Acupuncture and moxibustion method for deep puncture of intervertebral hole

Abstract

The invention relates to the technical field of physiotherapy methods, in particular to an acupuncture method for deep puncture of intervertebral holes, which comprises the following steps: acquiring three-dimensional projection information of lumbar vertebra, and constructing a lumbar vertebra three-dimensional model based on the three-dimensional projection information; determining a body surface projection area of an intervertebral foramen and a corresponding puncture point in the body surface projection area based on a crista iliaca connecting line and a spinous process sequence in the lumbar vertebra three-dimensional model; performing a puncture test on the corresponding puncture point, and acquiring corresponding electrical stimulation puncture pressure feedback and non-electrical stimulation puncture pressure feedback of the corresponding puncture point at each depth in real time; determining a pressure feedback correction parameter of the corresponding puncture point under each depth according to the corresponding electrical stimulation puncture pressure feedback and non-electrical stimulation puncture pressure feedback under each depth; and calculating a real-time real pressure feedback value according to the pressure feedback correction parameter under the corresponding puncture depth. The puncture accuracy of the puncture needle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of physical therapy methods, and in particular to an acupuncture method for deep needling of intervertebral foramina. Background Art

[0002] Existing puncture technologies have significant defects in pressure detection and position judgment. First, the traditional method relies solely on puncture pressure as a basis for judgment, but the electric current stimulation during the puncture process will cause the tissue layer to contract or relax, generating additional electric current stimulation pressure, so that the detected puncture pressure is not the real pressure. Secondly, when the needle penetrates the tissue layer, due to the difference in the rebound speed of the tissue on both sides, a component force perpendicular to the puncture direction will be generated, causing the needle to deflect. What is more serious is that the existing technology simply relies on impedance mutation to judge the proximity of the nerve, which has a major loophole: during the tissue rebound process, the temporary impedance drop caused by the squeezing of the nerve will be mistakenly judged as a valid signal, but in fact the nerve will reset after the rebound is completed. The existing technology cannot distinguish between the real puncture pressure and the interference pressure, nor can it eliminate the mechanical interference caused by tissue rebound, and it lacks accurate analysis of the dynamic changes of the impedance signal.

[0003] Chinese Patent Publication No. CN111494202B discloses an acupuncture robot and a fully automated acupuncture method. The robot comprises a robot frame, one end of which is a fixed end connected to a fixed base, and the other end of which is a functional connection end connected to an acupuncture function module. The acupuncture function module comprises a bracket, a pin holder fixed to the bracket, a pin holder provided with a pin hole, and a pin mechanism comprising a pin holder and a pin. The pin passes through the hole in the pin holder and is fixed to the pin holder via the pin holder. An acupuncture needle is fixed to the lower end of the pin. Therefore, the acupuncture robot and the fully automated acupuncture method have the problem that when the needle punctures a tissue layer, the discharge stimulates the tissue layer, causing it to contract or relax. This results in the detected puncture pressure feedback not being the actual puncture pressure feedback, which in turn leads to inaccurate determination of the needle's puncture location and the needle stopping time based on the pressure feedback's decreasing speed. Summary of the Invention

[0004] To this end, the present invention provides an acupuncture method for deep needling of intervertebral foramina, which is used to overcome the problem in the prior art that when the needle punctures into the tissue layer, the discharge will stimulate the tissue layer and cause the tissue layer to contract or relax, resulting in the detected puncture pressure feedback not being the true puncture pressure feedback, and further resulting in inaccurate judgment of the needle puncture position and the needle stopping time based on the pressure feedback drop speed.

[0005] To achieve the above-mentioned object, the present invention provides an acupuncture method for deep needling of intervertebral foramina, comprising:

[0006] Acquiring three-dimensional projection information of the lumbar vertebrae, and constructing a three-dimensional model of the lumbar vertebrae based on the three-dimensional projection information;

[0007] Determining the surface projection area of ​​the intervertebral foramen and the corresponding puncture point in the surface projection area based on the iliac crest connection line and the spinous process sequence in the three-dimensional lumbar spine model;

[0008] Performing a puncture test on the corresponding puncture point, and obtaining in real time the electrical stimulation puncture pressure feedback and the non-electrical stimulation puncture pressure feedback corresponding to the corresponding puncture point at each depth;

[0009] Determine the pressure feedback correction parameter of the corresponding puncture point at each depth according to the corresponding electrical stimulation puncture pressure feedback and non-electrical stimulation puncture pressure feedback at each depth;

[0010] Calculate the real pressure feedback value in real time according to the pressure feedback correction parameter at the corresponding puncture depth;

[0011] The rebound difference state of the tissue layer is determined based on the decreasing speed of the actual pressure feedback value when the needle passes through a single tissue layer;

[0012] If the rebound difference state is abnormal, determining the puncture speed based on the decreasing speed of the real pressure feedback value;

[0013] Continue puncturing the underlying tissue at the stated puncture speed;

[0014] When it is detected that the impedance reaches a dangerous impedance threshold, obtaining a rebound abnormal time period and an impedance mutation time period that are consistent with the rebound difference abnormal state;

[0015] Whether the target puncture position for stopping puncture is reached is determined according to the overlap between the abnormal rebound time period and the impedance mutation time period.

[0016] Furthermore, the difference between the non-electrical stimulation puncture pressure feedback and the electric stimulation puncture pressure feedback at each depth is determined as the pressure feedback correction parameter of the corresponding puncture point at each depth.

[0017] Furthermore, according to the fact that the actual pressure feedback falling speed is less than the preset falling speed, it is determined that the rebound difference state is abnormal.

[0018] Furthermore, according to the fact that the actual pressure feedback falling speed is greater than or equal to the preset falling speed, it is determined that the rebound difference state is normal.

[0019] Furthermore, the real-time true pressure feedback value is the difference between the real-time puncture pressure feedback and the pressure feedback correction parameter of the corresponding depth.

[0020] Furthermore, the puncture speed is reduced according to the fact that the actual pressure feedback falling speed is less than the preset falling speed.

[0021] Furthermore, the puncture speed is positively correlated with the actual pressure feedback decreasing speed.

[0022] Furthermore, whether the target puncture position for stopping puncture is reached is determined based on the overlap between the abnormal rebound time period and the impedance mutation time period and the impedance increase after the rebound is completed, wherein:

[0023] If the overlap between the abnormal rebound period and the impedance mutation period is greater than a preset overlap, and the impedance increase after the rebound is completed is less than a preset increase, it is determined that the target puncture position has been reached and the puncture is stopped;

[0024] If the overlap between the abnormal rebound period and the impedance mutation period is greater than a preset overlap, and the impedance increase after the rebound is completed is greater than or equal to the preset increase, it is determined that the target puncture position for stopping puncture has not been reached.

[0025] Furthermore, the overlap degree is the ratio of the overlap duration of the rebound abnormality time period and the impedance mutation time period to the total duration.

[0026] The total duration is the sum of the duration of the rebound anomaly period and the duration of the impedance mutation period.

[0027] Furthermore, the rebound abnormal time period is a time period corresponding to the abnormal rebound difference state.

[0028] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention determines the pressure feedback correction parameters of the corresponding puncture points at each depth based on the corresponding electrical stimulation puncture pressure feedback and non-electrical stimulation puncture pressure feedback at each depth, and calculates the real-time true pressure feedback value based on the pressure feedback correction parameters at the corresponding puncture depth. This solves the problem that the discharge when the needle punctures into the tissue layer will stimulate the tissue layer and cause the tissue layer to contract or relax, resulting in the detected puncture pressure feedback not being the true puncture pressure feedback, which in turn leads to inaccurate judgment of the needle puncture position based on the pressure feedback drop speed and inaccurate judgment of the rebound difference state, as well as inaccurate needle stopping time due to inaccurate detected puncture pressure. This achieves accurate judgment of the needle arrival position and improves the accuracy of judging the needle puncture stopping time.

[0029] Furthermore, the present invention judges the rebound difference state of the tissue layer according to the actual pressure feedback falling speed at the moment the needle passes through a single tissue layer. When the rebound difference state is abnormal, the puncture speed is determined based on the actual pressure feedback falling speed. This solves the problem that the pressure distribution on both sides of the needle changes due to the different actual pressures of the punctured tissues on both sides of the puncture position and the difference in the rebound speed of the tissue layer, the pressure on both sides of the needle cannot be completely offset, and the pressure on one side is greater than the other side, resulting in the needle being subjected to a component force perpendicular to the puncture direction, causing the needle tip position to deviate. The puncture speed of the needle at the moment it penetrates the tissue layer is reduced, the puncture depth of the needle is reduced during the time when the tissue layers on both sides of the needle complete the rebound after the needle penetrates the tissue layer, and the offset of the needle perpendicular to the puncture direction is also reduced, thereby improving the accuracy of needle puncture.

[0030] Furthermore, by determining whether the target puncture position for stopping puncture has been reached based on the overlap between the abnormal rebound time period and the impedance mutation time period, the abnormal rebound difference causes the difference in the rebound speed of the tissue layers on both sides of the needle after the needle penetrates the tissue layer, resulting in the nerve on the side with faster rebound being squeezed toward the side with slower rebound, causing the nerve to approach the needle at this time. Since the nerve root sheath contains extracellular fluid with a high ion concentration and has a significantly higher conductivity than the surrounding connective tissue, the monitored impedance drops sharply at this time. However, after the needle penetrates the tissue layer and the tissue layers on both sides of the needle rebound, the nerve returns to its original position and the impedance recovers. In other words, it is impossible to accurately determine whether the needle has actually punctured and approached the nerve based solely on the impedance mutation. The overlap between the abnormal rebound time period and the impedance mutation time period and the impedance increase after the rebound is completed can be used to comprehensively determine whether the impedance mutation is related to the abnormal rebound difference. This solves the problem of relying solely on the impedance mutation to determine whether the needle has approached the nerve due to the abnormal rebound difference state, which may lead to deviation and further stop the puncture before the needle actually approaches the nerve, resulting in the needle failing to reach the target puncture position, thereby improving the accuracy of needle position determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is an overall flow chart of an acupuncture method for deep needling of intervertebral foramina according to an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of an acupuncture method for deep needling of intervertebral foramina in an embodiment of the present invention when the tissue layer is not penetrated by the needle;

[0033] Figure 3 A schematic diagram of an abnormal state of different rebound in tissue layers during an acupuncture method for deep needling of intervertebral foramina according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram showing a normal state of tissue layer rebound differences during an acupuncture method for deep needling of intervertebral foramina according to an embodiment of the present invention;

[0035] Figure 5 A structural diagram of a puncture robot arm for deep intervertebral foraminal puncture in an acupuncture method according to an embodiment of the present invention;

[0036] In the figure, 1-robotic arm body, 2-telescopic rod, 3-puncture needle, 4-tissue layer, 5-micro pressure sensor, 6-double ring electrode sensor. DETAILED DESCRIPTION

[0037] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0038] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0039] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0040] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0041] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 as well as Figure 5 As shown, they are respectively an overall flow chart of the acupuncture method for deep needling of intervertebral foramina according to an embodiment of the present invention, a schematic diagram when the tissue layer is not penetrated by the needle, a schematic diagram when the tissue layer is in an abnormal rebound difference state, a schematic diagram when the tissue layer is in a normal rebound difference state, and a structural diagram of the puncture robot arm;

[0042] The acupuncture method for deep needling of intervertebral foramina in an embodiment of the present invention comprises:

[0043] Step S1, obtaining three-dimensional projection information of the lumbar vertebra, and constructing a three-dimensional model of the lumbar vertebra based on the three-dimensional projection information;

[0044] Step S2, determining the surface projection area of ​​the intervertebral foramen and the corresponding puncture point in the surface projection area based on the iliac crest connection line and spinous process sequence in the lumbar 3D model;

[0045] Step S3, performing a puncture test on the corresponding puncture point, and obtaining in real time the electrical stimulation puncture pressure feedback and the non-electrical stimulation puncture pressure feedback corresponding to the corresponding puncture point at each depth;

[0046] Step S4, determining a pressure feedback correction parameter of the corresponding puncture point at each depth according to the corresponding electrical stimulation puncture pressure feedback and non-electrical stimulation puncture pressure feedback at each depth;

[0047] Step S5, calculating a real-time true pressure feedback value according to the pressure feedback correction parameter at the corresponding puncture depth;

[0048] Step S6, judging the rebound difference state of the tissue layer 4 according to the decreasing speed of the actual pressure feedback value when the needle 3 passes through the single tissue layer 4;

[0049] Step S7: if the rebound difference state is abnormal, determining the puncture speed based on the decreasing speed of the real pressure feedback value;

[0050] Step S8, continuing to puncture the underlying tissue at the puncture speed;

[0051] Step S9, when it is detected that the impedance reaches the dangerous impedance threshold, obtaining the rebound abnormal time period and the impedance mutation time period that meet the rebound difference abnormal state;

[0052] Step S10: judging whether the target puncture position for stopping puncture has been reached according to the overlap between the abnormal rebound time period and the impedance mutation time period.

[0053] In this embodiment, the dangerous impedance threshold is 80% of the current impedance value.

[0054] Specifically, the three-dimensional projection information is lumbar vertebrae structure data obtained through CT / MRI scanning, including:

[0055] Geometric information: spatial position, shape, and size of bony structures such as vertebral bodies, pedicles, transverse processes, spinous processes, and intervertebral foramina;

[0056] Non-geometric information: morphology and density of intervertebral discs (nucleus pulposus, annulus fibrosus) and ligaments (such as anterior longitudinal ligament, posterior longitudinal ligament, and ligamentum flavum);

[0057] Dynamically associated data: the direction of the nerve root canal, the location of the lateral recess, and the correspondence between the iliac crest and the lumbar vertebrae.

[0058] Specifically, the method for constructing the lumbar 3D model is as follows:

[0059] Data import: Import DICOM format data of CT / MRI into medical modeling software (such as MaterialiseMimics Innovation Suite);

[0060] Structural segmentation: Separate components such as vertebrae, intervertebral discs, and ligaments to generate independent 3D mesh models;

[0061] Property assignment: assigning material properties to different tissues (such as bone density and ligament elastic modulus);

[0062] Model integration: Assemble components to form a complete lumbar spine-pelvis-hip biomechanical model to support dynamic simulation.

[0063] It will be understood by those skilled in the art that the steps of the method for constructing a three-dimensional lumbar spine model described above are the main steps for constructing a three-dimensional lumbar spine model. In actual applications, those skilled in the art can make some adaptive adjustments to the construction process of the three-dimensional lumbar spine model based on the actual physical condition of the patient, as long as the three-dimensional lumbar spine model reflects the structures and structural information involved in the intervertebral foramen puncture process.

[0064] Specifically, the iliac crest line is a horizontal line connecting the highest points of the bilateral iliac crests, which corresponds to the lower part of the L4 vertebra or the L4-L5 intervertebral space in normal anatomy and is the core surface landmark for lumbar puncture. The spinous process sequence is a longitudinal chain of bony protrusions arranged in sequence on the posterior midline of the spine. The spinous process sequence is the most direct and reliable surface landmark for determining the horizontal position of the spinal segment. First, the target intervertebral foramen segment is determined: the intervertebral foramen is located between two adjacent vertebrae, one on each side. Second, to deep puncture the intervertebral foramen of a specific segment (such as the left intervertebral foramen of L4-L5), it is necessary to accurately determine the position of the segment on the spine.

[0065] Specifically, the steps for determining the surface projection area of ​​the intervertebral foramen are as follows:

[0066] 1. Locate the intervertebral space:

[0067] The L4 / L5 level was determined by the line connecting the iliac crests;

[0068] Palpation of the spinous process sequence confirms the L3-S1 segment.

[0069] 2. Delineation of projection area:

[0070] The surface projection of the intervertebral foramen is located 4–5 cm (about two finger widths) lateral to the spinous process and overlaps with the tip of the transverse process.

[0071] The pedicle angles are matched in the three-dimensional model and projected onto the skin surface to form the target area.

[0072] 3. Puncture point selection:

[0073] Avoid the transverse process: insert the needle slightly above and outside the projection area to avoid bony obstruction.

[0074] Specifically, the tissue layer 4 includes: skin and subcutaneous tissue, superficial layer of thoracolumbar fascia, lateral part of erector spinae muscle, middle layer of thoracolumbar fascia, quadratus lumborum muscle, superior articular process bony barrier, ligamentum flavum, and anterolateral part of epidural space.

[0075] Specifically, the actual pressure feedback decreasing speed is the ratio of the pressure feedback decreasing value when the needle 3 penetrates the tissue layer 4 to the corresponding time length for the pressure feedback to decrease.

[0076] Specifically, the difference between the non-electrical stimulation puncture pressure feedback and the electric stimulation puncture pressure feedback at each depth is determined as the pressure feedback correction parameter of the corresponding puncture point at each depth.

[0077] In practice, the present invention determines the pressure feedback correction parameters of the corresponding puncture points at each depth based on the corresponding electrical stimulation puncture pressure feedback and non-electrical stimulation puncture pressure feedback at each depth, and calculates the real-time true pressure feedback value based on the pressure feedback correction parameters at the corresponding puncture depth. This solves the problem that the discharge when the needle 3 punctures into the tissue layer 4 will stimulate the tissue layer 4 and cause the tissue layer 4 to contract or relax, resulting in the detected puncture pressure feedback not being the true puncture pressure feedback, which in turn leads to inaccurate judgment of the puncture position reached by the needle 3 based on the pressure feedback falling speed and inaccurate judgment of the rebound difference state, as well as inaccurate stopping time of the needle 3 due to inaccurate detected puncture pressure. This achieves accurate judgment of the arrival position of the needle 3 and improves the accuracy of judging the stopping time of the puncture of the needle 3.

[0078] Specifically, according to the fact that the actual pressure feedback falling speed is less than the preset falling speed, it is determined that the rebound difference state is abnormal.

[0079] Optionally, under the conditions of ambient temperature > 30°C and humidity > 70% RH, puncture is performed on the lumbar ligament of acupuncture subjects aged 18 to 28 years old, and the optional range of the preset descent speed in implementation is [500 mmH2O / s, 800 mmH2O / s].

[0080] Preferably, under the conditions of ambient temperature > 30°C and humidity > 70% RH, puncture of the lumbar ligament of acupuncture subjects aged 18 to 28 years old is performed, and the preferred embodiment of the preset descent speed is 650 mmH2O / s.

[0081] It can be understood by those skilled in the art that [500 mmH2O / s, 800 mmH2O / s], and 650 mmH2O / s are several optional embodiments and preferred embodiments for puncturing the lumbar ligament of acupuncture subjects aged 18 to 28 years old under the conditions of ambient temperature > 30°C and humidity > 70% RH. In actual application or implementation, those skilled in the art can adaptively adjust the preset descent speed according to the actual application environment and application scenario.

[0082] In this embodiment, the present invention judges the rebound difference state of the tissue layer 4 according to the actual pressure feedback falling speed at the moment when the needle 3 passes through a single tissue layer 4. When the rebound difference state is abnormal, the puncture speed is determined based on the actual pressure feedback falling speed. This solves the problem that the pressure distribution on both sides of the needle 3 changes due to the different actual pressures of the punctured tissues on both sides of the puncture position and the difference in the rebound speed of the tissue layer 4. The pressure on both sides of the needle 3 cannot be completely offset, and the pressure on one side is greater than the other side, resulting in the needle 3 being subjected to a component force perpendicular to the puncture direction, causing the needle tip position of the needle 3 to deviate. The puncture speed of the needle 3 at the moment when it penetrates the tissue layer 4 is reduced. After the needle 3 penetrates the tissue layer 4, the puncture depth of the needle 3 is reduced during the time when the tissue layers 4 on both sides of the needle 3 complete their rebound. The offset of the needle 3 perpendicular to the puncture direction is also reduced, thereby improving the puncture accuracy of the needle 3.

[0083] Specifically, according to the fact that the actual pressure feedback falling speed is greater than or equal to the preset falling speed, it is determined that the rebound difference state is normal.

[0084] Specifically, the real-time true pressure feedback value is the difference between the real-time puncture pressure feedback and the pressure feedback correction parameter of the corresponding depth.

[0085] Specifically, the puncture speed is reduced according to the fact that the actual pressure feedback falling speed is less than the preset falling speed.

[0086] Specifically, the puncture speed is positively correlated with the actual pressure feedback decreasing speed.

[0087] In implementation, under the conditions of ambient temperature > 30°C and humidity > 70% RH, when puncturing the lumbar ligament of an acupuncture subject aged 18 to 28 years old, when the actual pressure feedback falling speed is less than the preset falling speed by within 100 mmH2O / s, the puncture speed is adjusted to 0.9 times the current puncture speed; when the actual pressure feedback falling speed is less than the preset falling speed by more than 100 mmH2O / s, the puncture speed is adjusted to 0.9 times the current puncture speed for every 100 mmH2O / s of excess. For example, in a possible embodiment, the actual pressure feedback falling speed is less than the preset falling speed by 200 mmH2O / s, and at this time the puncture speed is adjusted to 0.9×0.9=0.81 times the current puncture speed.

[0088] Specifically, whether the target puncture position for stopping puncture is reached is determined based on the overlap between the abnormal rebound period and the impedance mutation period and the impedance increase after the rebound is completed, wherein:

[0089] If the overlap between the abnormal rebound period and the impedance mutation period is greater than a preset overlap, and the impedance increase after the rebound is completed is less than a preset increase, it is determined that the target puncture position has been reached and the puncture is stopped;

[0090] If the overlap between the abnormal rebound period and the impedance mutation period is greater than a preset overlap, and the impedance increase after the rebound is completed is greater than or equal to the preset increase, it is determined that the target puncture position for stopping puncture has not been reached.

[0091] Optionally, under the conditions of ambient temperature > 30° C. and humidity > 70% RH, the preset increase amount for puncturing the skin around the lumbar vertebra of acupuncture subjects aged 18 to 28 years old is generally in the range of [80Ω, 200Ω] in practice.

[0092] Preferably, under the conditions of an ambient temperature greater than 30° C. and a humidity greater than 70% RH, the skin around the lumbar vertebra of an acupuncture subject aged 18 to 28 is punctured, and the preferred embodiment of the preset increase amount is 120Ω.

[0093] It can be understood by those skilled in the art that [80Ω, 200Ω], 120Ω are several optional embodiments and preferred embodiments for puncturing the skin around the lumbar spine of acupuncture subjects aged 18 to 28 years old under the conditions of ambient temperature > 30°C and humidity > 70% RH. In actual application or implementation, those skilled in the art can adaptively adjust the preset increase amount according to the actual application environment and application scenario.

[0094] In practice, whether the target puncture position for stopping puncture is reached is judged based on the overlap between the abnormal rebound time period and the impedance mutation time period. Due to the abnormal rebound difference, the rebound speed of the tissue layers 4 on both sides of the needle 3 is different after the needle 3 penetrates the tissue layer 4, resulting in the nerve on the side with faster rebound being squeezed toward the side with slower rebound, causing the nerve to approach the needle 3 at this time. Since the nerve root sheath contains extracellular fluid with high ion concentration, its conductivity is significantly higher than that of the surrounding connective tissue. At this time, the monitored impedance drops sharply. When the needle 3 penetrates the tissue layer 4, the rebound of the tissue layers 4 on both sides of the needle 3 is completely reduced. After the rebound is completed, the nerve will return to its original position, and the impedance will be restored. That is, it is impossible to accurately judge whether the needle 3 has actually punctured and approached the nerve only by the impedance mutation. Through the comprehensive judgment of the overlap of the rebound abnormality time period and the impedance mutation time period and the impedance increase after the rebound is completed, it can be judged whether the impedance mutation is related to the rebound difference abnormality. This solves the problem of the abnormal rebound difference state causing deviation in judging whether the needle 3 has approached the nerve by relying solely on the impedance mutation, which leads to stopping the puncture before actually approaching the nerve, resulting in the needle 3 being unable to reach the target puncture position, thereby improving the accuracy of the judgment of the position of the needle 3.

[0095] Specifically, the overlap is the ratio of the overlap duration of the rebound abnormality time period and the impedance mutation time period to the total duration.

[0096] The total duration is the sum of the duration of the rebound anomaly period and the duration of the impedance mutation period.

[0097] Optionally, under the conditions of ambient temperature > 30° C. and humidity > 70% RH, the preset overlap degree for puncturing the skin around the lumbar vertebra of acupuncture subjects aged 18 to 28 years old is generally in the range of [75%, 100%] in implementation.

[0098] Preferably, under the conditions of an ambient temperature greater than 30° C. and a humidity greater than 70% RH, the skin around the lumbar vertebra of an acupuncture subject aged 18 to 28 is punctured, and the preferred embodiment of the preset overlap is 80%.

[0099] It can be understood by those skilled in the art that [75%, 100%], and 80% are several optional embodiments and preferred embodiments for puncturing the skin around the lumbar vertebrae of acupuncture subjects aged 18 to 28 years old under the conditions of ambient temperature > 30°C and humidity > 70% RH. In actual application or implementation, those skilled in the art can adaptively adjust the preset overlap according to the actual application environment and application scenario.

[0100] Specifically, the rebound abnormal time period is a time period corresponding to an abnormal rebound difference state.

[0101] Please continue reading Figure 5As shown in FIG. 1 , it is a puncture robot arm used to drive the needle 3 to perform the puncture process in the acupuncture method for deep puncture of the intervertebral foramen of this embodiment, which includes:

[0102] The robot arm body 1 is used to drive the needle 3 to approach the corresponding puncture point;

[0103] The telescopic rod 2 is provided at one end of the robot arm body 1 and is connected to the puncture needle 3 to drive the puncture needle 3 to move telescopically to puncture the puncture point;

[0104] A micro pressure sensor 5 is provided at the handle of the needle 3 to detect the pressure exerted on the needle 3;

[0105] The double-ring electrode sensor 6 is arranged at the needle tip of the puncture needle 3 and is used to detect impedance.

[0106] Specifically, the principle of the dual-ring electrode sensor 6 for detecting impedance is as follows: the dual-ring electrode sensor 6 includes two annular metal electrodes (spacing 0.2-0.5 mm) integrated in the needle head of the needle 3, and a frequency-controllable microcurrent (range 100-500 Hz) is applied between the dual-ring metal electrodes, and the impedance value is calculated by detecting the change in voltage drop between the electrodes.

[0107] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. An acupuncture method for deep needling of intervertebral foramina, characterized in that: include: Acquiring three-dimensional projection information of the lumbar vertebrae, and constructing a three-dimensional model of the lumbar vertebrae based on the three-dimensional projection information; Determining the surface projection area of ​​the intervertebral foramen and the corresponding puncture point in the surface projection area based on the iliac crest connection line and the spinous process sequence in the three-dimensional lumbar spine model; Performing a puncture test on the corresponding puncture point, and obtaining in real time the electrical stimulation puncture pressure feedback and the non-electrical stimulation puncture pressure feedback corresponding to the corresponding puncture point at each depth; Determine the pressure feedback correction parameter of the corresponding puncture point at each depth according to the corresponding electrical stimulation puncture pressure feedback and non-electrical stimulation puncture pressure feedback at each depth; Calculate the real pressure feedback value in real time according to the pressure feedback correction parameter at the corresponding puncture depth; The rebound difference state of the tissue layer is determined based on the decreasing speed of the actual pressure feedback value when the needle passes through a single tissue layer; If the rebound difference state is abnormal, determining the puncture speed based on the decreasing speed of the real pressure feedback value; Continue puncturing the underlying tissue at the stated puncture speed; When it is detected that the impedance reaches a dangerous impedance threshold, obtaining a rebound abnormal time period and an impedance mutation time period that are consistent with the rebound difference abnormal state; Whether the target puncture position for stopping puncture is reached is determined according to the overlap between the abnormal rebound time period and the impedance mutation time period.

2. The acupuncture method for deep needling of intervertebral foramina according to claim 1, characterized in that: The difference between the non-electrical stimulation puncture pressure feedback and the electric stimulation puncture pressure feedback at each depth is determined as the pressure feedback correction parameter of the corresponding puncture point at each depth.

3. The acupuncture method for deep needling of intervertebral foramina according to claim 2, characterized in that: According to the actual pressure feedback falling speed being less than the preset falling speed, it is determined that the rebound difference state is abnormal.

4. The acupuncture method for deep needling of intervertebral foramina according to claim 3, characterized in that: According to the actual pressure feedback falling speed being greater than or equal to the preset falling speed, it is determined that the rebound difference state is normal.

5. The acupuncture method for deep needling of intervertebral foramina according to claim 4, characterized in that: The real-time true pressure feedback value is the difference between the real-time puncture pressure feedback and the pressure feedback correction parameter of the corresponding depth.

6. The acupuncture method for deep needling of intervertebral foramina according to claim 5, characterized in that: The puncture speed is reduced according to the actual pressure feedback that the falling speed is less than the preset falling speed.

7. The acupuncture method for deep needling of intervertebral foramina according to claim 6, characterized in that: The puncture speed is positively correlated with the actual pressure feedback decreasing speed.

8. The acupuncture method for deep needling of intervertebral foramina according to claim 7, characterized in that: According to the overlap between the abnormal rebound period and the impedance mutation period and the impedance increase after the rebound is completed, it is judged whether the target puncture position for stopping puncture is reached, wherein, If the overlap between the abnormal rebound period and the impedance mutation period is greater than a preset overlap, and the impedance increase after the rebound is completed is less than a preset increase, it is determined that the target puncture position has been reached and the puncture is stopped; If the overlap between the abnormal rebound period and the impedance mutation period is greater than a preset overlap, and the impedance increase after the rebound is completed is greater than or equal to the preset increase, it is determined that the target puncture position for stopping puncture has not been reached.

9. The acupuncture method for deep needling of intervertebral foramina according to claim 8, characterized in that: The overlap is the ratio of the overlap duration of the rebound abnormality time period and the impedance mutation time period to the total duration. The total duration is the sum of the duration of the rebound anomaly period and the duration of the impedance mutation period.

10. The acupuncture method for deep needling of intervertebral foramina according to claim 9, characterized in that: The rebound abnormal time period is the time period corresponding to the abnormal rebound difference status.

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