An electro-acupuncture device with lifting-thrusting and twirling-rotating functions and its control method

Abstract

The present invention discloses an electro-acupuncture device with lifting, inserting, twirling and rotating functions, which includes a control mechanism (1) and an execution mechanism (2). The execution mechanism (1) includes a housing (3). An execution 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 execution circuit board (4) is connected to the servo electric push rod (5) and the stepping motor (6) through wires. The output end of the execution circuit board (4) is also connected to a conductive patch (7) and a needle tool (8). The moving end of the servo electric push rod (5) is connected to the stepping motor (6), and the needle tool (8) is connected to the movable end of the stepping motor (6). The input end of the execution circuit board (4) is connected to the control mechanism (1) through wires. The present invention can realize automatic lifting, inserting, twirling and rotating of the needle tool, facilitate lifting and twirling during electro-acupuncture needle insertion, and reduce the workload of clinical medical staff.

Description

Technical Field

[0001] The present invention relates to the technical field of acupuncture devices, and particularly relates to an electro-acupuncture device with lifting-thrusting and twirling-rotating functions and a control method thereof. Background Art

[0002] The lifting-thrusting and twirling-rotating techniques are the most commonly used acupuncture techniques. According to the acupuncture needs of patients, clinicians often need to repeatedly perform the lifting-thrusting and twirling-rotating techniques on different acupoints for several minutes. This process is extremely energy-consuming and places high requirements on the acupuncture techniques of clinicians. With the development of science and technology, electro-acupuncture therapy has also been introduced into the acupuncture process. Electro-acupuncture can directly electrically stimulate human tissues by applying currents of different frequencies through electrodes to improve the local tissue microenvironment around acupoints. Currently, commonly used electro-acupuncture devices in clinics generally use clamps with good electrical conductivity to directly clamp acupuncture needles to provide electrical stimulation. Therefore, during electro-acupuncture, it is inconvenient for clinicians to perform the lifting-thrusting and twirling-rotating techniques. Summary of the Invention

[0003] The purpose of the present invention is to provide an electro-acupuncture device with lifting-thrusting and twirling-rotating functions and a control method thereof. The present invention realizes the automatic implementation of lifting, thrusting, twirling, rotating and electro-acupuncture of the needle, which is convenient for performing lifting and twirling during electro-acupuncture, and reduces the work burden of clinical medical staff.

[0004] The technical solution of the present invention: An electro-acupuncture device with lifting-thrusting and twirling-rotating functions includes a control mechanism and an execution mechanism. The execution mechanism includes a housing, and an execution circuit board, a servo electric push rod and a stepping motor are arranged inside the housing. The output end of the execution circuit board is connected to the servo electric push rod and the stepping motor through a circuit, and the output end of the execution circuit board is also connected with a conductive patch and a needle; the moving end of the servo electric push rod is connected to the stepping motor, and the needle is connected to the moving end of the stepping motor; the input end of the execution circuit board is connected to the control mechanism through a circuit.

[0005] For the above-mentioned electro-acupuncture device with lifting-thrusting and twirling-rotating functions, a fastening main part and a fastening sub part which are cooperatively connected are arranged inside the housing, and the servo electric push rod is arranged between the fastening main part and the fastening sub part.

[0006] For the aforesaid electro-acupuncture device with lifting-thrusting and twirling-rotating functions, a stepping motor mounting seat for supporting the stepping motor is arranged inside the housing, guide wheels are arranged on both outer sides of the stepping motor mounting seat, and a straight rod guide rail which is matched with the guide wheels is arranged inside the housing; a needle mounting seat for supporting the needle is also arranged inside the housing.

[0007] For the aforesaid electro-acupuncture device with lifting-thrusting and twirling-rotating functions, an assembly seat for convenient installation is arranged on the outer side of the housing.

[0008] The aforementioned electro-acupuncture device with lifting, thrusting, twirling and rotating functions, wherein the control mechanism includes a driving panel housing, a driving panel is arranged inside the driving panel housing, and the driving panel is connected to the input end of the execution circuit board through a connecting wire.

[0009] For the aforementioned electro-acupuncture device with lifting, thrusting, twirling and rotating functions, a fixed bracket is connected between the assembly seat and the driving panel housing.

[0010] For the aforementioned electro-acupuncture device with lifting, thrusting, twirling and rotating functions, a fixture seat is arranged on the outer side of the driving panel housing, a lifting mounting seat is arranged on the fixture seat, a lifting rod is arranged inside the lifting mounting seat, and the moving end of the lifting rod is connected to the driving panel housing.

[0011] For the control method of the aforementioned electro-acupuncture device with lifting, thrusting, twirling and rotating functions, acupuncture parameters are input into the control mechanism to obtain a control instruction, the control instruction is transmitted to the execution circuit board of the execution mechanism, and the execution circuit board controls the servo electric push rod, the stepping motor, the acupuncture needle and the conductive patch to work according to the control instruction; wherein, the work of the servo electric push rod is to push the stepping motor and the acupuncture needle to move back and forth, so as to realize the lifting and thrusting function; the work of the stepping motor is to drive the acupuncture needle to rotate, so as to realize the twirling and rotating function; the work of the acupuncture needle and the conductive patch is that the current of the execution circuit board passes through the acupuncture needle, the acupoint and the conductive patch to form a current loop, so as to realize electro-acupuncture.

[0012] For the aforementioned control method of electro-acupuncture with lifting, thrusting, twirling and rotating functions, the acupuncture parameters include lifting and thrusting parameters, twirling and rotating parameters and electro-acupuncture parameters; the lifting and thrusting parameters include lifting and thrusting time, lifting and thrusting speed, lifting and thrusting duty ratio and lifting and thrusting distance; the twirling and rotating parameters include twirling and rotating time, twirling and rotating angle, twirling and rotating speed and twirling and rotating duty ratio; the electro-acupuncture includes current intensity and current frequency.

[0013] For the aforementioned control method of electro-acupuncture with lifting, thrusting, twirling and rotating functions, the control of the stepping motor driving the acupuncture needle to rotate to realize the twirling and rotating function is as follows:

[0014] Step 1: Calculate the maximum number of turns of the stepping motor rotation: The maximum number of turns that can be twirled and rotated per second = 1000 × the angle value of each step of the motor / 360 × the reduction ratio of the stepping motor;

[0015] Step 2: Judge whether the number of turns obtained by the twirling and rotating speed within one minute is greater than the maximum number of turns of the stepping motor rotation. If it is greater, remove the value; if it is less, keep the value;

[0016] Step 3: Calculate the number of steps that the stepping motor needs to rotate each time: The number of steps that need to be rotated each time = 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 run per second after adding the duty ratio:

[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 run in one second will exceed the maximum number of steps 1000. If it exceeds 1000, the idle waiting steps of the stepper motor will be equal to 0. If it does not exceed 1000, calculate the idle waiting steps, and the stepper motor will wait according to the idle steps: Idle waiting steps of the stepper motor = (1000 - ((number of steps required for each rotation × (duty cycle + 1)) - rotation direction of the stepper motor) × (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 achieve lifting, thrusting, twirling, and electro-acupuncture of acupuncture. The present invention uses a servo electric push rod to drive the stepper motor and the needle tool to move back and forth, realizing the lifting and thrusting mode. The stepper motor of the present invention can drive the needle tool to rotate, realizing the twirling function. The conductive patch of the present invention is attached to the user's skin, and through the wire, the needle tool, the patient's skin acupuncture point, and the conductive patch form an electric current loop, realizing electro-acupuncture. Thus, the present invention can simultaneously perform multiple working modes, facilitating the implementation of the lifting, thrusting, and twirling acupuncture methods during electro-acupuncture.

[0022] 2. The present invention can install the entire actuator at a suitable position through the assembly seat on the outer side of the housing, facilitating acupuncture.

[0023] 3. The present invention sets a fixture seat on the outer side of the drive panel housing. An elevating mounting seat is provided on the fixture seat, and an elevating rod is provided inside the elevating mounting seat. The moving end of the elevating rod is connected to the drive panel housing. Thus, the present invention can adjust the rotation angle and height according to user needs, and then through cooperation with the fixed bracket, the three-dimensional coordinate position of the actuator can be adjusted within a set range according to the acupuncture needs of the patient, facilitating the implementation of acupuncture. Description of the Drawings

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

[0025] Figure 2 It is a schematic diagram of the stepper motor mounting seat;

[0026] Figure 3 It is a schematic diagram of the servo electric push rod;

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

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

[0029] Figure 6 It is a schematic block diagram of the hardware connection;

[0030] Figure 7 It is a logic block diagram of the execution of the drive circuit program;

[0031] Figure 8 It is a logic block diagram of the execution of the control circuit program;

[0032] Figure 9 It is a logic block diagram of the execution of the upper computer application software;

[0033] Figure 10 It is a graph of the electro - acupuncture stimulation waveform.

[0034] Explanation of the marks in the attached drawings: 1 - control mechanism, 2 - execution mechanism, 3 - housing, 4 - execution circuit board, 5 - servo electric push rod, 6 - stepping motor, 7 - conductive patch, 8 - acupuncture needle, 9 - main fastening part, 10 - auxiliary fastening part, 11 - stepping motor mounting base, 12 - acupuncture needle mounting base, 13 - assembly base, 14 - drive panel housing, 15 - drive panel, 16 - fixing bracket, 17 - fixture base, 18 - lifting mounting base, 19 - lifting rod, 20 - power interface, 21 - upper computer interface, 22 - guide wheel, 23 - straight rod guide rail. Specific implementation mode

[0035] The present invention will be further described below in conjunction with the attached drawings and embodiments, but it shall not be used as a basis for limiting the present invention.

[0036] Embodiment: An electro - acupuncture device with lifting, inserting, twirling and rotating functions, including a control mechanism 1 and an execution mechanism 2. As shown in the attached Figure 1 drawing, the execution mechanism 1 includes a housing 3. Inside the housing 3, an execution circuit board 4, a servo electric push rod 5 and a stepping motor 6 are installed. Inside the housing 3, a main fastening part 9 and an auxiliary fastening part 10 which are cooperatively connected are installed. The servo electric push rod 5 is arranged between the main fastening part 9 and the auxiliary fastening part 10. The main fastening part and the auxiliary fastening part fit with each other and are connected by screw parts. The servo electric push rod is stably installed, and the direction and stroke of the push rod movement are restricted by the guide rail limiters built in the two fastening parts; the output end of the execution circuit board 4 is connected to the servo electric push rod 5 and the stepping motor 6 through a circuit. As shown in the attached Figure 3 drawing, the output end of the execution circuit board 4 is also connected to a conductive patch 7 and an acupuncture needle 8; the moving end of the servo electric push rod 5 is connected to the stepping motor 6, and the acupuncture needle 8 is connected to the moving end of the stepping motor 6; the input end of the execution circuit board 4 is connected to the control mechanism 1 through a circuit; the servo electric push rod realizes the lifting and inserting of the acupuncture needle through reciprocating pushing, and the rotation of the stepping motor realizes the twirling and rotating of the acupuncture needle.

[0037] Inside the housing 3, a stepping motor mounting base 11 for supporting the stepping motor 6 is installed. As shown in the attachedFigure 2 As shown, the stepper motor is effectively supported within the motor mounting base. The stepper motor mounting base 11 is slidably mounted within the outer shell 3. Guide wheels 22 are installed on both outer sides of the stepper motor mounting base 11. A straight rod guide rail 23 that cooperates with the guide wheels 22 is installed within the outer shell 3. The guide wheels fit with the straight rod of the guide rail, enabling the reciprocating sliding of the stepper motor mounting base 11 and the stepper motor, and achieving the stable movement of the stepper motor. A needle mounting base 12 for supporting the needle device 8 is also installed within the outer shell 3. The needle device can operate stably during rotation or reciprocating movement. An assembly seat 13 for convenient installation is fixed to the outside of the outer shell 3. Through the assembly seat, the entire device can be conveniently installed at the corresponding position.

[0038] The control mechanism 1 includes a drive panel housing 14, as shown in the appendix Figure 4 As shown, a drive panel 15 is fixed within the drive panel housing 14, as shown in the appendix Figure 5 As shown, a power interface 20 and a host computer interface 21 that are exposed outside the drive panel housing are provided beside the drive panel. The power interface can be externally connected to a power adapter and then to the mains socket to provide energy supply for the entire machine circuit. The host computer interface can be connected to the host computer application at the computer end through a serial communication connector to provide a control instruction and data transmission path for the execution circuit board. The drive panel can also interact with the host computer application on the mobile phone end through wireless communication for control instructions and data. The drive panel 15 is connected to the input end of the execution circuit board 4 through a connecting wire. The execution circuit board conducts wired energy and data interaction with the drive panel through the connecting wire, and drives the servo electric push rod and the stepper motor to move according to the received control instructions. The execution circuit board provides an electrical stimulation waveform for the conductive patch (including leads) and the acupuncture needle device (including leads), and forms a complete current loop through the human acupoint skin, thereby providing an electro-acupuncture method.

[0039] A fixed bracket 16 is connected between the assembly seat 13 and the drive panel housing 14; a fixture seat 17 is installed on the outside of the drive panel housing 14. A lifting mounting seat 18 is installed on the fixture seat 17. A lifting rod 19 is installed within the lifting mounting seat 18. The mobile end of the lifting rod 19 is connected to the drive panel housing 14 to adjust the rotation angle and height according to user needs; by cooperating with the fixed bracket, the three-dimensional coordinate position of the execution mechanism can be adjusted within a set range according to the acupuncture needs of the patient.

[0040] Furthermore, this embodiment also provides a control method for an electro-acupuncture device with lifting, thrusting, twirling, and rotating functions. The device is initialized. If the upper computer interface is used as the command input interface, the electrical connection component is connected to the driving panel. After establishing a communication link, control commands are input from the upper computer interface. If the driving panel is used as the command input interface, control commands can be directly input from the driving panel through the key matrix. After the control commands are input, they are transmitted to the control circuit board and further passed to the servo electric push rod, stepping motor, conductive patch, and acupuncture needle. Among them, the servo electric push rod works to push the stepping motor and the acupuncture needle to move back and forth reciprocally to achieve the lifting and thrusting function. At the same time, the stepping motor works to drive the acupuncture needle to rotate to achieve the twirling and rotating function of the acupuncture needle. The acupuncture needle and the conductive patch work to execute the current of the circuit board to form a current loop through the acupuncture needle, acupoint, and conductive patch to achieve the electro-stimulation of electro-acupuncture.

[0041] Specifically, this control method first initializes the device, and then uses the driving panel as the command input interface. According to the acupuncture plan for the patient's acupoints, parameter switching settings, numerical addition and subtraction, and mode selection operations are realized on the driving panel through keys, and the lifting and thrusting parameters, twirling and rotating parameters, and electro-acupuncture parameters are input in sequence. The lifting and thrusting parameters include lifting and thrusting time, lifting and thrusting speed, lifting and thrusting duty cycle, and lifting and thrusting distance. The twirling and rotating parameters include twirling and rotating time, twirling and rotating angle, twirling and rotating speed, and twirling and rotating duty cycle. The electro-acupuncture includes current intensity and current frequency.

[0042] After the parameter setting is completed, through the start / stop operation key, the control command is transmitted to the execution circuit board. The execution circuit board then passes the command to the servo electric push rod, stepping motor, and conductive patch, and the acupuncture needle starts to work. Among them, the execution circuit board reads the command parameters and stores them in the on-chip buffer area of the execution circuit board chip. After the storage is completed, it continues to wait for the input of control commands. If the control command is the start operation, the execution circuit board will read the configuration parameters in the buffer area and selectively drive the stepping motor, servo electric push rod, acupuncture needle, and conductive patch according to the parameter settings to achieve twirling, lifting, thrusting, and electro-acupuncture operations. After the acupuncture time ends, the acupuncture needle returns to the initial position and continues to wait for the input of control commands. If the control command is the stop operation, regardless of the state of the execution circuit board, the acupuncture needle will return to the initial position and continue to wait for the input of control commands to provide lifting, thrusting, twirling, and electro-acupuncture for the patient. After the acupuncture is completed, the acupuncture needle automatically initializes its position and exits the patient's acupoint to complete the acupuncture.

[0043] In this embodiment, there is a control circuit in the execution circuit board, and there is a driving circuit in the driving panel, as shown in the appendix Figure 6As shown in the figure. On the driving panel 15, a core control unit is composed of a first main control chip and its peripheral circuits, which drives the serial communication circuit and is connected to the host computer application through the host computer interface 21 to establish a wired connection and construct 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 necessary setting parameters through each key to realize the instruction transmission to the control circuit, and the input parameters can be displayed in real time on the liquid crystal display screen of the driving panel for the user to check. Further, the driving panel 15 uses a power adapter to obtain electrical energy from the 220V / 50Hz mains power 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, to provide regulated power outputs of 5V and 3.3V for the driving panel 15 and the control circuit; 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. When the host computer is not connected, the control instructions input from the key matrix can be transmitted to the second main control chip of the control circuit. In the case where 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 instructions 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 electro-acupuncture drive circuit to work according to the instruction parameters. When the stepping motor drive circuit starts to work, the stepping motor 6 can perform a rotating action to cause the twirling function of the needle tool; when the servo motor drive circuit starts to work, the servo electric push rod can perform a pushing action to cause the lifting and thrusting function of the needle tool; when the electro-acupuncture drive circuit starts to work, a current loop can be formed through the wire by the needle tool, the patient's skin acupoint and the conductive patch, and the needle tool can perform electro-acupuncture on the patient's acupoint under the preset electro-acupuncture waveform.

[0044] As shown in the attached Figure 7The figure shows a possible program execution logic block diagram of the embedded software in the drive circuit. After the drive circuit is powered on, the software performs initialization operations and checks whether a host computer application is connected to the host computer interface 21. At this time, the liquid crystal display screen shows 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 turn off and wait for the host computer application to input control instructions within a preset waiting time. After the host computer application finishes inputting control instructions, the drive circuit reads all the control instructions through the serial communication circuit and transmits the control instructions to the control circuit through the first communication module. When the host computer application is not detected as connected, or no control instructions are detected from the host computer application within the preset waiting time, the drive circuit enters the key matrix input state, prompting the user to input control instructions through the key matrix, and the control instruction parameters are displayed on the liquid crystal display screen in real time for the user to view and proofread. According to the acupuncture plan for the patient's acupoints, the user can perform parameter switching settings and numerical addition / subtraction / mode selection operations on the drive circuit through the key matrix, and sequentially input the lifting-thrusting parameters (including parameters such as time, speed, duty cycle, distance, etc.), twirling parameters (including parameters such as time, angle, speed, duty cycle, etc.), and electro-acupuncture parameters (including parameters such as working mode selection, intensity, frequency, etc.). After the parameter settings are completed, through the start / stop operation button, the drive circuit transmits the control instructions generated by the key matrix to the control circuit through the first communication module.

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

[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 buffer of the second main control chip, and continue to wait for 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 buffer and selectively drive the stepper motor, servo electric push rod, acupuncture needle, and conductive patch according to the parameter settings to achieve twirling, lifting-thrusting, and electro-acupuncture. After the acupuncture time ends, the acupuncture needle 8 returns to the initial position, and continues to wait for control instruction input; if the control instruction is a stop operation, regardless of the state of the control circuit, the acupuncture needle will return to the initial position and continue to wait for control instruction input.

[0047] As shown in the Figure 9The figure shows a possible software execution logic block diagram for the host computer application. After the host computer application and the drive circuit establish a serial communication link, starting the host computer application allows setting relevant parameters, including insertion / extraction parameters (time, speed, duty cycle, distance, etc.), rotation parameters (time, angle, speed, duty cycle, etc.), and electro-acupuncture parameters (working mode, intensity, frequency, etc.). After the parameter setting is completed, the serial port can be configured and enabled to start serial communication with the drive circuit, and the running function of the host computer application can be started. The host computer instructions can then 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, starting the stop function of the host computer application can initialize the position of the acupuncture needle by the control circuit and continue to wait for receiving control instructions. At this time, the user can exit the configuration, save the latest configuration parameters in the "acupuncture.config" file, and the host computer application ends its operation.

[0048] The following describes the algorithm process for the rotation movement of the stepper motor to perform the rotation operation. The input parameters read by the control circuit through the drive panel or the host computer application include:

[0049] angle: The angle of each rotation;

[0050] T: Duty cycle;

[0051] speed: Rotation speed;

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

[0053] A4988_RATIO: The reduction ratio of the motor, with a default value of 10:1, that is, the motor outputs 1 revolution for every 10 revolutions;

[0054] cycle: The maximum number of steps the stepper motor can take per second, with a default value of 1000;

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

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

[0057] A4988_type.delay_step: Calculate the duty cycle steps;

[0058] A4988_type.null_step: The number of steps for the motor to wait idle;

[0059] A4988_type.direction_step: The parameter for controlling the rotation direction 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. Taking the default values of some parameters as an example below, it is described in combination with some software operation codes.

[0061] Calculate the maximum number of turns of the motor rotation:

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

[0063] In this embodiment:

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

[0065] Judge speed and remove the values exceeding the maximum running speed:

[0066] (speed / 60) ≥ max_circle;

[0067] Calculate the number of steps to be rotated each time:

[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 running steps per second will exceed the maximum number of steps 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 it exceeds the maximum number of steps 1000, replace "A4988_type.delay_step = 1000 / (A4988_type.step) / (speed / 60) - 1" with the maximum duty cycle number of steps;

[0077] Judge whether the total number of steps run 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 it exceeds the maximum number of steps 1000, A4988_type.null_step is equal to 0. If it does not exceed the maximum number of steps 1000, the number of idling waiting steps is obtained according to the following calculation 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 shown in the Figure 10 figure, it is the electro - acupuncture stimulation waveform applied to human acupoints by the conductive patch and the needle under the drive of the control circuit. According to the difference in the frequency of the stimulation waveform, it can be divided into three types: continuous wave, dense - sparse wave, and intermittent wave. Among them, the electro - acupuncture stimulation waveform with a constant frequency during the electro - acupuncture process is the continuous wave. This stimulation method is likely to cause the stimulated tissue to produce "adaptation", resulting in a weaker feeling for the patient. The wave with a frequency below 30Hz is called the "sparse wave", which can cause the muscle contraction near the patient's acupoints, produce a strong tremor sensation, increase the tension of the muscle ligaments, regulate the vasoconstriction function, improve blood circulation, and promote the recovery of neuromuscular function. The wave with a frequency between 30 - 1000Hz is called the "dense wave". The tremor sensation of the dense wave is weaker than that of the sparse wave. Acting on some pain areas on the patient's body surface can have a real - time analgesic effect, but it is prone to an adaptive reaction, and the analgesic effect gradually weakens as the stimulation time continues; the electro - acupuncture stimulation waveform that switches output in an orderly manner between the sparse wave and the dense wave with a determined frequency during the electro - acupuncture process is called the dense - sparse wave, which can cause rhythmic contraction and relaxation of the muscles, strengthen blood and lymph circulation, regulate tissue nutrition metabolism, and has a certain curative effect on some diseases such as partial soft tissue injury, lumbar and dorsal fascia strain, and partial neuromuscular paralysis. The electro - acupuncture stimulation waveform that is intermittent during the electro - acupuncture process is called the intermittent wave, which has a strong tremor sensation on the human body and a stronger excitatory stimulation to neuromuscular than the continuous wave and the dense - sparse wave.

[0085] In summary, the present invention can achieve automatic lifting, thrusting, twirling and electro-acupuncture of the needle instrument, facilitating lifting, thrusting and twirling during electro-acupuncture, and reducing 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 line, 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); the input end of the actuator circuit board (4) is connected to the control mechanism (1) via a line; The outer side of the housing (3) is provided with an assembly seat (13) for easy installation; the control mechanism (1) comprises a drive panel housing (14), a drive panel (15) is provided 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; a fixing bracket (16) is connected between the assembly seat (13) and the drive panel housing (14); the outer side of the drive panel housing (14) is provided with a clamp seat (17), 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 the movable end of the lifting rod (19) is connected to the drive panel housing (14).

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 mutually matched and connected, 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: A stepper motor mounting seat (11) for supporting a stepper motor (6) is provided in the housing (3), guide wheels (22) are provided on both sides of the outside of the stepper motor mounting seat (11), and a straight rod guide rail (23) cooperating with the guide wheel (22) is provided in the housing (3); a needle mounting seat (12) for supporting a needle (8) is also provided on the housing (3).

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