Acupuncture manipulation simulation training teaching system and training teaching method

Abstract

The present invention discloses an acupuncture manipulation simulation training teaching system and training teaching method, including an acupuncture device, the acupuncture device includes a base, a control device is installed on the base, the base is connected to a skin simulation device, a sensor device is provided on the skin simulation device, the sensor device is electrically connected to the control device, and the control device communicates with a host computer through a wireless communication module. The present invention uses the device to quantitatively collect acupuncture parameters, so that acupuncture medical trainees can practice acupuncture operations more targeted and intuitively, and rely on the expert database to make acupuncture medical trainees have a basis to rely on for acupuncture operation practices, which is more standardized, which is conducive to the training, inheritance and promotion of acupuncture techniques.

Description

Technical Field

[0001] The invention belongs to the field of medical teaching instruments, and in particular relates to an acupuncture manipulation simulation training teaching system and a training teaching method. Background Art

[0002] Acupuncture in traditional Chinese medicine is a combination of acupuncture and moxibustion. Acupuncture is to insert a needle (usually a filiform needle) into the patient's body at a certain angle through acupoints, and treat diseases through the sensation and action of the meridian system, using twisting, lifting and other techniques to achieve the treatment of symptoms on the surface, inside, and outside of the human body. Moxibustion is to fumigate the skin with burning moxa at certain acupoints, using heat stimulation to treat diseases. It is a medical technique that treats internal diseases externally. As far as acupuncture is concerned, Chinese medicine believes that after acupuncture, slight pain will first occur, and at the same time, attention will be diverted from the original discomfort of the body, pain media will be consumed, and the threshold for pain will be increased. Local stimulation will cause vasoconstriction and subsequent expansion and congestion. Through the body's adjacent veins, polar tissue connections, and layer connections, the body will produce an adaptive response, that is, the positive energy is filled, the adjustment is rapid, the disease disappears, and then the functions of qi, blood, yin and yang, body fluids, and internal organs are adjusted to normal.

[0003] In long-term medical practice, acupuncture medicine has formed the meridian theory consisting of fourteen meridians, eight extraordinary meridians, fifteen collaterals, twelve collateral meridians, twelve meridian tendons, twelve cutaneous parts, as well as sun collaterals and floating collaterals, as well as the knowledge of 361 acupoints and extra meridian acupoints and acupoints' main diseases. It has further discovered the laws of specific connections between specific parts of the human body, created the meridian theory, and thus produced a unique system of methods for treating diseases.

[0004] During the training and learning of young acupuncture medical personnel, they are often unable to intuitively obtain quantitative operational indicators in the practice of needle techniques and strength, and therefore cannot compare with the acupuncture techniques of expert medical personnel; some acupuncture treatment techniques are experiences summarized from long-term medical practice, and different medical personnel will have more or less deviations in teaching operations, and it is impossible to form a unified and standard operating technique for study and research, which is not conducive to the inheritance and promotion of acupuncture techniques. Summary of the invention

[0005] One object of the present invention is to overcome the shortcomings of traditional acupuncture teaching, and to provide an acupuncture manipulation simulation training teaching system, including an acupuncture device, the acupuncture device includes a base provided, a control device is installed in the base, the base is a C-shaped structure, the base is connected to a skin simulation device, the skin simulation device is provided with a sensor device, the sensor device is electrically connected to the control device, and the control device communicates with a host computer through a first wireless communication module;

[0006] The skin simulation device comprises a serpentine tube connected to the base at one end, a first rotating shaft is provided at the other end of the serpentine tube, the first rotating shaft is connected to the fork handle end of the fork structure, a disc is provided in the fork mouth of the fork structure, the disc is movably connected to the two fork parts of the fork structure in the radial direction through the second rotating shaft respectively, a simulated skin layer is provided near the center of the upper surface of the disc, the sensing device comprises a force monitoring device provided in the disc under the simulated skin layer, and an angle monitoring device fixedly connected to one end of the second rotating shaft;

[0007] The force monitoring device comprises a third rotating shaft and a fourth rotating shaft provided in the disk body, the third rotating shaft and the fourth rotating shaft are arranged side by side and the shaft ends are movably connected to the side wall of the disk body, a first silicone layer is provided in the middle of the third rotating shaft, a second silicone layer is provided in the middle of the fourth rotating shaft, the shaft end of the third rotating shaft is connected to a first rotation monitoring device, and the body of the first rotation monitoring device is fixedly connected to the outer side wall of the disk body;

[0008] The skin simulation device also includes an acupoint simulation part, which includes a silicone body. The silicone body is fixedly mounted on a bracket. The lower end of the bracket is connected to a second rotation monitoring device. The lower end of the second rotation monitoring device is connected to a ball head. The ball head cooperates with a ball head socket. The ball head socket is arranged on a lower platform. The second rotation monitoring device is electrically connected to a control device in the base of the acupuncture device via a data cable.

[0009] In addition, the embodiments of the present invention may have the following additional technical features:

[0010] The control device includes a first microcontroller arranged in the base shell of the acupuncture device, the angle monitoring device, the first rotation monitoring device, and the second rotation monitoring device are electrically connected to the first microcontroller respectively, the first microcontroller is also electrically connected to a buzzer, a second power module and a first wireless communication module, the first wireless communication module is a Bluetooth module, the second power module is a 5 volt or 6 volt battery, and the first wireless communication module includes a first microcontroller end of the first wireless communication module and a host computer end of the first wireless communication module.

[0011] The first microcontroller also communicates with the distance measuring device through the second wireless communication module, and the distance measuring device is fixedly installed on the lower end of the handle of the needle through a C-shaped buckle. The second wireless communication module includes a second wireless communication module distance measuring device end and a second wireless communication module first microcontroller end. The distance measuring device includes a second microcontroller, a distance measuring sensor, and a first power module. The second microcontroller is electrically connected to the distance measuring sensor, the first power module and the distance measuring device end of the second wireless communication module. The second wireless communication module is an NRF24L01 wireless transceiver module, and the first power module is a 5V or 6V battery.

[0012] The simulated skin layer is a third silicone layer.

[0013] The base of the acupuncture device is connected to one end of the serpentine tube via a fixed pile.

[0014] A training and teaching method of an acupuncture manipulation simulation training and teaching system, comprising:

[0015] Step 1: implanting expert-level acupuncture technique quantitative parameter thresholds in the host computer, the quantitative parameter thresholds include: needle head length fixed value of each type of filiform needle, corresponding acupoint name, needle insertion force threshold of the corresponding acupoint, needle insertion angle threshold, needle insertion depth threshold, twisting speed and circle number threshold;

[0016] Step 2: The acupuncture trainee holds the filiform needle in his hand, including the use of the thumb, index and middle finger three-finger needle holding method and the thumb and index finger two-finger needle holding method suitable for practice, and the needle body is vertical, and the needle tip is against the upper surface of the simulated skin layer provided in the middle of the plate body to prepare for needle insertion. The distance sensor installed at the lower end of the needle handle uploads the real-time distance measurement value of the simulated skin layer collected at this moment as the initial positioning value to the host computer via the first microcontroller. The host computer uses the initial positioning value to subtract the fixed value of the needle head length of the filiform needle in the quantitative parameter threshold. If the deviation is less than 2%, it is recognized that the initial positioning value meets the requirement, otherwise the needle body is moved again to make the initial positioning value meet the deviation requirement;

[0017] Step three, when the initial positioning value meets the requirements, the host computer communicates with the first microcontroller, so that the buzzer of the first microcontroller emits a prompt sound for the start of needle insertion and the first microcontroller restarts the timer synchronously. The learner holds the needle and immediately inserts the needle into the simulated skin layer and feeds it downward when hearing the prompt sound for the start of needle insertion. The third rotating shaft and the fourth rotating shaft arranged on the disk body guide and clamp the needle tip and continue to feed the needle tip downward, causing the third rotating shaft and the fourth rotating shaft that are close to each other to rotate at the moment. The first rotation monitoring device connected to the shaft end of the third rotating shaft sends an interrupt request signal to the first microcontroller, and the first microcontroller immediately interrupts the timer and uploads the timing duration.

[0018] Step 4: The host computer uses the fixed value of the needle head length of the filiform needle to subtract the real-time distance measurement value of the distance to the simulated skin layer collected by the distance measurement sensor at the timing of the interrupt timer to obtain the current needle insertion depth, and verifies the needle insertion depth with the actual mechanical installation distance fixed value between the simulated skin layer and the third rotating shaft and the fourth rotating shaft. If the deviation is less than ±2%, it is determined that the needle insertion depth obtained at this moment is valid, otherwise, the above needle insertion operation is repeated starting from step 2;

[0019] Step 5: The host computer divides the effective needle insertion depth as the distance between the simulated skin layer and the third rotating shaft and the fourth rotating shaft by the timing duration collected and uploaded at the interrupt timer moment to obtain the average needle insertion speed, and uses the size of the average needle insertion speed as a quantitative value to measure the student's initial needle insertion force, and compares it with the expert-level needle insertion force quantitative parameter threshold to determine whether the student's needle insertion force is qualified. At the same time, the third rotating shaft and the fourth rotating shaft on the disk clamp the needle tip and when the needle tip continues to feed downward, the first rotation monitoring device connected to the shaft end of the third rotating shaft collects the rotation arc in real time, and calculates the rotation arc length by using the product of the radius of the third rotating shaft or the fourth rotating shaft and the real-time collected rotation arc, that is, obtaining the needle feeding amount, and uploading the feeding amount to the host computer and calibrating it with the synchronous real-time needle insertion depth obtained by subtracting the distance measurement value obtained by the distance measurement sensor in real time from the fixed value of the needle head length of the filiform needle. If the deviation is less than ±2%, it is determined that the needle insertion depth is valid at this moment, otherwise, repeat the above needle insertion operation starting from step 2;

[0020] Step 6: The angle monitoring device fixedly connected to one end of the second rotating shaft obtains the needle insertion angle in real time, and uploads it to the host computer in real time through the first microcontroller until the needle tip reaches and inserts into the silicone body of the acupuncture point simulation part on the lower platform. The host computer compares the needle insertion angle and the needle insertion depth sampling value obtained by subtracting the fixed value of the needle head length of the filiform needle and the real-time distance measurement value of the distance measurement sensor with the quantitative parameter threshold of the expert-level needle insertion technique to determine whether the student's needle insertion angle and needle insertion depth operation process are qualified;

[0021] Step 7, twisting the needle body, the silicone body of the acupoint simulation part rotates synchronously with the lower bracket, and the second rotation monitoring device located at the lower end of the lower bracket of the silicone body is responsible for real-time collection of data on twisting speed and twisting circle number, and uploading it to the host computer through the first microcontroller. The host computer compares the uploaded twisting speed and twisting circle number data with the quantitative parameter threshold of the expert-level needle insertion technique of the acupoint to determine whether the operation process is qualified, and displays the needle insertion force, needle insertion angle, and needle insertion depth operation judgment results of the trainee for observation by acupuncture medical teaching staff and acupuncture medical trainees;

[0022] Step 8. After the above observation, the acupuncture medical trainees find out the deficiencies in the acupuncture operation and use the present device to repeatedly practice acupuncture manipulation on the same acupoint until the needle insertion force, needle insertion angle, needle insertion depth, twisting speed and number of circles meet the expert-level needle insertion technique quantitative parameter threshold requirements for the corresponding acupoint in the host computer.

[0023] The working principle of the present invention is:

[0024] By setting up an acupuncture device, and communicating with the host computer in full-duplex or half-duplex through a wireless communication module, the expert-level needle insertion technique quantitative parameter thresholds are implanted in the host computer. The quantitative parameter thresholds include: the fixed value of the needle head length of each type of filiform needle, the name of the corresponding acupoint, the threshold of the needle insertion force of the corresponding acupoint, the threshold of the needle insertion angle, the threshold of the needle insertion depth, the twisting speed and the number of circles, etc., to establish a standard expert-level needle insertion technique quantitative basis database. Acupuncture students select the specific acupoints to be practiced, hold the filiform needles in their hands, and perform the needle insertion operation. The force monitoring device, angle monitoring device, distance sensor device, and rotation monitoring device in the device monitor the needle insertion process in real time from the needle insertion force, needle insertion angle, needle insertion depth, twisting speed and number of circles, and upload them to the host computer by the first microcontroller, and compare them with the expert-level needle insertion technique quantitative parameter thresholds implanted in the host computer to make a judgment result on whether the acupuncture operation of the acupuncture student is qualified or not. If the acupuncture point fails to meet the standard, the acupuncture trainees can find out the deficiencies in the acupuncture operation more intuitively, and use the device to repeatedly practice acupuncture manipulation on the same acupuncture point until the acupuncture point meets the expert-level needle insertion technique requirements.

[0025] By using the acupuncture device, acupuncture medical learners can obtain standardized acupuncture training operations, and the skin simulation device can intuitively see the entire process of needle insertion, which greatly facilitates the observation of the needle insertion process compared to the acupuncture bronze man. The skin simulation device adopts a serpentine tube connection structure with one end fixed and the other end suspended. On the one hand, it can create a more close real-time process of needle insertion, simulate the effect of skin hardness and softness, and make the operation of acupuncture medical trainees more realistic; on the other hand, through the hollow serpentine tube structure, the angle monitoring device responsible for collecting the angle of needle insertion; the first rotating monitoring device responsible for guiding and clamping the needle, triggering the interrupt timing signal, and providing the needle insertion amount and the real-time distance measurement value of the distance sensor for needle depth verification; the second rotating monitoring device responsible for collecting twisting data and the connection signal cable between the first microcontroller in the control device are laid inside, making the entire device neat and compact in structure.

[0026] By using acupuncture devices, the force, angle, depth, twisting speed and number of circles of acupuncture needles are quantitatively collected, making it intuitive for acupuncture trainees to operate acupuncture techniques and more targeted in practice. Based on the quantitative parameter thresholds of expert-level needle insertion techniques corresponding to acupoints of the host computer, acupuncture trainees can operate acupuncture techniques more standardizedly and have a basis to rely on in practice, which is more conducive to the teaching, training, inheritance and promotion of acupuncture techniques.

[0027] Additional aspects and advantages of the invention will be set forth in part in the following description and in part will be obvious from the following description, or may be learned by practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become obvious and easily understood from the description of the embodiments in conjunction with the following drawings;

[0029] Figure 1 It is a schematic diagram of one-handed needle insertion in an acupuncture manipulation simulation training and teaching system;

[0030] Figure 2 It is a simulation training teaching system for acupuncture manipulation. Another schematic diagram of one-handed needle insertion;

[0031] Figure 3 for Figure 1 or Figure 2 Schematic diagram of a force monitoring device in FIG.

[0032] Figure 4 for Figure 1 or Figure 2 A partial enlarged schematic diagram of the acupoint simulation part;

[0033] Figure 5 It is the electrical principle diagram of the system;

[0034] Wherein: 1. serpentine tube, 2. first rotating shaft, 3. distance measuring device, 4. fork structure, 5. disk, 6. first rotation monitoring device, 7. second rotating shaft, 8. angle monitoring device, 9. lower platform, 10. base, 11. acupoint simulation part, 12. data line, 13. control device, 14. fixed pile, 15. third rotating shaft, 16. fourth rotating shaft, 17. simulated skin layer, 18. silicone body, 19. bracket, 20. second rotation monitoring device, 21. ball head, 22. ball head mortar, 23. first microcontroller, 24. first microcontroller end of first wireless communication module, 25. distance measuring device end of second wireless communication module, 26. distance measuring sensor, 27. first power module, 28. first microcontroller end of second wireless communication module, 29. second power module, 30. buzzer, 31. host computer end of first wireless communication module, 32. host computer, 33. second microcontroller. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. The following is further described in conjunction with the accompanying drawings;

[0036] Figures 1 to 5 The main idea of ​​the present invention is to design an acupuncture manipulation simulation training teaching system, including an acupuncture device, the acupuncture device includes a base 10, the base is a C-shaped structure, the base structure forms three points coplanar, so that the entire acupuncture device can be placed on an undulating desktop to simulate different joints of the body for teaching and training. A control device 13 is installed in the base 10, the base 10 is connected to a skin simulation device, a sensor device is provided on the skin simulation device, the sensor device is electrically connected to the control device 13, and the control device 13 communicates with the host computer 32 through a first wireless communication module. In addition to the wireless communication method, the serial interface in the control device 13 can also be connected to the computer through a USB converter to realize full-duplex or half-duplex wired communication. This method is also a method often used by those skilled in the art, but it is not as convenient as the wireless communication mode adopted by this technical solution.

[0037] The skin simulation device includes a serpentine tube 1 connected to the base 10 at one end, and a first rotating shaft 2 is provided at the other end of the serpentine tube 1. The first rotating shaft 2 is connected to the fork handle end of the fork structure 4, and a disk body 5 is provided in the fork mouth of the fork structure 4. The disk body 5 is movably connected to the two fork parts of the fork structure 4 in the radial direction through the second rotating shaft 7 respectively. A simulated skin layer 17 is provided near the center of the upper surface of the disk body 5. The sensing device includes a force monitoring device provided in the disk body 5 under the simulated skin layer 17, and an angle monitoring device 8 fixedly connected to one end of the second rotating shaft 7. The angle monitoring device 8 can adopt the ADXL335 small size (4mmX4mmX1.45mm), low power consumption X\Y\Z three-axis acceleration tilt angle sensor or the ADXL345 X\Y\Z three-axis angle tilt sensor GY-291. The number of axes to be measured can be selected as needed. In this scheme, one or more axes in X\Y\Z can be monitored and data collected, and the minimum tilt change monitoring accuracy of about 0.25 degrees can be achieved for each axis.

[0038] The force monitoring device includes a third rotating shaft 15 and a fourth rotating shaft 16 provided in the disk body 5, the third rotating shaft 15 and the fourth rotating shaft 16 are arranged side by side and the shaft ends are movably connected to the side wall of the disk body 5, the middle of the third rotating shaft 15 is provided with a first silicone layer, the middle of the fourth rotating shaft 16 is provided with a second silicone layer, the shaft end of the third rotating shaft 15 is connected with a first rotation monitoring device 6, and the body of the first rotation monitoring device 6 is fixedly connected to the outer side wall of the disk body 5. The first rotation monitoring device 6 can use an ABZ1000 line MJ20E-C incremental rotary magnetic encoder. Or use a YFRobot 25 diameter photoelectric 360cpr photoelectric incremental encoder.

[0039] The skin simulation device also includes an acupuncture point simulation part 11, which includes a silicone body 18, which can be a silicone ball. The silicone body 18 is fixedly mounted on a bracket 19. The lower end of the bracket 19 is connected to a second rotation monitoring device 20. The lower end of the second rotation monitoring device 20 is connected to a ball head 21. The ball head 21 cooperates with a ball head mortise 22. The ball head mortise 22 is arranged on the lower platform 9. The second rotation monitoring device 20 is electrically connected to the control device 13 in the acupuncture device base 10 through a data line 12. The second rotation monitoring device 20 can use an E6B2-CWZ1X, 1800 or 2000 resolution incremental rotary encoder. The data line 12 can use a copper core soft DuPont line, so that the position of the lower platform 9 can be placed at different positions, combined with the cooperation of the ball head 21 and the ball head mortise 22, to achieve the simulation setting of different acupuncture point orientations, and then achieve the training and teaching purpose of different needle insertion angles and techniques that acupuncture medical students should adopt for different acupuncture points.

[0040] The control device 13 includes a first microcontroller 23 disposed in the housing of the base 10 of the acupuncture device, the angle monitoring device 8, the first rotation monitoring device 6, and the second rotation monitoring device 20 are electrically connected to the first microcontroller 23 respectively, and the first microcontroller 23 is also electrically connected to a buzzer 30, a second power module 29 and a first wireless communication module, the first wireless communication module is a Bluetooth module, the second power module 29 is a 6-volt battery, and the first wireless communication module includes a first wireless communication module first microcontroller end 24 and a first wireless communication module host computer end 31. The first microcontroller 23 can use a 8051 series general-purpose single-chip microcomputer, and the first wireless communication module can use an HC-05 master-slave integrated Bluetooth module to achieve wireless transceiver duplex communication, with an effective communication distance of 10 meters.

[0041] The first microcontroller 23 also communicates with the distance measuring device 3 through the second wireless communication module, and the distance measuring device 3 is fixedly installed at the lower end of the handle of the needle through a C-shaped buckle. The second wireless communication module includes a second wireless communication module distance measuring device end 25 and a second wireless communication module first microcontroller end 28. The distance measuring device 3 includes a second microcontroller 33, a distance measuring sensor 26, and a first power module 27. The second microcontroller 33 is electrically connected with the distance measuring sensor 26, the first power module 27 and the second wireless communication module distance measuring device end 25. The second wireless communication module is an NRF24L01 wireless transceiver module, and the first power module 27 is a 6-volt battery. The first power module 27 and the second power module 29 can both use two 3-volt CR2032 button batteries connected in series to form a 6-volt battery. The distance measuring sensor 26 can use a GP2Y0A41SK0F4-30CM distance infrared sensor. The second microcontroller 33 can also use an 8051 series general-purpose single-chip microcomputer.

[0042] The simulated skin layer 17 may be a third silicone layer. The base 10 of the acupuncture device may also be connected to one end of the serpentine tube 1 via a fixed pile 14 .

[0043] A training and teaching method of an acupuncture manipulation simulation training and teaching system, comprising:

[0044] Step 1: implanting expert-level acupuncture technique quantitative parameter thresholds in the host computer 32, the quantitative parameter thresholds including: needle head length fixed value of each type of filiform needle, corresponding acupoint name, acupuncture force threshold of the corresponding acupoint, acupuncture angle threshold, acupuncture depth threshold, twisting speed and circle number threshold;

[0045] Step 2: The acupuncture trainee holds the filiform needle in his hand, including the use of the thumb, index and middle finger three-finger needle holding method and the thumb and index finger two-finger needle holding method suitable for practice, and the needle body is vertically placed with the needle tip against the upper surface of the simulated skin layer 17 provided in the middle of the disk body 5 to prepare for needle insertion. The distance sensor 26 installed at the lower end of the needle handle collects the real-time distance measurement value of the simulated skin layer 17 at this moment as the initial positioning value and uploads it to the host computer 32 via the first microcontroller 23. The host computer 32 uses the initial positioning value to subtract the fixed value of the needle head length of the filiform needle in the quantitative parameter threshold. If the deviation is less than 2%, it is recognized that the initial positioning value meets the requirement, otherwise the needle body is moved again to make the initial positioning value meet the deviation requirement;

[0046] Step three, when the initial positioning value meets the requirements, the host computer 32 communicates with the first microcontroller 23, so that the buzzer 30 of the first microcontroller 23 emits a needle insertion prompt sound and the first microcontroller 23 restarts the timer timing synchronously. The learner immediately inserts the needle into the simulated skin layer 17 and feeds it downward when hearing the needle insertion prompt sound. The third rotating shaft 15 and the fourth rotating shaft 16 arranged on the disk 5 guide and clamp the needle tip and continue to feed downward at the needle tip, causing the third rotating shaft 15 and the fourth rotating shaft 16 to rotate at the moment. The first rotation monitoring device 6 connected to the shaft end of the third rotating shaft 15 sends an interrupt request signal to the first microcontroller 23, and the first microcontroller 23 immediately interrupts the timer timing and uploads the timing duration; the buzzer 30 can use a passive 5020 ultra-small electromagnetic patch buzzer 30;

[0047] Step 4, the first microcontroller 23 communicates with the host computer 32, and the host computer 32 uses the fixed value of the needle head length of the filiform needle minus the real-time distance measurement value of the distance to the simulated skin layer 17 collected by the distance measurement sensor 26 at the timing of the interrupt timer to obtain the current needle insertion depth, and the needle insertion depth is verified with the actual mechanical installation distance fixed value between the simulated skin layer 17 and the third rotating shaft 15 and the fourth rotating shaft 16. If the deviation is less than ±2%, it is determined that the needle insertion depth obtained at this moment is valid, otherwise, the above needle insertion operation is repeated starting from step 2;

[0048] Step 5: The upper computer 32 divides the effective needle insertion depth as the distance between the simulated skin layer 17 and the third rotating shaft 15 and the fourth rotating shaft 16 by the timing duration collected and uploaded at the interrupt timer to obtain the average needle insertion speed, and uses the average needle insertion speed as a quantitative value to measure the student's initial needle insertion strength, and compares it with the expert-level needle insertion strength quantitative parameter threshold to determine whether the student's needle insertion strength is qualified. At the same time, the third rotating shaft 15 and the fourth rotating shaft 16 on the disk body 5 clamp the needle tip and continue to feed the needle tip downward. During the process, the first rotation monitoring device 6 connected to the shaft end of the third rotating shaft 15 collects the rotation arc in real time, and calculates the rotation arc length by multiplying the radius of the third rotating shaft 15 or the fourth rotating shaft 16 by the real-time collected rotation arc, that is, the needle feeding amount is obtained, and the feeding amount is uploaded to the host computer 32 and the host computer 32 synchronously uses the needle head length fixed value of the needle to subtract the distance value obtained by the distance sensor 26 to obtain the synchronous needle insertion depth. If the deviation is less than ±2%, it is determined that the needle insertion depth is valid at this moment. Otherwise, the above needle insertion operation is repeated from step 2;

[0049] Step 6: the angle monitoring device 8 fixedly connected to one end of the second rotating shaft 7 obtains the needle insertion angle in real time, and uploads it to the host computer 32 in real time through the first microcontroller 23. When the needle tip reaches and inserts into the silicone body 18 of the acupuncture point simulation part 11 on the lower platform 9, the host computer 32 compares the needle insertion angle and the needle insertion depth sampling value obtained by subtracting the fixed value of the needle head length of the filiform needle and the real-time distance measurement value of the distance measurement sensor 26 with the expert-level needle insertion technique quantitative parameter threshold to determine whether the student's needle insertion angle and needle insertion depth operation are qualified;

[0050] Step 7: As the needle body is twisted, the second rotation monitoring device 20 located at the lower end of the bracket 19 at the lower part of the silicone body 18 is responsible for collecting data on the twisting speed and the number of twisting circles, and uploading the data to the host computer 32 through the first microcontroller 23. The host computer 32 compares the uploaded data on the twisting speed and the number of twisting circles with the quantitative parameter threshold of the expert-level needle insertion technique of the acupoint to determine whether the operation is qualified, and displays the results of the needle insertion angle and the needle insertion depth operation of the trainee for observation by acupuncture medical teaching staff and acupuncture medical trainees;

[0051] Step 8: After the above observation, the acupuncture medical trainees find out the deficiencies in the acupuncture operation, and use the present device to repeatedly practice the acupuncture manipulation on the same acupoint until the needle insertion force, needle insertion angle, needle insertion depth, twisting speed and number of circles meet the expert-level needle insertion technique quantitative parameter thresholds of the corresponding acupoints in the host computer 32. The quantitative parameter threshold assessment is not limited to the above-mentioned types. Acupuncture medical teaching staff can add corresponding quantitative parameter threshold assessment training items in the host computer 32 according to actual work needs to meet the needs of trainees in acupuncture manipulation simulation training.

[0052] Acupuncture medical teaching staff and acupuncture medical students can use the technical solution described in this application to provide guidance and training on corresponding acupuncture techniques, and can intuitively observe the entire process of needle insertion without blind spots, which can achieve a good practical effect of getting twice the result with half the effort.

[0053] In the description of this specification, the description of reference terms such as "one embodiment" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and purpose of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An acupuncture manipulation simulation training teaching system, characterized in that: The acupuncture device includes a base provided therein, a control device is installed in the base, the base is a C-shaped structure, the base is connected to a skin simulation device, a sensor device is provided on the skin simulation device, the sensor device is electrically connected to the control device, and the control device communicates with a host computer through a first wireless communication module; The skin simulation device comprises a serpentine tube connected to the base at one end, a first rotating shaft is provided at the other end of the serpentine tube, the first rotating shaft is connected to the fork handle end of the fork structure, a disc is provided in the fork mouth of the fork structure, the disc is movably connected to the two fork parts of the fork structure in the radial direction through the second rotating shaft respectively, a simulated skin layer is provided near the center of the upper surface of the disc, the sensing device comprises a force monitoring device provided in the disc under the simulated skin layer, and an angle monitoring device fixedly connected to one end of the second rotating shaft; The force monitoring device comprises a third rotating shaft and a fourth rotating shaft provided in the disk body, the third rotating shaft and the fourth rotating shaft are arranged side by side and the shaft ends are movably connected to the side wall of the disk body, a first silicone layer is provided in the middle of the third rotating shaft, a second silicone layer is provided in the middle of the fourth rotating shaft, the shaft end of the third rotating shaft is connected to a first rotation monitoring device, and the body of the first rotation monitoring device is fixedly connected to the outer side wall of the disk body; The skin simulation device also includes an acupoint simulation part, which includes a silicone body. The silicone body is fixedly mounted on a bracket. The lower end of the bracket is connected to a second rotation monitoring device. The lower end of the second rotation monitoring device is connected to a ball head. The ball head cooperates with a ball head socket. The ball head socket is arranged on a lower platform. The second rotation monitoring device is electrically connected to a control device in the base of the acupuncture device via a data cable.

2. The acupuncture manipulation simulation training teaching system according to claim 1, characterized in that: The control device includes a first microcontroller arranged in the base shell of the acupuncture device, the angle monitoring device, the first rotation monitoring device, and the second rotation monitoring device are electrically connected to the first microcontroller respectively, the first microcontroller is also electrically connected to a buzzer, a second power module and a first wireless communication module, the first wireless communication module is a Bluetooth module, the second power module is a 5 volt or 6 volt battery, and the first wireless communication module includes a first microcontroller end of the first wireless communication module and a host computer end of the first wireless communication module.

3. The acupuncture manipulation simulation training teaching system according to claim 2, characterized in that: The first microcontroller also communicates with the distance measuring device through the second wireless communication module, and the distance measuring device is fixedly installed on the lower end of the handle of the needle through a C-shaped buckle. The second wireless communication module includes a second wireless communication module distance measuring device end and a second wireless communication module first microcontroller end. The distance measuring device includes a second microcontroller, a distance measuring sensor, and a first power module. The second microcontroller is electrically connected to the distance measuring sensor, the first power module and the distance measuring device end of the second wireless communication module. The second wireless communication module is an NRF24L01 wireless transceiver module, and the first power module is a 5V or 6V battery.

4. The acupuncture manipulation simulation training teaching system according to claim 3, characterized in that: The simulated skin layer is a third silicone layer.

5. A training and teaching method using the acupuncture manipulation simulation training and teaching system as claimed in claim 4, characterized in that: include: Step 1: implanting expert-level acupuncture technique quantitative parameter thresholds in the host computer, the quantitative parameter thresholds include: needle head length fixed value of each type of filiform needle, corresponding acupoint name, needle insertion force threshold of the corresponding acupoint, needle insertion angle threshold, needle insertion depth threshold, twisting speed and circle number threshold; Step 2: The acupuncture trainee holds the filiform needle in his hand, including the use of the thumb, index and middle finger three-finger needle holding method and the thumb and index finger two-finger needle holding method suitable for practice, and the needle body is vertical, and the needle tip is against the upper surface of the simulated skin layer provided in the middle of the plate body to prepare for needle insertion. The distance sensor installed at the lower end of the needle handle uploads the real-time distance measurement value of the simulated skin layer collected at this moment as the initial positioning value to the host computer via the first microcontroller. The host computer uses the initial positioning value to subtract the fixed value of the needle head length of the filiform needle in the quantitative parameter threshold. If the deviation is less than 2%, it is recognized that the initial positioning value meets the requirement, otherwise the needle body is moved again to make the initial positioning value meet the deviation requirement; Step three, when the initial positioning value meets the requirements, the host computer communicates with the first microcontroller, so that the buzzer of the first microcontroller emits a prompt sound for the start of needle insertion and the first microcontroller restarts the timer synchronously. The learner holds the needle and immediately inserts the needle into the simulated skin layer and feeds it downward when hearing the prompt sound for the start of needle insertion. The third rotating shaft and the fourth rotating shaft arranged on the disk body guide and clamp the needle tip and continue to feed the needle tip downward, causing the third rotating shaft and the fourth rotating shaft that are close to each other to rotate at the moment. The first rotation monitoring device connected to the shaft end of the third rotating shaft sends an interrupt request signal to the first microcontroller, and the first microcontroller immediately interrupts the timer and uploads the timing duration. Step 4: The host computer uses the fixed value of the needle head length of the filiform needle to subtract the real-time distance measurement value of the distance to the simulated skin layer collected by the distance measurement sensor at the timing of the interrupt timer to obtain the current needle insertion depth, and verifies the needle insertion depth with the actual mechanical installation distance fixed value between the simulated skin layer and the third rotating shaft and the fourth rotating shaft. If the deviation is less than ±2%, it is determined that the needle insertion depth obtained at this moment is valid, otherwise, the above needle insertion operation is repeated starting from step 2; Step 5: The host computer divides the effective needle insertion depth as the distance between the simulated skin layer and the third rotating shaft and the fourth rotating shaft by the timing duration collected and uploaded at the interrupt timer moment to obtain the average needle insertion speed, and uses the size of the average needle insertion speed as a quantitative value to measure the student's initial needle insertion force, and compares it with the expert-level needle insertion force quantitative parameter threshold to determine whether the student's needle insertion force is qualified. At the same time, the third rotating shaft and the fourth rotating shaft on the disk clamp the needle tip and when the needle tip continues to feed downward, the first rotation monitoring device connected to the shaft end of the third rotating shaft collects the rotation arc in real time, and calculates the rotation arc length by using the product of the radius of the third rotating shaft or the fourth rotating shaft and the real-time collected rotation arc, that is, obtaining the needle feeding amount, and uploading the feeding amount to the host computer and calibrating it with the synchronous real-time needle insertion depth obtained by subtracting the distance measurement value obtained by the distance measurement sensor in real time from the fixed value of the needle head length of the filiform needle. If the deviation is less than ±2%, it is determined that the needle insertion depth is valid at this moment, otherwise, repeat the above needle insertion operation starting from step 2; Step 6: The angle monitoring device fixedly connected to one end of the second rotating shaft obtains the needle insertion angle in real time, and uploads it to the host computer in real time through the first microcontroller until the needle tip reaches and inserts into the silicone body of the acupuncture point simulation part on the lower platform. The host computer compares the needle insertion angle and the needle insertion depth sampling value obtained by subtracting the fixed value of the needle head length of the filiform needle and the real-time distance measurement value of the distance measurement sensor with the quantitative parameter threshold of the expert-level needle insertion technique to determine whether the student's needle insertion angle and needle insertion depth operation process are qualified; Step 7, twisting the needle body, the silicone body of the acupoint simulation part rotates synchronously with the lower bracket, and the second rotation monitoring device located at the lower end of the lower bracket of the silicone body is responsible for real-time collection of data on twisting speed and twisting circle number, and uploading it to the host computer through the first microcontroller. The host computer compares the uploaded twisting speed and twisting circle number data with the quantitative parameter threshold of the expert-level needle insertion technique of the acupoint to determine whether the operation process is qualified, and displays the needle insertion force, needle insertion angle, and needle insertion depth operation judgment results of the trainee for observation by acupuncture medical teaching staff and acupuncture medical trainees; Step 8. After the above observation, the acupuncture medical trainees find out the deficiencies in the acupuncture operation and use the present device to repeatedly practice acupuncture manipulation on the same acupoint until the needle insertion force, needle insertion angle, needle insertion depth, twisting speed and number of circles meet the expert-level needle insertion technique quantitative parameter threshold requirements for the corresponding acupoint in the host computer.

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