Acupuncture automatic needle withdrawing device based on automatic control and control method thereof

Abstract

The invention relates to an automatic acupuncture needle withdrawing device based on automatic control and a control method thereof, and the device realizes accurate control of force and depth in an acupuncture needle inserting process through a current regulation and feedback control mechanism in combination with a pressure sensor and an electric drive push rod mechanism. The device comprises elastic rings which are detachably fixed on the thumb and the index finger of an operator, and conductive blocks and pressure sensors are arranged on the rings; the push rod mechanism is driven to assist the needle inserting action of the acupuncture needle through the electric contact loop; meanwhile, the pressure sensor monitors a pressure signal and transmits the pressure signal to the controller, the controller adjusts the current magnitude and the power supply discharging time according to pressure information, and therefore the needle inserting depth and speed of the acupuncture needle are accurately adjusted. By automatically adjusting the current and the discharge time, precise control can be achieved according to different operation requirements, precision deviation existing in manual needle insertion is avoided, and the automatic auxiliary needle insertion device has the advantages of being efficient, safe and precise and is suitable for automatic auxiliary needle insertion in modern acupuncture therapy.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical automatic control, and in particular relates to an automatic acupuncture needle removal device based on automatic control and a control method thereof. Background Art

[0002] Acupuncture is an important treatment method in traditional Chinese medicine. It stimulates the meridians and regulates the circulation of qi and blood in the human body by inserting acupuncture needles into specific acupuncture points to achieve the purpose of treating diseases. Traditional acupuncture is mostly performed by doctors with bare hands. Although the operation is flexible, it has the following technical limitations: 1. Limitations of bare-handed operation Traditional manual acupuncture completely relies on the doctor's experience and technical level. The depth and angle of the acupuncture needle are difficult to control accurately, especially for beginners or when facing complex acupuncture points, it is easy to go too deep or too shallow. In addition, the speed and strength of the acupuncture needle are difficult to control, which may cause pain to the patient and reduce the comfort and compliance of the treatment.

[0003] 2. Technical barriers to combined hyperthermia therapy In acupuncture treatments such as thermosensitive moxibustion, an external heat source is usually required to heat the acupuncture needles to enhance the therapeutic effect. However, traditional thermal therapy methods are prone to problems such as uneven heating, excessive or insufficient temperature, which not only affects the treatment effect, but may also cause discomfort to patients and even burn risks.

[0004] 3. Deficiencies of existing automatic needle removal devices In order to overcome the limitations of manual acupuncture, some automated acupuncture devices have been developed on the market. However, these devices generally have the problems of complex structure and inconvenient operation. Specifically: Lack of precise force and depth control: Existing automatic needle removal devices mostly use simple mechanical pushing methods and lack sophisticated force sensing and adjustment mechanisms, which makes it difficult to accurately control the depth and force of the acupuncture needle during the insertion process.

[0005] Inadequate control of current and voltage: Some automated devices use electrical drive or electromagnetic force to push acupuncture needles, but most devices lack fine-tuning of current and voltage to ensure that the needles apply the appropriate force while avoiding unnecessary stimulation or harm to the human body.

[0006] The automatic adjustment of the needle insertion process is not accurate: The needle insertion process in existing devices usually relies on a simple mechanical structure, which cannot be automatically adjusted in real time according to the operator's actual operating conditions and the different needs of the acupuncture site, resulting in difficulty in accurately controlling the needle insertion depth, angle and accuracy.

[0007] 4. Limited scope of application Existing automatic needle removal devices are mostly suitable for fixed scenarios, such as clinics or hospitals, and are difficult to meet the needs of home medical or portable applications. In addition, these devices are not effective in special populations such as children, pregnant women or highly sensitive patients, which limits their promotion and application.

[0008] Based on the above background, there is an urgent need for an automatic needle removal device with a simple structure, convenient operation, high needle insertion stability, and thermal therapy function to solve the problems in the existing technology and meet the usage needs of different scenarios and people. Summary of the invention

[0009] The purpose of the present invention is to provide an automatic acupuncture needle removal device based on automatic control. The automatic acupuncture needle removal device is superior to traditional manual acupuncture in terms of simplified structure, operational stability, doctor-friendliness, therapeutic effect and safety. At the same time, it effectively overcomes the shortcomings of existing automatic needle removal devices such as complexity, instability and limited use. It is an innovative device that combines portability, precision and versatility and has broad application prospects.

[0010] The technical solution adopted by the present invention is as follows: An automatic acupuncture needle removal device based on automatic control, comprising an elastic ring that can be detachably fixed to the middle or rear of the frontmost joint of the operator's thumb and index finger; the outer surface of the elastic ring corresponding to the fingertip position is respectively provided with a conductive block and a pressure sensor; the two conductive blocks are respectively connected to the positive and negative poles of a portable power source through conductive wires; a support clip is detachably fixed at the base of the thumb between the index finger and the thumb; a push rod mechanism is fixed on the support clip; the operator pinches the acupuncture needle with the thumb and index finger, and the rear end of the acupuncture needle abuts against the front end of the push rod mechanism; when the operator inserts the needle, the thumb and index finger extend forward to make the conductive blocks of the two elastic rings electrically contact, form an electric circuit, drive the front end of the push rod mechanism to extend, and assist in pushing the acupuncture needle into the needle; the pressure sensor monitors the pressure signal and transmits the pressure information to the controller, and the controller adjusts the electrical variable accordingly to control the discharge time and current size of the portable power source to ensure that the acupuncture needle is accurately inserted to a predetermined depth and maintain precise current control during operation.

[0011] Wherein, the support clip is an elastic U-shaped structure, which can be clamped at the base of the thumb and will not fall off by itself.

[0012] Wherein, the push rod mechanism is a small electric push rod or a linear stepping motor.

[0013] Among them, the front end of the push rod mechanism is a concave arc surface to facilitate the positioning of the rear end of the acupuncture needle.

[0014] Wherein, a bowl-shaped guide head is arranged at the front end of the push rod mechanism.

[0015] Wherein, the elastic ring is made of medical silicone.

[0016] Among them, an acupuncture needle adapter is provided at the front end of the push rod mechanism, and the rear end of the acupuncture needle adapter is detachably connected to the front end of the push rod mechanism through a magnetic or snap-on method; a needle insertion slot is provided at the front end of the acupuncture needle adapter; the needle insertion slot is used for detachable mating with the rear part of the acupuncture needle.

[0017] Wherein, a permanent magnet is arranged at the rear end of the acupuncture needle adapter.

[0018] Among them, an adaption groove is arranged at the front end of the push rod mechanism corresponding to the permanent magnet; and the outer end of the pin groove is a bell mouth.

[0019] Wherein, the needle removal method of the automatic acupuncture needle removal device is: Step 1. Equipment preparation The operator fixes the elastic ring to the middle or back of the front joint of the thumb and index finger, ensures that the conductive block of the elastic ring corresponding to the fingertip is in place, and connects the conductive block to the positive and negative poles of a portable power source through a conductive wire; Hold the support clip at the base of the thumb to ensure that it is stable and does not fall off, and install the push rod mechanism onto the support clip; Check whether the push rod mechanism functions properly and confirm that the acupuncture needle adapter is properly connected to the front end of the push rod mechanism; Step 2. Acupuncture needle installation Users can choose from the following two installation methods: Method 1: Insert the pin first and then attach the adapter Insert the rear end of the acupuncture needle into the needle slot of the acupuncture needle adapter, making sure the needle body is firmly inserted and centered; Fix the acupuncture needle adapter head with the front end adapter groove of the push rod mechanism by suction or snap-fitting; Method 2: First suck the adapter and then insert the pin Connect the acupuncture needle adapter to the front adapter slot of the push rod mechanism and ensure that the acupuncture needle adapter is firmly fixed; During each operation, insert the rear end of the acupuncture needle directly into the pin slot of the adapter to ensure that the insertion is firm and accurate; Step 3. Acupuncture needle insertion The operator pinches the middle of the acupuncture needle with the thumb and index finger, and adjusts the angle between the acupuncture needle and the skin surface to make it in the correct direction of needle insertion; The operator extends his thumb and index finger forward to make the conductive blocks of the two elastic rings contact, forming a circuit and starting the forward push action of the push rod mechanism; The front end of the push rod mechanism is extended, and the concave arc surface or bowl-shaped guide head steadily pushes the acupuncture needle, so that the needle body is smoothly inserted into the target acupuncture point, achieving the precise insertion depth in a labor-saving state; At the same time, the pressure sensor monitors the pinching force of the operator's thumb and index finger, and transmits the pressure signal to the controller, which adjusts the electrical variables accordingly, controls the discharge time and current of the portable power source, and thus adjusts the insertion depth of the acupuncture needle; Step 4. Acupuncture needle removal After the needle is inserted, the operator releases the grip of the acupuncture needle with the thumb and index finger, moves the hand backward, and the acupuncture needle is removed from the needle insertion slot; Since the thumb and index finger are open, the two conductive blocks lose electrical contact, so the circuit is disconnected, the forward movement of the push rod mechanism stops automatically, and the push rod mechanism returns to the initial position under the action of the preset program; therefore, the forward movement and distance of the push rod mechanism can be controlled only by the movement and strength of the thumb and index finger.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The structure design is simpler and more portable Although traditional manual acupuncture does not require any equipment, it is completely dependent on the doctor's manual operation and has limited functions. Although the existing automatic needle removal device solves some problems, its structure is generally complex, including multi-axis motors, fixed brackets and slide rails, etc., which is bulky and difficult to carry.

[0021] In contrast, this device adopts a modular and miniaturized design. The core components include only elastic rings, support clamps and push rod mechanisms. It weighs less than 100 grams, is small in size, and is easy to carry and install. It is particularly suitable for a variety of scenarios such as clinics, homes and the wild.

[0022] 2. Operational stability is significantly improved Manual acupuncture completely relies on the doctor's experience, and the depth and angle of the needle insertion are prone to errors due to hand shaking or fatigue, resulting in insufficient operational stability. During operation, existing automatic needle removal devices are prone to vibration or needle body deviation problems due to unstable mechanical structure or improper design.

[0023] This device uses a precision stepper motor to drive the push rod mechanism to eliminate unnecessary vibration and ensure smooth needle insertion. The acupuncture needle adapter is fixed by both magnetic attraction and buckle to prevent the needle from loosening or shifting. In addition, the pressure sensor monitors the finger strength in real time and dynamically adjusts the push rod movement to make the acupuncture needle insertion depth more accurate.

[0024] 3. More friendly to doctors Manual acupuncture is flexible, but doctors need to hold the needles for a long time and adjust them repeatedly, which can easily cause hand fatigue. The existing automatic needle removal device is bulky and takes up space, which seriously hinders the doctor's freedom of operation in complex parts.

[0025] The device fixes the key components to the doctor's hand through an elastic ring and a support clip. The doctor does not need to manually hold the acupuncture needle. Only a slight movement is needed to control the needle pushing operation, which significantly reduces the burden on the hand. At the same time, the device is compactly designed and does not hinder finger movement. It is particularly suitable for acupuncture treatment in small areas (such as the face and hands). It not only retains the flexibility of manual acupuncture, but also effectively relieves the doctor's operating pressure.

[0026] 4. Improve treatment effect The therapeutic effect of manual acupuncture is completely dependent on the doctor's operating ability. The depth and angle of acupuncture needles vary from person to person, making it difficult to ensure consistency in each treatment. Existing automatic needle removal devices mostly use a fixed depth design and lack dynamic adjustment capabilities, making it difficult to meet the personalized needs of different patients.

[0027] The device combines a pressure sensor and a push rod mechanism to dynamically adjust the depth and speed of needle insertion to ensure treatment accuracy. In addition, the acupuncture needle adapter has a built-in constant temperature heating function, which, combined with a low-density thermal conductive gel, evenly transfers heat to the acupuncture needle to achieve efficient thermal therapy and further enhance the efficacy of acupuncture. Especially for children or highly sensitive patients, the device's design of smoothly advancing the acupuncture needle greatly reduces pain and improves the patient's treatment comfort.

[0028] 5. Improved security Because manual acupuncture is completely manual, it is common for the needle to be inserted too deep or too shallow, especially in sensitive areas of the patient, which can easily cause accidental injury. Existing automatic needle removal devices also have the risk of losing control of the insertion or burning the patient when the control system fails or is not fixed firmly.

[0029] This device uses real-time pressure monitoring combined with an automatic stop mechanism. When the doctor releases his fingers, the device immediately stops pushing the needle to ensure that the acupuncture needle does not penetrate too deep by mistake. The constant temperature control system combined with the thermal insulation layer design avoids burns caused by uneven temperature in traditional thermal therapy, further improving the safety of patients and operators.

[0030] 6. Wider application scenarios Manual acupuncture has a wide range of applications, but it is highly dependent on the doctor's skills and is not suitable for multiple needles to be operated simultaneously or when heat therapy is required. Existing automatic needle removal devices are mostly designed for fixed scenarios and have limited adaptability.

[0031] This device combines miniaturization and modular design, and is suitable for professional acupuncture clinics as well as home and mobile medical environments. In addition, by replacing the adapter head and adjusting the needle push force, the device can adapt to different treatment scenarios, such as large-area acupuncture, local microneedle treatment, and the personalized needs of special patients such as children and pregnant women.

[0032] In general, this automatic needle removal device for acupuncture is superior to traditional manual acupuncture in terms of simplified structure, operational stability, doctor-friendliness, treatment effect and safety. At the same time, it effectively overcomes the shortcomings of existing automatic needle removal devices, such as complexity, instability and limited use. It is an innovative device that combines portability, precision and versatility, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the needle removal device of the present invention when pinching the needle; Figure 2 It is a schematic structural diagram of the needle removal device of the present invention when the needle is inserted; Figure 3 It is a schematic diagram of the push rod mechanism of the present invention when the front end adopts a concave arc surface; Figure 4 It is a schematic diagram of a case where a bowl-shaped guide head is used at the front end of the push rod mechanism of the present invention; Figure 5 A schematic diagram of an acupuncture needle adapter head being arranged at the front end of the push rod mechanism of the present invention; Figure 6 An exploded schematic diagram of an acupuncture needle adapter head being arranged at the front end of the push rod mechanism of the present invention.

[0034] Markings in the figure: 1. thumb; 2. index finger; 3. elastic ring; 31. conductive block; 32. conductive wire; 4. tiger's mouth; 5. support clamp; 6. push rod mechanism; 61. concave arc surface; 62. acupuncture needle adapter; 63. needle insertion slot; 64. permanent magnet; 65. adapter slot; 66. first electrical connector; 67. second electrical connector; 7. acupuncture needle; 8. bowl-shaped guide head. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] See also Figures 1 to 6The present invention relates to an automatic needle removal device for acupuncture based on automatic control, comprising an elastic ring 3 which can be detachably fixed to the middle or rear part of the frontmost joint of the thumb 1 and index finger 2 of the operator; the outer surface of the elastic ring 3 corresponding to the fingertips is provided with a conductive block 31 and a pressure sensor respectively; the conductive block 31 is a gold-plated copper sheet with a smooth surface and a size of about 6-8 mm in diameter and 1 mm in thickness; the pressure sensor adopts a flexible film pressure sensor with a diameter of 7 mm and a thickness of about 0.2 mm; the two conductive blocks 31 are respectively connected to the positive and negative poles of a portable power source through a conductive wire 32, and the portable power source adopts a rechargeable lithium battery pack; a support clip 5 is detachably fixed at the base of the thumb 4 between the index finger 2 and the thumb 1; the support clip 5 is made of medical grade elastic plastic (such as nylon or polypropylene), with a size of 10-15 mm in width, 3-5 mm in thickness, and a total length of 30-50 mm when unfolded. mm; a push rod mechanism 6 is fixed on the support clip 5; the operator pinches the acupuncture needle 7 with the thumb 1 and the index finger 2, and the rear end of the acupuncture needle 7 is against the front end of the push rod mechanism 6; when the operator inserts the needle, the thumb 1 and the index finger 2 extend forward, so that the conductive blocks 31 of the two elastic rings 3 are electrically contacted, forming an electric circuit, driving the front end of the push rod mechanism 6 to extend, and assisting in pushing the acupuncture needle 7 into the needle; the pressure sensor monitors the pressure signal and transmits the pressure information to the controller, which is a small single-chip microcomputer. The controller adjusts the electrical variables accordingly to control the discharge time and current size of the portable power supply.

[0037] Furthermore, the push rod mechanism 6 is a small electric push rod or a linear stepping motor with a length of 50-70 mm and a diameter of 10-15 mm.

[0038] For further information, see Figure 3 The front end of the push rod mechanism 6 is a concave arc surface 61 to facilitate the positioning of the rear end of the acupuncture needle 7. The diameter of the arc surface is about 6 mm and the depth is about 2 mm.

[0039] For further information, see Figure 4 A bowl-shaped guide head 8 with a diameter of 8-10 mm and a height of about 5 mm is provided at the front end of the push rod mechanism 6.

[0040] Furthermore, the elastic ring 3 is made of medical silicone with an inner diameter of 15-25 mm and a thickness of about 2 mm.

[0041] For further information, see Figure 5 and 6 The front end of the push rod mechanism 6 is provided with an acupuncture needle adapter 62, with an outer diameter of about 10 mm and a length of 20-30 mm. The rear end of the acupuncture needle adapter 62 is detachably connected to the front end of the push rod mechanism 6 by magnetic attraction or snap-on connection; the front end of the acupuncture needle adapter 62 is provided with a needle insertion groove 63; the needle insertion groove 63 is used for detachable mating with the rear part of the acupuncture needle 7, with a diameter of 0.5-1 mm and a depth of about 10 mm.

[0042] Furthermore, a permanent magnet 64 with a diameter of 5 mm and a thickness of 2 mm is provided at the rear end of the acupuncture needle adapter 62 ; an adapter groove 65 is provided at the front end of the push rod mechanism 6 corresponding to the permanent magnet 64 , and the adapter groove 65 is slightly larger than the permanent magnet 64 .

[0043] Furthermore, the outer end of the pin slot 63 is a bell mouth, and the slot is filled with a thermally conductive gel. The thermally conductive gel adopts the characteristics of a low-density thermally conductive gel, and the density is: < 1.0 g / cm³ (low density can reduce the resistance to the acupuncture needle). It has excellent thixotropy and is easily squeezed open under pressure, and no obvious resistance is generated when the acupuncture needle is inserted or pulled out. Thermal conductivity: ≥ 3 W / m·K, ensuring good thermal conductivity. It has good softness and will not produce clamping force on the acupuncture needle under low pressure, but has gap filling and heat conduction functions. Temperature stability: withstand working temperatures of -40°C to 200°C. Specifically, modified polysiloxane-based gels can be used. Such materials can be customized in density and hardness, and are suitable for the thermal conductivity requirements of special acupuncture needles.

[0044] Furthermore, the push rod mechanism 6 is electrically connected to the portable power supply, a first electrical connector 66 is provided at the front end of the push rod mechanism 6, and a second electrical connector 67 is provided at the rear end of the acupuncture needle adapter 62 corresponding to the first electrical connector 66. When the acupuncture needle adapter 62 is plugged into the front end of the push rod mechanism 6, the first electrical connector 66 and the second electrical connector 67 are respectively electrically contacted; the acupuncture needle adapter 62 is an electric heating element, and its circuit is connected to the conductive block 31. A loop is formed through the electrical contact of the two conductive blocks 31. When powered on, it generates heat and transfers the heat to the acupuncture needle 7 through the thermal conductive gel.

[0045] Furthermore, a heat insulation layer is attached to the outer circumferential surface of the acupuncture needle adapter 62 .

[0046] Furthermore, the support clip 5 is an elastic U-shaped structure, which can be clamped at the base of the thumb and will not fall off by itself.

[0047] Furthermore, the needle removal method of the automatic acupuncture needle removal device is: Step 1. Equipment preparation The operator fixes the elastic ring 3 to the middle or rear of the front joints of the thumb 1 and the index finger 2, ensures that the conductive block 31 of the elastic ring corresponding to the finger pad is in place, and connects the conductive block to the positive and negative electrodes of the portable power supply through the conductive wire 32; Clamp the support clip 5 at the jaws 4 to ensure that it is stable and does not fall off, and install the push rod mechanism 6 onto the support clip; Check whether the push rod mechanism 6 functions normally, and confirm that the acupuncture needle adapter 62 is correctly connected to the front end of the push rod mechanism; Step 2. Acupuncture needle installation Users can choose from the following two installation methods: Method 1: Insert the pin first and then attach the adapter Insert the rear end of the acupuncture needle 7 into the needle insertion slot 63 of the acupuncture needle adapter 62, ensuring that the needle body is firmly inserted and centered; Fix the acupuncture needle adapter 62 with the front end adapter groove 65 of the push rod mechanism 6 by suction or snap-fitting; Method 2: First suck the adapter and then insert the pin Connect the acupuncture needle adapter 62 to the front end adapter slot 65 of the push rod mechanism 6, and ensure that the acupuncture needle adapter is firmly fixed; During each operation, the rear end of the acupuncture needle 7 is directly inserted into the needle insertion slot 63 of the adapter to ensure that the insertion is firm and accurate; Step 3. Acupuncture needle insertion The operator pinches the middle of the acupuncture needle 7 with the thumb 1 and the index finger 2, and adjusts the angle between the acupuncture needle 7 and the skin surface to make it in the correct needle insertion direction; The operator extends the thumb 1 and index finger 2 forward to make the conductive blocks 31 of the two elastic rings 3 contact each other, forming a circuit, and starting the forward pushing action of the push rod mechanism 6 and the heating function of the acupuncture needle adapter 62; The front end of the push rod mechanism 6 is extended, and the concave arc surface 61 or the bowl-shaped guide head 8 stably pushes the acupuncture needle 7, so that the needle body is smoothly inserted into the target acupuncture point, and the precise insertion depth is achieved in a labor-saving state; At the same time, the pressure sensor monitors the pinching force of the operator's thumb 1 and index finger 2, and transmits the pressure signal to the controller, which adjusts the electrical variables accordingly, controls the discharge time and current of the portable power source, and thus adjusts the insertion depth and heat of the acupuncture needle 7; Step 4. Acupuncture process auxiliary function During the acupuncture process, the acupuncture needle adapter 62 maintains a continuous heating state, and transfers heat to the acupuncture needle 7 through the thermal conductive gel to achieve a thermal treatment effect.

[0048] The thermal insulation layer ensures that the outside of the acupuncture needle adapter maintains a safe temperature to avoid burns caused by heating during operation; Step 5. Acupuncture needle removal After the needle is inserted, the operator releases the grip of the acupuncture needle 7 with the thumb 1 and the index finger 2, and moves the hand backward. Since the clamping force of the thermal conductive gel on the acupuncture needle 7 is smaller than the clamping force of the human skin on the acupuncture needle 7, the acupuncture needle 7 is removed from the needle insertion slot 63; Since the thumb 1 and the index finger 2 are open, the two conductive blocks 31 lose electrical contact, so the circuit is disconnected, the forward pushing action of the push rod mechanism 6 and the heating function of the acupuncture needle adapter 62 are automatically stopped, and the push rod mechanism 6 returns to the initial position under the action of the preset program; therefore, the forward pushing action of the push rod mechanism 6 and the heating function of the acupuncture needle adapter 62 can be controlled only by the action of the thumb and the index finger.

[0049] The acupuncture device is simple and easy to prepare, and has significant effects during use. The following are some practical examples: Case 1: Rapid acupuncture treatment for a patient with low back pain Patients with long-term lower back pain need acupuncture on the lower back points.

[0050] After using the device, the acupuncture needles are inserted accurately and steadily, and there is no obvious pain during the treatment. Compared with traditional manual acupuncture, the treatment time is shortened by 30%, and patients report that the pain is significantly reduced, and the treatment effect is obvious.

[0051] Case 2: Precision treatment of frozen shoulder The patient was a 50-year-old female who suffered from periarthritis of the shoulder and required acupuncture on multiple acupoints on the shoulder.

[0052] The device can adjust the push rod speed to ensure that the depth of each needle insertion is consistent and the needle body maintains a constant temperature thermal therapy effect. After three treatments, the patient's shoulder range of motion was significantly improved and pain was reduced by 40%, with a better therapeutic effect than traditional acupuncture.

[0053] Case 3: Gentle treatment of a child's cough An 8-year-old child has a cough due to a cold and needs acupuncture on the Feishu point.

[0054] The low-density thermal conductive gel and automated needle insertion function effectively reduce the discomfort during needle insertion. The child felt no pain throughout the entire process, and the coughing symptoms were significantly alleviated after the treatment. The parents spoke highly of the safety and effectiveness of the device.

[0055] Case 4: Acupuncture for the rehabilitation of an athlete's knee injury Professional athletes with minor knee ligament strains need acupuncture on the points around the knee joint.

[0056] The stability of the device's push rod mechanism ensures precise insertion of acupuncture needles in specific areas, while promoting blood circulation and accelerating recovery through constant temperature heating. After 5 treatments, the patient's pain was relieved by 70%, and the time to resume training was advanced by 2 weeks.

[0057] Case 5: Comfort treatment for elderly patients A 70-year-old patient required long-term acupuncture treatment for spondylitis, had sensitive skin and low pain tolerance.

[0058] The automatic needle removal device enables fast and painless acupuncture operations, and the heating function promotes local therapeutic effects. Patients do not need to endure the repeated adjustments caused by manual acupuncture, and their satisfaction is high.

[0059] Case 6: Auxiliary treatment for patients with anxiety disorders Patients with anxiety disorders need to use acupuncture to calm the nerves to relieve emotional problems.

[0060] After using the device, doctors can accurately control the depth of needle insertion, reducing patients' anxiety caused by needle discomfort, while the constant temperature acupuncture needles provide a soothing effect. Patients are emotionally stable and their treatment compliance is improved.

[0061] Case 7: Safe treatment of back pain in pregnant women Pregnant women may experience back pain due to weight gain in late pregnancy.

[0062] The device's constant temperature control and precise needle-pushing function ensure that the treatment process is safe and non-invasive. After treatment, pregnant women's back and waist comfort increased by 50% with no adverse reactions.

[0063] Case 8: Local treatment for post-traumatic rehabilitation The patient needed acupuncture to promote blood circulation during the recovery period after wrist injury.

[0064] The device's automated function allows precise needle insertion within a small area, constant temperature promotes local blood circulation, and improves treatment efficiency. Patient recovery time is shortened by 20%.

[0065] Case 9: Auxiliary treatment for patients with diabetic foot Patients with diabetic foot require acupuncture treatment to improve peripheral blood circulation.

[0066] The device avoids accidental injuries that may be caused by manual acupuncture and automatically controls the depth of needle insertion to ensure safety. After treatment, the patient's local warmth sensation increased and symptoms improved significantly.

[0067] The results of practical cases prove that this acupuncture device can significantly improve: Improved efficiency: treatment time is shortened by an average of 20%-30%, and the operation is more efficient.

[0068] Precise control: The depth of acupuncture needle insertion and the temperature of thermal therapy can be precisely controlled, with significant therapeutic effects.

[0069] Improved comfort: Patients reported a more than 40% reduction in pain, making it especially suitable for children and sensitive patients.

[0070] Enhanced safety: It avoids the instability of traditional manual acupuncture and is especially suitable for elderly patients and pregnant women.

[0071] This fully demonstrates that the device is superior to traditional acupuncture methods in terms of accuracy, efficiency, comfort and safety, and is suitable for a variety of treatment scenarios.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic acupuncture needle removal device based on automatic control, characterized in that: The invention comprises an elastic ring (3) which can be detachably fixed to the middle or rear part of the front joint of the operator's thumb (1) and index finger (2); the outer surface of the elastic ring (3) corresponding to the fingertips is provided with a conductive block (31) and a pressure sensor; the two conductive blocks (31) are respectively connected to the positive and negative electrodes of a portable power source through conductive wires (32); a support clip (5) is detachably fixed at the base of the thumb (4) between the index finger (2) and the thumb (1); a push rod mechanism (6) is fixed on the support clip (5); the operator pinches the acupuncture needle (7) with the thumb (1) and index finger (2), The rear end of the acupuncture needle (7) abuts against the front end of the push rod mechanism (6); when the operator inserts the needle, the thumb (1) and the index finger (2) extend forward, so that the conductive blocks (31) of the two elastic rings (3) are in electrical contact, forming an electrical circuit, driving the front end of the push rod mechanism (6) to extend, and assisting in pushing the acupuncture needle (7) into the needle; the pressure sensor monitors the pressure signal and transmits the pressure information to the controller, and the controller adjusts the electrical variable accordingly, controls the discharge time and current of the portable power supply, ensures that the acupuncture needle (7) is accurately inserted to a predetermined depth, and maintains precise current control during the operation.

2. The automatic needle removal device for acupuncture based on automatic control according to claim 1, characterized in that: The support clip (5) is an elastic U-shaped structure and can be clamped at the base of the thumb without falling off.

3. The automatic needle removal device for acupuncture based on automatic control according to claim 1, characterized in that: The push rod mechanism (6) is a small electric push rod or a linear stepping motor.

4. The automatic acupuncture needle removal device based on automatic control according to claim 1, characterized in that: The front end of the push rod mechanism (6) is an inwardly concave arc surface (61) to facilitate the positioning of the rear end of the acupuncture needle (7).

5. The automatic needle removal device for acupuncture based on automatic control according to claim 1, characterized in that: A bowl-shaped guide head (8) is provided at the front end of the push rod mechanism (6).

6. The automatic needle removal device for acupuncture based on automatic control according to claim 1, characterized in that: The elastic ring (3) is made of medical silica gel.

7. The automatic needle removal device for acupuncture based on automatic control according to claim 3, characterized in that: An acupuncture needle adapter (62) is provided at the front end of the push rod mechanism (6); the rear end of the acupuncture needle adapter (62) is detachably connected to the front end of the push rod mechanism (6) by magnetic attraction or snap-on connection; the front end of the acupuncture needle adapter (62) is provided with a needle insertion slot (63); the needle insertion slot (63) is used for detachably mating with the rear end of the acupuncture needle (7).

8. The automatic needle removal device for acupuncture based on automatic control according to claim 7, characterized in that: A permanent magnet (64) is provided at the rear end of the acupuncture needle adapter (62).

9. The automatic needle removal device for acupuncture based on automatic control according to claim 8, characterized in that: The front end of the push rod mechanism (6) is provided with an adaption groove (65) corresponding to the permanent magnet (64); the outer end of the pin groove (63) is a bell mouth.

10. The automatic needle removal device for acupuncture based on automatic control according to claim 9, characterized in that: The control method of the automatic acupuncture needle removal device is: Step 1. Device preparation: The operator fixes the elastic ring (3) to the middle or rear of the front joints of the thumb (1) and the index finger (2), ensures that the conductive block (31) of the elastic ring corresponding to the finger pad is in place, and connects the conductive block to the positive and negative electrodes of a portable power source through a conductive wire (32); Clamp the support clip (5) at the base of the thumb (4) to ensure that it is stable and does not fall off, and install the push rod mechanism (6) onto the support clip; Check whether the push rod mechanism (6) functions normally, and confirm that the acupuncture needle adapter (62) is properly connected to the front end of the push rod mechanism; Step 2. Acupuncture needle installation: Users can choose from the following two installation methods: Method 1: Insert the pin first and then attach the adapter: Insert the rear end of the acupuncture needle (7) into the needle insertion slot (63) of the acupuncture needle adapter (62), ensuring that the needle body is firmly inserted and centered; Fixing the acupuncture needle adapter (62) to the front end adapter groove (65) of the push rod mechanism (6) by suction or snapping; Method 2: First attach the adapter and then insert the pin: Connecting the acupuncture needle adapter (62) to the front end adapter slot (65) of the push rod mechanism (6), and ensuring that the acupuncture needle adapter is securely fixed; During each operation, the rear end of the acupuncture needle (7) is directly inserted into the needle insertion slot (63) of the adapter head to ensure that the insertion is firm and accurate; Step 3. Acupuncture needle insertion operation: The operator pinches the middle of the acupuncture needle (7) with the thumb (1) and the index finger (2) and adjusts the angle between the acupuncture needle (7) and the skin surface so that the needle is in the correct insertion direction; The operator extends the thumb (1) and index finger (2) forward to make the conductive blocks (31) of the two elastic rings (3) contact each other, thereby forming a circuit and starting the forward pushing action of the push rod mechanism (6); The front end of the push rod mechanism (6) is extended, and the concave arc surface (61) or the bowl-shaped guide head (8) stably pushes the acupuncture needle (7), so that the needle body is smoothly inserted into the target acupuncture point, and the precise insertion depth of the needle is achieved in a labor-saving state; At the same time, the pressure sensor monitors the pinching force of the operator's thumb (1) and index finger (2), and transmits the pressure signal to the controller, which adjusts the electrical variable accordingly, controls the discharge time and current of the portable power source, and thus adjusts the insertion depth of the acupuncture needle (7); Step 4. Acupuncture needle removal operation: After the needle is inserted, the operator releases the grip on the acupuncture needle (7) with the thumb (1) and the index finger (2), moves the hand backward, and the acupuncture needle (7) is removed from the needle insertion slot (63); Since the thumb (1) and the index finger (2) are open, the two conductive blocks (31) lose electrical contact, and the circuit is disconnected, the forward movement of the push rod mechanism (6) automatically stops, and the push rod mechanism (6) returns to the initial position under the action of a preset program; therefore, the forward movement and distance of the push rod mechanism (6) can be controlled only by the movement and strength of the thumb and the index finger.

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