Needle applying tail end of acupuncture and moxibustion robot capable of automatically applying needle, acupuncture and moxibustion robot and control method

Abstract

The invention discloses a needle applying tail end of an automatic needle applying acupuncture robot, the acupuncture robot and a control method. The needle applying tail end comprises a linear sliding module, a twisting module and a needle clamping module. The linear sliding module is used for driving the twisting module to move back and forth; the twisting module is installed on a sliding block of the linear sliding module and used for driving the needle clamping module to rotate. The needle clamping module is connected with the twisting module through a force sensor and used for releasing and clamping acupuncture needles. The force sensor is used for measuring the force transmitted by the needle clamping module. The modular design mode is adopted, the structure of the device is simplified, miniaturization is achieved, and meanwhile key techniques in acupuncture therapy are supported. The built-in force sensor provides safety guarantee for the needle applying process, and precise control over the needle applying force is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of acupuncture robots, and in particular to an acupuncture robot needle tip for automatic acupuncture, an acupuncture robot and a control method. Background Art

[0002] Acupuncture is recognized worldwide for its unique therapeutic effects. However, limitations in the manual acupuncture process, such as operational errors, physician fatigue, and high reliance on operator skills, limit the popularity and standardization of acupuncture treatment. In order to overcome these limitations, the development of acupuncture robots has emerged, aiming to improve the accuracy and treatment efficiency of acupuncture through automation technology, while reducing the workload of physicians.

[0003] Although the existing automatic needle-applying equipment has achieved the automation of acupuncture to a certain extent, there are still some key technical challenges. For example, the patent application with publication number CN108392412A discloses an acupuncture robot system. Although it can perform operations such as lifting, inserting, twisting and automatic needle replacement, it has deficiencies in continuous twisting and force perception and control, which may lead to safety risks caused by excessive force, and the inaccuracy of needle-applying force and frequency affects the treatment effect. In addition, although the acupuncture robot disclosed in the patent application with publication number CN116270216A has the functions of driving, storing needles and grasping needles, its complex structural design not only makes it difficult to miniaturize the equipment, but is also not conducive to disinfection and maintenance in clinical applications. Summary of the invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide an acupuncture robot needle terminal for automatic acupuncture, an acupuncture robot and a control method to achieve a compact structure and improve the control accuracy of acupuncture.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] In a first aspect, an acupuncture robot needle-applying end for automatic acupuncture is provided, comprising a linear sliding module, a twisting module and a needle clamping module;

[0007] The linear sliding module is used to drive the twisting module to move back and forth;

[0008] The twisting module is installed on the slider of the linear sliding module, and is used to drive the needle clamping module to rotate;

[0009] The clamping module is connected to the twisting module via a force sensor and is used to release and clamp acupuncture needles;

[0010] The force sensor is used to measure the force transmitted by the needle clamping module.

[0011] Furthermore, the linear sliding module comprises:

[0012] Bottom fixing frame;

[0013] A guide rail, mounted on the bottom fixing frame;

[0014] A first motor is mounted on one end of the bottom fixing frame;

[0015] A screw rod, one end of which is connected to the output shaft of the second motor, and the other end of which is installed on an end of the bottom fixing frame away from the first motor through a bearing, and the screw rod is located above the guide rail;

[0016] The slider is installed on the guide rail, and the lead screw passes through the slider.

[0017] Furthermore, the twisting module comprises:

[0018] A twisting base, mounted on the slider of the linear sliding module;

[0019] Hollow tube, both ends of which are mounted on the twisting base through bearings;

[0020] A second motor is mounted on the twisting base and is drivingly connected to the hollow tube to drive the hollow tube to rotate;

[0021] The slip ring is arranged in the inner hole of the hollow tube and is used for allowing the wire harness to pass through.

[0022] Furthermore, the twisting module further comprises:

[0023] A shaft stopper connected to an end of the hollow tube close to the needle clamping module;

[0024] The second motor drives the hollow tube in one of the following ways: synchronous belt drive, gear meshing drive or motor direct drive.

[0025] Furthermore, two ends of the force sensor are connected to the twisting module and the needle clamping module through flanges respectively.

[0026] Furthermore, the needle clamping module comprises:

[0027] A housing connected to the force sensor;

[0028] A linear actuator motor is disposed in the housing;

[0029] A clamp arm guide rail is arranged at one end of the housing away from the force sensor, and two through holes are symmetrically arranged on the rail;

[0030] A push-pull rod connected to the output end of the linear push rod motor;

[0031] Two symmetrically arranged L-shaped rockers, each of which is mounted on one end of the housing close to the clamping arm guide rail through a rocker shaft, one end of each of which is rotatably connected to the push-pull rod, and the other ends of each of which pass through the two through holes on the clamping arm guide rail;

[0032] The clamping mechanism comprises two clamping units respectively connected to one end of the two L-shaped rockers away from the linear push rod motor.

[0033] Furthermore, the clamping unit comprises:

[0034] Two clamping arms, both of which are installed in the guide rail of the clamping arm guide rail, and the two clamping arms are respectively connected to one end of the two L-shaped rockers away from the linear push rod motor;

[0035] Two fingertips, the two fingertips are respectively mounted on the two clamp arms; silicone bodies are arranged on the sides of the two fingertips close to each other, and grooves matching each other are arranged on the sides of the two silicone bodies close to each other.

[0036] Furthermore, it also includes a base, and the linear sliding module is installed on the base.

[0037] In a second aspect, an acupuncture robot is provided, comprising the acupuncture robot needle application end as described above.

[0038] In a third aspect, a control method for the acupuncture robot needle end based on the automatic acupuncture as described above is provided, comprising the following steps:

[0039] Needle removal control stage: control the linear sliding module to drive the twisting module to move, thereby driving the needle clamping module to reach the needle removal position; control the needle clamping module to grab the acupuncture needle fixed at the needle removal point, and then control the linear sliding module to reset;

[0040] Needle insertion control stage: first control the linear sliding module to drive the acupuncture needle to move to the target acupuncture point at the first speed, then control the linear sliding module to accelerate to the second speed to drive the acupuncture needle to move forward; control the linear sliding module to drive the acupuncture needle to the specified depth at a constant speed, and at the same time, control the twisting module to drive the needle clamping module to rotate, thereby driving the acupuncture needle to rotate to achieve the twisting action;

[0041] Needle withdrawal control stage: control the linear sliding module to reset, thereby driving the acupuncture needle to withdraw, and then when the needle end is moved to the needle placement position, the needle clamping module releases the acupuncture needle to complete the needle withdrawal.

[0042] The present invention proposes an acupuncture robot needle terminal for automatic acupuncture, an acupuncture robot and a control method. The modular design method simplifies the device structure, realizes miniaturization and supports key techniques in acupuncture treatment, such as lifting, inserting and twisting. In addition, the built-in force sensor of the device provides safety for the acupuncture process and realizes precise control of the acupuncture force. The design of the hollow tube and the slip ring allows the twisting operation to be carried out freely without being restricted by cables. By integrating the needle clamping module, the acupuncture robot can automatically perform operations such as needle removal, needle insertion and needle withdrawal, significantly reducing the reliance on manual operation of the doctor. This not only improves the standardization and normalization of the acupuncture process, but also improves the efficiency of acupuncture treatment, while reducing the workload of the doctor. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a schematic diagram of the structure of the acupuncture end of an acupuncture robot for automatic acupuncture provided by an embodiment of the present invention;

[0045] Figure 2 This is an exploded view of the acupuncture end of the automatic acupuncture robot provided by the embodiment of the present invention;

[0046] Figure 3 is an exploded view of a needle clamping module provided in an embodiment of the present invention;

[0047] Figure 4 Schematic diagram of fingertip clamping of a needle clamping module provided by an embodiment of the present invention;

[0048] Figure 5 It is a schematic diagram of the structure of an acupuncture robot provided by an embodiment of the present invention.

[0049] In the figure: 1, base, 2, first motor, 3, screw, 4, bottom fixing frame, 5, slider, 6, slip ring, 7, first transmission wheel, 8, second transmission wheel, 9, hollow tube, 101, first side plate, 102, second side plate, 11, bottom plate, 12, second motor, 120, first motor fixing plate, 121, second motor fixing plate, 13, shaft stop, 14, first flange, 15, second flange, 16, force sensor, 17, housing, 181. first fingertip, 182. second fingertip, 19. clamp arm guide rail, 20. acupuncture needle, 21. linear push rod motor, 22. push-pull rod, 221. through shaft, 230. first L-shaped rocker, 231. second L-shaped rocker, 240. first rocker shaft, 241. second rocker shaft, 250. first clamp arm, 251. second clamp arm, 301. first silicone body, 302. second silicone body, 31. guide rail, 32. first bearing. DETAILED DESCRIPTION

[0050] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0051] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer", "center", "vertical", "horizontal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. When an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a centered element at the same time.

[0052] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or order. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0053] The embodiment of the present invention provides an acupuncture robot needle end for automatic acupuncture, such as Figure 1 , Figure 2 As shown, it includes a linear sliding module 01, a twisting module 02 and a needle clamping module 03;

[0054] The linear sliding module 01 is used to drive the twisting module 02 to move back and forth;

[0055] The twisting module 02 is installed on the slider of the linear sliding module 01, and is used to drive the needle clamping module 03 to rotate;

[0056] The clamping module 03 is connected to the twisting module 02 via the force sensor 16, and is used to release and clamp the acupuncture needles;

[0057] The force sensor 16 is used to measure the force transmitted by the needle clamping module 03 .

[0058] Specifically, the linear sliding module 01 adopts a linear motor. Figure 2 As shown, the linear sliding module 01 in this embodiment includes: a bottom fixing frame 4, a first motor 2, a screw 3, a guide rail 31, a first bearing 32 and a slider 5. The guide rail 31 is mounted on the bottom fixing frame 4, the first motor 2 is mounted on one end of the bottom fixing frame 4, one end of the screw 3 is fixed to the output shaft of the first motor 2, and the other end is mounted on the end of the bottom fixing frame 4 away from the first motor 2 through the first bearing, and the screw 3 is located above the guide rail 31; the slider 5 is mounted on the guide rail 31 and the screw 3, the screw 3 penetrates the slider 5 and is threadedly connected, and the first motor 2 drives the screw 3 to rotate and further drives the slider 5 to move linearly along the guide rail 31. By setting the first motor 2 to output a suitable constant torque for continuous rotation, the method of detecting the motor position when the slider 5 reaches the limit position of the guide rail 31 and stops can realize the automatic origin search and reset function, eliminating the need to install limit switches and other components.

[0059] like Figure 2 As shown, the twisting module 02 includes: a twisting base, installed on the slider 5 of the linear sliding module 01; a hollow tube 9, both ends of which are installed on the twisting base through bearings; a second motor 12, installed on the twisting base and transmission-connected to the hollow tube 9, for driving the hollow tube 9 to rotate; a slip ring 6, arranged in the inner hole of the hollow tube 9, for allowing the wiring harness to pass through.

[0060] More specifically, if Figure 2As shown, in some embodiments of the present invention, the twisting base includes a bottom plate 11, a first side plate 101, a second side plate 102, a first motor fixing plate 120 and a second motor fixing plate 121; the bottom plate 11 is fixed to the slider 5 by bolts; the first side plate 101, the second side plate 102, the first motor fixing plate 120 and the first motor fixing plate 121 are respectively vertically mounted on the bottom plate 11. The first motor fixing plate is mounted with a second motor 12; the first transmission wheel 7 is fixed to the output shaft of the second motor 12, and the second transmission wheel 8 mounted on the hollow tube 9 is driven to rotate by a synchronous belt; the hollow tube 9 is mounted on the first motor fixing plate 120 and the second motor fixing plate 121 by a bearing; the axial movement of the hollow tube 9 is limited by the second transmission wheel 8 and the shaft stop 13 on the hollow tube 9; the slip ring 6 is mounted in the inner hole of the hollow tube 9, and the wiring harness of the clamping needle module is connected to the slip ring 6 through the hollow tube 9, so as to realize the infinite rotation of the hollow tube 9 and the clamping needle module.

[0061] It should be noted that the second transmission wheel 8 can also be installed on the hollow tube 9 and located between the first motor fixing plate 120 and the second motor fixing plate 121, and the second motor 12 is installed in the opposite direction, and a shaft stop is added outside the first motor fixing plate 120 to limit the axial movement of the hollow tube 9. In addition, the transmission method of the second motor 12 and the hollow tube 9 is not limited to synchronous belt transmission, and can also be gear meshing transmission or motor direct drive.

[0062] like Figure 2-4 As shown, the needle clamping module 03 includes: a housing 17, which is connected to the force sensor 16 through the second flange 15 and rotates with the hollow tube 9; a linear push rod motor 21, which is arranged in the housing 17; a push-pull rod 22, which is connected to the output end of the linear push rod motor 21; a clamping arm guide rail 19, which is fixed to the end of the housing 17 away from the force sensor 16 by bolts, and two through holes are symmetrically arranged on its track; two symmetrically arranged L-shaped rockers, both of which are installed on the end of the housing 17 close to the clamping arm guide rail through rocker shafts, one end of the two L-shaped rockers are rotatably connected to the push-pull rod 22, and the other ends of the two L-shaped rockers are respectively passed through the two through holes on the clamping arm guide rail 19; a clamping mechanism, including two clamping units respectively connected to the ends of the two L-shaped rockers away from the linear push rod motor 21.

[0063] More specifically, the two L-shaped rockers are respectively the first L-shaped rocker 230 and the second L-shaped rocker 231; the two rocker shafts are respectively the first rocker shaft 240 and the second rocker shaft 241; the gripping unit comprises a first clamping arm 250, a second clamping arm 251, a first fingertip 181, a second fingertip 182, a first silicone body 301 and a second silicone body 302, the first clamping arm 250 and the second clamping arm 251 are both installed in the guide rail of the clamping arm guide rail 19, and the first L-shaped rocker 230 and the second L-shaped rocker 231 are provided with ball heads at one end away from the linear push rod motor 21, which are respectively embedded in the holes of the first clamping arm 250 and the second clamping arm 251; the first fingertip The fingertip 150 and the second fingertip 181 are respectively mounted on the first clamping arm 250 and the second clamping arm 251; the first silicone body 301 and the second silicone body 302 are arranged on the sides where the first fingertip 180 and the second fingertip 181 are close to each other. Specifically, the silicone bodies are fixed on the fingertips through T-slots. The silicone material simulates the skin of human hands to increase the friction with the needle handle, and the sides where the first silicone body 301 and the second silicone body 302 are close to each other are arranged with matching grooves (preferably, the first silicone body and the second silicone body are designed with staggered teeth to make the clamping position more accurate, and a shallow groove is left in the center to make the needle handle clamped more firmly), which can better fix the needle handle.

[0064] The push-pull rod 22 is embedded in the U-shaped groove of the first L-shaped rocker 230 and the second L-shaped rocker 231 through the through shaft 221. The linear motion applied to the push-pull rod 22 by the linear push rod motor 21 drives the first L-shaped rocker 230 and the second L-shaped rocker 231 to rotate around the first rocker shaft 240 and the second rocker shaft 241 respectively, and further drives the first clamping arm 250 and the second clamping arm 251 to slide relative to each other in the clamping arm guide 19 to form a parallel clamping motion, thereby driving the fingertips and the silicone body to clamp and release the needle handle.

[0065] The two ends of the force sensor 16 are respectively installed on the hollow tube 9 and the housing 17 through the first flange 14 and the second flange 15, connecting the twisting module and the clamping needle module. The first flange 14 is provided with a hole leading to the hollow tube 9 so that the wire harness in the tube can pass through. The force sensor 16 can measure the multi-dimensional force transmitted by the clamping needle module, so that the acupuncture robot controller can achieve safe and accurate acupuncture according to the force information. Preferably, the first motor 2, the second motor 12, and the linear push rod motor 21 are all servo motors.

[0066] The safe acupuncture control method relies on the information of the force sensor to judge the current acupuncture state. First, a rectangular coordinate system is defined in which the Z axis coincides with the acupuncture needle axis. The multi-dimensional force measured by the force sensor 16 includes the Z-direction torque and the Z-direction thrust. When each dimensional force is within the set threshold range, the compliant control method is used to accurately control the force applied by acupuncture. When the force exceeds the set threshold for a certain period of time, it will trigger an emergency state, stop all axis movements, and release the acupuncture needle to allow it to move freely.

[0067] Specifically, in this embodiment, when the forces in each dimension are within the set threshold range, the admittance control method is used to control the force applied by acupuncture. The force control is ultimately achieved by adjusting the robot and the end position to adjust the force. The force control is specifically achieved by the admittance controller, which is mainly composed of a position control inner loop and an impedance control outer loop. The impedance control outer loop returns the contact force between the end and the environment based on the force sensor. and the desired control parameters of the input The position correction is calculated, and the position control inner loop will be based on this position correction and the input position parameters. The new position is calculated from the actual position so that the actual position tracks the expected position, thereby achieving the desired force control.

[0068] In this embodiment, a base 1 is further included, and the bottom fixing frame 4 of the linear sliding module is installed on the base 1. The base 1 is used to be connected and fixed with the mechanical arm of the acupuncture robot.

[0069] The automatic acupuncture robot needle-applying end provided in the above-mentioned embodiment adopts a modular design to simplify the device structure, realize miniaturization, and support key techniques in acupuncture treatment, such as lifting, inserting, and twisting. In addition, the built-in force sensor of the device provides safety for the acupuncture process and realizes precise control of the acupuncture force. The design of the hollow tube and the slip ring allows the twisting operation to be performed freely without being restricted by cables. By integrating the needle clamping module, the acupuncture robot can automatically perform operations such as needle removal, needle insertion, and needle withdrawal, significantly reducing the reliance on manual operation of the doctor. This not only improves the standardization and normalization of the acupuncture process, but also improves the efficiency of acupuncture treatment, while reducing the workload of the doctor.

[0070] The embodiment of the present invention further provides an acupuncture robot, including the acupuncture robot needle application end as described above. Figure 5 As shown, the acupuncture robot includes a robot body, a multi-axis robotic arm arranged on the robot body, and an acupuncture robot needle-applying end connected to the end of the multi-axis robotic arm through a flange.

[0071] The control method of the acupuncture end of the automatic acupuncture robot provided in the above embodiment mainly includes three control stages: needle removal, needle insertion and needle withdrawal:

[0072] Needle removal control stage: the acupuncture robot controller sends a command to make the first motor 2 of the linear sliding module rotate by driving the screw rod 3 to drive the slider 5 to slide from the origin position to the needle removal position, that is, the linear sliding module drives the twisting module to move, and then drives the needle clamping module to reach the needle removal position; at the same time, the linear push rod motor 21 extends the push-pull rod 22 to drive the two clamping arms to open through two L-shaped rockers. When the slider reaches the needle removal position, the linear push rod motor 21 retracts the push-pull rod 22 to drive the two clamping arms to close and grab the acupuncture needle 20 fixed at the needle removal point, and then controls the linear sliding module to reset.

[0073] Needle insertion control stage: the acupuncture robot controller sends a command to make the first motor 2 of the linear sliding module rotate at a first speed to drive the slider 5 to move, so as to drive the acupuncture needle 20 to move to the target acupuncture point, and then control the first motor 2 to accelerate to the second speed to drive the acupuncture needle 20 to accelerate forward to penetrate the acupuncture point. The faster speed will reduce the pain during penetration. After the acupuncture needle 202 penetrates the acupuncture point, the needle movement operation begins, and the linear sliding module is controlled to drive the acupuncture needle 0 to move to the specified depth at a uniform speed. At the same time, the second motor 12 of the twisting module is controlled to rotate to drive the needle clamping module to rotate, thereby driving the acupuncture needle to rotate to achieve the twisting action.

[0074] Needle withdrawal control stage: The acupuncture robot controller sends a command to control the first motor 2 of the linear sliding module to reset, thereby driving the acupuncture needle 20 to withdraw from the acupuncture point. Then, when the needle end is moved to the needle placement position, the needle clamping module releases the acupuncture needle 20 to complete the needle withdrawal.

[0075] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0076] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An acupuncture robot for automatic acupuncture, characterized in that: It includes a linear sliding module, a twisting module and a needle clamping module; The linear sliding module is used to drive the twisting module to move back and forth; The twisting module is installed on the slider of the linear sliding module, and is used to drive the needle clamping module to rotate; The needle clamping module is connected to the twisting module via a force sensor and is used to release and clamp acupuncture needles; The force sensor is used to measure the force transmitted by the needle clamping module.

2. The automatic acupuncture robot needle-applying end according to claim 1 is characterized in that: The linear sliding module comprises: Bottom fixing frame; A guide rail, mounted on the bottom fixing frame; A first motor is mounted on one end of the bottom fixing frame; A screw rod, one end of which is connected to the output shaft of the second motor, and the other end of which is installed on an end of the bottom fixing frame away from the first motor through a bearing, and the screw rod is located above the guide rail; The slider is installed on the guide rail, and the lead screw passes through the slider.

3. The automatic acupuncture robot needle-applying end according to claim 1 is characterized in that: The twisting module comprises: A twisting base, mounted on the slider of the linear sliding module; Hollow tube, both ends of which are mounted on the twisting base through bearings; A second motor is mounted on the twisting base and is drivingly connected to the hollow tube to drive the hollow tube to rotate; The slip ring is arranged in the inner hole of the hollow tube and is used for allowing the wire harness to pass through.

4. The automatic acupuncture robot needle-applying end according to claim 3 is characterized in that: The twisting module also includes: A shaft stopper connected to an end of the hollow tube close to the needle clamping module; The second motor drives the hollow tube in one of the following ways: synchronous belt drive, gear meshing drive or motor direct drive.

5. The automatic acupuncture robot needle tip according to claim 1, characterized in that: Two ends of the force sensor are connected to the twisting module and the needle clamping module through flanges respectively.

6. The automatic acupuncture robot needle tip according to claim 1, characterized in that: The needle clamping module comprises: A housing connected to the force sensor; A linear actuator motor is disposed in the housing; A clamp arm guide rail is arranged at one end of the housing away from the force sensor, and two through holes are symmetrically arranged on the rail; A push-pull rod connected to the output end of the linear push rod motor; Two symmetrically arranged L-shaped rockers, each of which is mounted on one end of the housing close to the clamping arm guide rail through a rocker shaft, one end of each of which is rotatably connected to the push-pull rod, and the other ends of each of which pass through the two through holes on the clamping arm guide rail; The clamping mechanism comprises two clamping units respectively connected to one end of the two L-shaped rockers away from the linear push rod motor.

7. The automatic acupuncture robot needle-applying end according to claim 6, characterized in that: The clamping unit comprises: Two clamping arms, both of which are installed in the guide rail of the clamping arm guide rail, and the two clamping arms are respectively connected to one end of the two L-shaped rockers away from the linear push rod motor; Two fingertips, the two fingertips are respectively mounted on the two clamp arms; silicone bodies are arranged on the sides of the two fingertips close to each other, and grooves matching each other are arranged on the sides of the two silicone bodies close to each other.

8. The automatic acupuncture robot needle-applying end according to claim 1, characterized in that: It also includes a base, and the linear sliding module is installed on the base.

9. An acupuncture robot, characterized in that: It comprises the acupuncture robot needle application end as described in any one of claims 1 to 8.

10. A control method for the acupuncture end of an automatic acupuncture robot according to any one of claims 1 to 8, characterized in that: The steps include: Needle removal control stage: control the linear sliding module to drive the twisting module to move, thereby driving the needle clamping module to reach the needle removal position; control the needle clamping module to grab the acupuncture needle fixed at the needle removal point, and then control the linear sliding module to reset; Needle insertion control stage: first control the linear sliding module to drive the acupuncture needle to move to the target acupuncture point at the first speed, then control the linear sliding module to accelerate to the second speed to drive the acupuncture needle to move forward; control the linear sliding module to drive the acupuncture needle to the specified depth at a constant speed, and at the same time, control the twisting module to drive the needle clamping module to rotate, thereby driving the acupuncture needle to rotate to achieve the twisting action; Needle withdrawal control stage: control the linear sliding module to reset, thereby driving the acupuncture needle to withdraw, and then when the needle end is moved to the needle placement position, the needle clamping module releases the acupuncture needle to complete the needle withdrawal.

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