Acupuncture Manipulation Training Device and Method

Abstract

An acupuncture manipulation training device, which relates to the field of medical education, includes a guiding module having a guiding through hole, a movable module attached to the guiding module, and a main controller connected to the movable module. The present invention can at least detect a variety of basic acupuncture manipulations simultaneously, enabling acupuncture learners to master the correct acupuncture manipulations through short-term practice.

Description

Technical Field

[0001] The present invention belongs to the field of medical teaching, and particularly relates to an acupuncture manipulation training device and method. Background Art

[0002] Under the current background, with the increasing demand for acupuncture and moxibustion medical treatment among the people of various countries, China also attaches more importance to the cultivation of acupuncture and moxibustion talents. Acupuncture and moxibustion medical treatment has ushered in a great opportunity for development and entered a new stage of development.

[0003] For acupuncture and moxibustion medical treatment to go global and gain recognition, we need to cultivate more acupuncture and moxibustion talents, enabling them to make due contributions to the development of academics and serving society, and making the world recognize the important role of traditional Chinese medicine acupuncture and moxibustion in human health. When exporting traditional Chinese medicine acupuncture and moxibustion techniques to the world, we need to improve the teaching level and improve teaching methods. On the one hand, we need to quickly cultivate talents, and on the other hand, we need to ensure that the academic knowledge of learners is truly put into practice. However, at present, most of the learning props used by vast numbers of acupuncture and moxibustion learners to practice acupuncture manipulation are rubber, toilet paper, etc. When learners practice on themselves or with each other, there are also certain potential risks, and they cannot master whether the manipulation is correct and in place.

[0004] In the acupuncture manipulation training systems on the market, the detected acupuncture manipulations are few. Although the lifting-thrusting method and twirling method can be detected to a certain extent, the structure is complex and not easy to carry; moreover, in some products, due to the scattered functions during acupuncture manipulation training, more acupuncture manipulation practices cannot be detected and implemented in one device, which cannot improve the learning efficiency of acupuncture and moxibustion learners; the selling price is high, and similar teaching equipment cannot be truly popularized to benefit more acupuncture and moxibustion learners. Summary of the Invention

[0005] To solve the above-mentioned problems, the present invention provides an acupuncture manipulation training device and method.

[0006] An acupuncture manipulation training device includes: a guiding module having a first through hole; a moving module attached to the guiding module; and a main controller connected to the moving module.

[0007] Preferably, it further includes an operation platform having an opening, and the guiding module is attached to the opening.

[0008] Preferably, the moving module includes a first moving module and a second moving module, and the first moving module includes a first rolling wheel.

[0009] Preferably, the second moving module includes a second rolling wheel.

[0010] Further preferably, the first movable module further includes a first magnet and a first magnetic encoder, the first magnet is connected to the first rolling wheel, and the first magnetic encoder is connected to the first magnet in a non-contact manner.

[0011] Further preferably, the first movable module further includes a first quadrature encoder, and the first quadrature encoder is connected to the first rolling wheel.

[0012] Further preferably, the second movable module further includes a second magnet and a second magnetic encoder, the second magnet is connected to the second rolling wheel, and the first magnetic encoder is connected to the second magnet in a non-contact manner.

[0013] Further preferably, the second module in the second movable module includes a third rolling wheel; the second movable module further includes a third magnet and a third magnetic encoder, the third magnet is connected to the third rolling wheel, and the third magnet is connected to the third magnetic encoder in a non-contact manner; and includes a third quadrature encoder, and the third quadrature encoder is connected to the third rolling wheel.

[0014] Further preferably, a gap and a through hole are formed between the first rolling wheel and the second rolling wheel; the through hole is coaxial with the first through hole.

[0015] Further preferably, the first movable module and the second movable module are respectively attached to the guiding module.

[0016] Further preferably, a three-axis sensor is further included, attached to the guiding module, and the three-axis sensor is connected to the main controller; and an elastic pad is further included, and the elastic pad is attached to the periphery of the guiding module.

[0017] The present invention further provides an acupuncture manipulation training method, including an acupuncture manipulation training device, specifically including a guiding module having a first through hole; a movable module attached to the guiding module; and a main controller connected to the movable module; the specific method is as follows: the user uses a puncture needle to pass through the first through hole of the guiding module and move arbitrarily; the puncture needle drives the movable module to move; the main controller detects and processes the position of the movable module to obtain the position of the puncture needle.

[0018] Preferably, the arbitrary movement includes any one or a combination of lifting, inserting, and twirling movements.

[0019] Further preferably, the arbitrary movement further includes any one or a combination of flicking, swinging, and scraping movements of the puncture needle.

[0020] Preferably, the movable module includes a first movable module and a second movable module.

[0021] Further preferably, the first movable module includes a first rolling wheel, a first magnet, and a first magnetic encoder; the second movable module includes a second rolling wheel, a second magnet, and a second magnetic encoder. A gap and a through hole are formed between the first rolling wheel and the second rolling wheel, and the through hole is coaxial with the first through hole. The method for the puncture needle to drive the movable module is as follows:

[0022] The puncture needle enters the first through hole and contacts the first rolling wheel, and performs lifting and inserting activities. Friction is generated between the puncture needle and the first rolling wheel, driving the first rolling wheel and the first magnet to rotate;

[0023] The puncture needle enters the first through hole and contacts the second rolling wheel, and performs twisting activities. Friction is generated between the puncture needle and the second rolling wheel, driving the second rolling wheel and the second magnet to rotate.

[0024] Further preferably, the first movable module includes a first rolling wheel, a first magnet, and a first encoder, and the second movable module includes a third rolling wheel, a third magnet, and a third magnetic encoder. The method for the puncture needle to drive the movable module is as follows:

[0025] The puncture needle enters the first through hole and contacts the first rolling wheel, and performs lifting and inserting activities. Friction is generated between the puncture needle and the first rolling wheel, driving the first rolling wheel and the first magnet to rotate; the puncture needle enters the first through hole and contacts the third rolling wheel, and performs twisting activities. Friction is generated between the puncture needle and the third rolling wheel, driving the third rolling wheel and the third magnet to rotate.

[0026] Further preferably, the first movable module includes a first rolling wheel and a first orthogonal encoder, and the second movable module includes a third rolling wheel and a third orthogonal encoder. The method for the puncture needle to drive the movable module is as follows:

[0027] The puncture needle enters the first through hole and contacts the first rolling wheel, and performs lifting and inserting activities. Friction is generated between the puncture needle and the first rolling wheel, driving the first rolling wheel and the first orthogonal encoder to rotate;

[0028] The puncture needle enters the first through hole and contacts the third rolling wheel, and performs twisting activities. Friction is generated between the puncture needle and the third rolling wheel, driving the third rolling wheel and the third orthogonal encoder to rotate.

[0029] Further preferably, the main controller detects and processes the position of the active module to obtain the position change of the puncture needle, including any one or a combination of the puncture depth, puncture speed, rotation time, rotation angle, and rotation angular velocity of the puncture needle. The specific method is as follows:

[0030] 1) The main controller acquires and records the absolute angle formed by the magnetic field generated by the first magnet and the first magnetic encoder within a unit time t1 , where ( ); the main controller determines whether the current movement direction of the first rolling wheel is opposite to the previous movement direction. If so, the main controller stops counting, denoted as c1; then the current angle of the puncture needle is :

[0031] When ,

[0032] The current rotation time T1 is:

[0033]

[0034] The angular velocity is:

[0035]

[0036] where a1 is the ratio of the diameter of the first rolling wheel to the diameter of the puncture needle.

[0037] 2) The main controller acquires and records the absolute angle formed by the magnetic field generated by the second magnet and the

[0038] second magnetic encoder within a unit time t2 ; the main controller determines whether the current movement direction of the first rolling wheel is opposite to the previous movement direction. If so, the counting stops, denoted as c2; then the current puncture depth L1 of the puncture needle is:

[0039] When ,

[0040] The speed at which the puncture needle moves is:

[0041]

[0042] Among them, b1 is the diameter of the second rolling wheel. Further preferably, the main controller detects and processes the position of the active module to obtain the position change of the puncture needle, including any one or a combination of the puncture depth, puncture speed, twisting time, twisting angle, and twisting angular velocity of the puncture needle. The specific method is as follows:

[0043] 1) The main controller acquires and records the absolute angle formed by the magnetic field generated by the first magnet and the first

[0044] magnetic encoder within the unit time t3 ; The main controller determines whether the current movement direction of the first rolling wheel is opposite to the previous movement direction. If so, the counting stops and is recorded as c3; then the current puncture depth L2 of the puncture needle is:

[0045] When ,

[0046] The speed at which the puncture needle runs is:

[0047]

[0048] Among them, b2 is the diameter of the first rolling wheel.

[0049] 2) The main controller acquires and records the absolute angle formed by the magnetic field generated by the third magnet and the third magnetic encoder within the unit time t4 ; The main controller determines whether the current movement direction of the third rolling wheel is opposite to the previous movement direction. If so, the counting stops and is recorded as c4; then the current angle of the puncture needle is:

[0050] When ,

[0051] The current twisting time T2 is:

[0052]

[0053] The angular velocity is:

[0054]

[0055] Among them, a2 is the ratio of the diameter of the third rolling wheel to the diameter of the puncture needle.

[0056] Further preferably, the main controller detects and processes the position of the active module to obtain the

[0057] Position changes, including any one or a combination of the puncture depth, puncture speed, twirling time, twirling angle, and twirling angular velocity of the puncture needle, and the specific method is as follows:

[0058] of which, the specific method is:

[0059] 1) The main controller acquires and records the number of grids n5 rotated by the first quadrature encoder and

[0060] phase p5 within a unit time t5; the main controller determines whether the phase of the first quadrature encoder is opposite to the previous phase. If so, the counting stops and is denoted as c5; then the current puncture depth L3 of the puncture needle is:

[0061]

[0062] The speed V3 at which the puncture needle runs is:

[0063]

[0064] where m3 is the distance between each grid on the encoding disk of the first quadrature encoder;

[0065] 2) The main controller acquires and records the number of grids n6 rotated by the third quadrature encoder and phase p6 within a unit time t6; when the main controller determines that the phase of the third quadrature encoder disk is opposite to the previous active phase, the counting stops and is denoted as c6; then the current angle turned by the puncture needle is:

[0066]

[0067] The current twirling time T3 is:

[0068]

[0069] The angular velocity is:

[0070]

[0071] where m6 is the distance between each grid on the encoding disk of the first quadrature encoder, and d is the diameter of the encoder disk.

[0072] Further preferably, the acupuncture manipulation training device further includes a triaxial sensor, the triaxial sensor is attached to the guiding module, and the triaxial sensor is connected to the main controller; the main controller acquires and processes the data detected by the triaxial sensor to obtain the position range of the puncture needle, and the specific method is as follows:

[0073] The master controller collects data from the three-axis sensor per unit time t7 to obtain the X-axis component angle of the movement of the three-axis sensor , the Y-axis component angle , and the Z-axis component angle .

[0074] Among them, the set of the X-axis component angle , and the Y-axis component angle are used to determine the position range for the flicking or swinging operation of the puncture needle; among them, the X-axis component angle is used to determine the position range for the scraping operation of the puncture needle.

[0075] The beneficial effects of the present invention are as follows: The present invention can at least simultaneously detect 2 basic acupuncture techniques: including lifting-thrusting method and twirling method, and can also detect the swinging method, flicking method, tremor method and scraping method through a three-axis acceleration sensor; it can enable acupuncture learners to master the correct acupuncture techniques through short-term practice, achieving twice the result with half the effort; the structure is highly integrated, the device is compact with a small volume, convenient to carry, and can be used for acupuncture operation practice at any time; the cost is low, which is convenient for popularization and dissemination. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 FIG. is the overall structural schematic diagram of the acupuncture technique training device in Embodiment 1.

[0077] Figure 2 FIG. is the top view of the acupuncture technique training device in Embodiment 1.

[0078] Figure 3 FIG. is the structural schematic diagram of the operation platform in Embodiment 1.

[0079] Figure 4 FIG. is the structural schematic diagram of the movable module in Embodiment 1.

[0080] Figure 5 FIG. is the structural schematic diagram of the first rolling wheel in Embodiment 1.

[0081] Figure 6 FIG. is the structural schematic diagram of the second rolling wheel in Embodiment 1.

[0082] Figure 7 FIG. is the positional relationship diagram between the first movable module and the second movable module in Embodiment 1.

[0083] Figure 8 FIG. is the connection diagram between the electromagnetic encoder and the master controller in Embodiment 1.

[0084] Figure 9 FIG. is the overall structural schematic diagram of the acupuncture technique training device in Embodiment 2.

[0085] Figure 10Top view of the acupuncture manipulation training device in Embodiment 2.

[0086] Figure 11 Part drawing of the acupuncture manipulation training device in Embodiment 2.

[0087] Figure 12 Schematic structural diagram of the guiding module in Embodiment 2.

[0088] Figure 13 Position relationship diagram of the rolling wheel and the groove in Embodiment 2.

[0089] Figure 14 Connection diagram of the electromagnetic encoder, the triaxial acceleration sensor and the main controller in Embodiment 2.

[0090] Figure 15 Overall structural schematic diagram of the acupuncture manipulation training device in Embodiment 3.

[0091] Figure 16 Top view of the acupuncture manipulation training device in Embodiment 3.

[0092] Figure 17 Part drawing of the acupuncture manipulation training device in Embodiment 3.

[0093] Figure 18 Schematic structural diagram of the guiding module in Embodiment 3.

[0094] Figure 19 Position relationship diagram of the rolling wheel and the groove in Embodiment 3.

[0095] Figure 20 Connection diagram of the orthogonal encoder, the triaxial acceleration sensor and the main controller in Embodiment 3.

[0096] Figure 21 Position change diagram of the puncture needle during the flicking method of the puncture needle in Embodiments 2 and 3.

[0097] Figure 22 Position change diagram of the puncture needle during the rotating method of the puncture needle in Embodiments 2 and 3.

[0098] Figure 23 Position change diagram of the puncture needle during the scraping method of the puncture needle in Embodiments 2 and 3.

[0099] 10 - Acupuncture Manipulation Training Device; 11 - First Guiding Module; 111 - First Through - hole a; 12 - Operating Platform a; 121 - Operating Tabletop a; 1210 - Groove; 1211 - First Opening a; 122 - Bottom Plate a; 1221 - Second Through - hole; 123 - Support Rod; 13 - Movable Module; 130 - Base; 131 - First Rolling Wheel a; 1311 - First Groove a; 13111 - Notch; 1312 - First Outer Surface; 132 - First Fixed Shaft a; 133 - First Magnet a; 134 - First Magnetic Encoder a; 135 - Second Rolling Wheel; 1350 - Hole; 1351 - Second Groove a; 1352 - Second Outer Surface; 1353 - Track; 1354 - Third Through - hole; 1355 - Gap; 136 - Second Fixed Shaft a; 137 - Second Magnet; 138 - Second Magnetic Encoder; 14 - Main Controller a.

[0100] 30 - Second Acupuncture Manipulation Training Device; 31 - Second Guiding Module; 311 - First Through - hole b; 312 - Elastic Pad a with an "○" - shaped top; 3121 - Gap a; 313 - First Fixing Plate a; 3131 - First Round Hole; 314 - Second Fixing Plate a; 3141 - Second Round Hole; 315 - First Groove b; 3151 - First Gap a; 316 - Second Groove b; 3161 - Second Gap a; 32 - Operating Platform b; 321 - Operating Tabletop b; 3211 - First Opening b; 322 - Bottom Plate b; 3222 - Second Opening a; 331 - First Rolling Wheel b; 332 - First Rotating Shaft; 333 - First Magnet b; 334 - First Magnetic Encoder b; 335 - Third Rolling Wheel a; 336 - Second Rotating Shaft; 337 - Third Magnet; 338 - Third Magnetic Encoder; 34 - Main Controller b; 35 - Tri - axis Acceleration Sensor a.

[0101] 50 - Third Acupuncture Manipulation Training Device; 51 - Third Guiding Module; 511 - First Through - hole c; 512 - Elastic Pad b with an "○" - shaped top; 5121 - Gap b; 513 - First Fixing Plate b; 5131 - First Card Slot; 514 - Second Fixing Plate b; 5141 - Second Card Slot; 515 - First Groove c; 5151 - First Gap b; 516 - Second Groove c; 5161 - Second Gap b; 52 - Operating Platform c; 521 - Operating Tabletop c; 5211 - First Opening c; 522 - Bottom Plate c; 5222 - Second Opening b; 531 - First Rolling Wheel c; 532 - First Fixed Shaft b; 533 - First Orthogonal Encoder; 534 - Third Rolling Wheel b; 536 - Second Fixed Shaft b; 537 - Third Orthogonal Encoder; 54 - Main Controller c; 55 - Tri - axis Acceleration Sensor b. Detailed Embodiment

[0102] The following further describes the present invention with reference to the accompanying drawings:

[0103] Example 1: As Figures 1-8 This is the related diagram of the acupuncture manipulation training device of this embodiment.

[0104] As Figure 1 shown, this embodiment provides an acupuncture manipulation training device 10, which specifically includes a first guiding module 11, an operation platform a12, a moving module 13, and a main controller a14 (not shown in the figure). The acupuncture manipulation training device 10 provided in this embodiment can perform the training operations of lifting-thrusting and twirling skills in traditional Chinese acupuncture.

[0105] As Figure 2 shown, the first guiding module 11 is an acupuncture puncture module. There is a first through hole a111 in the middle position of the first guiding module 11, and the first through hole a111 is configured to enable the puncture needle to move within the first through hole a111.

[0106] As Figure 3 shown, the operation platform a12 includes an operation tabletop a121, a bottom plate a122, and support rods 123. Four support rods 123 are fixedly connected between the operation tabletop a121 and the bottom plate a122 to form a space between the operation tabletop a121 and the bottom plate a122. The moving module 13 is fixedly placed in this space, and the moving module 13 is fixed on the operation tabletop a121 and the bottom plate a122 of the operation platform a12; there is a groove 1210 on the operation tabletop a121, and a first opening a1211 is located at the center position of the groove 1210. The groove 1210 and the first opening a1211 are used to place the first guiding module 11, and the operation tabletop a121 and the first guiding module 11 are fixed with screws. The first guiding module 11 and the operation tabletop a121 are on the same plane; a second through hole 1221 coaxial with the first through hole a111 is provided at the center position of the bottom plate a122, and the puncture needle can pass through the second through hole 1221 after passing through the first guiding module 11.

[0107] As Figures 4-6 shown, the moving module 13 includes a first moving module, a second moving module, and a base 130. The first moving module and the second moving module are both fixed on the base 130, and the base 130 is fixed in the operation platform a12.

[0108] The first moving module includes a first rolling wheel a131, a first magnet a133, and a first magnetic encoder a134. On the front surface of the front end of the first rolling wheel a131, there is a first groove a1311, and the first magnet a133 is embedded in the first groove a1311. The first magnetic encoder a134 is fixed on the base 130 parallel to the plane of the first magnet a133, and the first magnetic encoder a134 is arranged non-contact with the first magnet a133. The rear end of the first rolling wheel a131 is fixed to the base 130 by connecting a first fixed shaft a132. The connection part between the rear end of the first rolling wheel a131 and the first fixed shaft a132 is cylindrical, enabling the first rolling wheel a131 to rotate relative to the first fixed shaft a132. The second moving module includes a second rolling wheel 135, a second magnet 137, and a second magnetic encoder 138. On the front end of the second rolling wheel 135, there is a second groove a1351, and the second magnet 137 is embedded in the second groove a1351. The second magnetic encoder 138 is fixed on the base 130 parallel to the plane of the second magnet 137, and the second magnetic encoder 138 is arranged non-contact with the second magnet 137. The rear end of the second rolling wheel 135 is fixed to the base 130 by connecting a second fixed shaft a136, and the second rolling wheel 135 can rotate on the second fixed shaft a136.

[0109] As Figure 5 shown, the first rolling wheel a131 is a cylinder, with a frustum design at the front end and a cylindrical design at the rear end. On the front surface of the front end, there is a first groove a1311 and a notch 13111, which is convenient for placing / removing the first magnet a133. There is also a groove (not shown in the figure) at the rear end for connecting the first fixed shaft a132.

[0110] As Figure 6 shown, the second rolling wheel 135 is a cylinder. The diameters at both ends of the first rolling wheel a131 are larger than the diameter at the middle position, and there is a track 1353 at the middle position of the first rolling wheel a131. The track 1353 can accommodate the puncture needle, and when the puncture needle is lifted and inserted, it drives the first rolling wheel a131 to rotate. There is also a hole 1350 near the second groove a1351 of the second rolling wheel 135, which is convenient for removing the second magnet 137.

[0111] As Figure 7 shown, the second outer surface 1352 at the middle position of the second rolling wheel 135 is complementary to the first outer surface 1312 of the rear-end cylinder of the first rolling wheel a131, and a gap 1355 and a third through hole 1354 are formed therebetween. The gap 1355 facilitates the relative movement between the first rolling wheel a131 and the second rolling wheel 135. The third through hole 1354 is coaxial with the first through hole a111 and can accommodate the lifting, inserting, or rotating movement of the puncture needle.

[0112] The base 130 of the movable module 13 in this embodiment further has a fourth through hole (not shown in the figure) coaxial with the first through hole a111 and the third through hole 1354. The first through hole a111, the third through hole 1354, and the fourth through hole form a path for the puncture needle to perform lifting and inserting activities.

[0113] As Figure 8 shown, the first magnetic encoder a134 and the second magnetic encoder 138 are respectively communicatively connected to the main controller a14.

[0114] The working principle of this embodiment for training acupuncture puncture lifting and inserting operations is as follows: The puncture needle enters the movable module 13 (the third through hole 1354 formed by the first rolling wheel a131 and the second rolling wheel 135) from the first through hole a111 of the first guiding module 11. When the puncture needle performs lifting and inserting activities, the puncture needle rubs against the second rolling wheel 135 and drives the second rolling wheel 135 to rotate. The second magnet 137 in the second rolling wheel 135 also rotates. The main controller a14 obtains the absolute angle value between the second magnet 137 and the second magnetic encoder 138 during rotation per unit time, and processes and analyzes it to obtain the lifting and inserting depth and speed of the puncture needle.

[0115] The specific detection method is as follows: The main controller a14 collects data from the second magnetic encoder 138 within the unit time t2, with a time interval of Δt2. The data collected by the main controller a14 is the absolute angle value formed by the magnetic field emitted by the second magnet 137 at the current moment and the second magnetic encoder 138 . Assume that the reverse rotation of the second rolling wheel 135, that is, the direction of the needle insertion, is the positive direction, then ; when the second rolling wheel 135 rotates in the forward direction, that is, the direction of the needle extraction, then , and the diameter of the second rolling wheel is b1.

[0116] The main controller a14 records the angle value at the current moment as , and at the same time, the main controller records once every time until the main controller a14 determines that the previous movement direction is opposite to the current movement direction, and then the counting stops and is recorded as c2. Then, the depth L1 that the puncture needle moves within this time period is:

[0117] When ,

[0118] The speed at which the puncture needle runs is:

[0119]

[0120] The working principle of acupuncture puncture twirling training in this embodiment is as follows: When the puncture needle enters the moving module 13 (the third through hole 1354 formed by the first rolling wheel a131 and the second rolling wheel 135) from the first through hole a111 of the first guiding module 11, when the puncture needle rotates, it rubs against the first rolling wheel a131 and drives the first rolling wheel a131 to rotate. The first magnet a133 in the first rolling wheel a131 also rotates. The main controller a14 obtains the absolute angle value between the first magnet a133 and the first magnetic encoder a134 during rotation per unit time, and analyzes it to obtain the twirling angle and angular velocity of the puncture needle.

[0121] The specific detection method is as follows: The main controller a14 collects data from the first magnetic encoder a134 within the unit time t1, with a time interval of Δt. The data collected by the main controller a14 is the absolute angle value formed by the magnetic field emitted by the first magnet a133 and the first magnetic encoder a134. Assume that the forward rotation of the first rolling wheel a131, that is, the clockwise direction of the needle, is the positive direction, then ; when the first rolling wheel a131 rotates in the reverse direction, that is, the needle rotates counterclockwise, then , and the ratio of the diameter of the first rolling wheel a131 to the diameter of the puncture needle is a1.

[0122] The main controller a14 records the angle value at the current moment as , and at the same time, the main controller records it every Δt1 time until the main controller a14 determines that the previous movement direction is opposite to the current movement direction, and then the counting stops and is recorded as c1. Then the angle turned by the puncture needle during this time period is:

[0123] When ,

[0124] The twirling time T1 during this time period is:

[0125]

[0126] The angular velocity ω is:

[0127]

[0128] Embodiment 2: As Figure 9 — Figure 14 is a schematic diagram related to the second acupuncture manipulation training device 30 provided in this embodiment.

[0129] As Figure 9As shown in the figure, the second acupuncture manipulation training device 30 includes: a second guiding module 31, an operation platform b32, a movable module, a main controller b34, and a three-axis acceleration sensor a35; in this embodiment, training on lifting-thrusting, twirling, needle-swinging, flicking, tremoring, and scraping skills can be carried out.

[0130] As Figure 10 As shown in the figure, the second guiding module 31 is an acupuncture puncture module. The second guiding module 31 has a first through hole b311 from top to bottom, which is configured to allow the puncture needle to move within the first through hole b311. The top of the second guiding module 31 is circularly designed, and an elastic pad a312 with an "○"-shaped structure at the top is attached to the periphery of the top. The elastic pad a312 with an "○"-shaped structure at the top and the operation tabletop b321 are parallel to each other and in the same plane; there is a gap a3121 between the elastic pad a312 with an "○"-shaped structure at the top and the operation tabletop b321, and the gap a3121 allows the second guiding module 31 and the elastic pad a312 with an "○"-shaped structure at the top to swing back and forth between the operation platforms b32.

[0131] In this embodiment, the elastic pad a312 with an "○"-shaped structure at the top can simulate the swinging feeling similar to that on a real human skin when performing the swinging method, flicking method, tremoring method, and scraping method of the puncture needle during acupuncture puncture, and the puncture needle can swing freely.

[0132] As Figure 11 As shown in the figure, the operation platform b32 includes an operation tabletop b321 and a bottom plate b322. There is a first opening b3211 at the middle position of the operation tabletop b321, and the first opening b3211 is used to place the second guiding module 31 and the elastic pad a312 with an "○"-shaped structure at the top. The bottom plate b322 (the bottom plate b322 has a second opening a3222) is used to fixedly clamp the second guiding module 31 and the elastic pad a312 with an "○"-shaped structure at the top through screws.

[0133] In this embodiment, the rotational movement of the movable module is used to detect the position change of the puncture needle during the lifting and inserting operations in the puncture through-hole, as well as the angle, rotational direction, and time of the puncture needle's rotation in the puncture through-hole. The movable module is attached to the second guiding module 31. The movable module includes a first movable module 329 and a second movable module 330. Among them, the first movable module 329 includes a first rolling wheel b331, a first rotating shaft 332, a first magnet b333, and a first magnetic encoder b334. The first rolling wheel b331 is a cylinder (it can also have a frustum shape at the front end and a cylinder shape at the rear end). The end of the first rolling wheel b331 is connected to the first magnet b333 through the first rotating shaft 332. The first magnetic encoder b334 is fixed on the second guiding module 31, and the first magnetic encoder b334 is coaxial and parallel to the first magnet b333. The second movable module 330 includes a third rolling wheel a335, a second rotating shaft 336, a third magnet 337, and a third magnetic encoder 338. The end of the third rolling wheel a335 is connected to the third magnet 337 through the second rotating shaft 336. The third magnetic encoder 338 is fixed on the second guiding module 31, and the third magnetic encoder 338 is coaxial and parallel to the third magnet 337.

[0134] As Figure 12 shown, the second guiding module 31 has four faces, namely the front face, the back face, the left face, and the right face. Among them, in the middle position of the left face

[0135] there is a first fixing plate a313 for fixing the first movable module 309, and at the bottom there is a second fixing plate a314 for fixing the second movable module 330. In the middle position of the front face, there is a first groove b315. The bottom of the first groove b315 communicates with the first through-hole b311. The first movable module 329 can be placed at the first groove b315 through the first round hole 3131 on the first fixing plate a313. The first magnet encoder b334 is fixed to the outside of the first fixing plate a313 by screws. At the end of the front face of the second guiding module 31, there is a second groove b316. The bottom of the second groove b316 communicates with the first through-hole b311. The second movable module 330 can be placed at the second groove b316 through the second round hole 3141 of the second fixing plate a314. The third magnetic encoder 338 is fixed to the outside of the second fixing plate a314 by screws.

[0136] As Figure 13 shown, the first rolling wheel b331 is placed at the first groove b315, and there is a first gap a3151 between the first rolling wheel b331 and the first groove b315. The first gap a3151 enables the first rolling wheel b331 to rotate. The third rolling wheel a335 is placed at the second groove b316, and there is a second gap a3161 between the third rolling wheel a335 and the second groove b316. The second gap a3161 enables the third rolling wheel a335 to rotate.

[0137] As shown Figure 14 in the figure, the first magnetic encoder b334, the third magnetic encoder 338, and the triaxial acceleration sensor a35

[0138] are respectively connected to the main controller b34.

[0139] The working principle during the acupuncture puncture training in this embodiment is as follows:

[0140] When the puncture needle penetrates from the top of the second guiding module 31 into the first through hole b311 and passes through the position of the first groove b315, the puncture needle rubs against the first rolling wheel b331 and drives the first rolling wheel b331 to rotate. At the same time, the first rolling wheel b331 also drives the first magnet b333 to rotate; the main controller b34 collects the data of the rotation of the first magnetic encoder b334 within a unit time and processes it to obtain the movement depth and running speed of the puncture needle during the lifting and thrusting operations.

[0141] Specific detection method: The main controller b34 collects data from the first magnetic encoder b334 within a unit time t3, with a time interval of Δt3. The data collected by the main controller b34 is the absolute angle value formed by the magnetic field emitted by the first magnet b333 at the current moment and the first magnetic encoder b334 . Assuming that when detecting the lifting and thrusting, the reverse rotation of the first rolling wheel b331, i.e., the direction of the needle insertion, is the positive direction, then ; when the first rolling wheel b331 rotates in the reverse direction, i.e., the direction of the needle extraction, then

[0142] , assuming that the diameter of the first rolling wheel b331 is b2.

[0143] The main controller b34 records the angle value at the current moment as , and at the same time, the main controller b34 records it every Δt3 time. When the main controller b34 determines that the previous movement direction is opposite to the current movement direction, the counting stops and is recorded as c3. Then, the depth L2 that the puncture needle moves within this time period is:

[0144] When is the case,

[0145] The running speed of the puncture needle is:

[0146]

[0147] When the puncture needle pierces into the first through hole b311 from the top of the second guiding module 31 and passes through the position of the second groove b316, the puncture needle rubs against the third rolling wheel a335, drives the first rolling wheel a131 to rotate, and at the same time the third rolling wheel a335 also drives the third magnet 337 to rotate; the main controller b34 collects and processes the data of the rotation of the third magnetic encoder 338 within a unit time to obtain the rotation angle and angular velocity of the puncture needle.

[0148] Specific detection method: The main controller b34 collects data from the third magnetic encoder 338 per unit time t4 with a time interval of Δt4. The data collected by the main controller b34 is the absolute angle value formed by the magnetic field emitted by the third magnet 338 and the third magnetic encoder 338. . Assume that the forward rotation of the third rolling wheel a335, that is, the clockwise direction of the needle, is the positive direction, then ; the reverse rotation of the third rolling wheel a335, that is, the counterclockwise direction of the needle, then . Assume that the ratio of the diameter of the third rolling wheel a335 to the diameter of the puncture needle is a2.

[0149] The main controller b34 records the angle value at the current moment as , and at the same time the main controller records once every time. When the main controller b34 determines that the previous movement direction of the third rolling wheel a335 is opposite to the current movement direction, the counting stops and is recorded as c4. Then the angle turned by the puncture needle within this time period is:

[0150] When ,

[0151] The current rotation time T2 is:

[0152]

[0153] The angular velocity is:

[0154]

[0155] Example 3: As Figure 15 — Figure 20 is a schematic diagram related to the third acupuncture manipulation training device 50 provided in this example.

[0156] As Figure 15 shown, this third acupuncture manipulation training device 50 includes a third guiding module 51, an operation platform c52, a movable module, a main controller c54, and a three-axis acceleration sensor b55. Similar to Example 2, it can perform lifting-thrusting, twirling, needle-swinging, needle-flicking, tremor method, and scraping method skill training.

[0157] A triaxial acceleration sensor b55 is connected to the third guiding module 51 to detect the angle and direction of the puncture needle swinging back and forth, and can detect flicking, swinging, tremoring and scraping methods.

[0158] As Figure 16 shown, the third guiding module 51 is an acupuncture puncture module. The third guiding module 51 has a first through hole c511 from top to bottom, which is configured to allow the puncture needle to move within the first through hole c511. The top of the third guiding module 51 is circularly designed, and an elastic pad b512 with a "○" - shaped structure at the top is attached to the outer periphery of the top. There is a gap b5121 between the elastic pad b512 with a "○" - shaped structure at the top and the operation table c521. The gap b5121 allows the third guiding module 51 and the elastic pad b512 with a "○" - shaped structure at the top to swing back and forth between the operation platforms c52.

[0159] In this embodiment, the elastic pad b512 with a "○" - shaped structure at the top can simulate the swinging feeling similar to that on the real human skin when performing flicking, swinging, tremoring and scraping methods of the puncture needle during acupuncture puncture, and the puncture needle can swing freely.

[0160] As Figure 17 shown, the operation platform c52 includes an operation table c521 and a bottom plate c522. There is a first opening c5211 at the middle position of the operation table c521. The first opening c5211 is used to place the third guiding module 51 and the elastic pad b512 with a "○" - shaped structure at the top. The bottom uses the bottom plate c522 (the bottom plate c522 has a second opening b5222) to fixedly clamp the third guiding module 51 and the elastic pad b512 with a "○" - shaped structure at the top through screws, and the elastic pad b512 with a "○" - shaped structure at the top and the operation table c521 are parallel to each other and in the same plane.

[0161] In this embodiment, the movable module is attached to the third guiding module 51. The movable module includes a first movable module 529 and a second movable module 530. The position change of the puncture needle during the lifting and inserting operation in the puncture through-hole is detected by the rotation of the first movable module 529; the angle, rotation direction and time of the puncture needle during the twisting in the puncture through-hole are detected by the rotation of the second movable module 530. Among them, the first movable module 529 includes a first rolling wheel c531 and a first orthogonal encoder 533. The first rolling wheel c531 is a cylinder (it can also have a frustum shape at the front end and a cylinder shape at the rear end). The first orthogonal encoder 533 is connected to the end of the first rolling wheel c531 through a first fixed shaft b532. The second movable module includes a third rolling wheel b534 and a third magnetic encoder 537. The third orthogonal encoder 537 is connected to the end of the third rolling wheel b534 through a second fixed shaft b536. The third rolling wheel b534 is a cylinder with a frustum design at the front end and a cylinder design at the rear end.

[0162] As Figure 18 shown, the third guiding module 51 has four faces, namely the front face, the back face, the left face and the right face. Among them, at the middle position of the front face, there is a first fixing plate b513 for fixing the first movable module 529, and the first movable module 529 is fixed at the first card slot 5131 of the first fixing plate b513; at the bottom, there is a second fixing plate b514 for fixing the second movable module 530, and the second movable module 530 is fixed at the second card slot 5141 of the second fixing plate b514; at the middle position of the front face, there is a first groove c515, and the bottom of the first groove c515 communicates with the first through-hole c511. The first rolling wheel c531 can be placed at the first groove c515; at the end of the front face of the third guiding module 51, there is a second groove c516, and the bottom of the second groove c516 communicates with the first through-hole c511. The third rolling wheel b534 can be placed at the second groove c516.

[0163] As Figure 19 shown, the first rolling wheel c531 is placed at the first groove c515, and there is a first gap b5151 between it and the first groove c515. The first gap b5151 enables the first rolling wheel c531 to rotate; the third rolling wheel b534 is placed at the second groove c516, and there is a second gap b5161 between it and the second groove c516. The second gap b5161 enables the third rolling wheel b534 to rotate.

[0164] As Figure 20 shown, the first orthogonal encoder 533, the third orthogonal encoder 537 and the triaxial acceleration sensor b55 are respectively connected to the main controller c54.

[0165] The working principle of this embodiment during the acupuncture puncture training process is as follows:

[0166] When the puncture needle penetrates into the first through hole c511 from the top of the third guiding module 51 and passes through the position of the first groove c515, the puncture needle rubs against the first rolling wheel c531 and drives the first rolling wheel c531 to rotate. At the same time, the first rolling wheel c531 also drives the first orthogonal encoder 533 to rotate; the main controller c54 collects the data signal of the first orthogonal encoder 533 rotating within a unit time and processes it to obtain the movement depth and running speed of the puncture needle during the lifting and inserting operation.

[0167] The specific method is as follows: the main controller c54 collects the data signal of the first orthogonal encoder 533 within the unit time t5. Let the distance between each grid on the encoding disk of the first orthogonal encoder 533 be m3, the time interval be Δt5, and the data signal collected by the main controller c54 be the number of grids n5 and the phase p5 of the encoding disk of the first orthogonal encoder 533 rotating within the unit time Δt5; the main controller c54 judges the current phase and records it. At the same time, the internal counter of the main controller c54 starts to count. When the main controller c54 judges that the phase of the encoding disk is opposite to the previously recorded phase, the counting stops and is recorded as c5. Then, the depth L3 of the puncture needle moving within this time period is:

[0168]

[0169] The speed V3 of the puncture needle running is:

[0170]

[0171] When the puncture needle penetrates into the first through hole c511 from the top of the third guiding module 51 and passes through the position of the second groove c516, the puncture needle rubs against the third rolling wheel b534 and drives the third rolling wheel b534 to rotate. At the same time, the third rolling wheel b534 also drives the third orthogonal encoder 537 to rotate; the main controller c54 collects the data signal of the third orthogonal encoder 537 rotating within a unit time and processes it to obtain the twisting direction, twisting time and angular velocity of the puncture needle during the twisting movement.

[0172] The specific method is as follows: the main controller c54 collects data of the third orthogonal encoder 537 within the unit time t6. Let the distance between each grid on the encoding disk of the third orthogonal encoder 537 be m6, the diameter of the encoding disk be d, the time interval be Δt, and the data signal collected by the main controller c54 be the number of grids n6 and the phase p6 of the encoding disk of the third orthogonal encoder 537 rotating within the unit time Δt. Let The phase at time is and the phase at the previous moment is

[0173] Let the counterclockwise direction be the positive direction of the twisting direction. Then when When it is, the rotation direction is to the left; when it is, the rotation direction is to the right, that is, the clockwise direction.

[0174] The main controller c54 judges the current encoder phase and records it. At the same time, the internal counter of the main controller c54 starts to count. When the main controller c54 judges that the encoder phase is opposite to the previously recorded phase, the counting stops and is recorded as c6. Then the angle turned by the puncture needle during this time period is:

[0175]

[0176] The current twirling time T3 is:

[0177]

[0178] angular velocity is:

[0179]

[0180] The tremor method in acupuncture manipulation is a small-amplitude and fast-frequency lifting, inserting and twirling movement. The above algorithms combined

[0181] can realize the detection of this manipulation.

[0182] In the above-mentioned second and third embodiments, for the detection of the swinging method, flicking method and scraping method, it is detected by a three-axis acceleration sensor. The main controller transmits signals through wires to collect and process the data of the three-axis acceleration sensor

[0183] and the corresponding results can be obtained.

[0184] That is, the specific method is: the main controller (34, 54) collects data from the three-axis acceleration sensor (35, 55) per unit time t7, and the time interval is Δt7. The data collected by the main controller is the angle of the X-axis component within the unit time Δt7

[0185] , the angle of the Y-axis component , and the angle of the Z-axis component . The essence of detecting the swinging method and flicking method is to measure the component angles of , , , and the essence of detecting the scraping method is to measure the component angles of . As shown in Figures 20-22 , the figure is a display diagram of the detection of the swinging method, flicking method and scraping method of the acupuncture needle. Among them, the abscissa in the figure represents time, and the ordinate represents the angle values of the puncture needle during flicking, swinging and scraping respectively.

[0186] In the above Embodiment 1 and Embodiment 2, the magnet is a circular radially magnetizable magnet, and the magnetic encoder is a non-contact magnetic encoder.

[0187] In the above embodiments, the model of the main controller is stm32f405rgt6.

Claims

1. An acupuncture manipulation training device, comprising: A guiding module having a first through hole a; A movable module attached to the guiding module; And A main controller connected to the movable module; It further includes an operation platform having a first opening a thereon, and the guiding module is attached to the first opening a; The movable module includes a first movable module and a second movable module, and the first movable module includes a first rolling wheel a; The second movable module includes a second rolling wheel; The first movable module further includes a first magnet a and a first magnetic encoder a, the first magnet a is connected to the first rolling wheel a, and the first magnetic encoder a is non - contact connected to the first magnet a; The second movable module further includes a second magnet and a second magnetic encoder, the second magnet is connected to the second rolling wheel, and the first magnetic encoder a is non - contact connected to the second magnet; The first movable module further includes a first orthogonal encoder, and the first orthogonal encoder is connected to the first rolling wheel a; A gap and a third through hole are formed between the first rolling wheel a and the second rolling wheel, the third through hole is coaxial with the first through hole a, a puncture needle enters the movable module from the first through hole a of the guiding module and enters the third through hole formed by the first rolling wheel a and the second rolling wheel, and the puncture needle performs lifting - inserting or rotating activities in the third through hole; Wherein, the puncture needle enters the first through hole a and contacts the second rolling wheel, and performs lifting and inserting activities, and the puncture needle generates friction with the second rolling wheel, driving the second rolling wheel and the second magnet to rotate; Wherein, the puncture needle enters the first through hole a and contacts the first rolling wheel a, and performs twirling activities, and the puncture needle generates friction with the first rolling wheel a, driving the first rolling wheel a and the first magnet a to rotate.

2. The acupuncture manipulation training device according to claim 1, wherein the first movable module and the second movable module are respectively attached to the guiding module.

3. The acupuncture manipulation training device according to claim 1, wherein, It further includes an elastic pad attached to the periphery of the guiding module.

4. A method for training acupuncture manipulation, implemented based on the acupuncture manipulation training device described in claim 1, characterized in that, The specific method is as follows: The user uses a puncture needle to pass through the first through hole a of the guiding module and perform arbitrary activities; The puncture needle drives the movable module to move; The main controller detects and processes the position of the movable module, and then obtains the position change of the puncture needle.

5. The acupuncture manipulation training method according to claim 4, characterized in that, The arbitrary activities include any one or a combination of lifting, inserting, and twirling activities.

6. The acupuncture manipulation training method according to claim 5, wherein The arbitrary activities further include any one or a combination of flicking, swinging, and scraping activities of the puncture needle.

7. The acupuncture manipulation training method according to claim 4, wherein The movable module includes a first movable module and a second movable module.

8. The acupuncture manipulation training method according to claim 5, wherein, The main controller detects and processes the position of the movable module to obtain the position change of the puncture needle, including any one or a combination of the puncture depth, puncture speed, twirling time, twirling angle, and twirling angular velocity of the puncture needle. The specific method is: 1) The main controller acquires and records the absolute angle formed by the magnetic field generated by the first magnet a and the first magnetic encoder a within the unit time t1 , where ( ); the main controller determines whether the current movement direction of the first rolling wheel a is opposite to the previous movement direction. If so, the main controller stops counting, denoted as c1; then the current angle of the puncture needle is: When , ; The current twirling time T1 is: ； Angular velocity is as follows: ； Among them, a1 is the ratio of the diameter of the first rolling wheel a to the diameter of the puncture needle. 2) The main controller acquires and records the absolute angle formed by the magnetic field generated by the second magnet and the second magnetic encoder within the unit time t2. ; The main controller determines whether the moving direction of the first rolling wheel a this time is opposite to that of the previous time. If so, the counting stops and is recorded as c2; then the current puncture depth L1 of the puncture needle is: When then ; The speed at which the puncture needle runs is: ； Wherein, b1 is the diameter of the second rolling wheel.

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