation anti-depression system, belongs to the technical field of drug delivery systems, and particularly relates to collaborative treatment of acupoint stimulation and drug sustained release. The problems that in the prior art, cooperation of acupoint stimulation and medicine slow release cannot be achieved, and further improvement of the treatment effect is limited are solved. The system comprises an AI regulation and control module and a collaborative treatment module. The AI regulation and control module predicts treatment parameters; and the collaborative treatment module is used for carrying out collaborative treatment of acupoint electrical stimulation and skin administration on the patient based on the predicted treatment parameters. The multi-mode closed-loop feedback thumbtack needle electrical stimulation anti-depression system is suitable for collaborative treatment of acupoint stimulation and drug sustained release.

The invention discloses an auxiliary acupuncture and moxibustion device for a single-hand needle inserting technique. The auxiliary acupuncture and moxibustion device comprises a thumb sleeve, an index finger sleeve and a middle finger sleeve which are detachably arranged on the foremost finger sections of the thumb, the index finger and the middle finger of an operator in a sleeving mode respectively and have elasticity. The acupuncture needle device further comprises an ejection assisting mechanism for assisting an operator to carry out a single-hand needle feeding method. The ejection auxiliary mechanism comprises an outer U-shaped elastic sheet, an inner U-shaped elastic sheet and an elastic arc sheet; two arms of the outer U-shaped elastic sheet abut against the index finger and the thumb respectively, the bottom of the outer U-shaped elastic sheet abuts against the jaw, and the ends of the two arms on the two sides of the opening are connected with the thumb sleeve and the index finger sleeve respectively; the inner U-shaped elastic sheet is smaller than the outer U-shaped elastic sheet and is positioned in the outer U-shaped elastic sheet; according to the acupuncture needle device, the structural design, the operation convenience and the treatment effect are all optimized, automatic synchronization, mechanical balance and current conduction in acupuncture operation are achieved through the innovative structure and functions, and the defects of traditional acupuncture, electric acupuncture therapy and fingerstall type devices are overcome.

The present invention belongs to the technical field of fire needles, and specifically discloses a gun-type electric fire needle, comprising a gun body and a power supply, a driving unit, a heating unit, a positioning unit and a needle-piercing unit arranged in the gun body; the gun body comprises a hollow gun rod and a holding rod; the needle-piercing unit comprises a fire needle, a needle rod and a needle cap assembly, and the two ends of the needle rod are respectively fixed to the fire needle and the needle cap assembly; the heating unit is used to heat the fire needle; the driving unit comprises a first driving mechanism and a second driving mechanism; the first driving mechanism is used to open and close the heating unit; the second driving mechanism is used to drive the needle-piercing unit; the needle cap assembly can be installed at the tail end of the gun rod, and a connecting tube is fixed at the front end of the gun rod; the fire needle can pass through the connecting tube or be located in the connecting tube; the positioning unit is used to locate the acupuncture point. The above-mentioned gun-type fire needle can solve the problems in the prior art that the fire needle is easy to shake and the acupuncture position is inaccurate, thereby affecting the user's treatment experience and effect.

The invention relates to the field of acupuncture and moxibustion, in particular to multifunctional acupuncture and moxibustion treatment equipment which comprises a base, an electric sliding block, a telescopic rod, a needle warming disc, a combustion bin, a rubber ring, a needle body and the like. The base is slidably connected with an electric sliding block through the sliding groove. The electric sliding block is fixedly connected with a telescopic rod; the telescopic part of the telescopic rod is rotationally connected with a needle warming disc; a bearing groove is formed in the middle of the needle warming disc; a combustion bin is arranged in the bearing groove. A plurality of storage grooves for storing needle bodies are formed in the needle warming disc; a needle body is inserted into each storage groove; a rubber ring is arranged on the upper side of each storage groove. The temperature of moxa smoke generated by combustion is regulated and controlled through the buffering cavity, and the moxa smoke regulated and controlled to be at the proper temperature is temporarily stored in a separated mode through the heat insulation ring, so that in the acupuncture process, the acupuncture temperature is always at the optimal temperature, and the situation that local parts are scalded subsequently is avoided.

Acupuncture needles may be used for piercing tissue with less trauma than may occur when employing larger gauge needles. However, because acupuncture needles are fabricated and packaged differently than are larger gauge needles, acupuncture needles may be less compatible with certain manufacturing processes. Needle assemblies compatible with manufacturing processes may comprise a continuous support material having a plurality of apertures defined therein, and a first injection molded coupler that surrounds a proximal portion of an acupuncture needle and connects the acupuncture needle to a first location upon the continuous support material, such that the acupuncture needle is held in a pre-determined orientation with respect to a longitudinal axis of the first injection molded coupler. The acupuncture needles in adjacent apertures may also be spaced apart substantially uniformly.

The invention relates to a fingerstall based on an ionic gel pressure sensor array and a preparation method. The fingerstall comprises a flexible fingerstall body and a flexible pressure sensor array main body fixedly embedded in the inner side of the flexible fingerstall body. The flexible pressure sensor array main body comprises a top flexible electrode layer, an ionic gel layer and a bottom flexible electrode layer which are arranged in sequence; the ionic gel layer is located between the top flexible electrode layer and the bottom flexible electrode layer, the top flexible electrode layer and the bottom flexible electrode layer are each composed of a polyimide film layer and a copper electrode, and the polyimide film layers and the copper electrodes are tightly attached and fixedly connected; the copper electrodes of the top flexible electrode layer and the bottom flexible electrode layer are formed by arranging and connecting a plurality of copper electrode units in a matrix manner; the copper electrode units of the top flexible electrode layer are connected in rows, the copper electrode units of the bottom flexible electrode layer are connected in columns, and the copper electrode connection directions are vertical after the two layers are assembled; one side, close to the top flexible electrode layer, of the ionic gel layer is provided with a uniform pyramid microstructure. According to the invention, the force of the finger acting on the pricking needle can be accurately obtained.

The invention relates to a meridian point knowledge-based false detection and restoration acupoint recovery method, device and equipment, and the method comprises the steps: generating false detection and restoration acupoint coordinates according to the symmetry constraint relation of human meridian points through known meridian points and symmetrical meridian points, and generating false detection and restoration acupoint coordinates according to the logic topology constraint relation of the human meridian points. The X-axis coordinates of the falsely detected and repaired acupuncture points are corrected through the inherent trend and naming sequence of the human body meridians, and the Y-axis coordinates of the falsely detected and repaired acupuncture points are corrected by determining the up-down position relation of the meridians under the human body posture according to the spatial topology constraint relation of the human body meridians and acupuncture points. By fusing multiple constraints of symmetry in distance, angle and direction, missing false detection and restoration of the acupuncture point can be recovered through geometric symmetry, the detection error is effectively reduced, the robustness of acupuncture point detection is improved, a dual verification mechanism of logical topology and spatial topology is combined, and the accuracy of acupuncture point detection is improved. And further, the reasonability of the recovery result is ensured through constraint.

The invention discloses an intelligent self-adaptive floating needle treatment system, which comprises a multi-mode sensor module connected with a main control module and used for transmitting acquired data to the main control module; the main control module is connected with the multi-mode sensor module, the driving module and the Bluetooth communication module and is used for receiving data of the multi-mode sensor module, sending a scanning control instruction to the driving module and performing data interaction with the Bluetooth communication module; the driving module is connected with the main control module and the stepping motor and is used for receiving an instruction of the main control module and driving the stepping motor to operate; the energy module is used for providing power for the whole system; the Bluetooth communication module is connected with the main control module and used for receiving data of the main control module and sending a physician manual correction instruction to the main control module; and pairing and connecting with the mobile terminal. The system has the advantages that local blood circulation is improved, the treatment effect is enhanced, the safety of a patient is guaranteed, the treatment stability and reliability are improved, and the treatment flexibility and the intelligent degree are improved.

The invention relates to an acupuncture brain machine interface system based on brain-like recursive network model decoding. The system comprises an electroencephalogram acquisition module; an electroencephalogram preprocessing module; the needling parameter fitting module is used for accurately fitting needle body motion parameters through a polynomial regression method; the state space model is used for accurately simulating the nonlinear change characteristic of the neuron membrane potential according to the needle body motion parameters output by the acupuncture parameter fitting module; the brain-like recursive network model is used for depicting time dependence of neural activities of a single brain region under the acupuncture action and correlation of neural activities among different brain regions; a Kalman filtering generator; and the neural decoder is used for performing behavior decoding on the optimal internal state output by the brain-like recursive network model updated by the Kalman filtering generator. The system integrates electroencephalogram signal acquisition, acupuncture parameter acquisition, brain nerve activity modeling and acupuncture manipulation decoding, can perform real-time online operation, and is high in time resolution and high in response speed.

The invention relates to the technical field of medical instruments, in particular to a sterile gear-adjustable automatic catgut embedding device and a working method thereof.The sterile gear-adjustable automatic catgut embedding device comprises a catgut embedding needle, a catgut embedding cylinder is arranged on one side of the catgut embedding needle, two grips are fixedly connected to the surface of one side of the catgut embedding cylinder, and a button is fixedly connected to the position, located on one side of the grips, of the surface of the catgut embedding cylinder; a catgut embedding device is arranged on the surface of the catgut embedding cylinder, catgut embedding can be quickly and conveniently embedded into acupuncture points of a human body through the catgut embedding device during catgut embedding treatment, the treatment effect and the working efficiency are improved, the catgut embedding device comprises a push rod, and the push rod is inserted into the surface of the catgut embedding cylinder in a penetrating mode. When catgut embedding equipment is used for conducting catgut embedding treatment on a patient, catgut can be assembled and replaced more conveniently and rapidly, catgut embedding is more convenient and rapid, repeated step operation of workers is reduced, the working efficiency is improved, and the working efficiency is improved. The treatment efficiency and the practicability and the functionality of the device in use are further improved.

The invention relates to the technical field of physiotherapy devices, in particular to a self-adaptive acupuncture robot control system based on multi-modal feedback, which comprises a sample acquisition unit used for acquiring acupuncture sample data in a plurality of acupuncture processes; the acupuncture implementation unit is used for performing acupuncture operation; the data integration unit is used for generating an acupuncture process model of each target acupoint of the target object and an impedance change reference range of the acupoint tissue before and after the hand pressing mechanism executes the hand pressing manipulation; the monitoring unit is used for collecting the contact pressure between the hand pressing mechanism and the human body tissue, the impedance of the acupoint tissue, the physiological feature data of the target object and the current environment data in real time; and the control unit is used for controlling the acupuncture implementation unit to carry out acupuncture operation and adjusting the hand pressing manipulation. According to the invention, the accuracy of impedance measurement of the acupoint tissue under the influence of external force in the acupuncture process is improved.

The invention relates to the technical field of adaptive control, in particular to a syndrome differentiation adaptive control system for intelligent traditional Chinese medicine treatment equipment, which comprises an environmental parameter acquisition unit for acquiring microenvironment parameters in real time and generating environmental compensation parameters; the moxibustion sense feedback input unit quantifies subjective moxibustion sense feedback of the patient; the syndrome differentiation and trend prediction unit is used for outputting dynamic syndrome type probability distribution and a syndrome evolution prediction sequence based on the traditional Chinese medicine knowledge graph; and the self-adaptive control decision unit is used for generating a final self-adaptive control instruction when the emergency safety condition is not triggered by integrating the environment compensation parameters, the moxibustion sense feedback, the syndrome type probability and the evolution prediction result. According to the system, three types of data sources are fused, a four-stage serial correction architecture is adopted, and multi-stage regulation and control are automatically completed in a treatment cycle, so that equipment is not out of alignment due to environmental fluctuation, downshift is performed no longer after scalding, and prescription change is performed no longer after symptom transformation, and therefore, temperature control precision improvement and manual intervention return-to-zero can be realized.