A remote collaborative robotic acupuncture system

Abstract

The application discloses a kind of remote cooperation robot acupuncture systems, it is related to intelligent medical treatment field, including acupuncture robot and remote operation terminal, remote operation terminal and acupuncture robot are connected by network;Acupuncture robot includes multi-axis mechanical arm, monitoring module and acupuncture operation group, monitoring module and acupuncture operation group are all installed on multi-axis mechanical arm, multi-axis mechanical arm operates acupuncture operation group and moves to the body to be acupunctured, monitoring module is configured to shoot image and real-time monitoring;Remote operation terminal includes programmer, display and controller, programmer is same with the structure of multi-axis mechanical arm, in the network connection state, the programmer is operated, multi-axis mechanical arm follow-up;Display is used to show the image that monitoring module shoots, controller is configured to be used to operate the action of acupuncture operation group.This scheme is in the mode of remote control, under the cooperation of monitoring module, by controlling action to programmer, and then make multi-axis mechanical arm carry out synchronous action.

Description

Technical Field

[0001] This invention relates to the field of intelligent medical treatment; specifically, it relates to a remote collaborative robot acupuncture system. Background Technology

[0002] Currently, the level of industrial intelligence is increasing. Under the concept of intelligent control, intelligent equipment significantly outperforms manual operation in both processing efficiency and precision. The concept of intelligence is also gradually being popularized in medical equipment. Replacing some traditional treatment methods with artificial intelligence is a new direction currently under research. In the field of acupuncture, experienced medical personnel perform acupuncture treatment on patients. First, they disinfect the area to be acupunctured with a cotton ball, then insert the treatment needles into the body, continuously rotating the needles with their fingers to achieve the purpose of acupuncture treatment.

[0003] It is not difficult to see that acupuncture treatment relies excessively on manual operation, requiring medical personnel to have extensive acupuncture experience. Furthermore, prolonged acupuncture treatments place a significant strain on the medical personnel's energy, which can substantially impact both treatment efficiency and needle insertion accuracy. Therefore, based on the concept of intelligent technology, it is essential to design devices or equipment that can assist medical personnel in performing acupuncture treatments. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a remote collaborative robot acupuncture system. By utilizing the system provided in this solution, the workload of medical personnel can be greatly reduced, while also significantly improving treatment efficiency and acupuncture accuracy.

[0005] Specifically, the detailed technical solution provided by the present invention is as follows: A remote collaborative robot acupuncture system, comprising an acupuncture robot and a remote operation terminal, wherein the acupuncture robot is used to perform acupuncture operations, the remote operation terminal is used for remote control, and the remote operation terminal and the acupuncture robot are connected via a network.

[0006] The acupuncture robot includes a multi-axis robotic arm, a monitoring module, and an acupuncture operation group. Both the monitoring module and the acupuncture operation group are mounted on the multi-axis robotic arm. The multi-axis robotic arm operates the acupuncture operation group to move to the acupuncture site on the human body. The monitoring module is configured to capture images and monitor in real time.

[0007] The remote operation terminal includes a teach pendant, a display, and a controller. The teach pendant has the same structure as the multi-axis robotic arm. When the teach pendant is operated in a network connection state, the multi-axis robotic arm moves accordingly. The display is used to display images captured by the monitoring module, and the controller is configured to operate the acupuncture operation group movements.

[0008] Furthermore, the acupuncture operation group includes a support module, a disinfection module, a needle insertion module, and a needle twisting module; the support module is fixed to the distal end of the multi-axis robotic arm; the disinfection module, the needle insertion module, and the needle twisting module are fixed side by side on the support module in sequence; the multi-axis robotic arm drives the support module, thereby allowing the disinfection module, the needle insertion module, and the needle twisting module to be adjusted in space.

[0009] Furthermore, the support module includes a fixing plate, a linear motor module, and a support plate; the fixing plate is connected to the distal end of the multi-axis robotic arm; the linear motor module is fixed to the end face of the fixing plate away from the multi-axis robotic arm, and the support plate is fixed to the slider of the linear motor module; the motor in the linear motor module drives the slider to slide linearly left and right;

[0010] The disinfection module, needle insertion module, and needle twisting module are all fixed to the end face of the support plate away from the linear motor module.

[0011] Furthermore, the disinfection module includes an eccentric drive component, a disinfection propulsion component, and a cotton swab storage component;

[0012] The eccentric drive assembly is fixed to the bracket plate by the first support frame; the disinfection propulsion assembly is fixed on the eccentric drive assembly; the cotton swab storage assembly contains cotton swabs, which are positioned in front of the disinfection propulsion assembly.

[0013] The disinfection propulsion component drives the cotton swab to extend in a straight line to contact the area of ​​the body to be treated with acupuncture. The eccentric drive component is configured to drive the disinfection propulsion component and the cotton swab storage component to rotate eccentrically to disinfect the area of ​​the body to be treated with acupuncture.

[0014] Furthermore, the cotton swab storage assembly also includes a cotton swab storage wheel, which has multiple cotton swab storage cavities, each of which contains a cotton swab.

[0015] The disinfection propulsion assembly has a telescopic cotton swab pusher. Each extension of the cotton swab pusher pushes cotton swabs from different cotton swab storage chambers to contact the acupuncture area of ​​the human body.

[0016] Furthermore, the needle insertion module includes a second support component, an acupuncture propulsion component, and a needle;

[0017] The second support assembly has a second support frame, which is fixed to the bracket plate, and the acupuncture propulsion assembly is installed inside the second support assembly; the needle is positioned in front of the acupuncture propulsion assembly;

[0018] The acupuncture propulsion component drives the needle to extend in a straight line to pierce the area of ​​the body to be treated.

[0019] Furthermore, the needle insertion module also includes a needle receiving wheel, which has multiple needle receiving cavities, each of which contains a needle.

[0020] The acupuncture propulsion assembly has a telescopic needle push rod, and each extension of the needle push rod pushes out needles from different needle storage cavities to insert into the human body.

[0021] Furthermore, the needle twisting module includes a third support component, an alignment and propulsion component, and a rotation clamping component;

[0022] The third support assembly has a third support frame, which is fixed to the bracket plate. The alignment and propulsion assembly is installed in the third support assembly, and the rotating clamping assembly is connected to the front of the alignment and propulsion assembly.

[0023] The alignment and propulsion component drives the rotating clamping component to extend linearly to a preset position, and the rotating clamping component clamps the needle and rotates it.

[0024] Furthermore, the rotating clamping assembly includes a stabilizing clamping part, a rotating tightening part, and a rotating motor;

[0025] The rotary motor is fixedly connected to the front of the alignment and propulsion assembly, and the rotary tightening part is fixedly connected to the output shaft of the rotary motor; the stabilizing clamping part is located in front of the rotary tightening part.

[0026] The stabilizing clamping part is configured to initially clamp the needle located on the human body; the alignment and propulsion assembly drives the rotating tightening part to advance in a straight line, and under the drive of the rotating motor, the rotating tightening part clamps the needle; after the stabilizing clamping part releases the needle, the rotating motor drives the rotating tightening part to continue rotating to realize the needle twisting operation.

[0027] Furthermore, the monitoring module includes a first monitor and a second monitor; the first monitor is mounted on the multi-axis robotic arm and is configured to monitor the motion state of the acupuncture operation group; the second monitor is mounted on the acupuncture operation group and is configured to grasp the acupuncture points on the human body.

[0028] The beneficial effects achieved by adopting this technical solution are as follows: In this solution, through remote control and with the cooperation of the monitoring module, the multi-axis robotic arm performs synchronous movements by manipulating the teaching pendant; it can move closer to or further away from the human body; then the controller controls the acupuncture operation group to perform acupuncture operations on the human body. The cotton ball disinfection, needle insertion, and needle rotation required during acupuncture are all completed sequentially through the structure of the acupuncture operation group, realizing intelligent practical application. This greatly ensures the reduction of the labor intensity of medical personnel, improves the efficiency of acupuncture treatment, and enhances the accuracy of needle insertion. Simultaneously, remote acupuncture provides support to hospitals in remote areas. In some remote areas where experienced acupuncturists are insufficient, the remote collaborative robot acupuncture system of this solution can provide remote assistance. Furthermore, the remote collaborative robot acupuncture system can separate acupuncturists from patients, avoiding the spread of disease. Of course, this system can also be used for the remote treatment of dangerous animals. Attached Figure Description

[0029] Figure 1 This is a 3D view of the acupuncture robot in this solution; Figure 2 This is a side view of the acupuncture robot in this design. Figure 3 This is a top view of the acupuncture robot in this design. Figure 4 This is a 3D structural diagram of a multi-axis robotic arm; Figure 5 This is a 3D view of the support module;

[0030] Figure 6 A diagram showing the positional arrangement of the disinfection module, needle insertion module, and needle twisting module; Figure 7 A 3D view of the disinfection module;

[0031] Figure 8 A perspective view of the first outer casing of the disinfection propulsion assembly; Figure 9 A structural diagram of the first slide body in the disinfection propulsion assembly;

[0032] Figure 10 This is an exploded structural diagram of the first propulsion section of the cotton swab. Figure 11 A three-dimensional view showing the interaction between the second propulsion section of the cotton swab and the cotton swab storage assembly; Figure 12 Exploded view of the cotton swab storage assembly; Figure 13 This is a diagram showing the working structure of the cotton swab pusher and the cotton swab storage wheel.

[0033] Figure 14 A side view of the cotton swab storage wheel. Figure 15 A 3D structural diagram of the cotton swab storage wheel; Figure 16 Front view diagram of the cotton swab storage wheel; Figure 17 A rear-view plan view of the cotton swab storage wheel; Figure 18This is a structural diagram of the rotation limiting structure; Figure 19 3D view of the needle insertion module; Figure 20 A perspective view of the second outer casing of the acupuncture propulsion assembly; Figure 21 This is a structural diagram of the second slide body in the acupuncture propulsion assembly; Figure 22 This is an exploded structural diagram of the first propulsion section of the needle; Figure 23 A perspective view showing the interaction between the second propulsion section of the needle and the needle storage assembly; Figure 24 Exploded view of the needle storage assembly; Figure 25 This is a diagram showing the working structure of the needle push rod and the needle storage wheel; Figure 26 A side view of the planar structure of the needle-receiving wheel; Figure 27 This is a front view diagram of the needle storage wheel. Figure 28 A rear-view plan view of the needle-receiving rotating wheel; Figure 29 This is a planar structural diagram of the needle storage cavity; Figure 30 This is a cross-sectional view of the needle storage wheel; Figure 31 This is a 3D view of the needle twisting module; Figure 32 A three-dimensional view of the alignment and propulsion assembly; Figure 33 This is a diagram showing the split structure of the alignment and propulsion component; Figure 34 This is a structural diagram of the third slide body in the alignment and propulsion assembly; Figure 35 A three-dimensional structural diagram of the rotating clamping assembly;

[0034] Figure 36 This is a control principle diagram for remote collaboration.

[0035] The components include: a multi-axis robotic arm (100-axis), a monitoring module (200-axis), a first monitor (210-axis), a second monitor (220-axis), an acupuncture operation group (300-axis), a support module (310-axis), a fixing plate (311-axis), a linear motor module (312-axis), a support plate (313-axis), a storage box (314-axis), a first connecting rod (315-axis), a second connecting rod (316-axis), a disinfection module (320-axis), a first support assembly (321-axis), a first support frame (3211-axis), an eccentric drive assembly (3221-axis), an eccentric motor (3221-axis), a disinfection propulsion assembly (3231-axis), and an end panel (3232-axis). First housing, 3233 First slide body, 3234 First cotton swab pusher, 3235 Second cotton swab pusher, 3236 Cotton swab push rod, 3237 Mounting block, 3238 Electronic ruler, 324 Cotton swab, 325 Cotton swab storage assembly, 3251 Cotton swab storage wheel, 3251-1 Cotton swab storage cavity, 3251-2 First guide slide, 3251-3 Second guide slide, 3252 Actuating rod, 3253 Actuating column, 3254 Storage housing, 3255 Actuating slider, 3256 Rotary wheel chuck, 3 257 Dating chuck, 3258 Spring, 3259 Threaded adjusting rod, 330 Needle insertion module, 331 Second support assembly, 3311 Second support frame, 332 Acupuncture propulsion assembly, 3321 Fastening plate, 3322 Second housing, 3323 Second slide body, 3324 First needle pusher, 3325 Second needle pusher, 3326 Needle push rod, 3327 Limit block, 3328 Limit actuator, 3329 Measuring ruler, 333 Needle, 334 Needle storage assembly, 3341 Needle storage Rotary wheel, 3341-1 needle storage cavity, 3342 actuating body, 3343 pin, 3344 box body, 3345 slider, 340 needle twisting module, 341 third support assembly, 3411 third support frame, 342 alignment and propulsion assembly, 3421 first linear propulsion source, 3422 third housing, 3423 third slide body, 343 rotating clamping assembly, 3431 rotating motor, 3432 rotating tightening part, 3433 first clamping piece, 3434 second linear propulsion source, 3435 stabilizing clamping part. Detailed Implementation

[0036] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0037] This embodiment provides a remote collaborative robot acupuncture system that enables acupuncture treatment to patients through remote control. Furthermore, compared to current manual acupuncture, this remote collaborative robot acupuncture system offers significant improvements in both the accuracy and efficiency of acupuncture treatment.

[0038] Specifically, the remote collaborative robot acupuncture system provided in this solution includes an acupuncture robot and a remote operation terminal.

[0039] The acupuncture robot is used to perform acupuncture procedures, and the remote operation terminal is used for remote control. The remote operation terminal and the acupuncture robot are connected through a network. It can be understood that the acupuncture robot is remotely controlled by the remote operation terminal, so that the acupuncture robot can accurately perform acupuncture treatment on patients under human control.

[0040] By adopting intelligent remote control, not only is the workload of medical staff greatly reduced, but the risk of infection caused by contact between patients and medical staff during acupuncture treatment is also reduced.

[0041] In a specific embodiment of this solution, see [link to relevant documentation]. Figure 1 , Figure 36 The acupuncture robot includes a multi-axis robotic arm 100, a monitoring module 200, and an acupuncture operation group 300. Both the monitoring module 200 and the acupuncture operation group are mounted on the multi-axis robotic arm 100. The multi-axis robotic arm 100 operates the acupuncture operation group 300 to move to the acupuncture site on the patient. The monitoring module 200 is configured to capture images and perform real-time monitoring. The remote operation terminal includes a teach pendant, a display, and a controller. The teach pendant has the same structure as the multi-axis robotic arm 100. When the teach pendant is operated in a network connection state, the multi-axis robotic arm 100 moves accordingly. The display shows images captured by the monitoring module 200, and the controller is configured to operate the acupuncture operation group 300.

[0042] The control principle can be understood as setting up a teach pendant at a remote end that is the same as or roughly similar in structure to the multi-axis robotic arm 100. The teach pendant and the multi-axis robotic arm 100 are connected via network signals. Professional medical staff operate the teach pendant, which will cause the multi-axis robotic arm 100 to move synchronously. The movement trajectory of the multi-axis robotic arm 100 is exactly the same as that of the teach pendant.

[0043] The controller and acupuncture operation group 300 are also controlled by signal connection. The controller is set up with a teaching pendant. Medical staff first remotely control the multi-axis robotic arm 100 to move closer to the patient through the teaching pendant. Then, the medical staff remotely use the controller to control the acupuncture operation group 300 to perform acupuncture treatment on the patient.

[0044] However, it should be noted that the monitoring module 200 plays a crucial role in enabling medical staff to accurately determine the movement points of the multi-axis robotic arm 100 and the acupuncture manipulation unit 300 remotely; see [link / reference] Figure 2 - Figure 4In a specific embodiment of this solution, the monitoring module 200 includes a first monitor 210 and a second monitor 220. The first monitor 210 is mounted on the multi-axis robotic arm 100 and is configured to monitor the movement state of the acupuncture operation group 300. It also simultaneously monitors the position of the multi-axis robotic arm 100. Through real-time image transmission from the first monitor 210, remote medical personnel can make remote adjustments based on the specific positions of the multi-axis robotic arm 100 and the acupuncture operation group 300. The second monitor 220 is mounted on the acupuncture operation group 300 and is configured to capture images of the acupuncture points on the human body. The image accuracy of the second monitor 220 is significantly higher than that of the first monitor 210. This is because the first monitor 210 is only used to monitor the approximate position of the multi-axis robotic arm 100 and the acupuncture operation group 300, while the second monitor 220 is used for fine monitoring. The second monitor 220 is used to monitor and capture images of the acupuncture points on the human body, providing reliable image support for the acupuncture operation group 300 to carry out the next step of human acupuncture treatment.

[0045] Optionally, the multi-axis robotic arm 100 has at least two movable axes, which can be the five-axis or six-axis mechanical structure commonly found on the market; in this solution, a six-axis robotic arm is preferred, which allows the acupuncture operation group 300 to move freely within the space, improving the convenience and accuracy of the acupuncture process.

[0046] Therefore, the remote collaborative robot acupuncture system using this solution, with the cooperation of the multi-axis robotic arm 100, the monitoring module 200, the acupuncture operation group 300, and the remote operation terminal, can effectively perform remote acupuncture treatment on patients; at the same time, the application of intelligence to medical equipment can greatly improve work efficiency and reduce the labor intensity of medical staff.

[0047] To enable those skilled in the art to gain a deeper understanding of this solution, the composition and structure of this solution are described in detail below. For specific details, please refer to... Figure 5 - Figure 6 The provided acupuncture operation kit 300 includes a support module 310, a disinfection module 320, a needle insertion module 330, and a needle twisting module 340.

[0048] The bracket module 310 provides a stable mounting base for the disinfection module 320, the needle insertion module 330, and the needle twisting module 340. The bracket module 310 is fixed to the far end of the multi-axis robotic arm 100, specifically on the rotating shaft at the farthest end of the multi-axis robotic arm 100. The disinfection module 320, the needle insertion module 330, and the needle twisting module 340 are fixed side by side on the bracket module 310. The multi-axis robotic arm 100 drives the bracket module 310, thereby simultaneously driving the disinfection module 320, the needle insertion module 330, and the needle twisting module 340, enabling the disinfection module 320, the needle insertion module 330, and the needle twisting module 340 to be adjusted in space.

[0049] The specific acupuncture treatment steps are as follows: When the entire acupuncture operation group 300 approaches the area of ​​the patient that needs acupuncture, the disinfection module 320 first works to wipe and disinfect the area of ​​the patient that needs acupuncture treatment; then the needle insertion module 330 inserts the needle (or treatment needle) into the patient; finally, the needle twisting module 340 clamps the needle and rotates it back and forth to achieve the effect of manual needle twisting; at this point, the operation of acupuncture treatment on the patient using the acupuncture operation group 300 is completed, and finally the needle is removed from the patient and collected.

[0050] As an important supporting structure, the support module 310 incorporates design considerations regarding structural rationality; for details, see [link to relevant documentation]. Figure 5 The support module 310 includes a fixing plate 311, a linear motor module 312, and a support plate 313. The fixing plate 311 serves as a connecting and fixing mechanism, that is, the fixing plate 311 is connected to the far end of the multi-axis robotic arm 100. The linear motor module 312 is fixed on the end face of the fixing plate 311 away from the multi-axis robotic arm 100, and the support plate 313 is fixed on the slider of the linear motor module 312. The motor in the linear motor module 312 drives the slider to slide linearly left and right.

[0051] The linear motor module 312 here comprises a motor, a slider, and a slide rail. Both the motor and the slide rail are fixedly connected to a fixed plate 311. The slider is slidably mounted on the slide rail, and driven by the motor, it slides back and forth linearly on the slide rail. Simultaneously, because the support plate 313 is fixed to the slider, the slider's movement causes the support plate 313 to move linearly in sync. Similarly, since the disinfection module 320, needle insertion module 330, and needle twisting module 340 are all fixed to the support plate 313, the linear motor module 312 allows these modules to be adjusted and moved. Medical personnel can then select one of these modules—disinfection module 320, needle insertion module 330, or needle twisting module 340—to apply to the patient in a rotating manner according to the acupuncture progress.

[0052] In this design, the disinfection module 320, needle insertion module 330, and needle twisting module 340 are all fixed to the end face of the support plate 313 away from the linear motor module 312. Also, in this design, see... Figure 5 In order to better collect cotton swabs from the disinfection module 320 and needles from the needle insertion module 330 (descriptions of cotton swabs and needles will be provided below), the support module 310 also has two storage boxes 314. The two storage boxes 314 are connected and fixed to the fixing plate 311 by the first connecting rod 315. With the support of the first connecting rod 315, the two storage boxes 314 protrude relative to the fixing plate 311. The two storage boxes 314 are arranged side by side, one on the left and one on the right. When the entire acupuncture operation group 300 is at the origin and not working, one storage box 314 is located in front of the needle twisting module 340 and is used to collect used needles; the other storage box 314 is located in front of the disinfection module 320 and is used to collect cotton swabs after disinfection of the human body.

[0053] In the support module 310 of this solution, there is also a second connecting rod 316. One end of the second connecting rod 316 is fixed to the support plate 313, and the extension direction of the second connecting rod 316 is the same as the extension direction of the first connecting rod 315. The second monitor 220 mentioned above is fixed to the distal end of the second connecting rod 316. This positional design allows the second monitor 220 to move simultaneously with the acupuncture operation group 300, and the second monitor 220 is closer to the patient's body, ensuring that the provided images are more accurate, thereby ensuring the treatment accuracy of the acupuncture operation group 300 on the patient.

[0054] In the support module 310, the motor in the linear motor module 312 is hinged to the fixed plate 311 through a hinge structure; this allows the entire linear motor module 312 to swing relative to the fixed plate 311 within a certain angle range; medical staff can control the linear motor module 312 to swing relative to the fixed plate 311 according to the actual situation on site, thereby achieving the purpose of swinging the disinfection module 320, the needle insertion module 330 and the needle twisting module 340 simultaneously within a certain angle range.

[0055] The above-mentioned support module 310 is the specific assembly structure in this embodiment. In actual design and application, the structure of the support module 310 can be modified according to the actual site requirements. In other embodiments, the design of the support module 310 or the structure of using the support module 310 to connect the disinfection module 320, the needle insertion module 330 and the needle twisting module 340 to the multi-axis robotic arm 100 should be within the protection scope of this solution.

[0056] In this solution, the specific structure for acupuncture treatment consists of a disinfection module 320, a needle insertion module 330, and a needle twisting module 340. The three modules work as follows: first, the disinfection module 320 wipes and disinfects the area on the patient's body that requires acupuncture treatment; then, the needle insertion module 330 inserts the needle (treatment needle) into the patient's body; finally, the needle twisting module 340 holds the needle and rotates it back and forth to achieve the effect of needle twisting treatment.

[0057] To facilitate understanding, the structures of the disinfection module 320, the needle insertion module 330, and the needle twisting module 340 will be described one by one below.

[0058] See Figure 7 The disinfection module 320 is located at the innermost of the three side-by-side modules. Its structure includes a first support component 321, an eccentric drive component 322, a disinfection propulsion component 323, and a cotton swab 324. The cooperation between them is as follows: the first support component 321 is fixed to the end face of the support plate 313, and the eccentric drive component 322 is fixed to the first support component 321. Specifically, the eccentric drive component 322 is fixed to the support plate 313 via a first support frame 3211 in the first support component 321; the disinfection propulsion component 323 is fixed to the eccentric drive component 322; and the cotton swab 324 is positioned in front of the disinfection propulsion component.

[0059] The first support component 321 primarily serves a supporting function. The eccentric drive component 322 contains an eccentric motor 3221, used to generate eccentric rotation. The disinfection propulsion component 323 drives the cotton swab 324 to extend linearly to contact the area of ​​the body to be treated with acupuncture. The disinfection propulsion component 323 is connected to the output shaft of the eccentric motor 3221. Therefore, the eccentric drive component 322 is configured to drive the disinfection propulsion component 323 and the cotton swab 324 to rotate eccentrically. The eccentric rotation of the cotton swab 324 enables the wiping and disinfection of the area of ​​the body to be treated with acupuncture. This process involves intelligent control of the wiping and disinfection of the patient's body.

[0060] Specifically, the first support frame 3211 is a support plate, one side of which is fixed to the bracket plate 313, and the other side is fixed with a flange-like part; the eccentric drive assembly 322 is an eccentric motor 3221, which is fixedly connected to the flange-like part.

[0061] The disinfection propulsion assembly 323 includes a first outer shell, a first propulsion part for the cotton swab, and a second propulsion part for the cotton swab. Both the first and second propulsion parts are built into the first outer shell, which provides good protection and prevents external impurities and dust from entering. The second propulsion part is fixed to the first propulsion part. After the first propulsion part extends, the second propulsion part extends further. By adopting a two-stage propulsion method, the distance the cotton swab 324 is propelled can be effectively guaranteed. Of course, at this time, the cotton swab 324 is located in front of the second propulsion part, and after the second propulsion part extends, it can push the cotton swab 324 into contact with the human body.

[0062] See Figure 8 The first outer casing here includes an end panel 3231 and a first housing 3232; the end panel 3231 has a connecting shaft end on the end face opposite to the eccentric motor 3221; the end panel 3231 is connected and fixed to the output end of the eccentric motor 3221 by the connecting shaft end; the first housing 3232 is connected and fastened to the end panel 3231 by bolts, and a slide rail is provided on the inner wall of the first housing 3232. The slide rail is mainly used to cooperate with the slide groove in the first pushing part of the cotton swab, thereby ensuring that the first pushing part of the cotton swab can slide smoothly relative to the first housing 3232.

[0063] Optionally, multiple weight-reducing cavities are also provided on the first housing 3232. The weight-reducing cavities can not only reduce the overall weight of the disinfection propulsion component 323 to a certain extent, but also facilitate medical staff to check the movement of the first and second propulsion parts of the cotton swab.

[0064] See Figure 9 - Figure 10 The first propulsion part of the cotton swab includes a first slide body 3233 and a first pusher 3234. Specifically, the first slide body 3233 has a concave cavity, and the first pusher 3234 is disposed in this cavity. A limiting notch is formed on the side wall of the cavity. The first pusher 3234 has a T-shaped slider and a push rod. The T-shaped slider slides back and forth linearly under the support and push of the push rod. The T-shaped slider of the first pusher 3234 engages with the limiting notch, and one end of the push rod of the first pusher 3234 extends out of the first slide body 3233 and is fixed to the external end panel 3231.

[0065] This can be understood as follows: the push rod part of the first pusher 3234 of the cotton swab is fixed to the end panel 3231, and the T-shaped slider part of the first pusher 3234 of the cotton swab is engaged with the limiting notch of the first slide body 3233. The first pusher 3234 of the cotton swab drives the T-shaped slider part to move back and forth, and the T-shaped slider part also drives the first slide body 3233 to move back and forth in a straight line.

[0066] Optionally, a sliding groove is also provided on the outer side of the first slide body 3233. The sliding groove is provided on two opposite outer sides of the first slide body 3233, and a sliding groove is arranged at the top and bottom of each outer side. It can be understood that there is a sliding groove at each of the four corners of the first slide body 3233. The sliding groove is used to cooperate with the slide rail on the inner wall of the first housing 3232. The first pusher 3234 of the cotton swab can drive the first slide body 3233 to perform linear telescopic movement relative to the first housing 3232. The tight cooperation between the slide rail and the sliding groove ensures that the first slide body 3233 can slide smoothly relative to the first housing 3232.

[0067] Optionally, the slide rail is cylindrical and the slide groove is a cylindrical groove that fits the slide rail; in another embodiment, the slide rail can also be T-shaped and the slide groove is a T-shaped groove; it should be noted that whether it is cylindrical or T-shaped, the main purpose is to ensure the stability of the sliding of the first slide block 3233 and the first housing 3232.

[0068] Optionally, the push rod portion of the first cotton swab pusher 3234 is connected to the end panel 3231 in a hinged manner.

[0069] The second propulsion part of the cotton swab includes a second cotton swab pusher 3235 and a cotton swab push rod 3236; the second cotton swab pusher 3235 is fixed to the bottom of the cavity of the first slide body 3233, one end of the cotton swab push rod 3236 is fixed to the output end of the second cotton swab pusher 3235, and the other end of the cotton swab push rod 3236 extends out of the first slide body 3233 and faces the cotton swab 324 located on the outside.

[0070] The specific working principle is as follows: the first pusher 3234 of the cotton swab will push the entire first slide body 3233 to extend; then, the second pusher 3235 of the cotton swab inside the first slide body 3233 will extend, so that the cotton swab push rod 3236 extends and pushes the external cotton swab 324, and the extended cotton swab 324 is exactly at the acupuncture position on the patient's body.

[0071] The disinfection propulsion assembly 323 also includes a push-in measuring section, which is mainly used to measure the extension range of the cotton swab push rod 3236. If the extension length of the second cotton swab pusher 3235 is too long, the cotton swab 324 will inevitably press tightly against the patient, causing severe discomfort to the patient during rotation disinfection. By measuring the extension length of the cotton swab push rod 3236 through the push-in measuring section, the extension length of the second cotton swab pusher 3235 or the length of the cotton swab 324 can be adjusted according to the actual situation. In this way, under the limiting effect of the push-in measuring section, the cotton swab 324 can always be kept within an appropriate extension range, ensuring the comfort of the disinfection process when the cotton swab 324 extends to wipe and disinfect the human body.

[0072] Specifically, the push-in measuring unit includes a mounting block 3237 and an electronic ruler 3238. The electronic ruler 3238 is fixed to the outer end face of the first slide body 3233. To optimize space utilization and improve space planning, the electronic ruler 3238 is specifically fixed between two grooves on one side of the outer end face of the first slide body 3233. The mounting block 3237 is fixedly mounted on the cotton swab push rod 3236, and is also fixed to the measuring shaft of the electronic ruler 3238. As long as the cotton swab push rod 3236 is pushed out by the second cotton swab pusher 3235, the mounting block 3237 will pull the measuring shaft out, and the extension length of the measuring shaft will be displayed on the electronic ruler 3238. The displayed value is also the extension length value of the second cotton swab pusher 3235. Optionally, the first cotton swab pusher 3234 and the second cotton swab pusher 3235 can be either electric or pneumatic, depending on the actual situation.

[0073] In this solution, the disinfection module 320 also includes a cotton swab storage component 325, which pre-stores multiple cotton swabs 324. Each time a patient is replaced, the cotton swab storage component 325 provides a new cotton swab 324 for the cotton swab pusher 3236 to push out for disinfection. By pre-storing a large number of cotton swabs 324 in the cotton swab storage component 325, medical staff can avoid the tedious process of constantly changing cotton swabs 324, which helps to improve the disinfection efficiency for patients.

[0074] For details, see Figure 11 , Figure 15 - Figure 16 The cotton swab storage assembly 325 has a cotton swab storage wheel 3251, which has multiple cotton swab storage cavities 3251-1. Each cotton swab storage cavity 3251-1 contains one cotton swab 324. Each extension and retraction movement of the cotton swab push rod 3236 in the disinfection propulsion assembly 323 will cause the cotton swab storage wheel 3251 to rotate. Each rotation of the cotton swab storage wheel 3251 will bring a new cotton swab 324 to correspond with the cotton swab push rod 3236. In this way, each extension movement of the cotton swab push rod 3236 will push out the cotton swab 324 from different cotton swab storage cavities 3251-1.

[0075] In this design, the rotation of the cotton swab collecting wheel 3251 is synchronized with the extension of the cotton swab push rod 3236. Specifically, a toggle rod 3252 is fixed at the output end of the second cotton swab pusher 3235. The toggle rod 3252 is parallel to the cotton swab push rod 3236 and extends all the way to the bottom of the cotton swab collecting wheel 3251. A toggle post 3253 is also provided on the toggle rod 3252. The toggle post 3253 can toggle the cotton swab collecting wheel 3251. That is, every time the second cotton swab pusher 3235 extends, the toggle post 3253 will toggle the cotton swab collecting wheel 3251, so that the different cotton swabs 324 in the cotton swab collecting wheel 3251 correspond to the cotton swab push rod 3236.

[0076] In this plan, see Figure 11 - Figure 13 The cotton swab storage assembly 325 also includes a storage housing 3254, and a first sliding body 3233 has an outwardly extending extension body; the storage housing 3254 is fixedly connected to the extension body; the cotton swab collecting wheel 3251 is rotatably disposed inside the storage housing 3254; a sliding block 3255 is provided at the distal end of the actuating rod 3252, and the actuating column 3253 is elastically telescopically connected to the upper end face of the sliding block 3255, and the sliding block 3255 can slide back and forth linearly in the base of the storage housing 3254; by setting the sliding block 3255, the stability of the linear sliding of the actuating column 3253 can be ensured, ensuring that the cotton swab collecting wheel 3251 can rotate every time.

[0077] To facilitate understanding of the specific rotation principle of the cotton swab storage wheel 3251, a detailed explanation is provided here.

[0078] See Figure 14 - Figure 17 The cotton swab storage wheel 3251 comprises two parts: an outer cylindrical part and an inner cylindrical part coaxially arranged, with the inner cylindrical part fitted and fixed inside the outer cylindrical part. The cotton swab storage cavity 3251-1 mentioned above is arranged in a ring and passes through the inner cylindrical part. The outer arc surface of the outer cylindrical part has a first guide slide 3251-2 and a second guide slide 3251-3. The first guide slide 3251-2 extends along the axial direction of the outer cylindrical part, with its starting end located at one end face of the outer cylindrical part and extending to the other end face. The starting end of the second guide slide 3251-3 coincides with the starting end of the first guide slide 3251-2, but the second guide slide 3251-3 is inclined until it connects with the adjacent first guide slide 3251-2.

[0079] Each time the actuating post 3253 extends, it enters through the second guide slide 3251-3, gradually actuating the cotton swab collecting wheel 3251 until it enters the first guide slide 3251-2; then the actuating post 3253 retracts, and this cycle repeats. The specific path of the actuating post 3253 is a→b→c→d. After each step of this path, the cotton swab collecting wheel 3251 rotates slightly, causing the adjacent cotton swab collecting cavity 3251-1 to rotate until it aligns with the cotton swab push rod 3236.

[0080] It should be noted that, in order to ensure the correct extension and retraction path of the actuating column 3253 each time, the starting depth of the second guide slide 3251-3 is H1, and the depth of the first guide slide 3251-2 is H2, where H1 > H2; at the same time, because the second guide slide 3251-3 and the first guide slide 3251-2 have an interface, the depth of the interface is H3, where H1 > H2 > H3.

[0081] This can be understood as follows: the depth of the second guide slide 3251-3 gradually decreases, with the initial depth of the second guide slide 3251-3 being H1 and the final depth being H3 (equivalent to the junction with the first guide slide 3251-2). With this design, the actuating column 3253 can enter from the initial end of the second guide slide 3251-3 each time it extends, and the pushing force will rotate the cotton swab collecting wheel 3251 until it enters the first guide slide 3251-2 through the junction. At this time, the cotton swab collecting wheel 3251 rotates into place, and the actuating column 3253 then retracts and resets along the first guide slide 3251-2.

[0082] Optionally, the cotton swabs can be improved so that one cotton swab is placed in one cotton swab receiving cavity. In this case, the cotton swab is composed of ten small segments, and each cotton swab receiving cavity can be disinfected ten times. Specifically, there are 16 cotton swab receiving cavities in the cotton swab storage wheel 3251. Overall, it is more convenient than the current method of soaking the cotton swabs with alcohol each time, and it can accommodate 16*10 cotton swab segments.

[0083] In this design, a rotation limiting structure is incorporated to prevent the cotton swab collecting wheel 3251 from shifting position after each rotation. This rotation limiting structure works by locking the cotton swab collecting wheel 3251 in place after each rotation to a certain angle, preventing it from wobbling or shifting position. This ensures that the cotton swab pusher 3236 can smoothly push the cotton swab 324 out of the cotton swab collecting cavity 3251-1 each time.

[0084] Specifically, the rotation limit structure mainly consists of three parts, see [link to relevant documentation]. Figure 18The device includes a rotary chuck 3256, a docking chuck 3257, and a mounting base. The mounting base is fixed to the inner cylindrical part of the cotton swab collecting rotary wheel 3251. Three positioning guide pins of the rotary chuck 3256 are installed on the inner cylindrical part of the cotton swab collecting rotary wheel 3251. The rotary chuck 3256 is elastically connected to the mounting base through a spring 3258. The outward end face of the rotary chuck 3256 has a first toothed surface. The docking chuck 3257 is coaxially arranged with the rotary chuck 3256. The other end of the docking chuck 3257 is connected to the storage housing 3254 through a threaded adjusting rod 3259. The other end of the docking chuck 3257 has a second toothed surface, and the first toothed surface and the second toothed surface are opposite to each other. Under the action of the spring 3258, the first toothed surface and the second toothed surface of the rotary chuck 3256 and the docking chuck 3257 mesh with each other. That is, the rotary chuck 3256 and the docking chuck 3257 use toothed surfaces to mesh to prevent the cotton swab receiving rotary 3251 from shifting position.

[0085] The specific working principle is as follows: When the cotton swab collecting wheel 3251 rotates, the mounting base and the wheel chuck 3256 installed inside the cotton swab collecting wheel 3251 rotate synchronously; the first tooth surface begins to rotate in a misaligned manner relative to the second tooth surface. The misalignment between the tooth surfaces pushes the wheel chuck 3256 backward, and at the same time, the spring 3258 is compressed and stores force. After the cotton swab collecting wheel 3251 rotates to its position, the tooth surfaces align again. At this time, under the rebound action of the spring 3258, the first tooth surface and the second tooth surface mesh again; when in the meshing state, the cotton swab collecting wheel 3251 is in its most stable state. Every time the cotton swab collecting wheel 3251 rotates, the first tooth surface re-meshes under the action of the spring 3258 after misalignment with the second tooth surface.

[0086] Optionally, the threaded adjusting rod 3259 and the mating chuck 3257 are connected by a threaded connection. In this way, during actual use, rotating the threaded adjusting rod 3259 can adjust the engagement depth with the mating chuck 3257, thereby achieving the purpose of adjusting the meshing force of the first tooth surface and the second tooth surface.

[0087] After the disinfection module 320 has completed the disinfection of the patient's skin, it is necessary to operate the needle insertion module 330 to insert the needle (also known as the treatment needle) in the needle insertion module 330 into the patient's skin.

[0088] For details, see Figure 6 , Figure 19The needle insertion module 330 is located in the middle of the three side-by-side modules. Its structure includes a second support component 331, an acupuncture propulsion component 332, and a needle 333. The connection between the second support component 331, the acupuncture propulsion component 332, and the needle 333 is as follows: the second support component 331 is also fixed to the end face of the support plate 313, and the acupuncture propulsion component 332 is fixed to the second support component 331. Specifically, the acupuncture propulsion component 332 is fixed to the support plate 313 via a second support frame 3311 in the second support component 331; the needle 333 is positioned in front of the acupuncture propulsion component 332.

[0089] The second support component 331 here mainly serves a supporting function. The second support frame 3311 is specifically a support rod, which is fixed on the support plate 313. The acupuncture propulsion component 332 is used to drive the needle 333 to extend in a straight line to insert into the human body.

[0090] The acupuncture propulsion component 332 has a similar structure to the disinfection propulsion component 323 described above. Its main purpose is to smoothly push out the needle 333 through two-stage extension and retraction.

[0091] Specifically, the acupuncture propulsion assembly 332 includes a second outer shell, a first needle propulsion part, and a second needle propulsion part. Both the first and second needle propulsion parts are housed within the second outer shell, which provides good protection and prevents external impurities and dust from entering. The second needle propulsion part is fixed to the first needle propulsion part. The first needle propulsion part extends first, and then the second needle propulsion part extends second. This two-stage propulsion method effectively ensures the propulsion distance. At this point, the needle 333 is located in front of the second needle propulsion part; once the second needle propulsion part extends, it pushes the needle 333 into the body.

[0092] See Figure 20 The second outer shell includes a fastening plate 3321 and a second shell 3322. The fastening plate 3321 is fixed to four support rods. The second shell 3322 is connected and fastened to the fastening plate 3321 by bolts. A slide rail is provided on the inner wall of the second shell 3322. This slide rail is mainly used to cooperate with the sliding groove in the first needle propulsion section, thereby ensuring that the first needle propulsion section can slide smoothly relative to the second shell 3322. Multiple weight-reducing cavities are also formed on the second shell 3322. These cavities not only reduce the overall weight of the acupuncture propulsion assembly 332 to a certain extent, but also facilitate medical personnel in checking the movement of the first and second needle propulsion sections.

[0093] See Figure 21 - Figure 22The first propulsion part of the needle includes a second slide body 3323 and a first needle pusher 3324. Specifically, the second slide body 3323 has a concave cavity, and the first needle pusher 3324 is disposed in this cavity. A limiting notch is formed on the side wall of the cavity. The first needle pusher 3324 has a T-shaped slider part and a push rod part. The T-shaped slider part slides back and forth linearly under the support and push of the push rod part. The T-shaped slider part of the first needle pusher 3324 is engaged with the limiting notch, and one end of the push rod part of the first needle pusher 3324 extends out of the second slide body 3323 and is hinged and fixed to the external fastening plate 3321.

[0094] This can be understood as follows: the push rod part of the first needle pusher 3324 is hinged and fixed to the fastening plate 3321; the T-shaped slider part of the first needle pusher 3324 is engaged with the limiting notch of the second slide body 3323; the first needle pusher 3324 drives the T-shaped slider part to move back and forth, and the T-shaped slider part simultaneously drives the second slide body 3323 to move back and forth in a linear motion.

[0095] Optionally, a sliding groove is also provided on the outer side of the second slide body 3323. The sliding groove is provided on two opposite outer sides of the second slide body 3323, and a sliding groove is arranged at the top and bottom of each outer side. It can be understood that there is a sliding groove at each of the four corners of the second slide body 3323. The sliding groove is used to cooperate with the slide rail on the inner wall of the second housing 3322. The first pusher 3324 of the needle can drive the second slide body 3323 to perform linear telescopic movement relative to the second housing 3322. The tight cooperation between the slide rail and the sliding groove ensures that the second slide body 3323 can slide smoothly relative to the second housing 3322.

[0096] Alternatively, the slide rail can be cylindrical, and the slide groove can be a cylindrical groove that fits the slide rail; in another embodiment, the slide rail can also be T-shaped, and the slide groove is a T-shaped groove; it should be noted that whether it is cylindrical or T-shaped, the main purpose is to ensure the stability of the connection between the second slide body 3323 and the second housing 3322.

[0097] Optionally, the push rod portion of the first needle pusher 3324 is connected to the fastening plate 3321 in a hinged manner.

[0098] The second propulsion part of the needle includes a second needle pusher 3325 and a needle push rod 3326; the second needle pusher 3325 is fixed to the bottom of the cavity of the second slide body 3323, one end of the needle push rod 3326 is fixed to the output end of the second needle pusher 3325, and the other end of the needle push rod 3326 extends out of the second slide body 3323 and faces the needle 333 located on the outside.

[0099] The specific working principle is as follows: the first needle pusher 3324 pushes the entire second slide body 3323 to extend; then, the second needle pusher 3325 inside the second slide body 3323 extends, causing the needle push rod 3326 to extend and push the external needle 333, so that the extended needle 333 is exactly at the acupuncture position on the patient's body.

[0100] In this design, the acupuncture propulsion assembly 332 also includes a needle depth control unit. This unit is primarily used to measure the extension range of the needle pusher 3326, thereby controlling the insertion depth of the needle 333. If the second needle pusher 3325 extends too far, the needle 333 will inevitably penetrate deeper into the body, causing serious injury. By measuring and controlling the extension length of the needle pusher 3326 through the needle depth control unit, the extension length of the second needle pusher 3325 or the length of the needle 333 can be adjusted according to the actual situation. Thus, under the limiting effect of the needle depth control unit, the needle 333 is always kept within an appropriate extension range, and the depth of the needle 333 penetrating the body is within a suitable range, preventing severe pain and injury.

[0101] For details, see Figure 22 The needle depth control unit includes a limiting block 3327, a limiting actuator 3328, and a measuring ruler 3329. The measuring ruler 3329 has the same structure as the electronic ruler 3238 described above; both are electrically powered and can display numerical values. The measuring ruler 3329 is fixed to the outer end face of the second slide body 3323. Furthermore, to optimize space utilization, the measuring ruler 3329 is specifically fixed between two grooves on one side of the outer end face of the second slide body 3323. The limiting actuator 3328 is installed and fixed between two grooves on the other side of the outer end face of the second slide body 3323; that is, the limiting actuator 3328 and the measuring ruler 3329 are fixed to the two outer sides of the second slide body 3323 respectively. The two ends of the limiting block 3327 are fixedly installed with the limiting actuator 3328 and the measuring scale 3329, respectively. Specifically, one end of the limiting block 3327 is fixed with the measuring shaft of the measuring scale 3329, and the other end of the limiting block 3327 is fixed with the output shaft of the limiting actuator 3328. A limiting hole is provided in the middle of the limiting block 3327, through which the telescopic shaft of the second needle pusher 3325 passes. A stop is fixedly installed on the telescopic shaft of the second needle pusher 3325; the stop cannot pass through the limiting hole.

[0102] The specific motion principle is as follows: Adjust the limit driver 3328 so that the output shaft of the limit driver 3328 can extend and retract within a reasonable range; when the output shaft of the limit driver 3328 is in the extended state, the position of the limit block 3327 is already positioned; the extension of the second needle pusher 3325 will carry the stop block to move synchronously. When the stop block moves to the point of contact with the limit block 3327, the second needle pusher 3325 will be unable to continue to extend. That is, the extension length of the second needle pusher 3325 is limited by the limit block 3327, so that the second needle pusher 3325 can always keep its extension and retraction within a reasonable range, thereby ensuring that the needle 333 is pushed out to a reasonable depth.

[0103] Because one end of the limiting block 3327 is fixed to the measuring shaft of the measuring ruler 3329, the position distance of the limiting driver 3328 is collected and measured by the measuring ruler 3329. As long as the limiting driver 3328 pushes out the limiting block 3327, the limiting block 3327 will pull the measuring shaft of the measuring ruler 3329 to extend. The extension length of the measuring shaft will be displayed on the measuring ruler 3329, and the displayed value is also the range of motion distance of the second pusher of the needle 3325.

[0104] Optionally, the first needle pusher 3324 and the second needle pusher 3325 can be either electric or pneumatic, and can be selected according to the actual situation.

[0105] In this solution, the needle insertion module also includes a needle storage component 334, which pre-stores multiple needles 333. Each time a patient is replaced, the needle storage component 334 provides a new needle 333 for the needle pusher 3326 to push out and insert into the patient's body. By pre-storing a large number of needles 333 in the needle storage component 334, medical staff can avoid constantly replacing the needles 333, which helps to improve the treatment efficiency for patients.

[0106] For details, see Figure 23 - Figure 28 The needle storage assembly 334 has a needle receiving wheel 3341, which has multiple needle receiving cavities 3341-1. Each needle receiving cavity 3341-1 contains a needle 333. Each extension and retraction of the needle push rod 3326 in the acupuncture propulsion assembly 332 will cause the needle receiving wheel 3341 to rotate. Each rotation of the needle receiving wheel 3341 will bring a new needle 333 to correspond with the needle push rod 3326. Thus, each extension of the needle push rod 3326 will push out the needles 333 from different needle receiving cavities 3341-1 and insert them into the human body.

[0107] In this plan, see Figure 23 - Figure 25 The rotation of the needle receiving wheel 3341 is synchronized with the extension of the needle push rod 3326. Specifically, a toggle body 3342 is fixed at the output end of the second needle pusher 3325. The toggle body 3342 is parallel to the needle push rod 3326 and extends all the way to the bottom of the needle receiving wheel 3341. A pin 3343 is also provided on the toggle body 3342. The pin 3343 can toggle the needle receiving wheel 3341. That is, every time the second needle pusher 3325 extends, the pin 3343 will toggle the needle receiving wheel 3341, so that different needles 333 in the needle receiving wheel 3341 correspond to the needle push rod 3326.

[0108] In this design, the needle storage assembly 334 also includes a housing 3344, and the second slide body 3323 has an outwardly extending outer shell; the housing 3344 is fixedly connected to the outer shell; the needle storage wheel 3341 is rotatably disposed inside the housing 3344; a slider 3345 is provided at the distal end of the actuating body 3342, and a pin 3343 is elastically connected to the upper surface of the slider 3345, allowing the slider 3345 to slide back and forth linearly within the base of the housing 3344; by setting the slider 3345, the stability of the linear sliding of the pin 3343 can be ensured, ensuring that the needle storage wheel 3341 can rotate each time.

[0109] To facilitate understanding of the specific rotation principle of the needle storage wheel 3341, a detailed description of the needle storage wheel 3341 is provided here. It is easy to see that the needle storage wheel 3341 is very similar in structure to the cotton swab storage wheel 3251, and the control principle is almost the same.

[0110] For details, see Figure 26 - Figure 28 The needle receiving wheel 3341 comprises two parts: an outer cylindrical part and an inner cylindrical part arranged coaxially, with the inner cylindrical part fitted and fixed inside the outer cylindrical part. The needle receiving cavity 3341-1 mentioned above passes through the inner cylindrical part in a ring arrangement. The outer arc surface of the outer cylindrical part has a first guide slide and a second guide slide. The first guide slide extends along the axial direction of the outer cylindrical part, with its starting end located at one end face of the outer cylindrical part and extending to the other end face. The starting end of the second guide slide coincides with the starting end of the first guide slide, but the second guide slide is inclined until it connects with the adjacent first guide slide.

[0111] Each time the pin 3343 extends, it enters through the second guide slide, gradually actuating the needle receiving wheel 3341 until it enters the first guide slide; then the pin 3343 retracts, and this cycle repeats. The specific path of the pin 3343's movement can be referenced from the movement path of the actuating pin 3253 mentioned above (a→b→c→d). After each step of this path, the needle receiving wheel 3341 rotates slightly, causing the adjacent needle receiving cavity 3341-1 to rotate until it aligns with the needle push rod 3326.

[0112] Of course, to ensure the correct extension and retraction path of the pin 3343 each time, the starting depth of the second guide slide is designed to be H1, and the depth of the first guide slide is H2, where H1 > H2; at the same time, because the second guide slide and the first guide slide have an interface, the depth of the interface is H3, where H1 > H2 > H3. It can be understood that the depth of the second guide slide gradually decreases, with the starting depth of the second guide slide being H1 and the ending depth of the second guide slide being H3 (equivalent to the interface with the first guide slide); with this design, the pin 3343 can enter from the starting end of the second guide slide each time it extends, and the pushing force will drive the needle receiving wheel 3341 to rotate until it enters the first guide slide through the interface. At this time, the needle receiving wheel 3341 rotates to its position, and the pin 3343 then retracts along the first guide slide to wait for the next drive.

[0113] The needle storage wheel 3341 and the cotton swab storage wheel 3251 are very similar in structure and control principle, but there are also some differences. The specific differences are twofold.

[0114] Firstly, the structure of the needle storage cavity 3341-1 is different from that of the cotton swab storage cavity 3251-1. In the cotton swab storage wheel 3251, the shape of the cotton swab storage cavity 3251-1 is adapted to the cylindrical shape of the cotton swab, that is, the cotton swab storage cavity 3251-1 is a cylindrical cavity. However, the needle is different from the cotton swab. The cotton swab can only be used to wipe the skin for disinfection, but the needle needs to be inserted more accurately into the patient's acupuncture site. Therefore, it is necessary to ensure the needle insertion accuracy.

[0115] Specifically, the needle receiving cavity 3341-1 consists of two parts, see [link to details]. Figures 29-30It includes a cylindrical first chamber and an elongated second chamber; the first and second chambers are connected. When the needle receiving cavity 3341-1 is in its lowest position, the first chamber is located above the second chamber, and the cross-sectional shape of the connection between the first and second chambers is mushroom-shaped. The size of the first chamber is relatively large, larger than the outer dimensions of the needle, allowing the needle to be easily extended. The size of the second chamber is only slightly larger than the outer dimensions of a single needle, or it can be the same as the size of the needle. This allows the needle to be smoothly arranged in the second chamber without significant deviation.

[0116] The needle is placed into the needle storage chamber 3341-1. Generally, three needles are first placed in the second chamber for temporary storage. As the needle storage wheel 3341 rotates, one of the needles gradually moves from the second chamber into the first chamber, and is finally pushed out by the needle push rod 3326. This design improves the accuracy of needle ejection and ensures that needles are ejected one by one each time.

[0117] Second: In this design, to ensure that the needle-collecting rotary wheel 3341 does not deviate in position after each rotation, a rotation limiting structure is also provided. This rotation limiting structure is exactly the same as the rotation limiting structure in the cotton swab collecting rotary wheel described above, and the working principle is also the same, so the working principle will not be elaborated here.

[0118] However, in order to ensure that the needle can stably enter the first chamber from the second chamber, we have inserted a magnet into the mounting base. This is because at least three needles are arranged in the second chamber in this design. In order to ensure that the needles in the first chamber can be stable during the rotation of the needle receiving wheel 3341, a magnet is fixedly installed in the mounting base. The magnet provides attraction, causing the needles in the second chamber to gather towards the center of the first chamber one by one. In this way, the needle push rod 3326 pushes out the needles in the first chamber.

[0119] By adopting the above structural design, when treating patients, under intelligent control, the patient is first wiped and disinfected with a cotton swab, and then the needle (treatment needle) is pushed out and firmly inserted into the treatment area of ​​the patient; the next step is to rotate the needle to perform the treatment.

[0120] Rotating the needle can be called needle turning or needle twisting; this action is specifically achieved through the needle twisting module 340. (See also...) Figure 6 , Figure 31The needle twisting module 340 is located on the outermost side of the three side-by-side modules and is the last module to perform an action. The needle twisting module 340 includes a third support component 341, an alignment and propulsion component 342, and a rotation clamping component 343. The cooperation relationship between them is as follows: the third support component 341 is also fixed to the end face of the support plate 313, the alignment and propulsion component 342 is fixed to the third support component 341, and the rotation clamping component 343 is fixed to the alignment and propulsion component 342 here.

[0121] Specifically, the third support component 341 includes a third support frame 3411, which consists of four support rods and is fixed in the support plate 313. The third support component 341 mainly provides support. The main function of the alignment and pushing component 342 is to push or retract the rotating clamping component 343 in a linear motion, allowing the rotating clamping component 343 to get closer to the needle on the human body. The main purpose of the rotating clamping component 343 is to clamp the needle and rotate it, thereby mimicking the purpose of manually twisting a needle. That is, the alignment and pushing component 342 drives the rotating clamping component 343 to extend linearly to a preset position, and then the rotating clamping component 343 clamps the needle and rotates it.

[0122] See Figure 32 - Figure 34 The alignment and propulsion assembly 342 comprises a first linear propulsion source 3421, a third housing 3422, and a third slide body 3423. The third housing 3422 is fixed to the third support assembly 341 by a fastening plate, and a sliding groove is provided inside the third housing 3422. A slide rail is provided on the outer surface of the third slide body 3423, allowing the third slide body 3423 to slide relative to the third housing 3422 through the cooperation between the slide rail and the sliding groove. This relative sliding is driven by the first linear propulsion source 3421, one end of which is fixed to the fastening plate, and the other end penetrates into the third housing 3422 and is fixed to the third slide body 3423. Thus, whenever the first linear propulsion source 3421 is activated, the third slide body 3423 can slide linearly relative to the third housing 3422.

[0123] The first linear propulsion source 3421 here can be a common drive element such as a cylinder, electric cylinder, or linear motor.

[0124] The rotating clamping component 343 is fixed on the third slide body 3423. Therefore, the movement of the third slide body 3423 will inevitably cause the rotating clamping component 343 to move synchronously, thereby enabling the rotating clamping component 343 to move closer to or away from the needle.

[0125] For details, see Figure 33 , Figure 35The rotating clamping assembly 343 includes a stabilizing clamping part, a rotating tightening part, and a rotating motor 3431. The rotating motor 3431 is fixedly connected to the front of the alignment and pushing assembly 342, specifically fixed to the third slide body 3423. The rotating tightening part 3432 is fixedly connected to the output shaft of the rotating motor 3431. The rotating tightening part 3432 is similar to a three-grip chuck. A first clamping member 3433 is located below the rotating tightening part 3432. The first clamping member first clamps the rotating tightening part 3432. Under the rotation of the rotating motor 3431, the rotating tightening part 3432 is tightened. Then, the first clamping member 3433 is released, allowing the rotating motor 3431 to rotate the tightened rotating tightening part 3432. The rotating tightening part 3432 is mainly used to clamp and tighten the needle, and then rotate (twirl) the needle under the action of the rotating motor 3431.

[0126] Optionally, a second linear propulsion source 3434 is also included, which is fixed to the third slide body 3423, while the rotary motor 3431 described above is fixed to the second linear propulsion source 3434. The second linear propulsion source 3434 enables the rotary tightening part 3432 to be closer to the stabilizing clamping part 3435.

[0127] The stabilizing clamping part 3435 is located in front of the rotating tightening part 3432; specifically, it is fixed on the foremost end face of the third slide body 3423. The stabilizing clamping part 3435 is specifically a second clamping member. This second clamping member is mainly used to clamp the needle on the human body before the rotating tightening part 3432 tightens the needle, so that the rotating tightening part 3432 can clamp the needle more smoothly and stably.

[0128] The specific working principle is as follows: the first linear propulsion source 3421 works first, pushing the third slide body 3423 out relative to the third housing 3422, thereby bringing the stabilizing clamping part 3435 (second clamping member) fixed at the farthest end of the third slide body 3423 closer to the patient; then the stabilizing clamping part 3435 moves to clamp the needle on the patient, playing a pre-stabilizing role. Then the second linear propulsion source 3434 starts working again, driving the rotary motor 3431, the rotary tightening part 3432 and the first clamping member 3433 to gradually approach the stabilizing clamping part 3435 until the tail end of the needle is inside the rotary tightening part 3432. At this time, the first clamping member 3433 clamps the rotary tightening part 3432 again, and the rotary motor 3431 starts to drive the rotary tightening part 3432 to gradually clamp the needle and put it in a tightened state. Then, the first clamping member 3433 releases, and the second clamping member also releases. The rotary motor 3431 will rotate with the needle to achieve the purpose of twisting the needle.

[0129] After acupuncture is performed using the needle-twisting module 340, the second linear propulsion source 3434 retracts, causing the rotating tightening part 3432, carrying the needle, to be pulled out of the body. Then, the first clamping member clamps the rotating tightening part 3432 again, and the rotating motor 3431 rotates in the opposite direction, causing the rotating tightening part 3432 to release the needle. The needle will then be collected in the storage box 314.

[0130] This concludes the explanation of the principle of using the remote collaborative robot acupuncture system of this solution to perform acupuncture treatment on patients.

[0131] In this solution, remote control, in conjunction with a monitoring module, allows the multi-axis robotic arm to move synchronously by manipulating the teaching pendant. This enables the robotic arm to move closer to or further away from the human body. The controller then directs the acupuncture manipulation unit to perform acupuncture procedures. The necessary steps during acupuncture—cotton ball disinfection, needle insertion, and needle rotation—are all sequentially completed through the acupuncture manipulation unit's structure. This intelligent approach significantly reduces the workload of medical personnel, improves the efficiency of acupuncture treatment, and enhances the precision of needle insertion.

[0132] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A remote collaborative robotic acupuncture system, characterized by, The application relates to a acupuncture robot and a remote operation terminal, wherein the acupuncture robot is used for performing acupuncture operation, the remote operation terminal is used for remote control, and the remote operation terminal and the acupuncture robot are connected through a network; The acupuncture robot comprises a multi-axis mechanical arm (100), a monitoring module (200) and an acupuncture operation group (300), the monitoring module (200) and the acupuncture operation group (300) are both installed on the multi-axis mechanical arm (100), the multi-axis mechanical arm (100) operates the acupuncture operation group (300) to move to a human body to be acupunctured, and the monitoring module (200) is configured to shoot images and perform real-time monitoring; The remote operation terminal comprises a teacher, a display and a controller, the teacher is the same in structure as the multi-axis mechanical arm (100), the multi-axis mechanical arm (100) is followed in a network connection state, the display is used for displaying images shot by the monitoring module (200), and the controller is configured to operate the acupuncture operation group (300); The acupuncture operation group (300) comprises a support module (310), a sterilization module (320), a needle insertion module (330) and a needle twisting module (340); The support module (310) is fixed at the distal end of the multi-axis mechanical arm (100); The needle twisting module (340) comprises a third support assembly (341), a position alignment and advancing assembly (342) and a rotating and clamping assembly (343); the third support assembly is fixed on the support module, the position alignment and advancing assembly (342) is installed in the third support assembly (341), and the rotating and clamping assembly (343) is connected in front of the position alignment and advancing assembly (342); The position alignment and advancing assembly (342) drives the rotating and clamping assembly (343) to linearly extend to a preset position, and the rotating and clamping assembly (343) clamps a needle and rotates; The rotating and clamping assembly (343) comprises a stability clamping part (3435), a rotating and tightening part (3432) and a rotating motor (3431); The rotating motor (3431) is fixedly connected in front of the position alignment and advancing assembly (342) through a second linear advancing source, the rotating and tightening part (3432) is fixedly connected with an output shaft of the rotating motor (3431), the stability clamping part (3435) is arranged in front of the rotating and tightening part (3432), and the second linear advancing source drives the rotating and tightening part to be close to the stability clamping part. The stabilizing clamping part (3435) is configured to preliminarily clamp the acupuncture needle on the human body; the alignment and advancing assembly (342) drives the rotating tightening part (3432) to advance linearly, and drives the rotating tightening part (3432) to clamp the acupuncture needle (333) under the driving of the rotating motor (3431); after the stabilizing clamping part (3435) releases the acupuncture needle (333), the rotating motor (3431) drives the rotating tightening part (3432) to continue rotating to realize the needle twisting operation, and a first clamping part is arranged below the rotating tightening part, which first clamps the rotating tightening part, and drives the rotating tightening part to tighten under the rotation of the rotating motor; The monitoring module (200) comprises a first monitor (210) and a second monitor (220); the first monitor (210) is installed on the multi-axis mechanical arm (100), and is configured to monitor the motion state of the acupuncture operation group (300); the second monitor (220) is installed on the acupuncture operation group (300), and is configured to grasp the acupuncture position on the human body.

2. The remote collaborative robotic acupuncture system of claim 1, wherein, The disinfection module (320), the needle inserting module (330) and the needle twisting module (340) are fixed in sequence and side by side on the support module (310); the multi-axis mechanical arm (100) drives the support module (310), and then drives the disinfection module (320), the needle inserting module (330) and the needle twisting module (340) to adjust in space.

3. The remote collaborative robotic acupuncture system of claim 1, wherein, The support module (310) comprises a fixed plate (311), a linear motor module (312) and a support plate (313); The fixed plate (311) is connected to the distal end of the multi-axis mechanical arm (100); the linear motor module (312) is fixed to the end face of the fixed plate (311) away from the multi-axis mechanical arm (100), and the support plate (313) is fixed to the sliding block of the linear motor module (312); the motor in the linear motor module (312) drives the sliding block to slide linearly left and right; the disinfection module (320), the needle inserting module (330) and the needle twisting module (340) are all fixed to the end face of the support plate (313) away from the linear motor module (312).

4. The remote collaborative robotic acupuncture system of claim 3, wherein, The disinfection module (320) comprises an eccentric driving assembly (322), a disinfection advancing assembly (323) and a cotton swab storage assembly; The eccentric driving assembly (322) is fixed to the support plate (313) through a first support frame (3211); the disinfection advancing assembly (323) is fixed to the eccentric driving assembly (322); The cotton swab storage assembly is internally provided with a cotton swab (324), and the cotton swab (324) is arranged in front of the disinfection advancing assembly (323); The disinfection advancing assembly (323) drives the cotton swab (324) to linearly extend to touch the acupuncture area of the human body, and the eccentric driving assembly (322) is configured to drive the disinfection advancing assembly (323) and the cotton swab storage assembly to eccentrically rotate to disinfect the acupuncture area of the human body.

5. The remote collaborative robotic acupuncture system of claim 4, wherein, The cotton swab storage assembly further comprises a cotton swab storage rotating wheel (3251) having a plurality of cotton swab storage cavities (3251-1) therein, and each of the cotton swab storage cavities (3251-1) contains a cotton swab (324). The disinfection advancing assembly (323) has a telescopic cotton swab push rod (3236), and each extension action of the cotton swab push rod (3236) pushes the cotton swab (324) in a different cotton swab storage cavity (3251-1) out to touch the acupuncture area of the human body.

6. The remote collaborative robotic acupuncture system of claim 3, wherein, The needle insertion module (330) comprises a second support assembly (331), an acupuncture advancing assembly (332), and a needle (333). The second support assembly (331) has a second support frame (3311) fixed on the support plate (313), and the acupuncture advancing assembly (332) is installed in the second support assembly (331). The acupuncture advancing assembly (332) drives the needle (333) to linearly extend to penetrate into the acupuncture area of the human body.

7. The remote collaborative robotic acupuncture system of claim 6, wherein, The needle insertion module (330) further comprises a needle storage rotating wheel (3341) having a plurality of needle storage cavities (3341-1) therein, and each of the needle storage cavities (3341-1) contains a needle (333). The acupuncture advancing assembly (332) has a telescopic needle push rod (3326), and each extension action of the needle push rod (3326) pushes the needle (333) in a different needle storage cavity (3341-1) out to penetrate into the human body.

8. The remote cooperative robot acupuncture system according to claim 3, wherein The third support assembly (341) has a third support frame (3411) fixed on the support plate (313).

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