An acupuncture point tissue deformation modeling method, device, equipment and medium in an acupuncture process

Abstract

The present application relates to the technical field of human soft tissue acupuncture deformation modeling, and particularly relates to an acupuncture process acupoint tissue deformation modeling method, device, equipment and medium, the method specifically comprises: constructing a first force balance relationship model according to a first acupuncture force vector and a Kelvin model; acquiring a stress-strain transfer function of the Kelvin model, and constructing a first stress-strain model according to the first force balance relationship model and the stress-strain transfer function of the Kelvin model; constructing a second force balance relationship model according to a second acupuncture force vector and a Damping-Kelvin model; acquiring a stress-strain transfer function of the Damping-Kelvin model, and constructing a second stress-strain model according to the second force balance relationship model and the stress-strain transfer function of the Damping-Kelvin model. The present application realizes human acupoint tissue acupuncture stress deformation modeling and calculation, and improves the accuracy of robot acupoint positioning.

Description

Technical Field

[0001] This invention relates to the field of human soft tissue acupuncture deformation modeling technology, and in particular to a method, device, equipment and medium for modeling acupoint tissue deformation during acupuncture. Background Technology

[0002] Acupuncture is a traditional Chinese medicine clinical treatment procedure that uses metal needles to stimulate acupoints on the body. It is characterized by being minimally invasive, safe, effective, and convenient. It has shown good clinical efficacy for various clinical diseases, especially chronic pain conditions such as lumbar disc herniation and sciatica, central and peripheral nerve injuries such as cerebral infarction, cerebral hemorrhage, and facial paralysis, and joint diseases such as rheumatoid arthritis and osteoarthritis. To promote the intelligent and precise development of acupuncture, robotic acupuncture is a popular research topic.

[0003] However, during robotic acupuncture, the tissues at acupoints in the human body usually sink and deform under the force of the needle, making it difficult for the acupuncture robot system to accurately locate the needle tip. Therefore, it is necessary to perform mathematical modeling of the quantitative deformation of acupoint tissues under force in order to improve the accuracy of acupoint location and the safety of acupuncture.

[0004] Similar to conventional biological tissues, human acupoint tissues exhibit non-isotropy, nonlinearity, heterogeneity, and viscoelasticity, making deformation modeling extremely difficult. Mathematically, this problem is reduced to a "complex partial differential equation solution problem." How to accurately mathematically model the deformation of acupoint tissues during acupuncture and achieve rapid numerical solutions is an important research topic in robotic humanoid acupuncture. Summary of the Invention

[0005] The purpose of this invention is to provide a method, device, equipment and medium for modeling the deformation of acupoint tissues during acupuncture, so as to realize the modeling and calculation of the deformation of human acupoint tissues under the force of acupuncture, improve the accuracy of robot positioning of acupoints, and solve at least one of the above-mentioned problems in the prior art.

[0006] This invention provides a method for modeling tissue deformation at acupoints during acupuncture, the method specifically comprising:

[0007] Obtain the first acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle but before the human acupoint tissue is broken. Construct a first force balance relationship model based on the first acupuncture force vector and the Kelvin model. The first force balance relationship model is the force balance relationship model of the human acupoint tissue when it is squeezed by the acupuncture needle but before the human acupoint tissue is broken.

[0008] Obtain the stress-strain transfer function of the Kelvin model, and construct a first stress-strain model based on the first force balance relationship model and the stress-strain transfer function of the Kelvin model. The first stress-strain model is a stress-strain model of human acupoint tissue under the pressure of acupuncture needles and before the human acupoint tissue is broken.

[0009] Obtain the second acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle and the human acupoint tissue is broken. Construct a second force balance relationship model based on the second acupuncture force vector and the Damping-Kelvin model. The second force balance relationship model is the force balance relationship model of the human acupoint tissue in the stage of being squeezed by the acupuncture needle and the human acupoint tissue being broken.

[0010] Obtain the stress-strain transfer function of the Damping-Kelvin model, and construct a second stress-strain model based on the second force balance relationship model and the stress-strain transfer function of the Damping-Kelvin model. The second stress-strain model is a stress-strain model of human acupoint tissue under the compression of acupuncture needles and the stage of human acupoint tissue fracture.

[0011] Furthermore, the first force balance relationship model satisfies 4σ xy1 sinθ+σ z1 =v, σ is the stress of the tissue at the acupoint in the human body, σ xy1 σ represents the stress in the Kelvin model on the X and Y axes when the acupuncture needle compresses the acupuncture point tissue but before the tissue ruptures. θ is the angle between the Kelvin model on the X and Y axes after deformation under the first needle insertion force vector and the X and Y planes. z1 This represents the stress in the Kelvin model on the Z-axis when the acupuncture needle compresses the acupuncture site tissue but the tissue has not yet broken.

[0012] Furthermore, obtaining the stress-strain transfer function of the Kelvin model specifically includes:

[0013] Obtain the stress-strain relationship formula for the Kelvin model, wherein the stress-strain relationship formula of the Kelvin model satisfies Where σ is the stress of the acupoint tissue, ε is the strain of the acupoint tissue, K is the elastic coefficient of the Kelvin model, and Z is the damping coefficient of the Kelvin model.

[0014] The stress-strain relationship formula is subjected to a Laplace transform to obtain the stress-strain transfer function of the Kelvin model, which satisfies the following conditions: Where G1(s) is the stress-strain transfer function of the Kelvin model, σ(s) is the complex form of stress in the Kelvin model, ε(s) is the complex form of strain in the Kelvin model, and s is a complex variable.

[0015] Furthermore, the construction of the first stress-strain model based on the first force balance relationship model and the stress-strain transfer function of the Kelvin model specifically includes:

[0016] Based on the stress-strain transfer function of the Kelvin model, the first complex form of the first force equilibrium relationship model is obtained, and the first complex form of the first force equilibrium relationship model satisfies 4ε. xy1 (s)G xy1 (s)sinθ+ε z1 (s)G z1 (s)=σ(s), where ε xy1 (s) represents the complex variable form of strain in the Kelvin model along the X and Y axes, ε z1 (s) represents the complex strain form of the Kelvin model on the Z-axis, G xy1 (s) represents the stress-strain transfer function of the Kelvin model on the X and Y axes, G z1 (s) is the stress-strain transfer function of the Kelvin model on the Z-axis;

[0017] According to ε xy1 sinθ=ε z1 =ε, after transforming the first complex form of the first force equilibrium relationship model, we obtain the second complex form of the first force equilibrium relationship model, which satisfies ε.

[0018] Substituting the stress-strain transfer function of the Kelvin model into the second complex form of the first force equilibrium relationship model, and setting σ(s) = σ / s, we obtain the third complex form of the first force equilibrium relationship model. The third complex form of the first force equilibrium relationship model satisfies... Among them, K xy Z represents the elastic coefficients of the Kelvin model on the X and Y axes. xy K represents the damping coefficients of the Kelvin model on the X and Y axes. z Let Z be the elastic coefficient of the Kelvin model on the Z-axis. z Here is the damping coefficient of the Kelvin model on the Z-axis;

[0019] Performing an inverse Laplace transform on the third complex form of the first force equilibrium relationship model yields the first stress-strain model, which satisfies... Where t represents time.

[0020] Furthermore, the second force balance model satisfies 4σ xy2 sinθ+σ z2 =σ, where σ is the stress of the tissue at the acupoint in the human body, σ xy2 σ represents the stress in the Damping-Kelvin model on the X and Y axes when the acupuncture needle compresses and ruptures the acupuncture site tissue. θ is the angle between the deformed Kelvin model on the X and Y axes and the X and Y planes under the second needle insertion force vector. z2 This represents the stress on the Z-axis in the Damping-Kelvin model when the acupoint tissue is compressed by an acupuncture needle and the acupoint tissue breaks.

[0021] Furthermore, obtaining the stress-strain transfer function of the Damping-Kelvin model specifically includes:

[0022] Obtain the stress-strain relationship formula for the Damping-Kelvin model, wherein the stress-strain relationship formula of the Damping-Kelvin model satisfies Where σ is the stress of the human acupoint tissue, ε is the strain of the human acupoint tissue, ε1 and ε2 are the strains of the Kelvin model and the series damping model, respectively, K1 and Z1 are the elastic coefficient and damping coefficient of the Kelvin model, respectively, and Z2 is the damping coefficient of the series damping model.

[0023] The stress-strain differential equation of the Damping-Kelvin model is obtained based on the stress-strain relationship formula of the Damping-Kelvin model. The stress-strain differential equation of the Damping-Kelvin model satisfies...

[0024] The stress-strain differential equation of the Damping-Kelvin model is subjected to a Laplace transform, and the following is assumed: b = Z2, Obtain the stress-strain transfer function of the Damping-Kelvin model, wherein the stress-strain transfer function of the Damping-Kelvin model satisfies Where G2(s) is the stress-strain transfer function of the Damping-Kelvin model, σ(s) is the complex form of stress in the Damping-Kelvin model, ε(s) is the complex form of strain in the Damping-Kelvin model, and s is a complex variable.

[0025] Furthermore, the construction of the second stress-strain model based on the second force equilibrium relationship model and the stress-strain transfer function of the Damping-Kelvin model specifically includes:

[0026] Based on the stress-strain transfer function of the Damping-Kelvin model, the first complex form of the second force equilibrium relationship model is obtained, and the first complex form of the second force equilibrium relationship model satisfies 4ε. xy2 (s)G xy2 (s)sinθ+ε z2 (s)G z2 (s)=σ(s), where ε xy2 (s) represents the complex variable form of strain in the Damping-Kelvin model along the X and Y axes, ε z2 (s) represents the complex strain form in the Damping-Kelvin model along the Z-axis, G xy2 (s) represents the stress-strain transfer function of the Damping-Kelvin model on the X and Y axes, G z2 (s) is the stress-strain transfer function of the Damping-Kelvin model on the Z-axis;

[0027] According to ε xy2 sinθ=ε z2 =ε, after transforming the first complex form of the second force equilibrium relationship model, we obtain the second complex form of the second force equilibrium relationship model, which satisfies ε.

[0028] Substituting the stress-strain transfer function of the Damping-Kelvin model into the second complex form of the second force equilibrium model, and setting σ(s) = σ / s, we obtain the third complex form of the second force equilibrium model. The third complex form of the second force equilibrium model satisfies... Among them, a xy b xy and c xy Let a be the transfer function parameters of the Damping-Kelvin model on the X and Y axes. z b z and c z The transfer function parameters of the Damping-Kelvin model on the Z-axis;

[0029] according to Factoring and rearranging the third complex form of the second force equilibrium relationship model yields the fourth complex form, which satisfies...

[0030]

[0031] If A 2 -4B>0, performing an inverse Laplace transform on the fourth complex form of the second force equilibrium relationship model yields the second stress-strain model, which satisfies... in, t represents time;

[0032] If A 2 -4B=0, performing an inverse Laplace transform on the fourth complex form of the second force equilibrium relationship model yields the second stress-strain model, which satisfies ε=σ(K1+K2t-K1e) λt +K5te λt ), (t>0), where,

[0033] If A 2 -4B<0, performing an inverse Laplace transform on the fourth complex form of the second force equilibrium relationship model yields the second stress-strain model, which satisfies ε=σ(K1+K2t-K1e) at sinωt+K6e at cosωt), (t>0), where,

[0034] The present invention also provides a device for modeling tissue deformation at acupoints during acupuncture, the device specifically comprising:

[0035] The first modeling module is used to obtain the first acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle and the human acupoint tissue has not yet broken. Based on the first acupuncture force vector and the Kelvin model, a first force balance relationship model is constructed. The first force balance relationship model is the force balance relationship model of the human acupoint tissue when it is squeezed by the acupuncture needle and the human acupoint tissue has not yet broken.

[0036] The second modeling module is used to obtain the stress-strain transfer function of the Kelvin model and construct a first stress-strain model based on the first force balance relationship model and the stress-strain transfer function of the Kelvin model. The first stress-strain model is a stress-strain model of human acupoint tissue under the pressure of acupuncture needles and before the human acupoint tissue is broken.

[0037] The third modeling module is used to obtain the second acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle and the human acupoint tissue is broken. Based on the second acupuncture force vector and the Damping-Kelvin model, a second force balance relationship model is constructed. The second force balance relationship model is the force balance relationship model of the human acupoint tissue in the stage of being squeezed by the acupuncture needle and the human acupoint tissue being broken.

[0038] The fourth modeling module is used to obtain the stress-strain transfer function of the Damping-Kelvin model, and to construct a second stress-strain model based on the second force balance relationship model and the stress-strain transfer function of the Damping-Kelvin model. The second stress-strain model is a stress-strain model of human acupoint tissue under the compression of acupuncture needles and the stage of human acupoint tissue fracture.

[0039] The present invention also provides a computer device, including: a memory and a processor, and a computer program stored in the memory, wherein when the computer program is executed on the processor, it implements the acupuncture process acupoint tissue deformation modeling method as described in any of the above methods.

[0040] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the acupuncture process acupoint tissue deformation modeling method as described in any of the above methods.

[0041] Compared with the prior art, the present invention has at least one of the following technical effects:

[0042] 1. The analysis of the deformation characteristics of human soft tissue under acupuncture force based on the viscoelastic model of soft tissue fully considers the different characteristics of human soft tissue under acupuncture force in two stages. That is, in the tissue contact stage, the deformation of acupoint tissue under force conforms to the Kelvin model. After the pressure is removed, the tissue gradually recovers its original shape under the combined action of tissue elasticity and damping. In the tissue fracture stage, the deformation under force conforms to the Damping-Kelvin model. After the acupuncture force is removed, some tissue deformation cannot be recovered (tissue fracture), while some deformation is recovered under the action of tissue elasticity and damping.

[0043] 2. This invention models and analyzes the two stages separately, making the deformation modeling analysis more accurate.

[0044] 3. This invention models acupoint tissues based on a spring-damped-mass model. This method has good characteristics such as high computational efficiency, low computational resource requirements, and the ability to model the viscoelasticity and boundary condition abrupt changes of layered tissues, the coupling effect of adjacent nodes, and the deformation direction of soft tissues. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram illustrating the two stages of tissue deformation at acupoints during acupuncture.

[0047] Figure 2 This is a flowchart illustrating a method for modeling the deformation of acupoint tissues during acupuncture, provided in an embodiment of the present invention.

[0048] Figure 3 This is a schematic diagram of the stress model of human acupoint tissue in a method for modeling the deformation of acupoint tissue during acupuncture provided in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the structure of a device for modeling the deformation of acupoint tissues during acupuncture, provided in an embodiment of the present invention.

[0050] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0051] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0052] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0053] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0054] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0055] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0056] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0057] Acupuncture is a traditional Chinese medicine clinical treatment procedure that uses metal needles to stimulate acupoints on the body. It is characterized by being minimally invasive, safe, effective, and convenient. It has shown good clinical efficacy for various clinical diseases, especially chronic pain conditions such as lumbar disc herniation and sciatica, central and peripheral nerve injuries such as cerebral infarction, cerebral hemorrhage, and facial paralysis, and joint diseases such as rheumatoid arthritis and osteoarthritis. To promote the intelligent and precise development of acupuncture, robotic acupuncture is a popular research topic.

[0058] However, during robotic acupuncture, the tissues at acupoints in the human body usually sink and deform under the force of the needle, making it difficult for the acupuncture robot system to accurately locate the needle tip. Therefore, it is necessary to perform mathematical modeling of the quantitative deformation of acupoint tissues under force in order to improve the accuracy of acupoint location and the safety of acupuncture.

[0059] Similar to conventional biological tissues, human acupoint tissues exhibit non-isotropy, nonlinearity, heterogeneity, and viscoelasticity, making deformation modeling extremely difficult. Mathematically, this problem is reduced to a "complex partial differential equation solution problem." How to accurately mathematically model the deformation of acupoint tissues during acupuncture and achieve rapid numerical solutions is an important research topic in robotic humanoid acupuncture.

[0060] Reference Figure 1 The robot's manipulator includes a three-dimensional force sensor and an acupuncture needle insertion module. After acupuncture needles contact the acupoint tissue, the deformation of the tissue can be divided into two stages: the tissue contact deformation stage and the tissue fracture stage. Therefore, the mechanical properties and deformation characteristics of human soft tissue under acupuncture force can be analyzed using a soft tissue viscoelastic model. Viscoelasticity refers to the characteristic of an object possessing both the properties of an elastic solid and a viscous fluid under certain conditions. When subjected to external force, its deformation gradually increases with time, and when the external force disappears, the deformation gradually decreases. Models that conform to soft tissue viscoelasticity mainly include the Kelvin model and the Damping-Kelvin model.

[0061] Tissue contact deformation stage: When the acupuncture needle comes into contact with the acupoint tissue, the tissue begins to deform due to the pressure from the needle. As the needle advances, the force exerted on the tissue increases, and the amount of deformation gradually increases. During this stage, the tissue only deforms without cracking; the acupoint tissue is only subjected to the compressive force of the needle. When the compressive force is removed, the tissue gradually returns to its original shape, and its mechanical and deformation characteristics conform to the Kelvin model.

[0062] Tissue Fracture Stage: As the acupuncture needle continues to compress the acupoint tissue, the pressure on the tissue gradually increases. When the internal stress of the acupoint tissue reaches the critical fracture stress, cracks will appear on the tissue contact surface, causing fracture. The acupuncture needle then penetrates the acupoint tissue. At this point, with the formation of cracks, the elastic surface energy of the tissue is released, the tissue slightly rebounds, and the force on the acupuncture needle decreases. After tissue fracture, the acupuncture needle pierces the surface membrane of the acupoint tissue and enters the tissue interior, continuously cutting the tissue. At this time, the acupoint tissue is subjected to the combined effects of friction, compression, and cutting forces from the acupuncture needle. After the acupuncture needle stops feeding, it leaves behind irreversible deformation (tissue fracture), and its mechanical and deformation characteristics conform to the Damping-Kelvin model.

[0063] The Kelvin model consists of a damper and a spring connected in parallel, and its stress-strain relationship is as follows:

[0064]

[0065] Where σ and ε are soft tissue stress and strain, respectively, and and are elastic coefficient and damping coefficient, respectively;

[0066] Then its stress-strain differential equation is:

[0067]

[0068] Taking the Laplace transform of the above equation, we can obtain the transfer function between σ and ε as follows:

[0069]

[0070] In the formula, s is a complex variable.

[0071] When the stress σ0 is constant, solving the differential equation yields the strain-time relationship of the Kelvin model as follows:

[0072]

[0073] When the given stress disappears at t1, it can be regarded as the process of damping preventing the spring from recovering, and the relationship between strain and time is as follows:

[0074]

[0075] The Damping-Kelvin model is a series connection of a Kelvin model and a damping model. The stresses in both components are equal, and the strain is the sum of the strains in the series damping model and the Kelvin model. Therefore, the stress-strain relationship of the Damping-Kelvin model is as follows:

[0076]

[0077] In the formula, σ and ε represent the stress and strain of the overall model, ε1 and ε2 represent the strains of the Kelvin model and the series damping model, respectively, K1 and Z1 represent the elastic coefficient and damping coefficient of the Kelvin model, respectively, and Z2 represents the damping coefficient of the series damping model.

[0078] Then its stress-strain differential equation is:

[0079]

[0080] Perform a Laplace transform on the above equation, and assume... The transfer function between σ and ε can then be obtained as:

[0081]

[0082] In the formula, s is a complex variable.

[0083] Furthermore, the stress-strain relationship between series damping in the Damping-Kelvin model and that in the Kelvin model is as follows:

[0084]

[0085] The stress-induced deformation of the Kelvin model is shown above. That is, when the stress σ0 is constant, and substituting the boundary condition ε1(0)=0, solving the differential equation yields the relationship between strain and time in the Kelvin model as follows:

[0086]

[0087] When the given stress t1 disappears, at this time Furthermore, it can be viewed as a process of damping preventing the spring from returning to its original state, and the relationship between its strain and time is as follows:

[0088]

[0089] The final deformation of the above equation is 0, that is, ε1(+∞)=0.

[0090] For series damping, when the stress σ0 is constant, solving the differential equation and substituting the boundary condition ε2(0)=0, we can obtain the relationship between strain and time for series damping as follows:

[0091]

[0092] When the given stress t1 disappears, at this time The deformation left by series damping is unrecoverable, and the stress is equivalent to the impulse function σ2(t)=σ0δ(t), that is:

[0093]

[0094] Perform the inverse Laplace transform on the above equation and substitute the boundary conditions. achievable

[0095]

[0096] The above formula is a constant, which is the strain that cannot be recovered after the skin is ruptured.

[0097] The Damping-Kelvin model provides a more accurate model of soft tissue deformation in the human body, enabling the modeling of acupoint tissue rupture. In this model, the deformation ε1(t) is recoverable, while the deformation ε2(t) in the series-damped Damping model is irrecoverable. The rupture stage of acupoint tissue is a combination of these two effects.

[0098] Therefore, in order to explore the degree of deformation of acupoint tissues caused by the acupuncture needle during acupuncture, we can model and analyze the acupoint tissue deformation in the contact deformation stage and the tissue fracture stage based on the above-mentioned mechanical deformation characteristics of human acupoint tissues.

[0099] Reference Figure 2 This invention provides a method for modeling tissue deformation at acupoints during acupuncture, characterized in that the method specifically includes:

[0100] S201: Obtain the first acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle but the human acupoint tissue has not yet broken. Construct a first force balance relationship model based on the first acupuncture force vector and the Kelvin model. The first force balance relationship model is the force balance relationship model of the human acupoint tissue when it is squeezed by the acupuncture needle but the human acupoint tissue has not yet broken.

[0101] In some embodiments, the first force balance relationship model satisfies 4σ xy1 sinθ+σ z1 =σ, where σ is the stress of the tissue at the acupoint in the human body, σ xy1 σ represents the stress in the Kelvin model on the X and Y axes when the acupuncture needle compresses the acupuncture point tissue but before the tissue ruptures. θ is the angle between the Kelvin model on the X and Y axes after deformation under the first needle insertion force vector and the X and Y planes. z1 This represents the stress in the Kelvin model on the Z-axis when the acupuncture needle compresses the acupuncture site tissue but the tissue has not yet broken.

[0102] In this embodiment, since the acupoint tissue conforms to the Kelvin model during the tissue contact deformation stage, the model nodes are connected using the Kelvin model, as referenced. Figure 3 The mechanical properties of human soft tissue can be represented by an equivalent spring-damped-node model. The main idea is to consider soft tissue as a whole composed of a mass, a spring, and damping. Assuming a constant acupuncture puncture speed, no acceleration affecting tissue deformation, and that the mass in the model is simplified to a massless node, the force on the human tissue is relatively concentrated during acupuncture. Deformation at locations far from the force point can be ignored. Therefore, modules not directly connected to the force point can be ignored, and their boundaries fixed. Thus, the first acupuncture force vector when the acupuncture point tissue is subjected to acupuncture pressure can be set as... The resulting tissue stress is σ, then from the force balance relationship, we can obtain 4σ. xy1 sinθ+σ z1 =σ.

[0103] S202: Obtain the stress-strain transfer function of the Kelvin model, and construct a first stress-strain model based on the first force balance relationship model and the stress-strain transfer function of the Kelvin model. The first stress-strain model is a stress-strain model of human acupoint tissue under the pressure of acupuncture needles and before the human acupoint tissue is broken.

[0104] In some embodiments, obtaining the stress-strain transfer function of the Kelvin model specifically includes:

[0105] Obtain the stress-strain relationship formula for the Kelvin model, wherein the stress-strain relationship formula of the Kelvin model satisfies Where σ is the stress of the acupoint tissue, ε is the strain of the acupoint tissue, K is the elastic coefficient of the Kelvin model, and Z is the damping coefficient of the Kelvin model.

[0106] The stress-strain relationship formula is subjected to a Laplace transform to obtain the stress-strain transfer function of the Kelvin model, which satisfies the following conditions: Where G1(s) is the stress-strain transfer function of the Kelvin model, σ(s) is the complex form of stress in the Kelvin model, ε(s) is the complex form of strain in the Kelvin model, and s is a complex variable.

[0107] In some embodiments, constructing the first stress-strain model based on the first force balance relationship model and the stress-strain transfer function of the Kelvin model specifically includes:

[0108] Based on the stress-strain transfer function of the Kelvin model, the first complex form of the first force equilibrium relationship model is obtained, and the first complex form of the first force equilibrium relationship model satisfies 4ε. xy1 (s)G xy1 (s)sinθ+ε z1 (s)G z1 (s)=σ(s), where ε xy1 (s) represents the complex variable form of strain in the Kelvin model along the X and Y axes, ε z1 (s) represents the complex strain form of the Kelvin model on the Z-axis, G xy1 (s) represents the stress-strain transfer function of the Kelvin model on the X and Y axes, G z1 (s) is the stress-strain transfer function of the Kelvin model on the Z-axis;

[0109] According to ε xy1 sinθ=ε z1 =ε, after transforming the first complex form of the first force equilibrium relationship model, we obtain the second complex form of the first force equilibrium relationship model, which satisfies ε.

[0110] Substituting the stress-strain transfer function of the Kelvin model into the second complex form of the first force equilibrium relationship model, and setting σ(s) = σ / s, we obtain the third complex form of the first force equilibrium relationship model. The third complex form of the first force equilibrium relationship model satisfies... Among them, K xy Z represents the elastic coefficients of the Kelvin model on the X and Y axes. xyK represents the damping coefficients of the Kelvin model on the X and Y axes. z Let Z be the elastic coefficient of the Kelvin model on the Z-axis. z Here is the damping coefficient of the Kelvin model on the Z-axis;

[0111] Performing an inverse Laplace transform on the third complex form of the first force equilibrium relationship model yields the first stress-strain model, which satisfies... Where t represents time.

[0112] S203: Obtain the second acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle and the human acupoint tissue is broken. Construct a second force balance relationship model based on the second acupuncture force vector and the Damping-Kelvin model. The second force balance relationship model is the force balance relationship model of the human acupoint tissue in the stage of being squeezed by the acupuncture needle and the human acupoint tissue being broken.

[0113] In some embodiments, the second force balance relationship model satisfies 4σ xy2 sinθ+σ z2 =σ, where σ is the stress of the tissue at the acupoint in the human body, σ xy2 σ represents the stress in the Damping-Kelvin model on the X and Y axes when the acupuncture needle compresses and ruptures the acupuncture site tissue. θ is the angle between the deformed Kelvin model on the X and Y axes and the X and Y planes under the second needle insertion force vector. z2 This represents the stress on the Z-axis in the Damping-Kelvin model when the acupoint tissue is compressed by an acupuncture needle and the acupoint tissue breaks.

[0114] In this embodiment, since the acupoint tissues at the tissue fracture stage conform to the Damping-Kelvin model, the model nodes are connected using the Damping-Kelvin model, as referenced. Figure 3 The mechanical properties of human soft tissue can be represented by an equivalent spring-damped-node model. The main idea is to consider soft tissue as a whole composed of a mass, a spring, and damping. Assuming a constant acupuncture puncture speed, no acceleration affecting tissue deformation, and that the mass in the model is simplified to a massless node, the force on the human tissue is relatively concentrated during acupuncture. Deformation at locations far from the force point can be ignored. Therefore, modules not directly connected to the force point can be ignored, and their boundaries fixed. Thus, the first acupuncture force vector when the acupuncture point tissue is subjected to acupuncture pressure can be set as... The resulting tissue stress is σ, then from the force balance relationship, we can obtain 4σ. xy2 sinθ+σ z2 =σ.

[0115] S204: Obtain the stress-strain transfer function of the Damping-Kelvin model, and construct a second stress-strain model based on the second force balance relationship model and the stress-strain transfer function of the Damping-Kelvin model. The second stress-strain model is a stress-strain model of the human acupoint tissue being squeezed by acupuncture needles and the human acupoint tissue breaking.

[0116] In some embodiments, obtaining the stress-strain transfer function of the Damping-Kelvin model specifically includes:

[0117] Obtain the stress-strain relationship formula for the Damping-Kelvin model, wherein the stress-strain relationship formula of the Damping-Kelvin model satisfies Where σ is the stress of the human acupoint tissue, ε is the strain of the human acupoint tissue, ε1 and ε2 are the strains of the Kelvin model and the series damping model, respectively, K1 and Z1 are the elastic coefficient and damping coefficient of the Kelvin model, respectively, and Z2 is the damping coefficient of the series damping model.

[0118] The stress-strain differential equation of the Damping-Kelvin model is obtained based on the stress-strain relationship formula of the Damping-Kelvin model. The stress-strain differential equation of the Damping-Kelvin model satisfies...

[0119] The stress-strain differential equation of the Damping-Kelvin model is subjected to a Laplace transform, and the following is assumed: b = Z2, Obtain the stress-strain transfer function of the Damping-Kelvin model, wherein the stress-strain transfer function of the Damping-Kelvin model satisfies Where G2(s) is the stress-strain transfer function of the Damping-Kelvin model, σ(s) is the complex form of stress in the Damping-Kelvin model, ε(s) is the complex form of strain in the Damping-Kelvin model, and s is a complex variable.

[0120] In some embodiments, constructing the second stress-strain model based on the second force balance relationship model and the stress-strain transfer function of the Damping-Kelvin model specifically includes:

[0121] Based on the stress-strain transfer function of the Damping-Kelvin model, the first complex form of the second force equilibrium relationship model is obtained, and the first complex form of the second force equilibrium relationship model satisfies 4ε. xy2(s)G xy2 (s)sinθ+ε z2 (s)G z2 (s)=σ(s), where ε xy2 (s) represents the complex variable form of strain in the Damping-Kelvin model along the X and Y axes, ε z2 (s) represents the complex strain form in the Damping-Kelvin model along the Z-axis, G xy2 (s) represents the stress-strain transfer function of the Damping-Kelvin model on the X and Y axes, G z2 (s) is the stress-strain transfer function of the Damping-Kelvin model on the Z-axis;

[0122] According to ε xy2 sinθ=ε z2 =ε, after transforming the first complex form of the second force equilibrium relationship model, we obtain the second complex form of the second force equilibrium relationship model, which satisfies ε.

[0123] Substituting the stress-strain transfer function of the Damping-Kelvin model into the second complex form of the second force equilibrium model, and setting σ(s) = σ / s, we obtain the third complex form of the second force equilibrium model. The third complex form of the second force equilibrium model satisfies... Among them, a xy b xy and c xy Let a be the transfer function parameters of the Damping-Kelvin model on the X and Y axes. z b z and c z The transfer function parameters of the Damping-Kelvin model on the Z-axis;

[0124] according to Factoring and rearranging the third complex form of the second force equilibrium relationship model yields the fourth complex form, which satisfies...

[0125]

[0126] If A 2 -4B>0, performing an inverse Laplace transform on the fourth complex form of the second force equilibrium relationship model yields the second stress-strain model, which satisfies... in, t represents time;

[0127] If A 2 -4B=0, performing an inverse Laplace transform on the fourth complex form of the second force equilibrium relationship model yields the second stress-strain model, which satisfies ε=σ(K1+K2t-K1e) λt +K5te λt ), (t>0), where,

[0128] If A 2 -4B<0, performing an inverse Laplace transform on the fourth complex form of the second force equilibrium relationship model yields the second stress-strain model, which satisfies ε=σ(K1+K2t-K1e) at sinωt+K6e at cosωt), (t>0), where,

[0129] In this embodiment, if A 2 -4B>0, then s 2 +As+B=0 has two distinct real roots. Then, performing the inverse Laplace transform on the above equation, we can obtain...

[0130]

[0131] In the formula

[0132]

[0133] If A 2 -4B = 0, then s 2 +As+B=0 has repeated real roots. Then, by performing the inverse Laplace transform, we can obtain...

[0134] ε=σ(K1+K2t-K1e λt +K5te λt ),(t>0)

[0135] In the formula

[0136] If A 2 -4B<0, then s 2 +As+B=0 has two conjugate imaginary roots. Then, by performing the inverse Laplace transform, we can obtain...

[0137] ε=σ(K1+K2t-K1e at sinωt+K6e atcosωt), (t>0)

[0138] In the formula

[0139] Reference Figure 4 This invention also provides a device 4 for modeling tissue deformation at acupoints during acupuncture, characterized in that the device 4 specifically includes:

[0140] The first modeling module 401 is used to obtain the first acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle and the human acupoint tissue has not yet broken. Based on the first acupuncture force vector and the Kelvin model, a first force balance relationship model is constructed. The first force balance relationship model is the force balance relationship model of the human acupoint tissue when it is squeezed by the acupuncture needle and the human acupoint tissue has not yet broken.

[0141] The second modeling module 402 is used to obtain the stress-strain transfer function of the Kelvin model and construct a first stress-strain model based on the first force balance relationship model and the stress-strain transfer function of the Kelvin model. The first stress-strain model is a stress-strain model of human acupoint tissue being squeezed by acupuncture needles and before the human acupoint tissue is broken.

[0142] The third modeling module 403 is used to obtain the second acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle and the human acupoint tissue is broken. Based on the second acupuncture force vector and the Damping-Kelvin model, a second force balance relationship model is constructed. The second force balance relationship model is the force balance relationship model of the human acupoint tissue being squeezed by the acupuncture needle and the human acupoint tissue being broken.

[0143] The fourth modeling module 404 is used to obtain the stress-strain transfer function of the Damping-Kelvin model, and construct a second stress-strain model based on the second force balance relationship model and the stress-strain transfer function of the Damping-Kelvin model. The second stress-strain model is a stress-strain model of the human acupoint tissue being squeezed by acupuncture needles and the human acupoint tissue breaking.

[0144] It is understandable that, such as Figure 2 The content of the acupuncture process acupoint tissue deformation modeling method embodiment shown is applicable to the acupuncture process acupoint tissue deformation modeling device embodiment. The specific functions implemented by the acupuncture process acupoint tissue deformation modeling device embodiment are as follows: Figure 2 The method for modeling acupuncture point tissue deformation during the acupuncture process shown in the example is the same, and the beneficial effects achieved are the same as those described above. Figure 2 The beneficial effects achieved by the acupuncture process acupoint tissue deformation modeling method shown in the embodiment are also the same.

[0145] It should be noted that the information interaction and execution process between the above-mentioned devices are based on the same concept as the method embodiments of the present invention. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0146] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0147] Reference Figure 5 The present invention also provides a computer device 5, including: a memory 502 and a processor 501, and a computer program 503 stored in the memory 502. When the computer program 503 is executed on the processor 501, it implements the acupuncture process acupoint tissue deformation modeling method as described in any of the above methods.

[0148] The computer device 5 may be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer device 5 may include, but is not limited to, a processor 501 and a memory 502. Those skilled in the art will understand that... Figure 5 The computer device 5 is merely an example and does not constitute a limitation on the computer device 5. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0149] The processor 501 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0150] In some embodiments, the memory 502 may be an internal storage unit of the computer device 5, such as a hard disk or memory of the computer device 5. In other embodiments, the memory 502 may be an external storage device of the computer device 5, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 5. Further, the memory 502 may include both internal and external storage units of the computer device 5. The memory 502 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 502 can also be used to temporarily store data that has been output or will be output.

[0151] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the acupuncture process acupoint tissue deformation modeling method as described in any of the above methods.

[0152] In this embodiment, if the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0153] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0154] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0155] In the embodiments disclosed in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0156] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

Claims

1. A method for modeling tissue deformation at acupoints during acupuncture, characterized in that, The method specifically includes: Obtain the first acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle but before the human acupoint tissue is broken. Construct a first force balance relationship model based on the first acupuncture force vector and the Kelvin model. The first force balance relationship model is the force balance relationship model of the human acupoint tissue when it is squeezed by the acupuncture needle but before the human acupoint tissue is broken. The first force equilibrium relationship model satisfies , For the stress of acupoint tissues in the human body, This represents the stress on the X and Y axes of the Kelvin model when the acupuncture needle compresses the acupuncture site tissue but before the tissue breaks. The angle between the Kelvin model deformed along the X and Y axes and the X and Y planes under the first needle puncture force vector. The stress in the Kelvin model on the Z-axis when the acupoint tissue is compressed by an acupuncture needle but before the acupoint tissue is broken; Obtain the stress-strain transfer function of the Kelvin model, and construct a first stress-strain model based on the first force balance relationship model and the stress-strain transfer function of the Kelvin model. The first stress-strain model is a stress-strain model of human acupoint tissue under the pressure of acupuncture needles and before the human acupoint tissue is broken. Obtain the second acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle and the human acupoint tissue is broken. Construct a second force balance relationship model based on the second acupuncture force vector and the Damping-Kelvin model. The second force balance relationship model is the force balance relationship model of the human acupoint tissue in the stage of being squeezed by the acupuncture needle and the human acupoint tissue being broken. The second force equilibrium relationship model satisfies , For the stress of acupoint tissues in the human body, The stress in the Damping-Kelvin model on the X and Y axes represents the stress on acupoint tissue when it is compressed by an acupuncture needle and the tissue breaks. The angle between the Kelvin model deformed along the X and Y axes and the X and Y planes under the second needle-piercing force vector. The stress in the Damping-Kelvin model on the Z-axis when the acupoint tissue is compressed by an acupuncture needle and the acupoint tissue breaks. Obtain the stress-strain transfer function of the Damping-Kelvin model, and construct a second stress-strain model based on the second force balance relationship model and the stress-strain transfer function of the Damping-Kelvin model. The second stress-strain model is a stress-strain model of human acupoint tissue under the compression of acupuncture needles and the stage of human acupoint tissue fracture.

2. The method according to claim 1, characterized in that, The process of obtaining the stress-strain transfer function of the Kelvin model specifically includes: Obtain the stress-strain relationship formula for the Kelvin model, wherein the stress-strain relationship formula of the Kelvin model satisfies ,in, For the stress of acupoint tissues in the human body, For the strain of acupoint tissue in the human body, K is the elastic coefficient of the Kelvin model, and Z is the damping coefficient of the Kelvin model. The stress-strain relationship formula is subjected to a Laplace transform to obtain the stress-strain transfer function of the Kelvin model, which satisfies the following conditions: ,in, This is the stress-strain transfer function of the Kelvin model. This represents the complex variable form of stress in the Kelvin model. Let s be the complex form of strain in the Kelvin model, where s is a complex variable.

3. The method according to claim 2, characterized in that, The construction of the first stress-strain model based on the first force balance relationship model and the stress-strain transfer function of the Kelvin model specifically includes: Based on the stress-strain transfer function of the Kelvin model, the first complex form of the first force equilibrium relationship model is obtained, and the first complex form of the first force equilibrium relationship model satisfies... ,in, Let be the complex variable form of strain in the Kelvin model on the X and Y axes. Let be the complex variable form of strain in the Kelvin model along the Z-axis. Here are the stress-strain transfer functions of the Kelvin model on the X and Y axes. This is the stress-strain transfer function of the Kelvin model on the Z-axis; according to The first complex form of the first force equilibrium relationship model is transformed to obtain the second complex form of the first force equilibrium relationship model, and the second complex form of the first force equilibrium relationship model satisfies ; Substitute the stress-strain transfer function of the Kelvin model into the second complex form of the first force equilibrium relationship model, and let... The third complex form of the first force equilibrium relationship model is obtained, and the third complex form of the first force equilibrium relationship model satisfies... ,in, These are the elastic coefficients of the Kelvin model on the X and Y axes. The damping coefficients of the Kelvin model on the X and Y axes are... The elastic coefficients of the Kelvin model on the Z-axis are... Here is the damping coefficient of the Kelvin model on the Z-axis; Performing an inverse Laplace transform on the third complex form of the first force equilibrium relationship model yields the first stress-strain model, which satisfies... , where t represents time.

4. The method according to claim 1, characterized in that, The process of obtaining the stress-strain transfer function of the Damping-Kelvin model specifically includes: Obtain the stress-strain relationship formula for the Damping-Kelvin model, wherein the stress-strain relationship formula of the Damping-Kelvin model satisfies ,in, For the stress of acupoint tissues in the human body, Strain of tissues at acupoints in the human body and The strains are for the Kelvin model and the series damping model, respectively. and These are the elastic coefficient and damping coefficient of the Kelvin model, respectively. is the damping coefficient of the series damping model; The stress-strain differential equation of the Damping-Kelvin model is obtained based on the stress-strain relationship formula of the Damping-Kelvin model. The stress-strain differential equation of the Damping-Kelvin model satisfies... ; The stress-strain differential equation of the Damping-Kelvin model is subjected to a Laplace transform, and the following is assumed: , , The stress-strain transfer function of the Damping-Kelvin model is obtained, and the stress-strain transfer function of the Damping-Kelvin model satisfies ,in, The stress-strain transfer function of the Damping-Kelvin model. This represents the complex variable form of stress in the Damping-Kelvin model. s represents the complex form of strain in the Damping-Kelvin model, where s is a complex variable.

5. The method according to claim 4, characterized in that, The construction of the second stress-strain model based on the second force equilibrium relationship model and the stress-strain transfer function of the Damping-Kelvin model specifically includes: Based on the stress-strain transfer function of the Damping-Kelvin model, the first complex form of the second force equilibrium relationship model is obtained, and the first complex form of the second force equilibrium relationship model satisfies... ,in, This represents the complex variable form of strain in the Damping-Kelvin model along the X and Y axes. This represents the complex variable form of strain in the Damping-Kelvin model along the Z-axis. Let be the stress-strain transfer function of the Damping-Kelvin model on the X and Y axes. The stress-strain transfer function of the Damping-Kelvin model on the Z-axis; according to The second complex form of the second force equilibrium relationship model is obtained by transforming the first complex form of the second force equilibrium relationship model. The second complex form of the second force equilibrium relationship model satisfies ; Substitute the stress-strain transfer function of the Damping-Kelvin model into the second complex variable form of the second force equilibrium relationship model, and let... The third complex form of the second force equilibrium relationship model is obtained, and the third complex form of the second force equilibrium relationship model satisfies... ,in, , and The transfer function parameters of the Damping-Kelvin model on the X and Y axes are... , and The transfer function parameters of the Damping-Kelvin model on the Z-axis; according to , , , Factorize and rearrange the third complex form of the second force equilibrium relationship model to obtain the fourth complex form of the second force equilibrium relationship model. The fourth complex form of the second force equilibrium relationship model satisfies ； like By performing an inverse Laplace transform on the fourth complex form of the second force equilibrium relationship model, a second stress-strain model is obtained, which satisfies... ,in, , , , t represents time; like By performing an inverse Laplace transform on the fourth complex form of the second force equilibrium relationship model, a second stress-strain model is obtained, which satisfies... ,in, ; like By performing an inverse Laplace transform on the fourth complex form of the second force equilibrium relationship model, a second stress-strain model is obtained, which satisfies... ,in, .

6. A device for modeling tissue deformation at acupoints during acupuncture, characterized in that, The device specifically includes: The first modeling module is used to obtain the first acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle and the human acupoint tissue has not yet broken. Based on the first acupuncture force vector and the Kelvin model, a first force balance relationship model is constructed. The first force balance relationship model is the force balance relationship model of the human acupoint tissue when it is squeezed by the acupuncture needle and the human acupoint tissue has not yet broken. The first force equilibrium relationship model satisfies , For the stress of acupoint tissues in the human body, This represents the stress on the X and Y axes of the Kelvin model when the acupuncture needle compresses the acupuncture site tissue but before the tissue breaks. The angle between the Kelvin model deformed along the X and Y axes and the X and Y planes under the first needle puncture force vector. The stress in the Kelvin model on the Z-axis when the acupoint tissue is compressed by an acupuncture needle but before the acupoint tissue is broken; The second modeling module is used to obtain the stress-strain transfer function of the Kelvin model and construct a first stress-strain model based on the first force balance relationship model and the stress-strain transfer function of the Kelvin model. The first stress-strain model is a stress-strain model of human acupoint tissue under the pressure of acupuncture needles and before the human acupoint tissue is broken. The third modeling module is used to obtain the second acupuncture force vector when the human acupoint tissue is squeezed by the acupuncture needle and the human acupoint tissue is broken. Based on the second acupuncture force vector and the Damping-Kelvin model, a second force balance relationship model is constructed. The second force balance relationship model is the force balance relationship model of the human acupoint tissue in the stage of being squeezed by the acupuncture needle and the human acupoint tissue being broken. The second force equilibrium relationship model satisfies , For the stress of acupoint tissues in the human body, The stress in the Damping-Kelvin model on the X and Y axes represents the stress on acupoint tissue when it is compressed by an acupuncture needle and the tissue breaks. The angle between the Kelvin model deformed along the X and Y axes and the X and Y planes under the second needle-piercing force vector. The stress in the Damping-Kelvin model on the Z-axis when the acupoint tissue is compressed by an acupuncture needle and the acupoint tissue breaks. The fourth modeling module is used to obtain the stress-strain transfer function of the Damping-Kelvin model, and to construct a second stress-strain model based on the second force balance relationship model and the stress-strain transfer function of the Damping-Kelvin model. The second stress-strain model is a stress-strain model of human acupoint tissue under the compression of acupuncture needles and the stage of human acupoint tissue fracture.

7. A computer device, characterized in that, include: The memory and processor, and the computer program stored in the memory, when the computer program is executed on the processor, implement the method for modeling the deformation of acupoint tissues during acupuncture as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the acupuncture process acupoint tissue deformation modeling method as described in any one of claims 1 to 5.

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