An integrated medical acupuncture robot
By designing an integrated medical acupuncture robot, automatic needle clamping, needle removal, needle manipulation, and needle twisting operations were achieved, solving the problem that existing acupuncture robots cannot automatically load and unload needles, improving treatment consistency and reducing training costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SUN YAT SEN UNIV
- Filing Date
- 2024-01-09
- Publication Date
- 2026-05-19
AI Technical Summary
Existing acupuncture robots cannot automatically load and unload needles, resulting in inconsistent acupuncture treatment effects and high training costs.
An integrated medical acupuncture robot was designed, which includes a needle manipulation drive module, a needle twisting drive module, an automatic needle clamping module, and a recognition and detection module. It achieves automatic needle clamping, needle removal, needle manipulation, and needle twisting operations through motor drive and sensor control.
It has achieved automation and standardization of acupuncture operations, improved treatment consistency, reduced training costs, reduced structural complexity, and improved mechanism dexterity.
Smart Images
Figure CN117815069B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of medical device technology, and in particular to an integrated medical acupuncture robot. Background Technology
[0002] With the development of robotics technology, recognition technology and robot control precision have reached new heights, and the application of robots in the medical field is increasingly demonstrating significant importance. Acupuncture, as a traditional Chinese medicine, will benefit greatly from its intelligentization, both in clinical practice and internationally. In clinical treatment, different doctors often use different techniques when treating the same patient, and even the same doctor cannot guarantee consistent needle manipulation every time. This leads to inconsistent treatment outcomes between novice and experienced acupuncturists, and the high cost of training acupuncturists hinders the popularization and development of acupuncture treatment. Robots offer advantages such as high control precision, fast response speed, and large-scale application, and are free from subjective and state-related influences, possessing objective, scientific, and quantifiable accuracy, providing an effective solution for clinical acupuncture treatment.
[0003] Currently, while existing acupuncture robots can simulate a doctor's acupuncture procedures, they still have some shortcomings, such as the inability to automatically load and unload needles. Summary of the Invention
[0004] The present invention aims to at least partially solve one of the aforementioned technical problems in the prior art. To this end, embodiments of the present invention provide an integrated medical acupuncture robot capable of performing needle insertion and manipulation operations, as well as automatic needle clamping and removal operations.
[0005] An integrated medical acupuncture robot according to an embodiment of the present invention includes a first base for connection to the execution end of a robotic arm; a needle twisting drive module, the needle twisting drive module including a second base and a second motor mounted on the second base; and an automatic needle clamping module, the automatic needle clamping module including a needle clamping assembly and a loading and unloading assembly, the needle clamping assembly including an inner support, an inner fixing block fixed on the inner support, a clamp fixed on the inner support, and an outer fixing block threadedly connected to the inner fixing block, the clamp being located between the outer fixing block and the inner fixing block, the clamp including a plurality of axially arranged clamping pieces, adjacent clamping pieces being spaced apart from each other, and a needle insertion inlet being formed between each clamping piece, after the outer fixing block is connected to the inner fixing block, the clamping pieces clamp the needle. The inner support is fixed to the drive shaft of the second motor, so that the automatic needle clamping module is driven to rotate by the second motor to realize the needle twisting operation. The loading and unloading assembly includes a telescopic push rod, which is directly or indirectly fixed to the second base. The outer fixing block is provided with a locking hole for the push rod to be inserted after it extends, thereby fixing the outer fixing block by the push rod. After fixing the outer fixing block, the inner fixing block is driven to rotate by the second motor, so that the outer fixing block and the inner fixing block are loosened or tightened, thereby causing the clamping piece of the fixture to loosen or clamp the needle. The assembly also includes a needle driving module, which is installed between the first base and the second base to drive the second base to translate relative to the first base, thereby realizing the needle driving operation.
[0006] Based on the above technical solution, the embodiments of the present invention have at least the following beneficial effects: The above technical solution drives the second base to translate through the needle driving module, thereby driving the automatic needle clamping module to translate and realize the needle driving operation; the second motor of the needle twisting driving module can drive the inner support to rotate, thereby driving the needle held by the clamp to rotate and realize the needle twisting operation. During the normal needle twisting process, the push rod is in the retracted state, the second motor works, and then the inner support, inner fixing block, outer fixing block and clamp rotate together with the drive shaft of the second motor. This is the needle driving state of the integrated medical acupuncture robot. During needle clamping or unloading, the second motor is first driven to operate, so that the locking hole of the outer fixing block is directly above the push rod. At this time, the second motor stops working, the push rod extends and engages with the locking hole of the outer fixing block, and the second motor restarts, driving the inner fixing block to rotate while the outer fixing block is fixed by the push rod, thereby realizing the tightening or loosening operation of the outer fixing block. During the tightening or loosening of the outer fixing block, the clamping plate clamps or releases the needle. During the tightening of the outer fixing block, the outer fixing block presses the clamping plate of the clamp, causing the clamping plate to clamp the needle, thus realizing the needle clamping operation. During the loosening of the outer fixing block, the outer fixing block gradually reduces the pressure on the clamp, and finally the outer fixing block disengages from the clamp but still engages with the inner fixing block, causing the clamping plate of the clamp to release the needle, thus realizing the needle unloading operation. The needle clamping and unloading operations are the needle clamping and unloading states of the integrated medical acupuncture robot.
[0007] In an optional or preferred embodiment, each of the clamping pieces is provided with an inclined clamping portion on the outer side facing the outer fixing block, and the outer fixing block is provided with an inclined pressing portion on the inner side facing the clamp, so that after the outer fixing block is connected to the inner fixing block, the inclined pressing portion presses against each of the inclined clamping portions, thereby causing each of the clamping pieces to bend inward and press the needle.
[0008] In an optional or preferred embodiment, the loading and unloading assembly includes several second support rods fixed to the second base and electromagnets fixed to the second support rods. Each electromagnet includes a push rod, and the extension and retraction of the push rod are controlled by switching the electromagnet on and off. By controlling the extension and retraction of the push rod with the electromagnet, the integrated medical acupuncture robot can switch between acupuncture insertion and needle clamping / unloading states. Both states share a second motor, reducing the complexity of the end effector while achieving the same function, and greatly improving the dexterity of the mechanism.
[0009] In an optional or preferred embodiment, the integrated medical acupuncture robot further includes an identification and detection module. The identification and detection module includes a sensor assembly, which includes a torque sensor and a tension / compression sensor. The second base is provided with a mounting groove, and the torque sensor is fixed in the mounting groove. An end cap is provided at the opening of the mounting groove. One end of the tension / compression sensor is threaded to the center of the end cap, and the other end of the tension / compression sensor is threaded to the center of the motor base of the second motor. The torque sensor, the tension / compression sensor, and the automatic needle clamping module are coaxial.
[0010] In an optional or preferred embodiment, the base of the second motor is connected to the tension / compression sensor, the drive shaft of the second motor has a connecting end that is connected to the inner bracket, the cross-section of the connecting end is D-shaped, the inner bracket has a D-shaped hole into which the connecting end is inserted, and the connecting end and the D-shaped hole are interference-fitted.
[0011] In an optional or preferred embodiment, the integrated medical acupuncture robot further includes a recognition and detection module, which includes a visual recognition component. The visual recognition component includes a plurality of first support rods connected to the first base and a first binocular camera fixed on the first support rods.
[0012] In an optional or preferred embodiment, two first support rods are provided and are respectively connected to both sides of the first base by bolts. Fixing blocks are respectively connected to both sides of the first binocular camera. The fixing blocks are connected to the first support rods. The first support rods are provided with multiple connecting screw holes along the length direction to adjust the connection position of the fixing blocks.
[0013] In an optional or preferred embodiment, the integrated medical acupuncture robot further includes a hand-pressing module, which comprises a rigid hand-pressing plate and a flexible hand-pressing plate. The rigid hand-pressing plate is fixed to the end of the first support rod, and the flexible hand-pressing plate is connected to the rigid hand-pressing plate. Furthermore, both the rigid and flexible hand-pressing plates are designed as 60° fan-shaped rings. The 60° fan-shaped rings mimic the shape of the hand pressed by the thumb and forefinger in Traditional Chinese Medicine, thus mimicking the hand-pressing motion of a human hand.
[0014] In an optional or preferred embodiment, the needle-running drive module includes a movable base, a first motor fixed to one side of the movable base, a lead screw driven by the first motor, a guide rail fixed to the movable base, and a slider cooperating with the guide rail. The slider has a threaded inner hole that mates with the lead screw, so that when the lead screw rotates, the slider slides along the guide rail. The slider is fixedly connected to the first base, and a second base is fixed to the other side of the movable base. In the needle-running drive module, with the first base as a reference, the slider remains stationary. When the first motor drives the slider, it causes relative sliding between the slider and the guide rail. The guide rail moves one-dimensionally relative to the first base, that is, the movable base slides relative to the robotic arm's execution end, thus realizing the needle-running operation. Attached Figure Description
[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments;
[0016] Figure 1 This is a structural schematic diagram of an embodiment of the present invention;
[0017] Figure 2 This is a schematic diagram of the structure of the needle driving module and the needle twisting driving module in an embodiment of the present invention, which also shows the first base;
[0018] Figure 3 This is a schematic diagram of the structure of the visual recognition component in an embodiment of the present invention, which also shows a first base;
[0019] Figure 4 This is a schematic diagram of the sensor assembly in an embodiment of the present invention, which also shows a second base;
[0020] Figure 5 This is an exploded view of the automatic needle clamping module in an embodiment of the present invention;
[0021] Figure 6 This is a schematic diagram of the press module in an embodiment of the present invention, which also shows the first support rod. Detailed Implementation
[0022] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.
[0023] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.
[0024] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.
[0025] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.
[0026] Reference Figures 1 to 6 An integrated medical acupuncture robot was presented, including a first base 111, a needle driving module 200, a needle twisting driving module 300, and an automatic needle clamping module 400.
[0027] The first base 111 is used to connect to the actuator of the robotic arm 101. After the actuator of the external robotic arm 101 is connected to the first base 111, it drives the overall movement.
[0028] Specifically, in one embodiment, such as Figure 1 and Figure 2As shown, the needle drive module 200 includes a movable base 211, a first motor 221 fixed to one side of the movable base 211, a lead screw 222 driven by the first motor 221, a guide rail 224 fixed to the movable base 211, and a slider 223 cooperating with the guide rail 224. The slider 223 has a threaded inner hole that mates with the lead screw 222, so that when the lead screw 222 rotates, the slider 223 slides along the guide rail 224. The slider 223 is fixedly connected to the first base 111. It can be understood that, with the first base 111 as a reference, the slider 223 is fixed. When the first motor 221 drives, the lead screw 222 rotates, causing the slider 223 to slide relative to the guide rail 224. At this time, the guide rail 224 moves in one dimension relative to the first base 111, that is, the movable base slides relative to the actuator of the robotic arm.
[0029] By fixing the slider, the guide rail is installed on the side of the robotic arm's execution end. In the initial state, the second base at the end of the guide rail is almost flush with the end of the robotic arm. After the needle drive module 200 is running, the second base is equivalent to the length of the extension of the end of the robotic arm, which is about half of the needle drive module, effectively shortening the maximum length of the needle drive module and reducing its size.
[0030] The needle-twisting drive module 300 includes a second base 311 and a second motor 321 mounted on the second base 311. The second base 311 is fixed to the other side of the movable base 211. That is, the needle-running drive module 200 is installed between the first base 111 and the second base 311 to drive the second base 311 to translate relative to the first base 111.
[0031] The automatic needle clamping module 400 is used to clamp the needle 700. The automatic needle clamping module 400 is installed on the drive shaft 323 of the second motor 321. When the first motor 221 of the needle driving module 200 drives the second base 311 to move horizontally, the automatic needle clamping module 400 is driven to move horizontally through the second motor 321, thereby realizing the needle operation.
[0032] In this embodiment, refer to Figure 5The automatic needle clamping module 400 includes a needle clamping assembly and a loading / unloading assembly. The needle clamping assembly includes an inner support 411, an inner fixing block 412 fixed on the inner support 411, a clamp 421 fixed on the inner support 411, and an outer fixing block 431 threadedly connected to the inner fixing block 412. The clamp 421 is located between the outer fixing block 431 and the inner fixing block 412. The clamp 421 includes a plurality of axially arranged clamping pieces 422, with adjacent clamping pieces 422 spaced apart from each other. Each clamping piece 422 forms an insertion port for the needle 700. After the outer fixing block 431 is connected to the inner fixing block 412, the clamping pieces 422 clamp the needle 700. The inner support 411 and the second... The drive shaft 323 of the motor 321 is fixed so that the automatic needle clamping module 400 is driven to rotate by the second motor 321, thereby realizing the needle twisting operation. The loading and unloading assembly includes a telescopic push rod 443, which is directly or indirectly fixed to the second base 311. The outer fixing block 431 is provided with a locking hole 432 so that the push rod 443 can be inserted after it extends, thereby fixing the outer fixing block 431 by the push rod 443. After fixing the outer fixing block 431, the inner fixing block 412 is driven to rotate by the second motor 321 so that the outer fixing block 431 and the inner fixing block 412 are loosened or tightened, thereby causing the clamping piece 422 of the clamp 421 to loosen or clamp the needle 700.
[0033] It is understandable that the needle-moving drive module 200 drives the second base 311 to translate, which in turn drives the automatic needle clamping module 400 to translate, thus realizing the needle-moving operation; the second motor 321 of the needle-twisting drive module 300 can drive the inner support 411 to rotate, which in turn drives the needle 700 held by the clamp 421 to rotate, thus realizing the needle-twisting operation. During normal needle-twisting, the push rod 443 is in the retracted state, the second motor 321 is working, and then the inner support 411, the inner fixing block 412, the outer fixing block 431, and the clamp 421 rotate together with the drive shaft 323 of the second motor 321. This is the needle-moving state of the integrated medical acupuncture robot.
[0034] During the needle clamping or unclamping process, the second motor 321 is first driven to work, so that the locking hole 432 of the outer fixing block 431 is directly above the push rod 433. At this time, the second motor 321 stops working, the push rod 433 extends and is locked into the locking hole 432 of the outer fixing block 431. The second motor 321 is restarted, driving the inner fixing block 412 to rotate, while the outer fixing block 431 is fixed by the push rod 433, thereby realizing the tightening or loosening operation of the outer fixing block 431. During the tightening or loosening of the outer fixing block 431, the clamping plate 422 clamps or releases the needle 700.
[0035] During the tightening process of the external fixing block 431, the external fixing block 431 presses the clamping piece 422 of the clamp 421, causing the clamping piece 422 to clamp the needle 700, thus realizing the needle clamping operation; during the loosening process of the external fixing block 431, the external fixing block 431 gradually reduces the pressure on the clamp 421, and finally the external fixing block 431 disengages from the clamp 421 but still engages with the internal fixing block 412, causing the clamping piece 422 of the clamp 421 to release the needle, thus realizing the needle unloading operation. The needle clamping operation and the needle unloading operation are the needle clamping and unloading states of the integrated medical acupuncture robot.
[0036] Specifically, the tightening or loosening process of the outer fixing block 431 presses down on the clamping pieces 422, causing them to clamp the needle 700. Specifically, each clamping piece 422 has an inclined clamping portion on its outer side facing the outer fixing block 431, and an inclined pressing portion on its inner side facing the clamp 421. After the outer fixing block 431 is connected to the inner fixing block 412, the inclined pressing portion presses against each inclined clamping portion, causing each clamping piece 422 to bend inward and press against the needle 700. One end of the outer fixing block 431 is shaped like a frustum, and an inclined pressing portion is machined inside. After the other end of the outer fixing block 431 is threadedly connected to the inner fixing block 412, the inclined pressing portion presses against each inclined clamping portion.
[0037] In addition, the loading and unloading assembly includes several second support rods 441 fixed to the second base 311 and electromagnets 442 fixed to the second support rods 441. The electromagnets 442 include push rods 443, and the extension and retraction of the push rods 443 are caused by the switching on and off of the electromagnets 442. In this embodiment, two second support rods 441 are provided, respectively located on both sides of the second base 311, and fixed with bolts.
[0038] Understandably, by controlling the extension and retraction of the push rod 443 via electromagnet 442, the integrated medical acupuncture robot switches between needle insertion and needle clamping / unloading states. Both states share the second motor 321, reducing the complexity of the end effector while achieving the same function, thus greatly improving the mechanism's dexterity. The needle loading and unloading method is simple, enabling streamlined needle changing. Needle loading and unloading operations can be achieved solely by controlling the state of electromagnet 442 and the workflow of a single second motor, and it can adapt to different needle shapes. Furthermore, with corresponding needle changing equipment, fully automated needle insertion and unloading can be achieved, providing complete conditions for the clinical application of acupuncture robots.
[0039] The drive shaft 323 of the second motor 321 has a connecting end that connects to the inner bracket 411. The connecting end has a D-shaped cross-section, and the inner bracket 411 has a D-shaped hole for inserting the connecting end. The connecting end and the D-shaped hole are interference-fitted. The inner fixing block 412 is quickly positioned through the groove of the inner bracket 411, aligning with the threaded holes and through holes arranged circumferentially on the side, and is fixed by bolts. The clamp 421 is placed in the groove of the inner fixing block 412, and the needle 700 is placed in the center of the clamp 412. The groove at the end of the inner fixing block 412 is used for coarse positioning. The outer fixing block 431 is threadedly engaged with the inner fixing block 412.
[0040] Reference Figure 3 and Figure 4 The integrated medical acupuncture robot also includes a recognition and detection module 600, which includes a sensor assembly comprising a torque sensor 621 and a tension / compression sensor 622. A second base 311 has a mounting groove 313 in which the torque sensor 621 is fixed. An end cap 312 is provided at the opening of the mounting groove 313. One end of the tension / compression sensor 622 is threadedly connected to the center of the end cap 312, and the other end is threadedly connected to the center of the motor base 322 of the second motor 321. The torque sensor 621, the tension / compression sensor 622, and the automatic needle clamping module 400 are coaxial. The base of the second motor 321 is connected to the tension / compression sensor 622.
[0041] The recognition and detection module 600 includes a visual recognition component, which comprises several first support rods 511 connected to a first base 111 and a first binocular camera 612 fixed to the first support rods 511. The first binocular camera 612 faces the needle 700 and its front. Additionally, a second binocular camera is provided, with its mounting base set to world coordinates, and the second binocular camera faces the second base. The recognition and detection module and the visual recognition component are simple to assemble and disassemble, requiring no large-scale disassembly of other modules.
[0042] Two first support rods 511 are provided and connected to both sides of the first base 111 by bolts. Fixing blocks 611 are connected to both sides of the first binocular camera 612. The fixing blocks 611 are connected to the first support rods 511. The first support rods 511 have multiple connecting screw holes along their length to adjust the connection position of the fixing blocks 611. This allows for adjustment of the field of view of the first binocular camera 612 while maintaining a constant distance between the automatic needle clamping module and the human body, adapting to complex scenarios involving various acupoints.
[0043] Combination Figure 6The integrated medical acupuncture robot also includes a hand-operated module 500, which comprises a rigid hand-operated plate 521 and a flexible hand-operated plate 522. The rigid hand-operated plate 521 is fixed to the end of the first support rod 511, and the flexible hand-operated plate 522 is connected to the rigid hand-operated plate 521. Specifically, the rigid hand-operated plate 521 engages with the central positioning hole at the end of the first support rod 511 to provide rigid support; the rigid hand-operated plate is provided with a groove and a positioning hole to engage with the flexible hand-operated plate 522; the flexible hand-operated plate 522 and the rigid hand-operated plate 521 are connected to the first support rod 511 by bolts.
[0044] Both the rigid hand-pressing plate 521 and the flexible hand-pressing plate 522 are designed with a 60° fan ring. The 60° fan ring imitates the shape of the hand pressed by the thumb and forefinger in traditional Chinese medicine, which can mimic the pressing of the human hand.
[0045] In this embodiment, the first motor and the second motor are small integrated closed-loop stepper motors, that is, the encoder and driver are integrated into one unit. The first motor 221 drives the second base 311 to move, thereby driving the automatic needle clamping module 400 to translate relative to the execution end of the robotic arm; the second motor 321 drives the needle to achieve rotational movement.
[0046] In this application, the integrated medical acupuncture robot, comprising the needle manipulation drive module 200, the needle twisting drive module 300, the automatic needle clamping module 400, the hand-pressing module 500, and the identification and detection module 600, is directly or indirectly mounted on the first base 111. Using modules as the smallest operating unit greatly facilitates the installation, testing, maintenance, and upgrades of the entire acupuncture robot. During system installation, the needle manipulation drive module 200 and the needle twisting drive module 300 can be installed first, followed by installation of each module individually. When testing, maintenance, or upgrading the system is required, only individual modules need to be operated, eliminating the need for complete disassembly of the entire machine.
[0047] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.
Claims
1. An integrated medical acupuncture robot, characterized in that: include The first base is used to connect to the actuator of the robotic arm; A needle-twisting drive module, the needle-twisting drive module including a second base and a second motor mounted on the second base; An automatic needle clamping module includes a needle clamping assembly and a loading / unloading assembly. The needle clamping assembly includes an inner support, an inner fixing block fixed to the inner support, a clamp fixed to the inner support, and an outer fixing block threadedly connected to the inner fixing block. The clamp is located between the outer fixing block and the inner fixing block. The clamp includes multiple axially arranged clamping pieces, with adjacent clamping pieces spaced apart. Each clamping piece forms a needle insertion port. The outer side of each clamping piece has an inclined clamping portion facing the outer fixing block, and the inner side of the outer fixing block has an inclined pressing portion facing the clamp, so that after the outer fixing block is connected to the inner fixing block, the needle clamping assembly... The inclined clamping part presses against each of the inclined clamping parts, thereby causing each of the clamping pieces to bend inward and clamp the needle. The inner bracket is fixed to the drive shaft of the second motor so that the automatic needle clamping module can be driven to rotate by the second motor, thereby realizing the needle twisting operation. The loading and unloading assembly includes a telescopic push rod, which is directly or indirectly fixed to the second base. The outer fixing block is provided with a locking hole so that the push rod can be inserted after it extends, thereby fixing the outer fixing block by the push rod. After fixing the outer fixing block, the inner fixing block is driven to rotate by the second motor so that the outer fixing block and the inner fixing block can be loosened or tightened, thereby causing the clamping pieces of the clamp to loosen or clamp the needle. as well as A needle-running drive module is installed between the first base and the second base to drive the second base to translate relative to the first base, thereby realizing needle-running operation.
2. The integrated medical acupuncture robot according to claim 1, characterized in that: The loading and unloading assembly includes a plurality of second support rods fixed to the second base and an electromagnet fixed to the second support rods. The electromagnet includes the push rod, and the extension and retraction of the push rod are caused by switching the electromagnet on and off.
3. The integrated medical acupuncture robot according to claim 1, characterized in that: The integrated medical acupuncture robot also includes an identification and detection module, which includes a sensor assembly, including a torque sensor and a tension / compression sensor. The second base is provided with a mounting groove, in which the torque sensor is fixed. An end cap is provided at the opening of the mounting groove. One end of the tension / compression sensor is threaded to the center of the end cap, and the other end of the tension / compression sensor is threaded to the center of the motor base of the second motor. The torque sensor, the tension / compression sensor, and the automatic needle clamping module are coaxial.
4. The integrated medical acupuncture robot according to claim 3, characterized in that: The base of the second motor is connected to the tension / compression sensor. The drive shaft of the second motor has a connecting end that is connected to the inner bracket. The cross-section of the connecting end is D-shaped. The inner bracket has a D-shaped hole into which the connecting end is inserted. The connecting end and the D-shaped hole are interference-fitted.
5. The integrated medical acupuncture robot according to claim 1, characterized in that: The integrated medical acupuncture robot also includes a recognition and detection module, which includes a visual recognition component. The visual recognition component includes a plurality of first support rods connected to the first base and a first binocular camera fixed on the first support rods.
6. The integrated medical acupuncture robot according to claim 5, characterized in that: Two first support rods are provided and are respectively connected to both sides of the first base by bolts. Fixing blocks are respectively connected to both sides of the first binocular camera. The fixing blocks are connected to the first support rods. The first support rods are provided with multiple connecting screw holes along the length direction to adjust the connection position of the fixing blocks.
7. The integrated medical acupuncture robot according to claim 5, characterized in that: The integrated medical acupuncture robot also includes a hand-pressing module, which includes a rigid hand-pressing plate and a flexible hand-pressing plate. The rigid hand-pressing plate is fixed to the end of the first support rod, and the flexible hand-pressing plate is connected to the rigid hand-pressing plate.
8. The integrated medical acupuncture robot according to claim 7, characterized in that: Both the rigid handplate and the flexible handplate are designed with a 60° fan ring.
9. The integrated medical acupuncture robot according to any one of claims 1 to 8, characterized in that: The needle drive module includes a movable base, a first motor fixed on one side of the movable base, a lead screw driven by the first motor, a guide rail fixed on the movable base, and a slider cooperating with the guide rail. The slider has a threaded inner hole that cooperates with the lead screw, so that after the lead screw rotates, the slider slides along the guide rail. The slider is fixedly connected to the first base, and the second base is fixed on the other side of the movable base.