Automated acupuncture and moxibustion robot

Abstract

This paper presents a medical device for treating traumatic brain injury and cerebral thrombosis through electroacupuncture. The device includes a 6-DOF (degree of freedom) mechanical arm, a multifunctional tool tip, an MRI helmet suitable for acupuncture, and magnetic resonance imaging (MRI). The acupuncture robot can insert needles and automatically manipulate specific needles by rotating or vibrating them within a specific frequency range, and can enhance the effect by applying electrical stimulation.

Description

[Technical Field]

[0001] The present invention relates generally to the field of medical devices, and specifically to an automated acupuncture device. [Background technology]

[0002] Acupuncture, originating in China approximately 2,000 years ago, is one of the world's oldest medical practices. This ancient technique has been used in Asia for hundreds of years to treat a wide range of ailments and relieve pain. It is currently used in the United States and other countries to treat conditions ranging from lower back pain to nerve pain, headaches, fibromyalgia, and menstrual cramps. Traditional Chinese acupuncture involves inserting very thin needles (0.25–0.35 mm) into the skin at specific "meridian acupuncture points." This type of acupuncture relieves pain by affecting the parts of the brain that control the body's secretion of endorphins (the body's natural pain-relieving chemicals) and serotonin (the brain chemical involved in Chinese acupuncture). Acupuncturists can enhance the effects by gently rotating or twirling the needles or by applying electrical stimulation.

[0003] Acupuncture works by increasing blood circulation, relaxing muscles, and stimulating the production of neurotransmitters such as endorphins and serotonin, resulting in relaxation and pain relief. Acupuncture induces many biological responses, including circulatory and biochemical effects. These responses can occur locally, near the site of treatment, or at some distance. They reach many structures in the central nervous system, primarily via sensory neurons. This affects the activation of pathways in the brain and various surrounding physiological systems.

[0004] Recent studies have shown that acupoints may be excitable muscle / skin-nerve complexes containing high densities of peripheral nerves. Acupuncture produces a wide range of neurological effects on the spinal cord, brainstem, limbic system, hypothalamus, and cortex. Acupuncture can alter sensation, autonomic activity, and immune response.

[0005] Electroacupuncture is a form of modern acupuncture. It stimulates the patient's body with the application of weak electrical currents (micro-electricity), resulting in a variety of therapeutic effects. Electroacupuncture is similar to traditional Chinese acupuncture. Needles are placed at similar points on the meridians, and small electrodes are attached to the needles. During the treatment process, a weak electrical current (1 mA to 3 mA) is passed through the electrodes, accompanied by a slight vibration (1 to 50 Hz) or soft buzzing sound. The electrodes can activate acupuncture points more quickly, shortening treatment times, and the weak electrical current passing through the needles within the body contributes to the body's ability to repair itself. Summary of the Invention [Means for solving the problem]

[0006] This invention is an electroacupuncture device that includes a 6-DOF (degree of freedom) mechanical arm, a multifunctional tool tip, and magnetic resonance imaging (MRI). The tool tip has needles with vibration mechanisms. The acupuncture robot can insert needles and automatically perform acupuncture with specific needles by rotating or vibrating them within a specific frequency range, and can enhance the effect by adding electrical stimulation. Traditional Chinese acupuncture and electroacupuncture have been proven to have functions such as pain relief and improvement of balance function, reduction of spasms and increase of muscle strength, and improvement of overall health after stroke.

[0007] In one embodiment described herein, the robot module is primarily designed for treating traumatic brain injury and cerebral thrombosis, but can also be used for other medical applications. In this application, the electro-acupuncture device includes an acupuncture MRI helmet, which contains the coils necessary for MRI. When radio waves are emitted into the patient's body, the coil acts as an antenna to receive the radio wave signals emitted from the body and transmit the data to a computer, which then generates an image. The helmet can indicate most acupoints to the acupuncture robot.

[0008] The device's MRI produces detailed images of the brain and other skull structures, and these images are clearer and more detailed than other imaging methods. In this way, acupuncturists can locate the location and shape of cerebral thrombus and prescribe acupuncture treatments. The robot also needs these MRI images to locate acupressure points.

[0009] The robot is driven by a servo motor and can move to different positions along two curved guide rails. A linear motor is added to drive the needle gripper up and down. With this linear motor, the needle can be inserted and removed quickly and stably to the correct depth.

[0010] The device further includes a heating or cooling module. A Peltier cooler / heater or thermoelectric heat pump is a solid-state active heat pump that transfers heat from one side of the device to the other while consuming electrical energy, depending on the direction of the current. It can be used for both heating and cooling.

[0011] For accuracy and safety, an ultrasonic distance sensor is used to determine the distance between the needle and the target point. The ultrasonic sensor emits high frequency waves at the target object. The target object reflects the sound waves back to the sensor. The receiver receives the reflected waves and stops the timer. The propagation distance is determined by calculating the time it takes for the waves to return at the speed of sound. The measurement range of this sensor is 1cm to 400cm.

[0012] The device has a force sensor for precise control of operation and measurement of needle insertion force. If the resistance force on the needle exceeds a set limit, the linear motor will immediately stop.

[0013] During surgery, the patient is placed on a treatment table with their head inside an MRI helmet. The MRI scans the patient's head. After the scan, the MRI obtains three-dimensional information about the head and detects cerebral thrombosis (or progressive pathological changes such as cerebral edema). The acupuncturist or artificial intelligence software will provide an acupuncture prescription based on the specific information from the MRI scan. The robot will then locate the acupoints and perform treatment according to the acupuncture prescription.

[0014] Therefore, an object of the present invention is to provide an electroacupuncture and moxibustion device that can improve and enhance the therapeutic effects of conventional acupuncture and moxibustion.

[0015] Another object of the present invention is to increase the physiological function and applicability of acupuncture and moxibustion by controlling various electrical stimuli with very high precision.

[0016] Another object of the present invention is to implement the majority of artificial acupuncture techniques in the human brain and body with greater efficiency and less human error.

[0017] Another object of the present invention is to use it in acupuncture and moxibustion prescriptions, especially in acupuncture and moxibustion prescriptions for traumatic brain injury and cerebral thrombosis.

[0018] Another object of the present invention is to automatically recognize the locations of all 361 acupuncture points. [Brief explanation of the drawings]

[0019] Hereinafter, the embodiments herein will be described in conjunction with the drawings, which are provided for illustrative purposes and do not limit the scope of the claims, in which like designations represent like elements.

[0020] [Figure 1A] FIG. 1A is a perspective view of an electroacupuncture and moxibustion device according to an embodiment of the present invention. [Figure 1B] FIG. 1B is a perspective view of an electroacupuncture and moxibustion device according to another embodiment of the present invention. [Figure 2]FIG. 2 is a side view of an electroacupuncture and moxibustion device according to an embodiment of the present invention. [Figure 3] FIG. 3 is an enlarged view of the mechanical arm of the present invention. [Figure 4] FIG. 4 is a front view of a tool tip assembly of a robot according to the present invention. [Figure 5] FIG. 5 is a perspective plan view showing a tool tip assembly of a robot according to the present invention. [Figure 6] FIG. 6 is a cross-sectional view of the tool tip of a robot according to the present invention, showing the gripper in the open position. [Figure 7] FIG. 7 is a cross-sectional view of the tool tip of a robot according to the present invention, showing the gripper in a closed position. [Figure 8] FIG. 8 is a schematic diagram of a gripper long pin of the present invention. [Figure 9A] FIG. 9A is a perspective front view of the robot's tool tip, showing the tip in a clamping position. [Figure 9B] FIG. 9B is a perspective front view of the robot's tool tip, showing the tip in the released position. [Figure 10A] FIG. 10A is a perspective front view of a gripper according to the present invention. [Figure 10B] FIG. 10B is a perspective front view of a gripper according to the present invention. [Figure 11A] FIG. 11A is a perspective view of a needle heating and cooling system of the present invention. [Figure 11B] FIG. 11B is a perspective side view of the needle heating and cooling system of the present invention. [Figure 12] FIG. 12 is a perspective view of the electroacupuncture and moxibustion device according to the present invention, showing the relationship between the various components. [Figure 13] FIG. 13 is a perspective view of an acupuncture and moxibustion helmet according to the present invention. [Figure 14A] FIG. 14A is a perspective front view of the tool tip of the robot of the present invention. [Figure 14B] FIG. 14B is a perspective rear view of the tool tip of the robot of the present invention. [Figure 15]FIG. 15 is a perspective bottom view of the tool tip of the robot of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] 1A to 4 show an acupuncture and moxibustion device 100 of the present invention. The device includes a mechanical arm 200 that can move in one or more dimensions, a magnetic resonance imaging (MRI) 500, and an acupuncture and moxibustion MRI helmet 400. The mechanical arm 200 is a 6-DOF mechanical arm, which can more efficiently perform a majority of artificial acupuncture techniques on the human brain and body and reduce human error. Acupuncture needles 210 are connected to the mechanical arm. The mechanical arm is movable to make it easier to position the needles relative to the target area. The MRI 500 can be detached from the bed 101. When the robot 200 moves to the side of the bed, the MRI 500 can automatically move away.

[0022] The mechanical arm 200 can automatically operate the acupuncture process with specific needles by inserting the needles 210, rotating or vibrating them within a specific frequency range, and applying electrical stimulation to enhance the effect. The acupuncture device 100 includes a bed 101 with an acupuncture helmet 400 attached thereon, and the patient lies on the bed during the process.

[0023] The mechanical arm 200 is a 6-degree-of-freedom (DOF) arm with a multi-function tool tip 202. The mechanical arm 200 is driven to each position by a servo motor 212. As shown in Figure 3, the mechanical arm 200 moves along two curved guide rails 203.

[0024] Referring to Figures 4, 5, and 6, the tool tip 202 has an upper portion 204 and a lower portion 205. The lower portion 205 of the tool tip includes a needle 210 with a gripper 211, which is a linear-rotating mechanism operably coupled to the mechanical arm 200 and arranged to move the needle and insert it into tissue. The gripper 211 grips and clamps the needle 210. The tool tip has a mechanism for rotating or turning the needle. A linear motor 212 is also provided to drive the up and down movement of the gripper 211. The linear motor 212 allows the needle 210 to be inserted into and removed from the human body quickly and stably at an accurate depth. A hollow shaft motor 213 is provided to rotate the gripper 211 by ±180 degrees. The gripper fingers 211a and 211b can be opened and closed by opening and closing a solenoid 214. Such a linear and rotational mechanism includes a pivoting structure and a rotating structure of the mechanical arm 200. The pivoting structure is arranged so that the needle 210 moves along the axis of the device. The insertion of the needle 210 is mostly linear and is guided by a linear motor 212. A parallel motion mechanism is provided to maintain the needle orientation during the insertion process. The mechanical arm 200 includes a mechanism that allows the needle 210 to rotate about the long axis of the needle.

[0025] The needle 210 also has a vibration mechanism. A vibration motor 224 vibrates the needle 210. When the vibration motor 224 is activated, four rubber isolators 225 isolate the vibration waves to the left side of the tool tip 202, while the right side of the tool tip vibrates more intensely.

[0026] Referring to Figures 7 and 8, device 100 has a stainless steel gripper pin 220. The top of pin 221 is threaded for connection to solenoid pin 218, and the bottom of pin 222 has rack teeth for driving gripper fingers 211a and 211b. Gripper 211 is fixed to the bottom of shaft motor 217. When solenoid 214 is turned off, the solenoid's spring pulls gripper pin 220 upward, further pulling gripper fingers 211a and 211b to tightly grip needle 210. When solenoid 214 is turned on, the solenoid's plunger pushes gripper pin 220 downward, releasing needle 210. Connector 219 secures solenoid 214 to the top 215 of the motor shaft. One major difference between this device and existing devices used in acupuncture is that the driver is typically higher than the needle, limiting its application. The device 100 of the present invention is arranged to provide linear motion.

[0027] 9A-10B, the lower part 205 of the tool tip is shown in closed and open positions. FIGS. 9A and 10A show the gripper 211 in the closed and open positions, respectively. The tool tip 202 includes the gripper 211, which provides a mechanism for quickly, automatically, and very reliably releasing the needle 210 without moving or pushing the needle, while simultaneously securing the needle for easy insertion. FIG. 9A shows the position of the gripper 211 when the solenoid 214 is off. In this position, the solenoid spring 216 pulls the gripper long pin 220 upward, further drawing the gripper fingers 211a, 211b to tightly grip the needle 210.

[0028] 9B shows the position of the gripper 211 when the solenoid 214 is on. When the solenoid 214 is on, the solenoid's plunger pushes down on the gripper long pin 220, releasing the needle 220. A connector 218 secures the solenoid 216 to the top 217 of the motor shaft.

[0029] The needle 210 is held in the gripper 211 by the gripper fingers 211a, 211b and is adjacent to the skin. The needle 210 is operably coupled to a rotation-translation mechanism so that the needle 210 is rotated and inserted into tissue as the gripper 211 guides the direction of the needle 210. The rotation-translation needle with translation-rotation motion allows the needle 210 to enter in a spiral manner without deflecting to one side, thereby bringing the needle 210 closer to the target. Such rotation-translation needle motion breaks through static friction between the tissue and the target, reducing force and potentially further reducing insertion force.

[0030] The gripper mechanism of the present invention secures the needle at its head and provides additional needle support and guidance in the gripper section adjacent the skin entry point. This is similar to holding the needle with two hands, one hand gripping the head and the other gripping the barrel near the skin, where one hand pushes the needle in and out while the other hand grips the guide rail to support the needle's orientation as close to the skin as possible. The mechanism is configured to release the needle 210 quickly, automatically, and very reliably without moving or pushing the needle. The needle 210 attachment process is completed manually.

[0031] 10A, the gripper 211 may be a unitary structure made of a material suitable for the desired application. In an exemplary embodiment, the gripper is made of a UPE material. The needle 210 is made of a material suitable for the desired application, for example, the needle is made of metal (stainless steel) and the other functional components are made of plastic.

[0032] Referring to FIG. 4, the device 100 provides a heating and cooling module 300 for heating or cooling acupuncture needles. In one embodiment, as shown in FIGS. 11A and 11B, a Peltier cooler / heater or a thermoelectric heat pump (a solid-state active heat pump) transfers heat from one side of the device to the other. Depending on the direction of current, these devices can be used for heating or cooling. In this design, the Peltier controls the temperature of the working pad 301 between 1°C and 60°C, allowing for cold or hot acupuncture treatment. The heating and cooling module 300 includes a Peltier cooler / heater 302, a heat sink 303, a fan 304, and an isolation case 305. The heating and cooling module 300 is placed in the gripper 211 to heat or cool the acupuncture needles 210.

[0033] 10A and 12, in one embodiment, the device has a positive electrode 22 located on a metal needle 23 in contact with the needle 210, and a negative electrode located on the finger clip. The voltage is 3V and the current is adjusted in 0.1 mA increments within the range of 0 to 10 mA output.

[0034] The device 100 is primarily designed to treat traumatic brain injury and cerebral thrombosis, but can also be used for other medical applications. In this application, the device includes an MRI helmet 400. MRI 500 uses a strong magnetic field, radio waves, and a computer to generate detailed images of the brain and other skull structures, which are clearer and more detailed than other imaging methods. In this way, doctors can locate the location and shape of cerebral thrombosis and prescribe acupuncture treatments. The mechanical arm 200 also needs these MRI images to locate acupoints.

[0035] As shown in Figures 12 and 13, the helmet 400 contains the coils necessary for MRI. When radio waves are emitted into the patient's body, the coil acts as an antenna to receive the radio wave signals emitted from the body and send the data to a computer, which then generates an image. The helmet 400 can display a large number of acupoints to the acupuncture robot. Inside the helmet is an airbag 402 that can be inflated or deflated to fit different head sizes.

[0036] Referring to Figures 14A, 14B and 15, for accuracy and safety, an ultrasonic distance sensor 600 is used to determine the distance between the needle 210 and the acupoint on the head of the human body. The ultrasonic sensor 600 emits high frequency waves to the target object and starts a timer. The target object reflects the sound waves back to the sensor 600. The receiver receives the reflected waves and stops the timer. The propagation distance is determined by calculating the time it takes for the waves to return at the speed of sound. The measurement range of the sensor 600 is from 1cm to 400cm.

[0037] The device has a force sensor 700 for precise control of operation and measurement of needle insertion force. If the resistive force on the needle 210 exceeds a set limit 212, the linear motor 212 will immediately stop.

[0038] 1, 2, and 12, during operation, a patient lies on the treatment table 101, their head is covered by the MRI helmet 400, and the MRI 500 scans the patient's head. After the scan, the MRI 500 obtains 3D information about the head and detects cerebral thrombosis (or progressive pathological changes such as cerebral edema). An acupuncturist or artificial intelligence software will provide an acupuncture prescription based on the specific information from the MRI scan test. Then, the robot 200 will locate the acupuncture points and perform treatment according to the acupuncture prescription.

[0039] The mechanical arm 200 cleanses the local skin around the acupuncture point using 75% alcohol as an antiseptic. Then, the mechanical arm 200 on the platform places the needle 210 at the required skin entry point so that the needle can be oriented toward the required target before inserting the needle 210. The mechanism of the device 100 is adapted to translate and rotate the needle to insert it into the patient's tissue.

[0040] The needle 210 is then inserted into the tissue by rotating or vibrating within a certain frequency range. Further physical treatment is performed by heating or cooling at 0 to 65°C for 0 to 60 seconds, at most 30 minutes. This enhances the physiological function of acupuncture and moxibustion and allows for highly precise control of various electrical stimuli to accommodate this. The rotary-direction needle, driven by the linear-rotational motion of the device 100 of the present invention, allows the needle 210 to enter the spiral without deflecting to one side, so the tip of the needle is closer to the target. This rotary-direction needle movement breaks through static friction between the tissue and the target, reducing the force and potentially further reducing the insertion force.

[0041] The gripper mechanism of the mechanical arm grasps the needle at the head to support the needle from the head and provide further support and guidance for the needle, with the gripper portion located near the point of entry into the skin. This is like holding the needle with two hands, one hand gripping the head and the other gripping the barrel near the skin, where one hand pushes the needle in and out, while the other hand below grips the guide rail to support the needle's direction as close to the skin as possible. The mechanism is arranged to release the needle 210 quickly, automatically, and very reliably without moving or pushing the needle.

[0042] The distance sensor and force sensor measure the needle insertion and patient interaction force and the needle force. Alternatively, the interaction of the needle with the skin entry point can be measured. The present invention further calculates the needle-to-target distance with the distance sensor.

[0043] The mechanism of the present invention overcomes the problem of existing systems lacking useful information for determining needle direction during insertion. Also, there is no suitable imaging device for real-time monitoring, and the images are not real-time. Because the gripper grips and controls the needle, it can control the needle direction and measure the needle-tissue interaction, which can provide real-time information on needle deflection and serve as feedback for calibrating the needle positioning and orientation accordingly.

[0044] The operation of the device 100 in conjunction with other components, such as the mechanical arm 200, MRI 500, and helmet 400, is accomplished by a control system. The controller may be any of a number of devices known to those skilled in the art that control the functions of the device to perform control functions, monitor input parameters, and provide the necessary command and signal processing for output. The controller may include a microprocessor, memory, and storage memory for storing programs or applications for performing the functions of the controller. The device may also include a display unit that displays information corresponding to signals output by the controller.

[0045] The foregoing is considered as illustrative only of the principles of the invention, and since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the invention to the specific structural operations shown or described; all suitable modifications and equivalents may be resorted to, all of which are within the scope of the invention.

[0046] With regard to the above description, it is of course understood that the optimum relationships in size, shape, form, material, function, operation, assembly and use of each part of the present invention will be easily conceivable to those skilled in the art, and that all relationships with equivalent effect shown in the drawings or described in the specification are included in the present invention.

Claims

1. An electroacupuncture and moxibustion device for inserting needles into acupoints, a) Magnetic Resonance Imaging (MRI), b) a mechanical arm movable in one or more dimensions; i. a tip portion comprising an acupuncture needle having a distal end and a proximal end; and ii. A gripper mechanism coupled to the mechanical arm, which can move the needle smoothly to be positioned in and out of the acupoint relative to the target area, and the gripper mechanism a set of gripper fingers for gripping and releasing the needle, and a gripper long pin having a threaded distal end connected to a solenoid pin for driving the gripper fingers, the solenoid being operably coupled to the gripper mechanism for driving the gripper gong pin in a linear orbit; a mechanical arm in which the gripper mechanism holds the needle from the distal end and the proximal end so that the needle is close to the acupoint, thereby guiding the direction of the needle to be as close as possible to the acupoint, and then quickly, automatically, and stably releasing the needle without moving or pushing the needle; c) a linear and rotary mechanism operably coupled to the tip portion, the linear motor being arranged to move the gripper long pin along an axis, and a rotary mechanism being arranged to rotate the gripper long pin about an axis, and wherein when the set of gripper fingers opens, the needle exits, and the rotary linear needle causes the needle to spiral in without deflecting to one side, so that the distal end of the needle approaches the acupoint and breaks through static friction between the acupoint and the target, potentially reducing force and further reducing insertion force; d) a control system for controlling the functions of the device; This allows the device to more effectively perform the majority of artificial acupuncture techniques and reduces human error.

2. The electro-acupuncture and moxibustion device according to claim 1, wherein the mechanical arm is a 6-DOF mechanical arm.

3. 10. The electro-acupuncture device of claim 1, comprising an acupuncture MRI helmet for treating traumatic brain injury and cerebral thrombosis.

4. The electro-acupuncture device according to claim 1 , wherein the needle further comprises a vibration motor for vibrating the needle.

5. The electro-acupuncture and moxibustion device according to claim 1 , further comprising a heating and cooling mechanism attached to the gripper for heating or cooling the needle.

6. 2. The electro-acupuncture device of claim 1, wherein the helmet has an airbag that can be inflated or deflated to fit the patient's head and a coil for MRI imaging that shows the majority of the acupoints.

7. 10. The electro-acupuncture and moxibustion device of claim 1, further comprising an ultrasonic distance sensor for determining the distance between the needle and the target point, with a measurement range of 1 cm to 400 cm.

8. 10. The electro-acupuncture and moxibustion device of claim 1, further comprising a force sensor for controlling and measuring the needle insertion force.

9. 1. A method of electroacupuncture for treating traumatic brain injury and cerebral thrombosis, comprising the steps of: The patient lies on the treatment table so that the head is inside the MRI helmet; Scan the patient's head to receive a 3D image, which will locate the acupoints and target areas that need to be prescribed acupuncture; Carry out treatment according to the acupuncture prescription issued by the acupuncturist or AI software; A mechanical arm of the electric acupuncture and moxibustion device is positioned above the acupoint to perform acupuncture treatment; The mechanical arm cleanses the local skin around the acupuncture points with 75% alcohol, and then places the needles of the electroacupuncture device on the target area; wherein the mechanical arm is adjusted above the platform so that the needle is directed toward the target area; Inserting the needles into the acupoints by translating, rotating and vibrating the needles within a certain frequency range; determining a predefined distance between the needle and the acupoint to measure the needle insertion force; and By providing heating or cooling at 0-65°C for 0-60 seconds, at most 30 minutes, the physiological function of the acupuncture and moxibustion is increased.

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