An acupuncture robot end and an acupuncture robot with a flexible needle

Abstract

The application relates to the technical field of acupuncture, in particular to an acupuncture robot tail end with flexible needle insertion and an acupuncture robot. The acupuncture robot tail end comprises a base, a sliding seat and an acupuncture needle. A first rotary driving device is fixedly arranged on the base. The sliding seat is in sliding connection with the base. A groove wheel is arranged in the sliding seat. The groove wheel is fixedly connected with the rotating shaft of the first rotary driving device. A flexible rope is wound around the groove wheel. The upper end of the flexible rope is fixedly connected with the upper end of the sliding seat. The lower end of the flexible rope is fixedly connected with the lower end of the sliding seat. The acupuncture needle is fixedly connected with the lower bottom surface of the sliding seat. The linear motion control of the acupuncture needle is realized through the flexible rope. Due to the low transmission ratio of the rope and the absence of metal friction, the motion control with fast response can be realized. The kinetic energy recovery effect provided by the spring installed on the flexible rope can provide the force buffering effect after the acupuncture is blocked, and the acupuncture force is more flexible and safe.

Description

Technical Field

[0001] The present invention relates to the technical field of acupuncture, and in particular to an acupuncture robot terminal for smooth needle insertion and an acupuncture robot. Background Art

[0002] Acupuncture is a uniquely Chinese medical treatment method. Traditional Chinese medicine practitioners use tiny needles to insert into the patient's targeted acupuncture points and then apply specific techniques such as lifting, inserting, and twisting to complete the treatment. Acupuncture treatment relies heavily on the experience and skills of experienced practitioners. For patients of varying ages, genders, and body shapes, precise control of needle pressure and speed is difficult, resulting in inconsistent results. This is why acupuncture robots have emerged on the market.

[0003] Most existing acupuncture robots use a screw guide transmission solution. The screw transmission solution has poor movement flexibility due to its large transmission ratio and severe metal friction, making it difficult to complete motion control under fast response; the screw transmission solution also has high insertion rigidity, while the insertion process of acupuncture needles requires a relatively soft force, and the screw transmission is difficult to provide a relatively soft needling force; the screw guide transmission solution has a self-locking feature and remains in place after power failure. However, after an accident, the acupuncture robot needs to quickly return the acupuncture needle that has penetrated the tissue to its original position, so the screw guide solution is difficult to meet this requirement. Summary of the Invention

[0004] The object of the present invention is to provide an acupuncture robot tip and an acupuncture robot with smooth needle insertion, so as to at least solve one of the problems raised in the above-mentioned background technology.

[0005] The technical solution of the present invention is:

[0006] A flexible acupuncture robot end, comprising:

[0007] a machine base, on which a first rotary drive device is fixedly mounted;

[0008] a slide, the slide being slidably connected to the machine base, a sheave being provided in the slide, the sheave being fixedly connected to the rotating shaft of the first rotary drive device, a flexible rope being wound around the sheave, the upper end of the flexible rope being fixedly connected to the upper end of the slide, and the lower end of the flexible rope being fixedly connected to the lower end of the slide;

[0009] an acupuncture needle fixedly connected to the lower surface of the slide seat.

[0010] Further, an insurance mechanism is arranged between the upper end of the flexible rope and the sliding seat, the insurance mechanism comprises a first insurance hook and a second insurance hook which are buckled, the first insurance hook is fixedly connected with the sliding seat through a first spring, and the second insurance hook is fixedly connected with the upper end of the flexible rope through a second spring.

[0011] Further, a reset mechanism is fixedly arranged on the side wall of the sliding seat, the reset mechanism comprises an upper limiting block and a third spring, the upper limiting block is fixedly connected with the side wall of the sliding seat, the lower surface of the upper limiting block is fixedly connected with the upper end of the third spring, and the lower end of the third spring is fixedly connected with the upper surface of the base.

[0012] Further, a second rotary driving device is fixedly arranged between the sliding seat and the acupuncture needle, and the acupuncture needle is fixedly connected with the rotating shaft of the second rotary driving device.

[0013] Further, a plurality of spiral grooves are arranged on the groove wheel, and the flexible rope is wound in the spiral grooves.

[0014] Further, the first insurance hook comprises a first bending part, a second bending part, a third bending part and a fourth bending part, the second insurance hook comprises a fifth bending part, a sixth bending part, a seventh bending part and an eighth bending part, the fourth bending part is clamped into the corner where the seventh bending part and the eighth bending part are connected, and the eighth bending part is clamped into the corner where the third bending part and the fourth bending part are connected.

[0015] Further, the first bending part is provided with a first connecting groove, the fifth bending part is provided with a second connecting groove, the first spring is inserted into the first connecting groove, the first spring is fixedly connected with the first connecting groove through a first connecting piece, the second spring is inserted into the second connecting groove, and the second spring is fixedly connected with the second connecting groove through a second connecting piece.

[0016] Further, a sliding rail is arranged on the sliding seat, a sliding block is arranged on the base, and the sliding seat and the base are slidingly connected through the sliding rail and the sliding block.

[0017] Further, a lower limiting piece is arranged on the lower end of the sliding seat.

[0018] The acupuncture robot comprises the flexible needle-lowering acupuncture robot end.

[0019] The acupuncture robot and the flexible needle-lowering acupuncture robot end provided by the application have at least one of the following improvements and advantages compared with the prior art.

[0020] The present application sets up a flexible rope, uses the flexible rope to complete the linear motion control of the acupuncture needle, and can realize the motion control with fast response due to the low transmission ratio of the rope and the absence of metal friction; the kinetic energy recovery effect provided by the spring installed on the flexible rope provides the force buffering effect after the acupuncture is blocked, realizes the acupuncture force that is more flexible and safe, and when the acupuncture force is too large due to the accidental bending of the needle, the first safety hook and the second safety hook will be unhooked, providing protection when the needle is bent; and due to the low reduction ratio in the flexible rope and the groove transmission, the third spring designed can push the acupuncture device back to the initial position after power failure, thereby realizing the safety protection function of automatic reset of the acupuncture robot after power failure. BRIEF DESCRIPTION OF DRAWINGS

[0021] The present application will be further explained below in combination with the drawings and embodiments:

[0022] Figure 1 is a structural schematic diagram of the acupuncture robot end of the present application;

[0023] Figure 2 is an exploded view of the structure of the acupuncture robot end of the present application;

[0024] Figure 3 is a structural schematic diagram of the safety mechanism of the present application;

[0025] Figure 4 is a structural schematic diagram of part of the robot end of the present application;

[0026] Figure 5 is a structural schematic diagram of the first safety hook and the second safety hook of the present application;

[0027] Figure 6 is a structural schematic diagram of another part of the robot end of the present application;

[0028] Figure 7 is a structural schematic diagram of the groove wheel and the flexible rope of the present application;

[0029] Figure 8 is a structural schematic diagram of another state of the flexible rope and the groove wheel of the present application.

[0030] Explanation of reference signs:

[0031] 1, base; 11, first rotary drive device; 12, second rotary drive device; 13, sliding block;

[0032] 2, slide; 3, sheave; 4, flexible rope; 5, acupuncture needle; 21, slide rail; 22, lower limit piece; 6, safety mechanism; 61, first safety hook; 62, second safety hook; 63, first spring; 64, second spring; 611, first bending part; 612, second bending part; 613, third bending part; 614, fourth bending part; 6111, first connecting groove; 621, fifth bending part; 622, sixth bending part;

[0033] 623, seventh bending part; 624, eighth bending part; 6211, second connecting groove; 7, reset mechanism; 71, upper limit block; 72, third spring. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described in detail below.

[0035] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0036] In the description of the present application, the meaning of several is one or more, the meaning of multiple is two and more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, within, etc. are understood as including the number. It should also be understood that the term "and / or" used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. The terms "include", "contain", "have" and their variants mean "include but are not limited to", unless otherwise specifically emphasized.

[0037] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third" and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0038] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting and the like should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solutions.

[0039] The present application provides a flexible needle acupuncture robot end and an acupuncture robot by improvement, the technical scheme of the present application is:

[0040] Referring toFigure 1 As shown in the figure, an acupuncture robot end with a flexible needle includes: a base 1, a sliding seat 2 and an acupuncture needle 5.

[0041] The base 1 is fixedly provided with a first rotary driving device 11, which can be a motor, or a rotary cylinder or other mechanism capable of realizing rotation, and the embodiment is not limited here. The sliding seat 2 is in sliding connection with the base 1. Referring to Figure 2 As shown in the figure, the sliding seat 2 is provided with a groove wheel 3, which is fixedly connected with the rotating shaft of the first rotary driving device 11, and the first rotary driving device 11 is used to drive the groove wheel 3 to rotate. A flexible rope 4 is wound on the groove wheel 3, with the upper end of the flexible rope 4 fixedly connected with the upper end of the sliding seat 2, and the lower end of the flexible rope 4 fixedly connected with the lower end of the sliding seat 2. The acupuncture needle 5 is fixedly connected with the lower bottom surface of the sliding seat 2.

[0042] It is easy to understand that when the first rotary driving device 11 drives the groove wheel 3 to rotate, the groove wheel 3 will roll in the flexible rope 4, and the groove wheel 3 moves up and down relative to the sliding seat 2 when rolling. That is, the groove wheel 3 and the first rotary driving mechanism translate up and down relative to the sliding seat 2, and since the base 1 is stationary relative to the person to be needled, the sliding seat 2 drives the acupuncture needle 5 to perform the operation of needling or lifting the needle relative to the user being needled. Specifically, as Figure 6 At this time, the distance between the groove wheel 3 and the upper and lower ends of the flexible rope 4 is equal, and the groove wheel 3 is located in the middle of the sliding seat 2; as Figure 7 As the groove wheel 3 rotates, the left flexible rope 4 is wound onto the groove wheel 3, and the right flexible rope 4 is unwound from the groove wheel 3, at this time the distance between the groove wheel 3 and the upper end of the flexible rope 4 is short, and the distance between the groove wheel 3 and the lower end of the flexible rope 4 is long, and the groove wheel 3 is located at the upper part of the sliding seat 2, that is, the groove wheel 3 moves upward relative to the sliding seat 2. The groove wheel 3 is fixedly connected with the first rotary driving device 11 and the base 1 in turn, and the groove wheel 3 moves upward relative to the sliding seat 2, so the base 1 also moves upward relative to the sliding seat 2. When the base 1 is taken as a reference, the sliding seat 2 moves downward relative to the base 1, and since the base 1 is relatively stationary relative to the person to be needled and the ground, the sliding seat 2 moves downward relative to the person to be needled, in other words, the sliding seat 2 drives the acupuncture needle 5 to penetrate into the acupoint of the person to be needled. If you want to pull out the acupuncture needle 5, you can reverse the first rotary driving device 11.

[0043] It is easy to understand that in order to prevent the soft rope 4 from sliding and affecting the needle effect, the soft rope 4 is wound on the groove wheel 3 for multiple turns. In order to further prevent the soft rope 4 from shaking on the groove wheel 3, a plurality of spiral grooves are arranged on the groove wheel 3, and the soft rope 4 is wound in the spiral grooves. The soft rope 4 is wound in the spiral grooves, and during the rotation of the groove wheel 3, the soft rope 4 is located in the spiral grooves and rotates around the grooves without left and right shaking, so that the transmission is more accurate and the acupuncture needle 5 has a good needle effect.

[0044] In some embodiments, referring to Figure 3 As shown, the upper end of the soft rope 4 and the sliding seat 2 are provided with a safety mechanism 6, the safety mechanism 6 includes a first safety hook 61 and a second safety hook 62 which are buckled, and the first safety hook 61 and the second safety hook 62 are used for hooking to ensure the safety protection during the piercing process. The first safety hook 61 is fixedly connected with the sliding seat 2 through a first spring 63, and the second safety hook 62 is fixedly connected with the upper end of the soft rope 4 through a second spring 64. When the acupuncture needle 5 is not under stress, the first spring 63 and the second spring 64 are not elongated, and the first safety hook 61 and the second safety hook 62 are also in the connected state; after acupuncture, a certain acupuncture piercing force is generated, the first spring 63 and the second spring 64 are slightly elongated, the first spring 63 and the second spring 64 store a certain potential energy, and the rigidity during piercing is reduced, thereby providing a more flexible piercing force; when the acupuncture piercing force is too large, that is, dangerous conditions such as bending needle or needle touching bone are generated, the first safety hook 61 and the second safety hook 62 are stressed beyond a certain threshold, causing the first safety hook 61 and the second safety hook 62 to unhook, thereby achieving safety protection during the piercing process.

[0045] In some embodiments, as Figure 4 As shown, the sliding seat 2 side wall is fixedly provided with a reset mechanism 7, the reset mechanism 7 includes an upper limiting block 71 and a third spring 72, the upper limiting block 71 is fixedly connected with the sliding seat 2 side wall, the lower surface of the upper limiting block 71 is fixedly connected with the upper end of the third spring 72, and the lower end of the third spring 72 is fixedly connected with the upper surface of the machine base 1. During acupuncture, the first rotary drive device 11 twists and applies force to sequentially drive the groove wheel 3, the soft rope 4, and the sliding seat 2 to slide, and the sliding seat 2 drives the acupuncture needle 5 to pierce the acupuncture needle 5 into the subcutaneous tissue of the patient. After the acupuncture robot is powered off, the first rotary drive device 11 will not generate torque, and due to the natural gravity, the acupuncture robot sliding seat 2 should fall downward, but due to the existence of the power-off protection safety spring, that is, the first spring 63 and the second spring 64, and the current first spring 63 and the second spring 64 are stressed, the potential energy of the first spring 63 and the second spring 64 will provide an upward thrust to lift the acupuncture needle 5 away from the subcutaneous tissue of the patient.

[0046] In some embodiments, referring toFigure 1 、 2 As shown, a second rotary drive device 12 is fixedly disposed between the slide 2 and the acupuncture needle 5. The acupuncture needle 5 is fixedly connected to the rotating shaft of the second rotary drive device 12. The second rotary drive device 12 can be a motor or a rotary cylinder, which is not limited in this embodiment. The second rotary drive device 12 is used to rotate the acupuncture needle 5, causing it to simulate the twisting operation used in acupuncture.

[0047] In some embodiments, see Figure 5 As shown, the first safety hook 61 includes a first bend 611, a second bend 612, a third bend 613, and a fourth bend 614. The second safety hook 62 includes a fifth bend 621, a sixth bend 622, a seventh bend 623, and an eighth bend 624. The fourth bend 614 is inserted into the corner where the seventh bend 623 and the eighth bend 624 meet, and the eighth bend 624 is inserted into the corner where the third bend 613 and the fourth bend 614 meet. When the first safety hook 61 and the second safety hook 62 are in normal use, the fourth bend 614 and the eighth bend 624 are hooked. When the acupuncture insertion force is too great, resulting in dangerous situations such as the needle bending or touching bone, the force applied to the first safety hook 61 and the second safety hook 62 exceeds a certain threshold. At this point, the fourth bend 614 and the eighth bend 624 are hooked together, causing them to pull against each other, causing the first and second safety hooks 61 and 62 to deform and the angles between the bends to increase. This is primarily due to the increased angle between the second bend 612 and the third bend 613, and the angle between the sixth bend 622 and the seventh bend 623. With these increased angles, the fourth bend 614 and the eighth bend 624 can no longer be securely hooked together, causing the first and second safety hooks 61 and 62 to disengage, thus achieving safety protection during the insertion process.

[0048] In some embodiments, see Figure 5As shown, the first bending part 611 is provided with a first connecting groove 6111, the fifth bending part 621 is provided with a second connecting groove 6211, the first spring 63 is inserted into the first connecting groove 6111, the first spring 63 is fixedly connected through a first connecting piece and the first connecting groove 6111, the second spring 64 is inserted into the second connecting groove 6211, and the second spring 64 is fixedly connected through a second connecting piece and the second connecting groove 6211. The first connecting piece and the second connecting piece are not shown in the figure, and the first connecting piece and the second connecting piece can be screws. When connected, the first spring 63 is inserted into the first connecting groove 6111, and then the two are fixed by screws; the second spring 64 is inserted into the second connecting groove 6211, and then the two are fixed by screws. The first connecting piece and the second connecting piece can also be other connecting pieces with connecting function, which are not limited in the embodiment.

[0049] In some embodiments, referring to Figure 6 As shown, the sliding seat 2 is provided with a sliding rail 21, the base 1 is provided with a sliding block 13, and the sliding seat 2 and the base 1 are slidingly connected through the sliding rail 21 and the sliding seat 2. The sliding rail 21 and the sliding block 13 are provided to realize the stability of the sliding seat 2 during sliding. Further, the lower end of the sliding seat 2 is provided with a lower limiting piece 22. The lower limiting piece 22 cooperates with the upper limiting piece, the upper limiting piece is located at the upper end of the sliding rail 21, the lower limiting piece 22 is located at the lower end of the sliding rail 21, and the sliding block 13 is located between the upper limiting piece and the lower limiting piece 22. The sliding block 13 is positioned by being arranged between the upper limiting piece and the lower limiting piece 22. The stroke of the sliding seat 2 and the acupuncture needle 5 can be limited, so as to avoid the acupuncture needle 5 from being inserted too deep and hurting the patient.

[0050] The embodiment also includes an acupuncture robot, and the acupuncture robot includes the flexible needle insertion robot end described above.

[0051] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical range disclosed by the present application can be easily thought by those skilled in the art, and should be covered within the protection scope of the present application.

Claims

1. A flexible acupuncture robot tip, characterized in that: include: a machine base, on which a first rotary drive device is fixedly mounted; a slide, the slide being slidably connected to the machine base, a sheave being provided in the slide, the sheave being fixedly connected to the rotating shaft of the first rotary drive device, a flexible rope being wound around the sheave, the upper end of the flexible rope being fixedly connected to the upper end of the slide, and the lower end of the flexible rope being fixedly connected to the lower end of the slide; an acupuncture needle, the acupuncture needle being fixedly connected to the lower surface of the slide seat; A safety mechanism is provided between the upper end of the flexible rope and the slide seat, the safety mechanism comprising a first safety hook and a second safety hook that are engaged with each other, the first safety hook being fixedly connected to the slide seat via a first spring, and the second safety hook being fixedly connected to the upper end of the flexible rope via a second spring; The side wall of the slide is fixedly provided with a reset mechanism, and the reset mechanism includes an upper limit block and a third spring, the upper limit block is fixedly connected to the side wall of the slide, the lower surface of the upper limit block is fixedly connected to the upper end of the third spring, and the lower end of the third spring is fixedly connected to the upper surface of the base; The first safety hook includes a first bending portion, a second bending portion, a third bending portion and a fourth bending portion, and the second safety hook includes a fifth bending portion, a sixth bending portion, a seventh bending portion and an eighth bending portion. The fourth bending portion is inserted into the corner where the seventh bending portion and the eighth bending portion are connected, and the eighth bending portion is inserted into the corner where the third bending portion and the fourth bending portion are connected.

2. The acupuncture robot tip for smooth needle insertion according to claim 1, characterized in that: A second rotation driving device is fixedly arranged between the slide seat and the acupuncture needle, and the acupuncture needle is fixedly connected to the rotating shaft of the second rotation driving device.

3. The acupuncture robot tip for smooth needle insertion according to claim 1, characterized in that: The sheave is provided with a plurality of spiral grooves, and the flexible rope is wound in the spiral grooves.

4. The acupuncture robot tip for smooth needle insertion according to claim 1, characterized in that: The first bending portion is provided with a first connecting groove, the fifth bending portion is provided with a second connecting groove, the first spring is inserted into the first connecting groove, the first spring is fixedly connected to the first connecting groove through a first connecting member, the second spring is inserted into the second connecting groove, and the second spring is fixedly connected to the second connecting groove through a second connecting member.

5. The acupuncture robot tip for smooth needle insertion according to claim 1, characterized in that: The slide seat is provided with a slide rail, the machine base is provided with a slider, and the slide seat and the machine base are slidably connected via the slide rail and the slide seat.

6. The acupuncture robot tip for smooth needle insertion according to claim 1, characterized in that: A lower limit piece is provided at the lower end of the slide.

7. An acupuncture robot, characterized in that: An acupuncture robot end for smooth needle insertion comprising the end described in any one of claims 1-6.

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