Acupuncture assisting device based on force feedback judgment
Through the acupuncture auxiliary device based on force feedback judgment, the problem of low efficiency of existing equipment in small-dose drug preparation is solved, stable insertion and quantitative aspiration of the needle are achieved, and the accuracy and efficiency of drug preparation are improved.
Patent Information
- Application Number
- CN202510881584.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-27
- Publication Date
- 2025-10-03
AI Technical Summary
Existing equipment is inefficient and has poor applicability in the process of dispensing small doses of drugs. In particular, it is difficult to adapt to different syringe bottle specifications during quantitative aspiration, resulting in inconsistent needle insertion heights, affecting the accuracy and efficiency of drug dispensing.
A needle-insertion assist device based on force feedback judgment is adopted, including a robotic arm, a turntable base, an injection module, a clamping fixed claw, a piston movable block and other components. The insertion depth and aspiration volume of the needle are controlled through force feedback. Combined with real-time monitoring by a camera and a servo motor drive, it ensures that the needle is stably inserted into the bottom of the syringe bottle and the aspiration volume is controlled.
It improves the efficiency and accuracy of small-dose drug preparation, ensures that the needle is stably inserted into the bottom of the penicillin bottle, avoids damage to the needle tip, and achieves efficient mixing and quantitative aspiration of drugs.
Smart Images
Figure CN120732697A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of acupuncture and medicine dispensing, and in particular is an acupuncture auxiliary device based on force feedback judgment. Background Art
[0002] In recent years, in order to improve the efficiency and accuracy of medication dispensing, as well as to protect the labor of medical staff who dispense drugs, more and more hospitals have chosen automatic dispensing robots or batch automatic dispensing robots to automate and intelligently dispense drugs to reduce manual participation. However, for the dispensing of small doses of drugs or the dispensing of more precise drug formulas, such as oncology drugs, children's medicines and other special scenarios, the dispensing and compounding functions of non-whole drugs are often required.
[0003] Existing equipment cannot meet user needs well or can meet functional requirements but with low efficiency. During the quantitative aspiration process, due to the different specifications of the syringe bottles, the injection height is also different each time, and an auxiliary device is needed to grasp the distance. Therefore, a needle-insertion auxiliary device based on force feedback judgment is proposed. Summary of the Invention
[0004] The purpose of this application is to provide a needle-insertion assisting device based on force feedback judgment, in order to solve the problems of low efficiency and low applicability raised in the above-mentioned background technology.
[0005] In the first aspect, the present application provides a needle-insertion assisting device based on force feedback judgment, which adopts the following technical solution: a needle-insertion assisting device based on force feedback judgment, comprising a robotic arm and a turntable base, wherein a suction module base is mounted on one end of the robotic arm, and a suction syringe body is disposed on one side of the suction module base, and further comprising: The suction and injection assembly is arranged on one side of the suction and injection module base and is used to clamp and limit the suction and injection device body; The medicine dispensing assembly is installed inside the turntable base and is used to clamp the medicine bottle; A protection component is provided at the bottom of the aspirator assembly and is used to protect the tip of the aspirator body; The suction and injection assembly includes a pair of clamping and fixing claws installed on the side of the suction and injection module base, a suction device guide block is provided on the lower side of the clamping and fixing claws, and a piston movable block is installed on the upper side of the clamping and fixing claws; The dispensing assembly includes a limiting shell fixedly connected to the top of the turntable base, the upper end of the limiting shell is movably connected to a medicine tray, the top of the medicine tray is placed with a penicillin bottle body, and the inside of the limiting shell is movably connected to a cylinder fixing plate.
[0006] Preferably, a hollow reducer is fixedly connected to the bottom of the turntable base, a second servo motor is fixedly connected to the bottom of the hollow reducer, the turntable base is arranged at the bottom of the suction module base, and a camera is provided on the side of the suction module base to shoot the suction device body in real time.
[0007] Preferably, the clamping and fixing claws are fixedly connected to the base of the suction and injection module, the middle part of the clamping and fixing claws is fixedly connected to the light source back panel, the middle part of the clamping and fixing claws is fixedly connected to the piston movable block with an isolation baffle, a pair of the clamping and fixing claws clamp and fix the syringe body, the syringe guide block is located at the bottom of the suction and injection module base, and the syringe guide block is in conflict with the bottom of the syringe body.
[0008] Preferably, the piston movable block can be engaged with the top of the withdrawal rod of the syringe body, so that the withdrawal rod of the syringe body is pulled up and down by the piston movable block. A power cord is installed on the top of the light source back panel and passes through the inside of the isolation baffle. At the same time, the isolation baffle is convex near one end of the withdrawal rod of the syringe body. A limiting slot is provided at the bottom of the isolation baffle, and the limiting slot is used to clamp and fix the handle of the syringe body tube.
[0009] Preferably, a voice coil motor is fixedly connected to the bottom of the cylinder fixing plate, a fixed base plate is fixedly connected to the lower side of the voice coil motor, a limiting guide shaft passes through the four corners of the fixed base plate, an elastic member is sleeved on the outer side of the limiting guide shaft, a magnetic plate is fixedly connected to the bottom of the limiting guide shaft, and a proximity sensor is provided on the lower side of the magnetic plate.
[0010] Preferably, the fixed base plate is fixedly connected to the top of the turntable base, the medicine tray is fixedly connected to the cylinder fixed plate, and a pair of claws are provided on the top of the medicine tray to clamp the vial body, the cylinder fixed plate and the medicine tray are both slidably connected to the limiting shell, and the limiting shell is distributed in a ring shape on the top of the turntable base.
[0011] Preferably, the top of the limit guide shaft is fixedly connected to the cylinder fixing plate, the elastic member is distributed among the cylinder fixing plate, the fixed bottom plate and the magnetic plate, a signal contact is provided at the bottom of the magnetic plate, and the proximity sensor is fixedly connected to the inside of the turntable base through a mounting bracket, and the top of the proximity sensor corresponds to the corresponding contact position installed at the bottom of the magnetic plate.
[0012] Preferably, the protection component includes a pair of movable brackets arranged at the bottom of the suction module base, a U-shaped limiting plate is arranged on the inner side of the movable bracket, a gear shaft is fixedly connected in the middle of the movable bracket, and a first servo motor is arranged on the upper side of the gear shaft.
[0013] Preferably, the first servo motor is fixedly connected to the inside of the suction and injection module base, the output end of the first servo motor is provided with a gear meshing with the gear shaft, the gear shaft is rotatably connected to the suction and injection module base, and a limiting block is provided at the connection between the movable bracket and the suction and injection module base, so that the movable bracket can rotate within a range of 90°.
[0014] Preferably, the length value in the middle of the movable bracket is greater than the width value of the limiting shell, and the U-shaped limiting plate conflicts with both sides of the medicine tray. When the U-shaped limiting plate conflicts with the medicine tray, the tip of the bottom of the syringe body moves to the bottom of the inner wall of the syringe body.
[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. By arranging the structures such as the aspirating assembly and the dispensing assembly, it is convenient to aspirate the liquid medicine inside the vial body. The voice coil motor drives the cylinder fixing plate to move up and down, and the elastic force provided by the elastic member shakes the vial body on the top of the medicine tray, adjusting the position of the vial body and mixing the medicine inside the vial body or releasing bubbles. The piston movable block then pulls the withdrawal rod of the aspirator body to control the aspiration of the aspirator body, thereby improving the efficiency. 2. By arranging the coordination of structures such as the medicine tray and the protection component, it is convenient to fully insert the syringe body into the bottom of the vial body without damaging the needle. The U-shaped limit plate interferes with the medicine tray, so that the syringe body will not continue to move and squeeze the inner wall of the vial body after being inserted into the bottom of the vial body. The U-shaped limit plate interferes with the medicine tray, so that the bottom tip of the syringe body is inserted into the bottom of the inner wall of the vial body, but is not squeezed by the vial body, thereby protecting the needle tip of the syringe body and preventing the needle tip of the syringe body from being squeezed by the inner wall of the vial body. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is an overall schematic diagram of the suction and injection assembly of the present invention; Figure 3 A diagram showing details of the suction and injection assembly of the present invention; Figure 4 This is a cross-sectional view of the protection component of the present invention; Figure 5 This is a schematic cross-sectional view of the turntable base of the present invention; Figure 6 This is a detailed diagram showing the dispensing components of the present invention.
[0017] Explanation of the accompanying drawings: 1. Robotic arm; 2. Injection module base; 3. Injection assembly; 301. Clamping fixed claw; 302. Injection device guide block; 303. Piston movable block; 304. Light source back plate; 305. Isolation baffle; 4. Turntable base; 5. Dispensing assembly; 501. Limiting shell; 502. Medicine tray; 503. Syringe bottle body; 504. Cylinder fixing plate; 505. Voice coil motor; 506. Fixed bottom plate; 507. Limiting guide shaft; 508. Elastic part; 509. Magnetic plate; 5010. Proximity sensor; 6. Protection assembly; 601. Movable bracket; 602. U-shaped limiting plate; 603. Gear shaft; 604. First servo motor; 7. Injection device body; 8. Hollow reducer; 9. Second servo motor. DETAILED DESCRIPTION
[0018] The following combination Figures 1 to 6 , further details of this application are given.
[0019] Example 1: A needle-insertion assisting device based on force feedback judgment, referring to Figures 1 to 6 , including a robotic arm 1 and a turntable base 4, a suction injection module base 2 is installed at one end of the robotic arm 1, and a suction injection device body 7 is provided on one side of the suction injection module base 2, and also includes: The suction and injection assembly 3 is arranged on one side of the suction and injection module base 2 and is used to clamp and limit the suction and injection device body 7; The medicine dispensing component 5 is installed inside the turntable base 4 and is used to clamp the medicine bottle; A protective component 6 is provided at the bottom of the aspirator component 3 and is used to protect the tip of the aspirator body 7; The suction and injection assembly 3 includes a pair of clamping and fixing claws 301 installed on the side of the suction and injection module base 2, a suction and injection device guide block 302 is provided on the lower side of the clamping and fixing claws 301, and a piston movable block 303 is installed on the upper side of the clamping and fixing claws 301; The dispensing assembly 5 includes a limiting shell 501 fixedly connected to the top of the turntable base 4, a medicine tray 502 movably connected to the upper end of the limiting shell 501, a vial body 503 is placed on the top of the medicine tray 502, and a cylinder fixing plate 504 is movably connected inside the limiting shell 501.
[0020] By adopting the above technical solution, the turntable base 4 is driven to rotate by the hollow reducer 8 and the second servo motor 9 at the bottom of the turntable base 4, so that the turntable base 4 drives the limit housing 501 to rotate, so that the medicine tray 502 moves to the bottom of the syringe body 7, and the voice coil motor 505 drives the cylinder fixing plate 504 to move up and down, so that the cylinder fixing plate 504 drives the limit guide shaft 507 to move up and down, so that the elastic member 508 provides elastic force. The elastic force provided by the elastic member 508 shakes the vial body 503 on the top of the medicine tray 502, adjusts the position of the vial body 503, and at the same time mixes the medicine inside the vial body 503 or releases bubbles; After the syringe body 503 moves to the bottom of the syringe body 7, the first servo motor 604 drives the gear shaft 603 to rotate, so that the gear shaft 603 drives the movable bracket 601 to flip, and the U-shaped limit plate 602 flips to the bottom side of the syringe body 7, corresponding to the clamping claw on the top of the medicine tray 502, and then the robot arm 1 drives the syringe module base 2 to move downward, so that the syringe module base 2 drives the syringe body 7 downward through the clamping fixed claw 301. At this time, the syringe body 7 is fixed by the clamping fixed claw 301 and the limit plate at the bottom of the isolation baffle 305. The guide block 302 of the device limits the bottom of the syringe body 7, so that the syringe body 7 will move vertically downward, piercing the stopper of the syringe body 503 through the syringe body 7 to enter the interior of the syringe body 503, and then the syringe module base 2 drives the syringe body 7 to continue to move downward, so that the U-shaped limit plate 602 conflicts with the medicine tray 502. At this time, the syringe body 7 moves to the bottom of the syringe body 503. At this time, the piston movable block 303 pulls the pulling rod of the syringe body 7, and the external camera is used to shoot the liquid amount of the syringe body 7, so as to control the suction amount of the syringe body 7.
[0021] Specifically, a hollow reducer 8 is fixedly connected to the bottom of the turntable base 4, and a second servo motor 9 is fixedly connected to the bottom of the hollow reducer 8. The turntable base 4 is arranged at the bottom of the suction and injection module base 2, and a camera is provided on the outside of the side of the suction and injection module base 2 to shoot the suction and injection device body 7 in real time.
[0022] By adopting the above technical solution, a hollow reducer 8 and a second servo motor 9 are set to control the rotation of the turntable base 4. At the same time, the external camera can shoot the syringe body 7 in real time to record the liquid amount inside the syringe body 7 in real time.
[0023] When the handle 302 of the bottle 7 is unlocked, the locking plate 303 is unlocked and the locking plate 304 is unlocked, so that the locking plate 303 can be unlocked when the handle 302 is unlocked.
[0024] By adopting the above technical solution, by setting the suction injection assembly 3, the clamping fixed claws 301 clamp the syringe body 7, and by setting two pairs of clamping fixed claws 301, the syringe body 7 is kept stable. At the same time, the syringe guide block 302 that contacts the bottom of the syringe body 7 can limit the syringe body 7. The setting of the piston movable block 303 can facilitate the control of the movement of the pulling rod of the syringe body 7 to control the syringe body 7 to suck, thereby keeping the syringe body 7 in a vertical state. , so that the syringe body 7 can be stably inserted into the inside of the syringe bottle body 503. The setting of the isolation baffle 305 can protect the power cord of the light source back plate 304 to prevent the piston movable block 303 from scratching the power cord when moving. At the same time, the limiting slot set on the lower side of the isolation baffle 305 can fix the top of the syringe body 7. By setting the light source back plate 304, when the syringe body 7 is aspirating, the light source back plate 304 can be used to supplement the syringe body 7, so that the camera can take pictures of the syringe body 7 more accurately.
[0025] Specifically, a voice coil motor 505 is fixedly connected to the bottom of the cylinder fixing plate 504, and a fixed base plate 506 is fixedly connected to the lower side of the voice coil motor 505. The four corners of the fixed base plate 506 are penetrated by a limiting guide shaft 507, and an elastic member 508 is sleeved on the outer side of the limiting guide shaft 507. A magnetic plate 509 is fixedly connected to the bottom of the limiting guide shaft 507, and a proximity sensor 5010 is provided on the lower side of the magnetic plate 509.
[0026] By adopting the above technical solution, by setting up the cylinder fixing plate 504, it is possible to facilitate the support of the medicine tray 502. At the same time, the fixed bottom plate 506 set on the lower side of the cylinder fixing plate 504 can drive the cylinder fixing plate 504 to move back and forth up and down, and then the elastic force released by the compression of the elastic member 508 causes the medicine tray 502 to vibrate, thereby mixing the medicine inside the syringe body 503 or releasing the bubbles inside the medicine solution. At the same time, the magnetic plate 509 will move back and forth up and down synchronously with the cylinder fixing plate 504, and the proximity sensor 5010 is used to detect the vibration frequency of the medicine tray 502 and detect whether the syringe body 7 is completely inserted into the syringe body 503.
[0027] Specifically, the fixed bottom plate 506 is fixedly connected to the top of the turntable base 4, the medicine tray 502 is fixedly connected to the cylinder fixed plate 504, and a pair of claws are provided on the top of the medicine tray 502 to clamp the syringe bottle body 503. The cylinder fixed plate 504 and the medicine tray 502 are both slidably connected to the limiting shell 501. The limiting shell 501 is distributed in a ring shape on the top of the turntable base 4. The top of the limiting guide shaft 507 is fixedly connected to the cylinder fixed plate 504. The elastic member 508 is distributed between the cylinder fixed plate 504, the fixed bottom plate 506 and the magnetic plate 509. A signal contact is provided at the bottom of the magnetic plate 509. The proximity sensor 5010 is fixedly connected to the inside of the turntable base 4 through a mounting bracket. The top of the proximity sensor 5010 corresponds to the corresponding contact position installed at the bottom of the magnetic plate 509.
[0028] By adopting the above technical solution, the setting of the medicine tray 502 can facilitate the control of the syringe body 7 to be fully inserted into the inside of the cillin bottle body 503. The cillin bottle body 503 will use bottles of different specifications in actual use, but the bottom of the cillin bottle body 503 will conflict with the top of the medicine tray 502, so that the syringe body 7 is at an equal distance from the medicine tray 502 after being inserted into the cillin bottle body 503 to the bottom of the cillin bottle body 503. At the same time, the clamping claws set on the top of the medicine tray 502 fix the cillin bottle body 503, which is convenient for suction and injection. The insertion of the device body 7 and the setting of the limiting guide shaft 507 and the elastic member 508 can make the cylinder fixing plate 504 and the magnetic plate 509 vibrate through the elastic force released after the elastic member 508 is compressed, so that the cylinder fixing plate 504 drives the medicine tray 502 to vibrate. At the same time, the bottom contact of the magnetic plate 509 continuously contacts the proximity sensor 5010 to record the vibration frequency of the medicine tray 502. The long-term uninterrupted contact between the magnetic plate 509 and the proximity sensor 5010 indicates that the syringe body 7 is completely inserted into the bottom of the syringe bottle body 503.
[0029] Specifically, the protection component 6 includes a pair of movable brackets 601 arranged at the bottom of the suction module base 2, a U-shaped limit plate 602 is arranged on the inner side of the movable bracket 601, a gear shaft 603 is fixedly connected in the middle of the movable bracket 601, and a first servo motor 604 is arranged on the upper side of the gear shaft 603, the first servo motor 604 is fixedly connected to the inside of the suction module base 2, and a gear meshing with the gear shaft 603 is provided at the output end of the first servo motor 604. The gear shaft 603 is rotatably connected to the suction module base 2, and a limit block is provided at the connection between the movable bracket 601 and the suction module base 2, so that the movable bracket 601 can rotate within a range of 90°. The length value in the middle of the movable bracket 601 is greater than the width value of the limit shell 501, and the U-shaped limit plate 602 conflicts with both sides of the medicine tray 502. When the U-shaped limit plate 602 conflicts with the medicine tray 502, the tip of the bottom of the syringe body 7 moves to the bottom of the inner wall of the syringe bottle body 503.
[0030] By adopting the above technical solution, by setting up the protection component 6, the movable bracket 601 and the U-shaped limit plate 602 conflict with the medicine tray 502, so that the syringe body 7 will not continue to move and continue to squeeze the inner wall of the syringe body 503 after being inserted into the bottom of the syringe body 503. The setting of the first servo motor 604 and the gear shaft 603 can control the movable bracket 601 to drive the U-shaped limit plate 602 to flip, so as to control the use of the U-shaped limit plate 602, and set the U-shaped limit plate 602 to conflict with the medicine tray 502. The bottom tip of the syringe body 7 that moves synchronously is inserted into the bottom of the inner wall of the syringe body 503, so that the position of the needle tip at the bottom of the syringe body 7 from the U-shaped limit plate 602 remains constant, so that This protects the needle tip of the syringe body 7. When the syringe body 7 is fully inserted into the inside of the vial body 503 to the bottom of the vial body 503, the U-shaped limit plate 602 will contact the medicine tray 502. If it continues to move, the U-shaped limit plate 602 will press down the medicine tray 502, so that the needle tip of the syringe body 7 will not be squeezed against the inner wall of the vial body 503. At the same time, the U-shaped limit plate 602 presses down the medicine tray 502, and the cylinder fixing plate 504 and the limit guide shaft 507 can push the magnetic plate 509 to move downward, so that the contact at the bottom of the magnetic plate 509 will contact the proximity sensor 5010 for a long time, thereby indicating that the syringe body 7 is fully inserted into the bottom of the vial body 503 and protecting the needle tip of the syringe body 7.
[0031] The implementation principle of the embodiment of the present application is as follows: during production, the turntable base 4 is driven to rotate by the hollow reducer 8 and the second servo motor 9 at the bottom of the turntable base 4, so that the turntable base 4 drives the limit housing 501 to rotate, so that the medicine tray 502 moves to the bottom of the syringe body 7, and the voice coil motor 505 drives the cylinder fixing plate 504 to move up and down, so that the cylinder fixing plate 504 drives the limit guide shaft 507 to move up and down, so that the elastic member 508 provides elastic force, and the elastic force provided by the elastic member 508 shakes the vial body 503 on the top of the medicine tray 502, adjusts the position of the vial body 503, and at the same time mixes the medicine inside the vial body 503 or releases bubbles; After the cillin bottle body 503 moves to the bottom of the syringe body 7, the gear shaft 603 is driven to rotate by the first servo motor 604, so that the gear shaft 603 drives the movable bracket 601 to flip, and the U-shaped limit plate 602 is flipped to the lower side of the syringe body 7, corresponding to the clamping claw on the top of the medicine tray 502, and then the robotic arm 1 drives the syringe module base 2 to move downward, so that the syringe module base 2 drives the syringe body 7 to move downward through the syringe assembly 3. At this time, the syringe body 7 is fixed by the clamping fixed claw 301 and the limit plate at the bottom of the isolation baffle 305. The positive block 302 limits the bottom of the syringe body 7, so that the syringe body 7 moves vertically downward, piercing the stopper of the syringe bottle body 503 through the syringe body 7 to enter the interior of the syringe bottle body 503, and then the syringe module base 2 drives the syringe body 7 to continue to move downward, so that the U-shaped limit plate 602 conflicts with the medicine tray 502. At this time, the syringe body 7 moves to the bottom of the syringe bottle body 503. At this time, the piston movable block 303 pulls the pulling rod of the syringe body 7, and the external camera is used to shoot the liquid amount of the syringe body 7, so as to control the suction amount of the syringe body 7.
[0032] The examples of this specific embodiment are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, any equivalent changes made based on the structure, shape, and principle of this application should be included in the scope of protection of this application.
Claims
1. A needle-insertion assisting device based on force feedback judgment, comprising a robotic arm (1) and a turntable base (4), wherein an aspiration module base (2) is mounted on one end of the robotic arm (1), and an aspiration device body (7) is disposed on one side of the aspiration module base (2), characterized in that: Also includes: A suction and injection assembly (3), which is arranged on one side of the suction and injection module base (2) and is used to clamp and limit the suction and injection device body (7); A medicine dispensing assembly (5), which is installed inside the turntable base (4) and is used to clamp the medicine bottle; A protective component (6) is arranged at the bottom of the suction and injection component (3) and is used to protect the tip of the suction and injection device body (7); The suction and injection assembly (3) comprises a pair of clamping and fixing claws (301) mounted on the side of the suction and injection module base (2), a suction device guide block (302) is provided on the lower side of the clamping and fixing claws (301), and a piston movable block (303) is installed on the upper side of the clamping and fixing claws (301); The dispensing assembly (5) comprises a limiting housing (501) fixedly connected to the top of the turntable base (4); a medicine tray (502) is movably connected to the upper end of the limiting housing (501); a vial body (503) is placed on the top of the medicine tray (502); and a cylinder fixing plate (504) is movably connected inside the limiting housing (501).
2. The acupuncture assist device based on force feedback judgment according to claim 1, characterized in that: The bottom of the turntable base (4) is fixedly connected to a hollow reducer (8), and the bottom of the hollow reducer (8) is fixedly connected to a second servo motor (9). The turntable base (4) is arranged at the bottom of the suction module base (2), and a camera is provided on the side of the suction module base (2) to take real-time photos of the suction device body (7).
3. The acupuncture assist device based on force feedback judgment according to claim 1, characterized in that: The clamping and fixing claws (301) are fixedly connected to the suction module base (2); a light source back plate (304) is fixedly connected to the middle of the clamping and fixing claws (301); an isolation baffle (305) is fixedly connected between the clamping and fixing claws (301) and the piston movable block (303); a pair of the clamping and fixing claws (301) clamp and fix the suction device body (7); the suction device guide block (302) is located at the bottom of the suction module base (2), and the suction device guide block (302) is in conflict with the bottom of the suction device body (7).
4. The acupuncture assist device based on force feedback judgment according to claim 3, characterized in that: The piston movable block (303) can be engaged with the top of the withdrawal rod of the syringe body (7), so that the withdrawal rod of the syringe body (7) is pulled up and down by the piston movable block (303). A power line is installed on the top of the light source back plate (304) and passes through the inner side of the isolation baffle (305). At the same time, the isolation baffle (305) is convex near one end of the withdrawal rod of the syringe body (7). A limiting slot is provided at the bottom of the isolation baffle (305), and the limiting slot is used to clamp and fix the pipe handle of the syringe body (7).
5. The acupuncture assist device based on force feedback judgment according to claim 1, characterized in that: The bottom of the cylinder fixing plate (504) is fixedly connected to a voice coil motor (505), the lower side of the voice coil motor (505) is fixedly connected to a fixed base plate (506), the four corners of the fixed base plate (506) are penetrated by a limiting guide shaft (507), the outer side of the limiting guide shaft (507) is sleeved with an elastic member (508), the bottom of the limiting guide shaft (507) is fixedly connected to a magnetic plate (509), and the lower side of the magnetic plate (509) is provided with a proximity sensor (5010).
6. The acupuncture assist device based on force feedback judgment according to claim 5, characterized in that: The fixed bottom plate (506) is fixedly connected to the top of the turntable base (4), the medicine tray (502) is fixedly connected to the cylinder fixed plate (504), and a pair of clamping claws are provided on the top of the medicine tray (502) to clamp the cillin bottle body (503), the cylinder fixed plate (504) and the medicine tray (502) are both slidably connected to the limiting shell (501), and the limiting shell (501) is distributed in an annular shape on the top of the turntable base (4).
7. The acupuncture assisting device based on force feedback judgment according to claim 5, characterized in that: The top of the limit guide shaft (507) is fixedly connected to the cylinder fixing plate (504), the elastic member (508) is distributed between the cylinder fixing plate (504), the fixed bottom plate (506) and the magnetic plate (509), the bottom of the magnetic plate (509) is provided with a signal contact, the proximity sensor (5010) is fixedly connected to the inside of the turntable base (4) through a mounting frame, and the top of the proximity sensor (5010) corresponds to the corresponding contact position installed at the bottom of the magnetic plate (509).
8. The acupuncture assist device based on force feedback judgment according to claim 1, characterized in that: The protection assembly (6) comprises a pair of movable brackets (601) arranged at the bottom of the suction module base (2), a U-shaped limiting plate (602) is arranged inside the movable bracket (601), a gear shaft (603) is fixedly connected in the middle of the movable bracket (601), and a first servo motor (604) is arranged on the upper side of the gear shaft (603).
9. The acupuncture assisting device based on force feedback judgment according to claim 8, characterized in that: The first servo motor (604) is fixedly connected to the interior of the suction and injection module base (2); a gear meshing with a gear shaft (603) is provided at the output end of the first servo motor (604); the gear shaft (603) is rotatably connected to the suction and injection module base (2); a limit block is provided at the connection between the movable bracket (601) and the suction and injection module base (2), so that the movable bracket (601) can rotate within a range of 90 degrees.
10. The acupuncture assisting device based on force feedback judgment according to claim 8, characterized in that: The length of the middle of the movable bracket (601) is greater than the width of the limiting shell (501), and the U-shaped limiting plate (602) abuts against both sides of the medicine tray (502). When the U-shaped limiting plate (602) abuts against the medicine tray (502), the tip of the bottom of the syringe body (7) moves to the bottom of the inner wall of the vial body (503).