Electro-acupuncture device with lifting, inserting and twisting functions and control method of electro-acupuncture device

Abstract

The invention discloses an electroacupuncture device with lifting, inserting and twisting functions, which comprises a control mechanism (1) and an execution mechanism (2), the execution mechanism (1) comprises a shell (3), an execution circuit board (4), a servo electric push rod (5) and a stepping motor (6) are arranged in the shell (3), the output end of the execution circuit board (4) is connected with the servo electric push rod (5) and the stepping motor (6) through lines, and the output end of the execution circuit board (4) is connected with the servo electric push rod (5) and the stepping motor (6). The output end of the execution circuit board (4) is also connected with a conductive patch (7) and a needle (8); the moving end of the servo electric push rod (5) is connected with the stepping motor (6), and the needling instrument (8) is connected with the moving end of the stepping motor (6). And the input end of the execution circuit board (4) is connected with the control mechanism (1) through a line. According to the invention, automatic lifting, inserting, twisting and electro-acupuncture of the needle can be realized, lifting, inserting and twisting can be conveniently carried out during electro-acupuncture needle application, and the workload of clinical medical personnel is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of acupuncture equipment, and in particular to an electric acupuncture device with lifting, inserting and twisting functions and a control method thereof. Background Art

[0002] Lifting, inserting and twisting techniques are the most commonly used acupuncture techniques. According to the patient's acupuncture needs, clinicians often need to repeat the lifting, inserting and twisting techniques on different acupoints for several minutes. This process is extremely energy-consuming and has high requirements for the clinician's acupuncture techniques. With the development of science and technology, electroacupuncture therapy has also been introduced into the acupuncture process. Electroacupuncture acts on acupoints through electrodes with currents of different frequencies, which can directly stimulate human tissues to improve the local tissue microenvironment around the acupoints. The electroacupuncture instruments commonly used in clinical practice generally use a clamp with good conductivity to directly clamp the acupuncture needle to provide electrical stimulation. Therefore, during electroacupuncture, it is inconvenient for clinicians to perform lifting, inserting and twisting techniques. Summary of the invention

[0003] The purpose of the present invention is to provide an electroacupuncture device with lifting, inserting and twisting functions and a control method thereof. The present invention enables the needle to automatically perform lifting, inserting, twisting and electroacupuncture, facilitates lifting, inserting and twisting during electroacupuncture, and reduces the workload of clinical medical staff.

[0004] The technical solution of the present invention is as follows: an electroacupuncture device with lifting, inserting and twisting functions, comprising a control mechanism and an actuator, wherein the actuator comprises a shell, wherein an actuator circuit board, a servo electric push rod and a stepper motor are arranged in the shell, wherein the output end of the actuator circuit board is connected to the servo electric push rod and the stepper motor via a circuit, and the output end of the actuator circuit board is also connected to a conductive patch and a needle; the movable end of the servo electric push rod is connected to the stepper motor, and the needle is connected to the movable end of the stepper motor; and the input end of the actuator circuit board is connected to the control mechanism via a circuit.

[0005] The above-mentioned electroacupuncture device with lifting, inserting and twisting functions has a main fastening component and a sub-fastening component that are mutually matched and connected in the shell, and the servo electric push rod is arranged between the main fastening component and the sub-fastening component.

[0006] The aforementioned electroacupuncture device with lifting, inserting and twisting functions has a stepper motor mounting seat for supporting the stepper motor inside the shell, guide wheels are provided on both sides of the outside of the stepper motor mounting seat, and a straight rod guide rail cooperating with the guide wheels is provided inside the shell; a needle mounting seat for supporting needles is also provided inside the shell.

[0007] The aforementioned electroacupuncture device with lifting, inserting and twisting functions has an assembly seat on the outside of the shell for easy installation.

[0008] The aforementioned electroacupuncture device with lifting, inserting and twisting functions, the control mechanism includes a drive panel housing, a drive panel is arranged inside the drive panel housing, and the drive panel is connected to the input end of the execution circuit board via a connecting line.

[0009] In the aforementioned electroacupuncture device with lifting, inserting and twisting functions, a fixing bracket is connected between the assembly seat and the driving panel housing.

[0010] The aforementioned electroacupuncture device with lifting, inserting and twisting functions has a clamp seat provided on the outside of the driving panel housing, a lifting mounting seat provided on the clamp seat, a lifting rod provided in the lifting mounting seat, and a movable end of the lifting rod connected to the driving panel housing.

[0011] The control method of the aforementioned electroacupuncture device with lifting, inserting and twisting functions is to input acupuncture parameters into the control mechanism to obtain control instructions, transmit the control instructions to the execution circuit board of the execution mechanism, and the execution circuit board controls the servo electric push rod, the stepper motor, the needle and the conductive patch according to the control instructions; wherein the work of the servo electric push rod is to push the stepper motor and the needle to move back and forth to realize the lifting and inserting function; the work of the stepper motor is to drive the needle to rotate to realize the twisting function; the work of the needle and the conductive patch is that the current of the execution circuit board passes through the needle, the acupoint and the conductive patch to form a current loop to realize electroacupuncture.

[0012] The aforementioned electroacupuncture control method with lifting, inserting and twisting functions, the acupuncture parameters include lifting and inserting parameters, twisting parameters and electroacupuncture parameters; the lifting and inserting parameters include lifting and inserting time, lifting and inserting speed, lifting and inserting duty cycle and lifting and inserting distance; the twisting parameters include twisting time, twisting angle, twisting speed and twisting duty cycle; the electroacupuncture includes current intensity and current frequency.

[0013] In the aforementioned electroacupuncture control method with lifting, inserting and twisting functions, the stepping motor drives the needle to rotate, and the control of the twisting function is as follows:

[0014] Step 1. Calculate the maximum number of revolutions of the stepper motor: the maximum number of revolutions that can be made in one second = 1000 × the angle of each step of the motor / 360 × the reduction ratio of the stepper motor;

[0015] Step 2, determine whether the number of turns obtained by the twisting speed within one minute is greater than the maximum number of turns of the stepper motor, if it is greater, remove the value, if it is less, retain the value;

[0016] Step 3: Calculate the number of steps required for each rotation of the stepper motor: the number of steps required for each rotation = the angle of each rotation / the angle value of each step of the motor × the reduction ratio of the motor.

[0017] Step 4. Calculate the total number of steps per second after adding the duty cycle:

[0018] Total number of steps = 1000 / (number of steps required for each rotation) / (twisting speed / 60)-1;

[0019] Step 5, determine whether the total number of steps running in one second will exceed the maximum number of steps of 1000. If it exceeds the maximum number of steps of 1000, the number of idling waiting steps of the stepper motor is equal to 0. If it does not exceed the maximum number of steps of 1000, the number of idling waiting steps is calculated, and the stepper motor waits according to the number of idling steps: the number of idling waiting steps of the stepper motor = (1000-((the number of steps required for each rotation × (duty cycle + 1))-stepper motor rotation direction) × (twisting speed / 60)) / (twisting speed / 60).

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. The present invention can realize the lifting, insertion, twisting and electroacupuncture of acupuncture. The present invention drives the stepper motor and the needle to move back and forth through the servo electric push rod to realize the lifting and insertion mode. The stepper motor of the present invention can drive the needle to rotate to realize the twisting function. The conductive patch of the present invention is attached to the user's skin, and the needle, the patient's skin acupuncture points and the conductive patch form a current loop through the wire to realize electroacupuncture. Therefore, the present invention can realize multiple working modes at the same time, which is convenient for carrying out the lifting, insertion and twisting needle application methods during electroacupuncture.

[0022] 2. The present invention can install the entire actuator at a suitable position through the assembly seat on the outer side of the shell, which is convenient for acupuncture.

[0023] 3. The present invention sets a clamp seat on the outside of the driving panel shell, and a lifting mounting seat is set on the clamp seat. A lifting rod is set in the lifting mounting seat, and the movable end of the lifting rod is connected to the driving panel shell. Therefore, the present invention can adjust the rotation angle and height according to user needs, and then by cooperating with the fixed bracket, the three-dimensional coordinate position of the actuator can be adjusted within the set range according to the patient's acupuncture needs, so as to facilitate acupuncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 This is a schematic diagram of the stepper motor mounting base;

[0026] Figure 3 This is a schematic diagram of a servo electric actuator;

[0027] Figure 4 is a schematic diagram of the control mechanism;

[0028] Figure 5 This is a schematic diagram of the drive panel;

[0029] Figure 6 This is the hardware connection principle block diagram;

[0030] Figure 7 Execute logic block diagram for driving circuit program;

[0031] Figure 8 Execute logic block diagram for control circuit program;

[0032] Fig. 9 Execute the logic diagram for the host computer application software;

[0033] Fig.10 This is the electroacupuncture stimulation waveform.

[0034] Explanation of the marks in the accompanying drawings: 1-control mechanism, 2-actuator, 3-housing, 4-actuator circuit board, 5-servo electric push rod, 6-stepping motor, 7-conductive patch, 8-needle, 9-fastening main part, 10-fastening auxiliary part, 11-stepping motor mounting seat, 12-needle mounting seat, 13-assembly seat, 14-drive panel housing, 15-drive panel, 16-fixed bracket, 17-clamp seat, 18-lifting mounting seat, 19-lifting rod, 20-power interface, 21-host computer interface, 22-guide wheel, 23-straight rod guide rail. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0036] Embodiment: An electroacupuncture device with lifting, inserting and twisting functions, comprising a control mechanism 1 and an actuator 2, as shown in the attached Figure 1 As shown, the actuator 1 includes a housing 3, in which an actuator circuit board 4, a servo electric push rod 5 and a stepper motor 6 are installed. A fastening main part 9 and a fastening sub-part 10 that are mutually matched and connected are installed in the housing 3. The servo electric push rod 5 is arranged between the fastening main part 9 and the fastening sub-part 10. The fastening main part and the fastening sub-part fit each other and are connected by screws. The servo electric push rod is firmly installed, and the direction and stroke of the push rod movement are limited by the built-in guide rails of the two fasteners; the output end of the actuator circuit board 4 is connected to the servo electric push rod 5 and the stepper motor 6 via a line, as shown in the attached Figure 3 As shown, the output end of the execution circuit board 4 is also connected to a conductive patch 7 and a needle 8; the moving end of the servo electric push rod 5 is connected to the stepper motor 6, and the needle 8 is connected to the active end of the stepper motor 6; the input end of the execution circuit board 4 is connected to the control mechanism 1 via a line; the servo electric push rod realizes the lifting and insertion of the needle through reciprocating pushing, and the rotation of the stepper motor realizes the twisting of the needle.

[0037] The housing 3 is provided with a stepper motor mounting seat 11 for supporting the stepper motor 6. Figure 2 As shown, the stepper motor is effectively supported in the motor mounting seat, the stepper motor mounting seat 11 is slidably mounted in the housing 3, guide wheels 22 are installed on both sides of the outside of the stepper motor mounting seat 11, and a straight rod guide rail 23 matching the guide wheel 22 is installed in the housing 3. The guide wheel fits with the guide rail straight rod to achieve the back and forth sliding of the stepper motor mounting seat 11 and the stepper motor, and the stable movement of the stepper motor. A needle mounting seat 12 for supporting the needle 8 is also installed in the housing 3, and the needle can operate stably in rotation or reciprocating movement. An assembly seat 13 for easy installation is fixed on the outside of the housing 3, and the entire device can be conveniently installed in the corresponding position through the assembly seat.

[0038] The control mechanism 1 includes a drive panel housing 14, as shown in the attached Figure 4 As shown, a driving panel 15 is fixed in the driving panel housing 14. Figure 5 As shown, the side of the driving panel is provided with a power interface 20 and a host computer interface 21 exposed on the outside of the driving panel housing. The power interface can be connected to an external power adapter to the mains socket to provide energy supply for the whole machine circuit. The host computer interface can be connected to the computer-side host computer application through a serial communication connector to provide control instructions and data transmission paths for the execution circuit board. The driving panel can also exchange control instructions and data with the mobile phone-side host computer application through wireless communication. The driving panel 15 is connected to the input end of the execution circuit board 4 via a connecting line. The execution circuit board exchanges energy and data with the driving panel via the connecting line, and drives the servo electric push rod and the stepper motor to move according to the received control instructions. The execution circuit board provides electrical stimulation waveforms for the conductive patch (including leads) and the acupuncture needle (including leads), and forms a complete current loop through the skin of the human acupuncture points, thereby providing an electroacupuncture method.

[0039] A fixed bracket 16 is connected between the assembly seat 13 and the drive panel shell 14; a clamp seat 17 is installed on the outer side of the drive panel shell 14, a lifting mounting seat 18 is installed on the clamp seat 17, a lifting rod 19 is installed in the lifting mounting seat 18, and the movable end of the lifting rod 19 is connected to the drive panel shell 14, and the rotation angle and height are adjusted according to user needs; by cooperating with the fixed bracket, the three-dimensional coordinate position of the actuator can be adjusted within a set range according to the patient's acupuncture needs.

[0040] Furthermore, the present embodiment also provides a control method for an electroacupuncture device with lifting, inserting and twisting functions. When the device is initialized, if the host computer interface is used as the command input interface, the electrical connector is connected to the drive panel, and after the communication link is established, the control command is input from the host computer interface; if the drive panel is used as the command input interface, the control command can be directly input from the drive panel through the key matrix; after the control command is input, it is transmitted to the control circuit board, and further transmitted to the servo electric push rod, the stepper motor, the conductive patch and the needle; wherein the work of the servo electric push rod is to drive the stepper motor and the needle to move back and forth to realize the lifting and inserting function; at the same time, the work of the stepper motor is to drive the needle to rotate to realize the twisting function of the needle; the work of the needle and the conductive patch is to execute the current of the circuit board to pass through the needle, the acupoint and the conductive patch to form a current loop to realize the electrical stimulation of electroacupuncture.

[0041] Specifically, the control method first initializes the device, then uses the drive panel as the command input interface, and according to the acupuncture plan for the patient's acupoints, realizes parameter switching settings, numerical addition and subtraction, and mode selection operations on the drive panel by pressing buttons, and inputs lifting and insertion parameters, twisting parameters, and electroacupuncture parameters in turn. The lifting and insertion parameters include lifting and insertion time, lifting and insertion speed, lifting and insertion duty cycle, and lifting and insertion distance; the twisting parameters include twisting time, twisting angle, twisting speed, and twisting duty cycle; and the electroacupuncture includes current intensity and current frequency.

[0042] After the parameter setting is completed, the control instruction is transmitted to the execution circuit board through the start and stop operation buttons, and the execution circuit board then transmits the instruction to the servo electric push rod, stepper motor and conductive patch, and the needle starts working. Among them, the execution circuit board reads the instruction parameters and stores them in the on-chip cache area of ​​the execution circuit board chip, and continues to wait for the control instruction input after the storage is completed; if the control instruction is to start the operation, the execution circuit board will read the configuration parameters in the cache area, and selectively drive the stepper motor, servo electric push rod, needle and conductive patch according to the parameter setting to achieve twisting, lifting and inserting and electroacupuncture operations, and return the needle to the initial position after the acupuncture time is over, and continue to wait for the control instruction input; if the control instruction is to stop the operation, no matter what state the execution circuit board is in, the needle will return to the initial position, and continue to wait for the control instruction input, provide lifting and inserting, twisting and electroacupuncture for the patient, and the needle will automatically initialize its position after the acupuncture is completed, and exit the patient's acupoints to complete the acupuncture.

[0043] In this embodiment, the control circuit is present in the execution circuit board, and the driving circuit is present in the driving panel, as shown in the attached Figure 6As shown. On the driving panel 15, the first main control chip and its peripheral circuits constitute the core control unit, drive the serial communication circuit, and realize wired connection with the host computer application through the host computer interface 21 to build a data interaction path; a key matrix is ​​deployed on the driving panel 15. When the host computer application is not connected to the driving panel, the user can input the necessary setting parameters through each key to realize the command transmission of the control circuit. The input parameters can be displayed in real time on the LCD screen of the driving panel for the user to check. Further, the driving panel 15 uses a power adapter to obtain electric energy from the 220V / 50Hz mains electricity, and reaches the first power circuit for powering the driving panel 15 and the second power circuit for powering the control circuit through the power interface 20, respectively, and provides 5V and 3.3V regulated power outputs for the driving panel 15 and the control circuit respectively; further, the first main control chip of the driving panel 15 establishes a serial communication link with the second communication module of the control circuit through the first communication module, and when the host computer is not connected, the control instructions from the key matrix input can be transmitted to the second main control chip of the control circuit, and when the host computer application is connected, the host computer control instructions can be transmitted to the second main control chip of the control circuit. When the second main control chip of the control circuit receives the control instruction from the driving panel 15 or the host computer application, it can selectively control the stepping motor drive circuit, the servo motor drive circuit or the electric acupuncture drive circuit according to the instruction parameters. When the stepper motor driving circuit starts working, the stepper motor 6 can be rotated to cause the twisting function of the needle; when the servo motor driving circuit starts working, the servo electric push rod can be pushed to cause the lifting and insertion function of the needle; when the electro-acupuncture driving circuit starts working, the needle, the patient's skin acupoints and the conductive patch can form a current loop through the wire, and the needle performs electro-acupuncture on the patient's acupoints under the preset electro-acupuncture waveform.

[0044] As attached Figure 7The program execution logic block diagram of a possible implementation of the embedded software in the drive circuit is shown. After the drive circuit is powered on, the software performs initialization operations and inquires whether the host computer interface 21 has accessed the host computer application, and the liquid crystal display screen displays the software initialization interface. When it is detected that the host computer application is connected to the drive circuit, the liquid crystal display screen will go out, and wait for the host computer application to input the control instruction within the preset waiting time. After the host computer application inputs the control instruction, the drive circuit reads all the control instructions through the serial communication circuit, and transmits the control instruction to the control circuit through the first communication module. When the host computer application is not queried for access, or the host computer application input control instruction is not monitored within the preset waiting time, the drive circuit enters the key matrix input state, prompts the user to input the control instruction through the key matrix, and displays the control instruction parameters on the liquid crystal display screen in real time for the user to consult and proofread. According to the acupuncture program for the patient's acupoints, the user implements parameter switching settings and numerical addition and subtraction / mode selection operations to the drive circuit through the key matrix, and inputs the lifting and insertion parameters (including time, speed, duty cycle, distance and other parameters), twisting parameters (including time, angle, speed, duty cycle and other parameters) and electroacupuncture parameters (including working mode selection, intensity, frequency and other parameters) in sequence. After the parameter setting is completed, the drive circuit transmits the control instructions generated by the key matrix to the control circuit through the first communication module by pressing the start and stop buttons.

[0045] As attached Figure 8 The figure shows a possible program execution logic block diagram of the embedded software on the control circuit. When the drive circuit is powered on, the control circuit obtains energy through the power interface 20 through the second power circuit and the control circuit-drive circuit connection line, thereby realizing the power-on operation, loading the default parameter configuration file, and the software execution initialization. Through the second communication module, the control circuit can obtain control instructions from the host computer application or the drive circuit key matrix from the first communication module of the drive circuit.

[0046] If the control instruction is a parameter configuration operation, the control circuit will read the instruction parameters and store them in the on-chip cache area of ​​the second main control chip, and continue to wait for the control instruction input after the storage is completed; if the control instruction is a start operation, the control circuit will read the configuration parameters in the cache area, and selectively drive the stepper motor, servo electric push rod, needle and conductive patch according to the parameter setting to achieve twisting, lifting and insertion and electroacupuncture, return the needle 8 to the initial position after the acupuncture time is over, and continue to wait for the control instruction input; if the control instruction is a stop operation, no matter what state the control circuit is in, the needle will be returned to the initial position and continue to wait for the control instruction input.

[0047] As attached Fig. 9The figure shows a possible software execution logic block diagram of the host computer application. After the host computer application and the drive circuit establish a serial communication link, the host computer application can be started to set the relevant parameters, including lifting and insertion parameters (time, speed, duty cycle and distance, etc.), twisting parameters (time, angle, speed and duty cycle, etc.) and electroacupuncture parameters (working mode, intensity and frequency, etc.). After the parameter setting is completed, the serial port can be configured and opened, serial communication with the drive circuit can be started, and the operation function of the host computer application can be started. The host computer instruction can be transmitted to the control circuit through the first communication module on the drive circuit. If it is necessary to forcibly terminate the working state of the device, the stop function of the host computer application is started, so that the control circuit can initialize the position of the needle and continue to wait for receiving the control instruction. At this time, the user can exit the configuration and save the latest configuration parameters in the "acupuncture.config" file, and the host computer application ends.

[0048] The following is an algorithmic process for the stepper motor to perform a twisting operation. The input parameters read by the control circuit through the drive panel or host computer application include:

[0049] angle: the angle of each rotation;

[0050] T: duty cycle;

[0051] speed: twisting speed;

[0052] A4988_STEP_ANGLE: The angle value of each step of the motor, the default value is 18;

[0053] A4988_RATIO: The motor's reduction ratio, the default is 10:1, which means the motor outputs 1 turn for every 10 turns.

[0054] Cycle: The maximum number of steps the stepper motor can take per second, the default is 1000;

[0055] max_circle: the maximum number of circles that can be twisted in one second;

[0056] A4988_type.step: calculate the number of steps required for each rotation;

[0057] A4988_type.delay_step: calculate the number of duty steps;

[0058] A4988_type.null_step: number of motor null waiting steps;

[0059] A4988_type.direction_step: Parameters that control the direction of rotation of the stepper motor.

[0060] According to the input parameters, the software executes a series of calculation formulas to accurately drive the stepper motor to perform the twisting operation. The following takes the default values ​​of some parameters as an example and combines some software running codes to explain.

[0061] Calculate the maximum number of revolutions of the motor:

[0062] max_circle=1000×A4988_STEP_ANEGL / 360 / A4988_RATIO;

[0063] In this embodiment:

[0064] max_circle=1000×18 / 360 / 10=5;

[0065] Determine the speed and remove the values ​​that exceed the maximum running speed:

[0066] (speed / 60)≥max_circle;

[0067] Calculate the number of steps required for each rotation:

[0068] A4988_type.step=((float)angle / (float)

[0069] A4988_STEP_ANGLE×(float)A4988_RATIO);

[0070] In this embodiment:

[0071] A4988_type.step=angle / 18×10

[0072] Calculate whether the total number of steps per second will exceed the maximum number of steps of 1000 after adding the duty cycle:

[0073] A4988_type.delay_step = T;

[0074] if(A4988_type.step*(A4988_type.delay_step+

[0075] 1)×(speed / 60)>1000)

[0076] If the maximum number of steps exceeds 1000, replace "A4988_type.delay_step = 1000 / (A4988_type.step) / (speed / 60)-1" with the maximum number of duty steps;

[0077] Determine whether the total number of steps in one second will exceed the maximum number of steps 1000:

[0078] if(((A4988_type.step×(A4988_type.delay_step+1))–

[0079] A4988_type.direction_step)×(speed / 60)≥1000)

[0080] If the maximum number of steps exceeds 1000, A4988_type.null_step is equal to 0. If the maximum number of steps does not exceed 1000, the number of steps for idling waiting is calculated according to the following formula:

[0081] A4988_type.null_step=

[0082] (1000-((A4988_type.step×(A4988_type.delay_step+

[0083] 1))-A4988_type.direction_step)×(speed / 60)) / (speed / 60);

[0084] As attached Fig.10 The figure shows the electroacupuncture excitation waveform applied to the acupuncture points of the human body by the conductive patch and the needle driven by the control circuit. According to the difference in the frequency of the excitation waveform, it can be divided into three types: continuous wave, sparse wave and intermittent wave. Among them, the electric stimulation waveform whose frequency remains unchanged during the electroacupuncture process is the continuous wave. This stimulation method is easy to cause the stimulated tissue to "adapt", so that the patient's feeling becomes weaker and weaker. The frequency below 30Hz is called "sparse wave", which can cause the muscles near the patient's acupuncture points to contract, produce a strong sense of tremor, increase the tension of muscle ligaments, regulate the sparse function of blood vessels, improve blood circulation, and promote the recovery of neuromuscular function. The frequency between 30-1000Hz is called "dense wave", which has a weaker tremor than sparse wave. It can have a real-time analgesic effect on certain painful areas on the patient's body surface, but it is prone to adaptive reactions. The analgesic effect gradually weakens with the extension of stimulation time; during the electroacupuncture process, the frequency switches in an orderly manner between sparse waves and dense waves of a certain frequency and outputs an electrical stimulation waveform called sparse and dense waves, which can cause rhythmic muscle contraction and relaxation, enhance blood and lymphatic circulation, regulate tissue nutrition metabolism, and have certain therapeutic effects on some soft tissue injuries, lumbar and back fascia strain, and some neuromuscular paralysis. The electrical stimulation waveform output during electroacupuncture is intermittent and is called intermittent wave, which has a strong tremor to the human body and has a stronger excitatory stimulation to the nerves and muscles than continuous waves and sparse and dense waves.

[0085] In summary, the present invention can realize automatic lifting, insertion, twisting and electroacupuncture of the needle, facilitate lifting, insertion and twisting during electroacupuncture, and reduce the workload of clinical medical staff.

Claims

1. An electroacupuncture device with lifting, inserting and twisting functions, comprising a control mechanism (1) and an actuator (2), characterized in that: The actuator (2) comprises a housing (3), wherein an actuator circuit board (4), a servo electric push rod (5) and a stepping motor (6) are arranged in the housing (3); the output end of the actuator circuit board (4) is connected to the servo electric push rod (5) and the stepping motor (6) via a circuit, and the output end of the actuator circuit board (4) is also connected to a conductive patch (7) and a needle (8); the movable end of the servo electric push rod (5) is connected to the stepping motor (6), and the needle (8) is connected to the movable end of the stepping motor (6); and the input end of the actuator circuit board (4) is connected to the control mechanism (1) via a circuit.

2. The electroacupuncture device with lifting, inserting and twisting functions according to claim 1, characterized in that: The housing (3) is provided with a main fastening component (9) and a sub-fastening component (10) which are matched and connected to each other, and the servo electric push rod (5) is arranged between the main fastening component (9) and the sub-fastening component (10).

3. The electroacupuncture device with lifting, inserting and twisting functions according to claim 1, characterized in that: The housing (3) is provided with a stepper motor mounting seat (11) for supporting a stepper motor (6), guide wheels (22) are provided on both sides of the outside of the stepper motor mounting seat (11), and the housing (3) is provided with a straight rod guide rail (23) that cooperates with the guide wheel (22); the housing (3) is also provided with a needle mounting seat (12) for supporting a needle (8).

4. The electroacupuncture device with lifting, inserting and twisting functions according to claim 1, characterized in that: An assembly seat (13) for easy installation is provided on the outer side of the housing (3).

5. The electroacupuncture device with lifting, inserting and twisting functions according to claim 4, characterized in that: The control mechanism (1) comprises a drive panel housing (14), a drive panel (15) is arranged inside the drive panel housing (14), and the drive panel (15) is connected to the input end of the execution circuit board (4) via a connecting line.

6. The electroacupuncture device with lifting, inserting and twisting functions according to claim 5, characterized in that: A fixing bracket (16) is connected between the assembly seat (13) and the driving panel housing (14).

7. The electroacupuncture device with lifting, inserting and twisting functions according to claim 5, characterized in that: A clamp seat (17) is provided on the outside of the driving panel housing (14), a lifting mounting seat (18) is provided on the clamp seat (17), a lifting rod (19) is provided inside the lifting mounting seat (18), and a movable end of the lifting rod (19) is connected to the driving panel housing (14).

8. The control method of the electroacupuncture device with lifting, inserting and twisting functions according to any one of claims 1 to 7, characterized in that: Acupuncture parameters are input into the control mechanism to obtain control instructions, and the control instructions are transmitted to the execution circuit board of the execution mechanism. The execution circuit board controls the servo electric push rod, stepper motor, needle and conductive patch to work according to the control instructions; wherein the work of the servo electric push rod is to push the stepper motor and the needle to move back and forth to realize the lifting and insertion function; the work of the stepper motor is to drive the needle to rotate to realize the twisting function; the work of the needle and the conductive patch is that the current of the execution circuit board passes through the needle, acupoint and conductive patch to form a current loop to realize electroacupuncture.

9. The electroacupuncture control method with lifting, inserting and twisting functions according to claim 8, characterized in that: The acupuncture parameters include lifting and inserting parameters, twisting parameters and electroacupuncture parameters; the lifting and inserting parameters include lifting and inserting time, lifting and inserting speed, lifting and inserting duty cycle and lifting and inserting distance; the twisting parameters include twisting time, twisting angle, twisting speed and twisting duty cycle; The electroacupuncture includes current intensity and current frequency.

10. The electroacupuncture control method with lifting, inserting and twisting functions according to claim 9, characterized in that: The stepper motor drives the needle to rotate, and the control of the twisting function is as follows: Step 1. Calculate the maximum number of revolutions of the stepper motor: the maximum number of revolutions that can be made in one second = 1000 × the angle of each step of the motor / 360 × the reduction ratio of the stepper motor; Step 2, determine whether the number of turns obtained by the twisting speed within one minute is greater than the maximum number of turns of the stepper motor, if it is greater, remove the value, if it is less, retain the value; Step 3: Calculate the number of steps required for each rotation of the stepper motor: the number of steps required for each rotation = the angle of each rotation / the angle value of each step of the motor × the reduction ratio of the motor. Step 4. Calculate the total number of steps per second after adding the duty cycle: Total number of steps = 1000 / (number of steps required for each rotation) / (twisting speed / 60)-1; Step 5, determine whether the total number of steps running in one second will exceed the maximum number of steps of 1000. If it exceeds the maximum number of steps of 1000, the number of idling waiting steps of the stepper motor is equal to 0. If it does not exceed the maximum number of steps of 1000, the number of idling waiting steps is calculated, and the stepper motor waits according to the number of idling steps: the number of idling waiting steps of the stepper motor = (1000-((the number of steps required for each rotation × (duty cycle + 1))-stepper motor rotation direction) × (twisting speed / 60)) / (twisting speed / 60).

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