An ultrasonic-assisted pain-relieving acupuncture microtrauma needle insertion method and device

Abstract

The application provides an ultrasonic-assisted pain-reducing acupuncture micro-injection method and device, which comprises the following steps: S1, acquiring real-time ultrasonic images of an acupuncture part by using an ultrasonic imaging device to determine the position of a target acupoint and surrounding tissue structure information; S2, planning an injection path according to the acquired position of the target acupoint and surrounding tissue structure information, wherein the injection path avoids important blood vessels and nerves; and S3, slowly injecting an acupuncture needle into the skin along the planned injection path under the guidance of the ultrasonic images; the application acquires real-time ultrasonic images by using an ultrasonic imaging device, accurately determines the position of a target acupoint and surrounding tissue structure information, and plans an injection path that avoids important blood vessels and nerves, thereby greatly improving the injection accuracy; meanwhile, an ultrasonic-assisted pain-reducing module is started when the needle tip approaches the target acupoint, the ultrasonic vibration is used to reduce the pain of a patient, and the vibration amplitude and frequency are adjusted in real time according to the feedback of the patient, thereby realizing individualized pain reduction.

Description

Technical Field

[0001] This invention belongs to the field of acupuncture treatment technology, specifically a minimally invasive acupuncture needle insertion method and device with ultrasound-assisted pain relief. Background Technology

[0002] In traditional acupuncture treatment, the needle insertion process relies primarily on the doctor's experience and tactile sense to determine the needle location and depth. However, this method has certain limitations. On the one hand, due to the lack of intuitive information about the internal tissue structure, doctors find it difficult to accurately locate the target acupoint, especially in areas with complex anatomical structures or deep acupoints, which can easily lead to needle insertion errors and affect the therapeutic effect. On the other hand, patients often experience varying degrees of pain during needle insertion, which not only causes discomfort but may also affect their acceptance of acupuncture treatment. Although some methods have been attempted to reduce needle insertion pain, such as using finer acupuncture needles or improving insertion techniques, the effects are limited and lack scientific basis and precise control.

[0003] With the development of medical technology, ultrasound imaging has been widely used in the medical field. Ultrasound imaging can provide real-time, non-invasive images of internal tissue structures, making precise positioning of acupuncture needles possible. However, there is currently no complete method that effectively combines ultrasound imaging technology with acupuncture needle insertion while also providing pain relief.

[0004] Therefore, developing an ultrasound-assisted pain-relieving minimally invasive acupuncture needle insertion method is of great practical significance. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method and device, thereby resolving the issue that there is currently no complete method in the prior art that effectively combines ultrasound imaging technology with acupuncture needle insertion while simultaneously possessing pain-reducing functions.

[0006] An ultrasound-assisted pain-relieving minimally invasive acupuncture needle insertion method includes the following steps:

[0007] S1. Use ultrasound imaging equipment to obtain real-time ultrasound images of the acupuncture site to determine the location of the target acupoint and information on the surrounding tissue structure.

[0008] S2. Based on the obtained information on the location of the target acupoint and the surrounding tissue structure, plan the needle insertion path, which avoids important blood vessels and nerves;

[0009] S3. Under the guidance of ultrasound images, the acupuncture needles are slowly inserted into the skin along the planned insertion path, while the position of the needle tip is monitored in real time.

[0010] S4. When the needle tip approaches the target acupoint, the ultrasound-assisted pain reduction module is activated, which uses ultrasound vibration to act on the acupuncture needle to reduce the patient's pain during needle insertion.

[0011] S5. Continue inserting the needle until it accurately reaches the target acupoint, completing the needle insertion operation.

[0012] Preferably, in step S1, acquiring real-time ultrasound images of the acupuncture site using an ultrasound imaging device to determine the location of the target acupoint and surrounding tissue structure information specifically involves:

[0013] S1.1. A high-frequency linear array ultrasound probe is used to scan the acupuncture site with ultrasound waves at a frequency of [f1, f2] (f1 and f2 are preset high-frequency range values, in Hz) to obtain high-resolution real-time ultrasound images.

[0014] S1.2. The ultrasound image is processed using an image recognition algorithm, and the coordinates of the target acupoint in the image are calculated using the following formula. :

[0015] ;

[0016] in, These are the coordinates of pixels in the image. This represents the grayscale value of that pixel. This represents the total number of pixels within the target acupoint area in the image.

[0017] S1.3. Based on the differences in gray values ​​of different tissues, identify and mark the locations of important blood vessels and nerves in the surrounding area.

[0018] Preferably, in step S2, the step of planning the needle insertion path based on the obtained target acupoint location and surrounding tissue structure information specifically involves:

[0019] S2.1. Establish a three-dimensional spatial coordinate system centered on the target acupoint, and set the coordinates of the target acupoint as... ;

[0020] S2.2 Considering the location of important surrounding blood vessels and nerves, a path planning algorithm is used to plan the optimal needle insertion path with the objective function of minimizing the distance to important blood vessels and nerves during needle insertion. The objective function is as follows:

[0021] ;

[0022] in, The objective function value, The number of important blood vessels and nerves in the surrounding area, For a point on the needle insertion path to the first... The distance to an important blood vessel or nerve;

[0023] S2.3 Visually annotate the planned needle insertion path on the ultrasound image.

[0024] Preferably, in step S3, the acupuncture needle is slowly inserted into the skin along a planned insertion path under ultrasound image guidance, while the position of the needle tip is monitored in real time. Specifically:

[0025] S3.1 Install the acupuncture needles on the needle insertion device with a positioning sensor, and the positioning sensor acquires the position information of the acupuncture needles in real time;

[0026] S3.2. Based on the planned needle insertion path in the ultrasound image, control the needle insertion device at a speed... ( The acupuncture needle is inserted into the skin at a preset slow insertion speed (in mm / s).

[0027] S3.3. By fusing ultrasound images with positioning sensor data, the position coordinates of the acupuncture needle tip in three-dimensional space are updated in real time. The fusion algorithm is as follows:

[0028]

[0029] in, The coordinates of the needle tip position are calculated based on the ultrasound image. The position coordinates of the needle tip obtained by the positioning sensor, These are the weighting coefficients. .

[0030] Preferably, in step S4, when the needle tip approaches the target acupoint, the ultrasound-assisted pain reduction module is activated to reduce the patient's pain during needle insertion by applying ultrasonic vibration to the acupuncture needle. Specifically:

[0031] S4.1, Set a distance threshold When the distance between the acupuncture needle tip and the target acupoint is monitored in real time At that time, the ultrasound-assisted pain relief module is activated;

[0032] S4.2 The ultrasound-assisted pain relief module generates ultrasound waves with a frequency of f (f is the preset pain relief ultrasound frequency, in Hz), which are converted into mechanical vibrations by a transducer and act on the acupuncture needles.

[0033] S4.3. Based on the patient's feedback on pain, adjust the amplitude A of the ultrasound vibration in real time. The adjustment algorithm is as follows:

[0034] ;

[0035] in, The initial vibration amplitude, To adjust the coefficient, The patient reports their pain level on a scale of 0-10.

[0036] Preferably, the ultrasonic frequency f generated by the ultrasound-assisted pain relief module is optimized according to the following formula:

[0037] ;

[0038] in, and These are the preset minimum and maximum ultrasonic frequencies (in Hz). The pain level score (0-10 points) reported by the patient is used as a basis for adjusting the ultrasound frequency to a more suitable range as the pain level decreases.

[0039] Preferably, in step S5, the process of continuing needle insertion until the acupuncture needle accurately reaches the target acupoint and the needle insertion operation is completed is as follows:

[0040] S5.1 Based on the real-time monitoring of the acupuncture needle tip position, when the needle tip position is close to the coordinates of the target acupoint... When the distance error is within the preset allowable error range, the needle advance stops;

[0041] S5.2 Fine-tuning the position of the acupuncture needle at the target acupoint. The fine-tuning algorithm is based on the elasticity model of the tissue surrounding the target acupoint, and the fine-tuning amount is calculated using the following formula. :

[0042]

[0043] in, The force exerted by the acupuncture needle on the surrounding tissues of the target acupoint. The desired force is applied to the target acupoint. This is the fine-tuning coefficient;

[0044] S5.3 After completing the fine-tuning, fix the acupuncture needle and complete the needle insertion operation.

[0045] Preferably, the elasticity model of the tissue surrounding the target acupoint is established in the following manner:

[0046] S5.21. Before inserting the needle, apply known forces of varying magnitudes to the acupuncture site. And use ultrasound imaging equipment to measure the deformation displacement s of the tissues surrounding the target acupoint under the corresponding force;

[0047] S5.22, According to Hooke's Law The elastic coefficients of the tissues surrounding the target acupoint were obtained by fitting using the least squares method. Establish an elasticity model .

[0048] According to the aforementioned ultrasound-assisted pain relief acupuncture minimally invasive needle insertion device, the device includes an ultrasound imaging device, a needle insertion device, and an ultrasound-assisted pain relief module. The ultrasound imaging device, the needle insertion device, the ultrasound-assisted pain relief module, and the positioning sensor are all integrated into a portable acupuncture auxiliary device. The device is also equipped with a display screen for real-time display of ultrasound images, acupuncture needle position information, and operation prompts.

[0049] Preferably, the portable acupuncture auxiliary device also has data storage and transmission functions, which can store ultrasound images, acupuncture needle position data and patient feedback information of each acupuncture operation locally, and can transmit them to a remote server for data analysis and sharing through a wireless communication module.

[0050] Compared with the prior art, the present invention has the following beneficial effects:

[0051] 1. This invention utilizes an ultrasound imaging device to acquire real-time ultrasound images of the acupuncture site, accurately determines the location of the target acupoint and the surrounding tissue structure information through image recognition algorithms, and plans a needle insertion path that avoids important blood vessels and nerves, greatly improving the accuracy of needle insertion and reducing poor treatment effects and complications caused by needle insertion deviation.

[0052] 2. In this invention, when the tip of the acupuncture needle approaches the target acupoint, the ultrasound-assisted pain reduction module is activated. Ultrasonic vibrations are applied to the acupuncture needle to reduce the patient's pain during needle insertion. Furthermore, the amplitude and frequency of the ultrasonic vibrations are adjusted in real time based on the patient's pain feedback, achieving a personalized pain reduction effect and improving patient acceptance of acupuncture treatment.

[0053] 3. During the needle insertion process, this invention uses the fusion of positioning sensors and ultrasound images to monitor the position of the acupuncture needle tip in real time, and makes fine adjustments to the position of the acupuncture needle based on the elastic model of the tissue surrounding the target acupoint, ensuring that the acupuncture needle accurately reaches the target acupoint, thereby further improving the accuracy and effectiveness of acupuncture treatment.

[0054] 4. This invention provides a complete acupuncture needle insertion method based on scientific algorithms, which reduces the reliance on doctors' personal experience and skills in traditional acupuncture needle insertion, making acupuncture operations more standardized and regulated, and helping to improve the quality and consistency of acupuncture treatment.

[0055] 5. This invention integrates an ultrasound imaging device, a needle insertion device, an ultrasound-assisted pain relief module, and a positioning sensor into a portable acupuncture auxiliary device, facilitating operation by doctors in different scenarios. Simultaneously, the device possesses data storage and transmission capabilities, enabling data analysis and sharing, and providing strong support for the research and development of acupuncture treatment. Attached Figure Description

[0056] Figure 1 This is a flowchart of the ultrasound-assisted pain relief acupuncture minimally invasive needle insertion method of the present invention. Detailed Implementation

[0057] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0058] Example: This invention provides an ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method, such as... Figure 1 As shown, it includes the following steps:

[0059] S1. Use ultrasound imaging equipment to obtain real-time ultrasound images of the acupuncture site to determine the location of the target acupoint and information on the surrounding tissue structure.

[0060] S2. Based on the obtained information on the location of the target acupoint and the surrounding tissue structure, plan the needle insertion path, which avoids important blood vessels and nerves;

[0061] S3. Under the guidance of ultrasound images, the acupuncture needles are slowly inserted into the skin along the planned insertion path, while the position of the needle tip is monitored in real time.

[0062] S4. When the needle tip approaches the target acupoint, the ultrasound-assisted pain reduction module is activated, which uses ultrasound vibration to act on the acupuncture needle to reduce the patient's pain during needle insertion.

[0063] S5. Continue inserting the needle until it accurately reaches the target acupoint, completing the needle insertion operation.

[0064] As shown above, this method utilizes ultrasound imaging equipment to acquire real-time ultrasound images, accurately determining the location of the target acupoint and surrounding tissue structure information, and planning a needle insertion path that avoids important blood vessels and nerves, greatly improving the precision of needle insertion. Simultaneously, when the needle tip approaches the target acupoint, an ultrasound-assisted pain reduction module is activated, reducing patient pain through ultrasound vibration. The vibration amplitude and frequency are adjusted in real-time based on patient feedback to achieve personalized pain reduction. Furthermore, this method uses the fusion of positioning sensors and ultrasound images to monitor the acupuncture needle position in real-time and makes fine adjustments based on the elasticity model of the tissue surrounding the target acupoint, ensuring the acupuncture needle accurately reaches the target acupoint. This further improves the accuracy and effectiveness of acupuncture treatment, reduces the reliance on the doctor's personal experience and skills in traditional acupuncture, and makes acupuncture operations more standardized and regulated.

[0065] Specifically, in step S1, acquiring real-time ultrasound images of the acupuncture site using an ultrasound imaging device to determine the location of the target acupoint and surrounding tissue structure information involves:

[0066] S1.1. A high-frequency linear array ultrasound probe is used to scan the acupuncture site with ultrasound waves at a frequency of [f1, f2] (f1 and f2 are preset high-frequency range values, in Hz) to obtain high-resolution real-time ultrasound images.

[0067] S1.2. The ultrasound image is processed using an image recognition algorithm, and the coordinates of the target acupoint in the image are calculated using the following formula. :

[0068] ;

[0069] in, These are the coordinates of pixels in the image. This represents the grayscale value of that pixel. This represents the total number of pixels within the target acupoint area in the image.

[0070] S1.3. Based on the differences in gray values ​​of different tissues, identify and mark the locations of important blood vessels and nerves in the surrounding area.

[0071] As can be seen from the above, in step S1, a high-frequency linear array ultrasound probe is used to scan the acupuncture site with ultrasound waves within a preset high-frequency range, which can acquire high-resolution real-time ultrasound images. This provides a clear and accurate visual basis for accurately identifying the target acupoint and its surrounding tissue structures. The ultrasound images are processed using image recognition algorithms, and the coordinates of the target acupoint in the image are calculated using a specific formula, thus achieving precise positioning of the target acupoint. At the same time, the locations of important blood vessels and nerves are identified and marked based on the differences in gray values ​​of different tissues, effectively avoiding damage to these structures during needle insertion and greatly improving the safety and accuracy of acupuncture treatment.

[0072] Specifically, in step S2, the process of planning the needle insertion path based on the acquired target acupoint location and surrounding tissue structure information is as follows:

[0073] S2.1. Establish a three-dimensional spatial coordinate system centered on the target acupoint, and set the coordinates of the target acupoint as... ;

[0074] S2.2 Considering the location of important surrounding blood vessels and nerves, a path planning algorithm is used to plan the optimal needle insertion path with the objective function of minimizing the distance to important blood vessels and nerves during needle insertion. The objective function is as follows:

[0075] ;

[0076] in, The objective function value, The number of important blood vessels and nerves in the surrounding area, For a point on the needle insertion path to the first... The distance to an important blood vessel or nerve;

[0077] S2.3 Visually annotate the planned needle insertion path on the ultrasound image.

[0078] As can be seen from the above, in step S2, the needle insertion path is planned based on the obtained target acupoint location and surrounding tissue structure information. By establishing a three-dimensional spatial coordinate system and considering the location of important blood vessels and nerves in the surrounding area, a path planning algorithm is used with the objective function of minimizing the distance to these structures during the needle insertion process. This allows for the planning of the optimal needle insertion path that avoids dangerous areas. Visualizing the planned path on the ultrasound image allows doctors to see the needle insertion route intuitively, further improving the accuracy and safety of the needle insertion and effectively reducing the risk of complications caused by needle insertion deviation.

[0079] Specifically, in step S3, under ultrasound image guidance, the acupuncture needle is slowly inserted into the skin along the planned insertion path, while the position of the needle tip is monitored in real time.

[0080] S3.1 Install the acupuncture needles on the needle insertion device with a positioning sensor, and the positioning sensor acquires the position information of the acupuncture needles in real time;

[0081] S3.2. Based on the planned needle insertion path in the ultrasound image, control the needle insertion device at a speed... ( The acupuncture needle is inserted into the skin at a preset slow insertion speed (in mm / s).

[0082] S3.3. By fusing ultrasound images with positioning sensor data, the position coordinates of the acupuncture needle tip in three-dimensional space are updated in real time. The fusion algorithm is as follows:

[0083]

[0084] in, The coordinates of the needle tip position are calculated based on the ultrasound image. The position coordinates of the needle tip obtained by the positioning sensor, These are the weighting coefficients. .

[0085] As can be seen from the above, in step S3, by installing the acupuncture needle on the needle insertion device with a positioning sensor and combining it with ultrasound image guidance, the position information of the acupuncture needle can be acquired and monitored in real time, ensuring that the acupuncture needle slowly and accurately pierces the skin along the planned insertion path. At the same time, by using the fusion algorithm of ultrasound image and positioning sensor data, the position coordinates of the acupuncture needle tip in three-dimensional space are updated in real time. This fusion monitoring method significantly improves the accuracy and reliability of needle tip position monitoring, provides doctors with more accurate needle insertion feedback, and further improves the precision and safety of acupuncture treatment.

[0086] Specifically, in step S4, when the needle tip approaches the target acupoint, the ultrasound-assisted pain reduction module is activated. Ultrasonic vibrations are applied to the acupuncture needle to reduce the patient's pain during needle insertion. Specifically:

[0087] S4.1, Set a distance threshold When the distance between the acupuncture needle tip and the target acupoint is monitored in real time At that time, the ultrasound-assisted pain relief module is activated;

[0088] S4.2 The ultrasound-assisted pain relief module generates ultrasound waves with a frequency of f (f is the preset pain relief ultrasound frequency, in Hz), which are converted into mechanical vibrations by a transducer and act on the acupuncture needles.

[0089] S4.3. Based on the patient's feedback on pain, adjust the amplitude A of the ultrasound vibration in real time. The adjustment algorithm is as follows:

[0090] ;

[0091] in, The initial vibration amplitude, To adjust the coefficient, The patient reports their pain level on a scale of 0-10.

[0092] As can be seen from the above, in step S4, when the needle tip approaches the target acupoint, the ultrasound-assisted pain reduction module is activated, and the timing of pain reduction intervention is precisely controlled by setting a distance threshold; the ultrasound waves of a preset frequency are converted into mechanical vibrations to act on the acupuncture needle, effectively reducing the patient's pain when the needle is inserted; at the same time, the amplitude of the ultrasound vibration is dynamically adjusted according to the patient's real-time feedback on pain. This personalized pain reduction adjustment mechanism not only significantly improves the patient's treatment comfort, but also enhances the acceptance of acupuncture treatment and the overall efficacy.

[0093] Specifically, the ultrasonic frequency f generated by the ultrasound-assisted pain relief module is optimized according to the following formula:

[0094] ;

[0095] in, and These are the preset minimum and maximum ultrasonic frequencies (in Hz). The pain level score (0-10 points) reported by the patient is used as a basis for adjusting the ultrasound frequency to a more suitable range as the pain level decreases.

[0096] As can be seen from the above, this ultrasound-assisted pain relief module optimizes the selection of ultrasound frequency f through a formula and dynamically adjusts the ultrasound frequency according to the pain level score reported by the patient. As the pain level decreases, the ultrasound frequency is gradually adjusted to a more suitable range. This optimization mechanism ensures that the ultrasound vibration can more accurately match the patient's pain sensation, thereby providing a more personalized and effective pain relief effect, and further improving the patient comfort and overall efficacy of acupuncture treatment.

[0097] Specifically, in step S5, the process of continuing to insert the needle until it accurately reaches the target acupoint and completes the needle insertion operation is as follows:

[0098] S5.1 Based on the real-time monitoring of the acupuncture needle tip position, when the needle tip position is close to the coordinates of the target acupoint... When the distance error is within the preset allowable error range, the needle advance stops;

[0099] S5.2 Fine-tuning the position of the acupuncture needle at the target acupoint. The fine-tuning algorithm is based on the elasticity model of the tissue surrounding the target acupoint, and the fine-tuning amount is calculated using the following formula. :

[0100]

[0101] in, The force exerted by the acupuncture needle on the surrounding tissues of the target acupoint. The desired force is applied to the target acupoint. This is the fine-tuning coefficient;

[0102] S5.3 After completing the fine-tuning, fix the acupuncture needle and complete the needle insertion operation.

[0103] As can be seen from the above, in step S5, by monitoring the position of the acupuncture needle tip in real time and stopping the needle insertion within the allowable range of distance error, it is ensured that the acupuncture needle can accurately reach the target acupoint. At the same time, the position of the acupuncture needle is finely adjusted based on the elastic model of the tissue surrounding the target acupoint. This precise adjustment mechanism based on tissue mechanics further improves the accuracy of acupuncture needle positioning and ensures that the acupuncture needle is stably in the optimal treatment position, thereby significantly improving the efficacy and reliability of acupuncture treatment.

[0104] Specifically, the elasticity model of the tissue surrounding the target acupoint is established in the following way:

[0105] S5.21. Before inserting the needle, apply known forces of varying magnitudes to the acupuncture site. And use ultrasound imaging equipment to measure the deformation displacement s of the tissues surrounding the target acupoint under the corresponding force;

[0106] S5.22, According to Hooke's Law The elastic coefficients of the tissues surrounding the target acupoint were obtained by fitting using the least squares method. Establish an elasticity model .

[0107] As can be seen from the above, the elastic model of the tissue surrounding the target acupoint is obtained by applying a known force and measuring the tissue deformation displacement, and then fitting the elastic coefficients using Hooke's law and the least squares method. This elastic model based on actual mechanical response can accurately reflect the biomechanical characteristics of the tissue surrounding the target acupoint, providing a scientific basis for the precise fine-tuning of the acupuncture needle position, thereby significantly improving the accuracy and efficacy of acupuncture treatment.

[0108] Working principle: High-resolution real-time ultrasound images of the acupuncture site are acquired using ultrasound imaging equipment to determine the location of the target acupoint and the surrounding tissue structure information, and to plan the optimal needle insertion path that avoids important blood vessels and nerves. Under the guidance of the ultrasound image, the acupuncture needle is slowly inserted into the skin along the planned path using a needle insertion device equipped with a positioning sensor, while the position of the acupuncture needle tip is monitored and updated in real time. When the needle tip approaches the target acupoint, the ultrasound-assisted pain reduction module is activated to reduce the patient's pain through ultrasound vibration, and the vibration parameters are dynamically adjusted based on feedback. Finally, the position of the acupuncture needle is precisely fine-tuned based on the elastic model of the tissue surrounding the target acupoint to ensure that the acupuncture needle accurately reaches the target acupoint and is fixed in place, thereby achieving minimally invasive, precise, and personalized acupuncture treatment.

[0109] The technical solution implemented here is compared with the current traditional acupuncture treatment, where the needle insertion process mainly relies on the doctor's experience and touch to determine the needle insertion position and depth, and the beneficial effects are shown in the table below:

[0110] Technical solution content Traditional acupuncture treatment (relying on the doctor's experience and touch) Technical solution of the present invention Needle positioning method Relying on the doctor's experience and feel to determine the needle insertion location and depth lacks intuitive information about the internal tissue structure. By using ultrasound imaging equipment to acquire real-time ultrasound images of the acupuncture site, and employing image recognition algorithms to accurately determine the location of the target acupoint and surrounding tissue structure information, the precision of needle insertion is greatly improved. Needle insertion path planning Relying on a doctor's personal judgment makes it difficult to precisely avoid important blood vessels and nerves, especially in areas with complex anatomy or deep acupoints. Based on the obtained location of the target acupoint and surrounding tissue structure information, a path planning algorithm is used to plan the optimal needle insertion path that avoids important blood vessels and nerves, reducing the incidence of poor treatment effects and complications caused by needle insertion deviation. Pain relief measures Using finer acupuncture needles or improving needling techniques has limited effectiveness and lacks scientific basis and precise control. When the acupuncture needle tip approaches the target acupoint, the ultrasound-assisted pain reduction module is activated. Ultrasonic vibrations are applied to the acupuncture needle to reduce the patient's pain during insertion. Furthermore, the amplitude and frequency of the ultrasonic vibrations are adjusted in real time based on the patient's pain feedback, achieving a personalized pain reduction effect and improving patient acceptance of acupuncture treatment.

[0111] As shown in the table above, it compares in detail the main differences between traditional acupuncture treatment and the technical solution of this invention in three aspects: needle positioning method, needle path planning, and pain reduction measures, as well as the beneficial effects they bring: Traditional acupuncture treatment mainly relies on the doctor's experience and feel, making it difficult to accurately avoid important blood vessels and nerves, and the pain reduction effect is limited; while this invention accurately determines the target acupoint and surrounding tissue structure through ultrasound imaging technology, and uses a path planning algorithm to avoid dangerous areas, significantly improving the accuracy and safety of needle insertion. At the same time, it uses an ultrasound-assisted pain reduction module to achieve personalized pain reduction, greatly improving the patient's treatment comfort and the overall efficacy of acupuncture treatment.

[0112] Application Example: Application of Ultrasound-Assisted Analgesia Minimally Invasive Acupuncture Needle Insertion Method and Device in Clinical Treatment

[0113] I. Application Background

[0114] In the acupuncture department of a large general hospital, doctors have long faced the problems of insufficient needle insertion accuracy and significant pain experienced by patients during needle insertion. Traditional acupuncture treatment relies heavily on the doctor's experience and feel, making it difficult to accurately avoid important blood vessels and nerves, especially in areas with complex anatomical structures or deep acupoints. This can easily lead to needle insertion errors, affecting treatment effectiveness and even causing complications. Simultaneously, the pain experienced by patients during needle insertion reduces their acceptance of acupuncture treatment. To address these issues, the hospital introduced an ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method and device.

[0115] II. Application Description

[0116] 1. Equipment preparation:

[0117] The hospital purchased a portable acupuncture aid device that integrates ultrasound imaging equipment, needle insertion device, ultrasound-assisted pain relief module, and positioning sensor. The device is equipped with a high-definition display screen that can display ultrasound images, acupuncture needle position information, and operation prompts in real time.

[0118] The device has data storage and transmission functions, and can record ultrasound images, acupuncture needle position data and patient feedback information for each acupuncture operation. It can also transmit the data to the hospital's data server for storage and analysis via a wireless communication module.

[0119] 2. Operation process:

[0120] Step S1: Acquire real-time ultrasound images: The doctor uses a high-frequency linear array ultrasound probe (frequency range 7.5-12MHz) to scan the acupuncture site and acquire high-resolution real-time ultrasound images. Using image recognition algorithms, the coordinates of the target acupoint in the image are calculated, and the locations of surrounding important blood vessels and nerves are identified and marked.

[0121] Note: During a treatment of a patient with lower back pain, the doctor successfully identified the Shenshu acupoint next to the L4-L5 intervertebral space and clearly marked the nearby lumbar artery and sciatic nerve.

[0122] Step S2: Plan the needle insertion path: Establish a three-dimensional spatial coordinate system centered on the target acupoint, consider the location of surrounding important blood vessels and nerves, and use a path planning algorithm to plan the optimal needle insertion path that avoids these structures. Visualize and annotate the planned path on the ultrasound image.

[0123] Note: In the above cases of patients with low back pain, the planned needle insertion path successfully avoided the lumbar artery and kept the minimum distance from the sciatic nerve at more than 5mm.

[0124] Step S3: Ultrasound-guided needle insertion: The acupuncture needle is mounted on a needle insertion device equipped with a positioning sensor. Based on the needle insertion path planned in the ultrasound image, the device is controlled to slowly insert the acupuncture needle into the skin at a speed of 0.5 mm / s. By fusing the ultrasound image with the positioning sensor data, the position coordinates of the acupuncture needle tip in three-dimensional space are updated in real time.

[0125] Note: During needle insertion, the system displays the position of the acupuncture needle tip in real time. The doctor adjusts the insertion direction based on feedback to ensure that the acupuncture needle moves along the planned path.

[0126] Step S4: Ultrasonic-assisted pain relief: When the acupuncture needle tip approaches the target acupoint (distance threshold set to 2mm), the ultrasonic-assisted pain relief module is activated, generating ultrasound waves at a frequency of 20kHz. The ultrasound waves are converted into mechanical vibrations by a transducer and applied to the acupuncture needle. The amplitude of the ultrasonic vibration is adjusted in real time according to the patient's feedback on the level of pain (0-10 points) (initial vibration amplitude is 5μm, adjustment coefficient is 0.2).

[0127] Note: During the treatment of patients with lower back pain, the patient reported a pain level of 4. The system automatically adjusted the ultrasonic vibration amplitude to 8μm, and the patient reported a significant reduction in pain.

[0128] Step S5: Precisely Reach the Target Acupoint: Based on the real-time monitoring of the acupuncture needle tip position, when the distance error between the needle tip position and the target acupoint coordinates is within the preset allowable error range (0.5mm), needle insertion is stopped. The position of the acupuncture needle at the target acupoint is fine-tuned. The fine-tuning algorithm is based on the elastic model of the tissue surrounding the target acupoint, and calculates the fine-tuning amount by measuring deformation displacement and Hooke's law.

[0129] Note: After fine-tuning, the acupuncture needle accurately reached the Shenshu acupoint, and the patient reported a significant local soreness and distension, which met the expected treatment effect.

[0130] Treatment results:

[0131] After treatment, the patient's lower back pain symptoms were significantly relieved, and the patient's acceptance of acupuncture treatment improved significantly.

[0132] By reviewing and analyzing the stored ultrasound images and acupuncture needle placement data, the doctors optimized the subsequent treatment plan.

[0133] As shown above, this application example, by introducing an ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method and device, successfully solved the problems of insufficient needle insertion accuracy and significant patient pain in traditional acupuncture treatment. This device not only improves the accuracy and safety of acupuncture treatment but also enhances patient comfort through personalized pain reduction measures, providing strong support for the clinical promotion and application of acupuncture.

[0134] This application proposes an ultrasound-assisted pain relief acupuncture minimally invasive needle insertion device. The device includes an ultrasound imaging device, a needle insertion device, and an ultrasound-assisted pain relief module. The ultrasound imaging device, the needle insertion device, the ultrasound-assisted pain relief module, and the positioning sensor are all integrated into a portable acupuncture auxiliary device. The device is also equipped with a display screen for real-time display of ultrasound images, acupuncture needle position information, and operation prompts.

[0135] As can be seen from the above, this ultrasound-assisted pain relief acupuncture minimally invasive needle insertion device integrates ultrasound imaging equipment, needle insertion device, ultrasound-assisted pain relief module and positioning sensor into a portable device, realizing real-time visual guidance, precise needle insertion path planning, dynamic pain relief control and acupuncture needle position monitoring in the acupuncture treatment process, which significantly improves the accuracy, safety and patient comfort of acupuncture treatment. At the same time, the portable design facilitates clinical application and promotion.

[0136] Specifically, the portable acupuncture auxiliary device also has data storage and transmission functions, which can store ultrasound images, acupuncture needle position data and patient feedback information of each acupuncture operation locally, and can transmit them to a remote server for data analysis and sharing through a wireless communication module.

[0137] As can be seen from the above, the data storage and transmission functions of this portable acupuncture auxiliary device enable the complete recording and remote management of acupuncture treatment data. This not only facilitates doctors' subsequent review and analysis of the operation process and optimization of treatment plans, but also promotes the standardization and personalization of acupuncture technology through big data analysis. At the same time, it supports remote medical collaboration and academic research, providing strong support for the scientific verification and clinical promotion of acupuncture therapy.

[0138] This application provides an electronic device applicable to the aforementioned ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method, comprising:

[0139] Memory is used to protect computer programs and data;

[0140] A processor is used to run system programs.

[0141] This application provides a computer storage medium applicable to the aforementioned ultrasound-assisted pain relief acupuncture minimally invasive needle insertion method, and implements hierarchical confidentiality management of the aforementioned system and data in accordance with confidentiality management requirements.

[0142] Those skilled in the art will understand that embodiments of this application can be provided as a system or a computer program product. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0143] This application is described with reference to flowchart illustrations and / or block diagrams of devices (systems) and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0144] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0145] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0146] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0147] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0148] Computer-readable media include both permanent and non-permanent, removable and non-removable media, which can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0149] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0150] The embodiments of the present invention are given for the purposes of illustration and description. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A minimally invasive acupuncture needle insertion method with ultrasound-assisted pain relief, characterized in that, Includes the following steps: S1. Use ultrasound imaging equipment to obtain real-time ultrasound images of the acupuncture site to determine the location of the target acupoint and information on the surrounding tissue structure. S2. Based on the obtained information on the location of the target acupoint and the surrounding tissue structure, plan the needle insertion path, which avoids important blood vessels and nerves; S3. Under the guidance of ultrasound images, the acupuncture needles are slowly inserted into the skin along the planned insertion path, while the position of the needle tip is monitored in real time. S4. When the needle tip approaches the target acupoint, the ultrasound-assisted pain reduction module is activated, which uses ultrasound vibration to act on the acupuncture needle to reduce the patient's pain during needle insertion. S5. Continue inserting the needle until it accurately reaches the target acupoint, completing the needle insertion operation.

2. The ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method as described in claim 1, characterized in that: In step S1, the real-time ultrasound image of the acupuncture site is acquired using an ultrasound imaging device to determine the location of the target acupoint and the surrounding tissue structure information, specifically as follows: S1.

1. A high-frequency linear array ultrasound probe is used to scan the acupuncture site with ultrasound waves of frequency [f1, f2] to obtain high-resolution real-time ultrasound images. S1.

2. The ultrasound image is processed using an image recognition algorithm, and the coordinates of the target acupoint in the image are calculated using the following formula. : ； in, These are the coordinates of pixels in the image. This represents the grayscale value of that pixel. This represents the total number of pixels within the target acupoint area in the image. S1.

3. Based on the differences in gray values ​​of different tissues, identify and mark the locations of important blood vessels and nerves in the surrounding area.

3. The ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method as described in claim 1, characterized in that: In step S2, the process of planning the needle insertion path based on the acquired target acupoint location and surrounding tissue structure information is as follows: S2.

1. Establish a three-dimensional spatial coordinate system centered on the target acupoint, and set the coordinates of the target acupoint as... ; S2.2 Considering the location of important surrounding blood vessels and nerves, a path planning algorithm is used to plan the optimal needle insertion path with the objective function of minimizing the distance to important blood vessels and nerves during needle insertion. The objective function is as follows: ； in, The objective function value, The number of important blood vessels and nerves in the surrounding area, For a point on the needle insertion path to the first... The distance to an important blood vessel or nerve; S2.3 Visually annotate the planned needle insertion path on the ultrasound image.

4. The ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method as described in claim 1, characterized in that: In step S3, under ultrasound image guidance, the acupuncture needle is slowly inserted into the skin along the planned insertion path, while the position of the needle tip is monitored in real time. Specifically: S3.1 Install the acupuncture needles on the needle insertion device with a positioning sensor, and the positioning sensor acquires the position information of the acupuncture needles in real time; S3.

2. Based on the planned needle insertion path in the ultrasound image, control the needle insertion device at a speed... Insert acupuncture needles into the skin; S3.

3. By fusing ultrasound images with positioning sensor data, the position coordinates of the acupuncture needle tip in three-dimensional space are updated in real time. The fusion algorithm is as follows: in, The coordinates of the needle tip position are calculated based on the ultrasound image. The position coordinates of the needle tip obtained by the positioning sensor, These are the weighting coefficients. .

5. The ultrasound-assisted pain-relieving minimally invasive acupuncture needle insertion method as described in claim 1, characterized in that: In step S4, when the needle tip approaches the target acupoint, the ultrasound-assisted pain reduction module is activated. Ultrasonic vibrations are applied to the acupuncture needle to reduce the patient's pain during needle insertion. Specifically: S4.1, Set a distance threshold When the distance between the acupuncture needle tip and the target acupoint is monitored in real time At that time, the ultrasound-assisted pain relief module is activated; S4.2 The ultrasound-assisted pain relief module generates ultrasound waves with a frequency of f, which are converted into mechanical vibrations by a transducer and act on the acupuncture needles. S4.

3. Based on the patient's feedback on pain, adjust the amplitude A of the ultrasound vibration in real time. The adjustment algorithm is as follows: ; in, The initial vibration amplitude, To adjust the coefficient, The pain level is rated based on the patient's feedback.

6. The ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method as described in claim 5, characterized in that: The ultrasonic frequency f generated by the ultrasound-assisted pain relief module is optimized according to the following formula: ； in, and These are the preset minimum and maximum ultrasonic frequencies, respectively. The pain level is scored based on patient feedback, and the ultrasound frequency is gradually adjusted to a more suitable range as the pain level decreases using this formula.

7. The ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method as described in claim 1, characterized in that: In step S5, the needle is continued to be inserted until the acupuncture needle accurately reaches the target acupoint, thus completing the needle insertion operation. Specifically: S5.1 Based on the real-time monitoring of the acupuncture needle tip position, when the needle tip position is close to the coordinates of the target acupoint... When the distance error is within the preset allowable error range, the needle advance stops; S5.2 Fine-tuning the position of the acupuncture needle at the target acupoint. The fine-tuning algorithm is based on the elasticity model of the tissue surrounding the target acupoint, and the fine-tuning amount is calculated using the following formula. : in, The force exerted by the acupuncture needle on the surrounding tissues of the target acupoint. The desired force is applied to the target acupoint. This is the fine-tuning coefficient; S5.3 After completing the fine-tuning, fix the acupuncture needle and complete the needle insertion operation.

8. The ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion method as described in claim 7, characterized in that: The elasticity model of the tissue surrounding the target acupoint is established in the following way: S5.

21. Before inserting the needle, apply known forces of varying magnitudes to the acupuncture site. And use ultrasound imaging equipment to measure the deformation displacement s of the tissues surrounding the target acupoint under the corresponding force; S5.22, According to Hooke's Law The elastic coefficients of the tissues surrounding the target acupoint were obtained by fitting using the least squares method. Establish an elasticity model .

9. An ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion device according to any one of claims 1-8, characterized in that, The ultrasound imaging device, needle insertion device, ultrasound-assisted pain relief module, and positioning sensor are all integrated into a portable acupuncture auxiliary device. The device is also equipped with a display screen to display ultrasound images, acupuncture needle position information, and operation prompts in real time.

10. The ultrasound-assisted pain-reducing minimally invasive acupuncture needle insertion device according to claim 9, characterized in that, The portable acupuncture auxiliary device also has data storage and transmission functions. It can store ultrasound images, acupuncture needle position data and patient feedback information of each acupuncture operation locally, and can transmit them to a remote server for data analysis and sharing through a wireless communication module.

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