Acupuncture clamp and operation method thereof

Abstract

The invention discloses an acupuncture clamp and an operation method thereof. The clamp comprises a shell; at least one group of transmission parts, any group of transmission parts comprises two symmetrical transmission rods, and any transmission rod is in sliding fit with the side wall of the shell; at least one group of measuring structures is arranged in the cavity of the shell and corresponds to the transmission part, any group of measuring structures comprises two measuring units, and any one measuring unit is fixed with one transmission rod; the driving mechanism is movably arranged outside the shell, is respectively connected with the two transmission rods, and drives the two transmission rods to do synchronous telescopic reciprocating motion; when the two measuring units are driven by the driving mechanism to move close to each other, the filiform needle is clamped and fixed by the measuring structures, and when any measuring structure clamps and fixes the filiform needle, any measuring unit makes contact with the filiform needle to collect force on the filiform needle. The acupuncture mechanical arm is helped to more accurately simulate the manipulation of a physician in the acupuncture process, a visual and visual judgment basis can be better provided for the physician, and development and inheritance of the traditional Chinese medicine cause are promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of MEMS (Micro-electric Mechanical Systems), and in particular to an acupuncture clamp and an operating method thereof. Background Art

[0002] In recent years, acupuncture has attracted wide attention due to its remarkable efficacy and no side effects. The "Compendium of Acupuncture and Moxibustion" mentions that "needles have different sizes and depths", which shows that the acupuncture techniques such as the weight and depth of acupuncture are directly related to the effect of acupuncture treatment. Traditional acupuncture techniques are mostly passed down through oral transmission, demonstration or writing. Doctors can only rely on experience and patients' descriptions during the acupuncture process during practical operations, and it is difficult to quantify acupuncture techniques.

[0003] Considering the limited number of experienced physicians and the possibility of inconsistent techniques during long-term acupuncture, the acupuncture technique data of physicians can be used to help the acupuncture robot arm more accurately imitate the physician's techniques during acupuncture. Therefore, the development of a multi-dimensional acupuncture force and torque measurement device can better provide physicians with intuitive and visual judgment basis, and also provide a reference for the parameter setting of the acupuncture robot arm, promoting the development and inheritance of traditional Chinese medicine.

[0004] With the development of intelligent sensing technology, the use of mechanical intelligent sensing conduction can reflect the force and depth of acupuncture needles when they penetrate the human body. The mechanical sensor is directly connected to the acupuncture needle to collect the mechanical changes when the acupuncture needle penetrates the human body. The mechanical changes are converted into electrical signal changes, and the acupuncture techniques are quantified, providing a scientific basis for the analysis of acupuncture techniques.

[0005] The invention patent application "A quantitative sensing needle for detecting Chinese medicine acupuncture techniques" (application number: 2005100430405) has developed a quantitative sensing needle for Chinese medicine acupuncture techniques, which uses the strain principle to measure force and torque, but its size is slightly large, which causes great interference to the actual operation process. In addition, during the processing, it can only be processed individually, which is costly and cannot be mass-produced.

[0006] The invention patent application "A device for collecting information on acupuncture techniques in vivo" (application number: 2019111726236) proposes an device for collecting information on acupuncture techniques in vivo, which uses an acceleration sensor to collect the lifting and pulling force signals of acupuncture actions. However, it can only measure the vertical direction, has a single measurement dimension, and does not adequately represent acupuncture technique information.

[0007] The invention patent application "Real-time Acquisition Sensor for Five-Dimensional Parameters of Acupuncture Manipulation" (application number: 2011201960664) has developed a sensor that collects acupuncture manipulation from five-dimensional perspectives of time, three-dimensional space, and mechanics, but its structure is complex and further miniaturization is difficult. In addition, it is impossible to perform needle retention operations.

[0008] The invention patent application "Acupuncture technique identification method, device, system and medium based on tactile sensor" (application number: 2021103363967) has developed a tactile sensor for the identification of acupuncture techniques. The acupuncture techniques are converted into piezoelectric signals for processing through fingertip tactile sensors. However, since the tactile sensor obtains the force on the needle indirectly, the measurement error is large.

[0009] In summary, most traditional acupuncture fixtures use the strain principle to measure acupuncture force and torque. They are heavy and easily cause the needles to bend and fold, which is not conducive to the acupuncture operation of doctors and acupuncture mechanical arms. In addition, traditional acupuncture fixtures use fastening screws to fix the needles. Doctors and acupuncture mechanical arms cannot retain the needles during acupuncture practice and cannot perform multi-needle acupuncture. However, most acupuncture requires multi-needle acupuncture. Therefore, the present invention is derived from this. Summary of the invention

[0010] In view of the above-mentioned technical problems, the purpose of the present invention is to provide an acupuncture clamp and an operating method thereof, which is lightweight, easy to mass produce, and can achieve multi-needle acupuncture and acupuncture force measurement with retained needles.

[0011] The technical solution of the present invention is: One object of the present invention is to provide an acupuncture clamp, comprising A shell, which is a cylinder with a cavity inside; At least one group of transmission members, any one group of transmission members comprises two transmission rods symmetrically arranged about the axis of the housing, any one of the transmission rods extending in the radial direction of the housing and slidingly engaged with the side wall of the housing; At least one set of measuring structures, which is arranged in the cavity of the housing and corresponds to the transmission member, any set of measuring structures includes two measuring units and any of the measuring units is fixed to the inner end of one of the transmission rods; A driving mechanism, which is movably disposed outside the housing and is respectively connected to the outer ends of the two transmission rods of the transmission member, and drives the two transmission rods of the transmission member to perform synchronous telescopic reciprocating motion in a radial direction relative to the housing; A fine needle, which is arranged in the space defined between two measuring units of at least one set of measuring structures along the axial direction of the housing; When the two measuring units of any group of measuring structures are driven by the driving mechanism to move towards each other, the filigree needles are clamped and fixed by the measuring structures. When any group of measuring structures clamps and fixes the filigree needles, any one of the measuring units contacts the filigree needles to collect the force on the filigree needles.

[0012] Optionally, the number of the transmission members and the measuring structures are both two groups, the two groups of transmission members are arranged at intervals along the axial direction of the shell, and the four transmission rods of the two groups of transmission members are orthogonally distributed.

[0013] Optionally, the driving mechanism includes a mechanical arm and a driving member, and the driving member is movably arranged on the outside of one axial end of the shell, one end of the mechanical arm is connected to the driving member, and the other end is respectively connected to the outer ends of all the transmission rods, and the mechanical arm includes a plurality of connecting rod assemblies corresponding to the number of the transmission rods, and any connecting rod assembly includes a plurality of articulated connecting rods.

[0014] Optionally, the connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod in sequence from one end connected to the driving member to one end connected to the transmission rod, one end of the first connecting rod is connected to the driving member and extends along the axial direction of the shell, one end of the second connecting rod is hinged to the other end of the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the second connecting rod extends obliquely outward in the radial direction of the shell, one end of the third connecting rod is hinged to the second connecting rod, the other end is hinged to the outer end of the transmission rod, and the third connecting rod extends obliquely downward along the axial direction of the shell.

[0015] Optionally, the robotic arm also includes a limit assembly corresponding to the number of the connecting rod assemblies, and any of the limit assemblies includes a rotatably connected fixed rod and a sleeve, one end of the fixed rod away from the sleeve is fixed to the outer wall of the shell and the fixed rod extends outward in the radial direction of the shell, and the sleeve is slidably connected to the third connecting rod of the corresponding connecting rod assembly.

[0016] Optionally, the driving member is a driving rod that can be movably driven along the axial direction of the shell, and a mounting frame for movably mounting the driving member is provided at one axial end of the shell, and the mounting frame includes a plurality of mounting posts that are arranged at intervals along the circumference of the shell and extend along the axial direction of the shell, and a mounting platform that is hollowed out in the middle to form a sliding cavity for the driving rod to be slidably connected, one end of any of the mounting posts is connected to one axial end of the shell, and the other end of any of the mounting posts is connected to the mounting platform, and a movable space for the driving rod to move is enclosed between the plurality of mounting posts; The plurality of connecting rod assemblies are evenly spaced and distributed along the circumferential direction of the driving rod.

[0017] Optionally, the driving rod is an electric driving rod with a controller, and the motion parameters of the robot arm can be set by the controller; The controller is electrically connected to a timer and an alarm. The controller can set the needle retention time. The timer is used to count after acupuncture and needle retention and to provide feedback to the controller after the set needle retention time is reached. After receiving the feedback, the controller activates the alarm to send an alarm signal. The alarm signal includes sound and / or light.

[0018] Optionally, any of the measuring units includes a circuit board, a three-dimensional force sensor electrically connected to the circuit board and including a sensitive structure and a force transmission column, a packaging tube shell for packaging the three-dimensional force sensor and the circuit board, and a flexible contact having one end connected to the outer end of the force transmission column and flexibly in contact with the needle when clamped. The three-dimensional force sensor is electrically connected to the circuit board through a plurality of gold wires, the sensitive structure is a sensitive element based on a piezoresistor, the force transmission column is slidably arranged on the packaging tube shell and when the flexible contact clamps the needle, it is forced to move relative to the packaging tube shell toward the direction of the three-dimensional force sensor to act on the sensitive structure, the three-dimensional force sensor converts the force signal into an electrical signal and transmits it to the circuit board, the circuit board includes a wireless transmission module, and the measuring unit is communicatively connected to a host computer through the wireless transmission module.

[0019] Another object of the present invention is to provide an operating method of an acupuncture clamp, comprising the following steps: Controlling the driving mechanism to drive the measuring unit to move toward the center of the housing to clamp and fix the needles to be applied; The motion parameters of the robotic arm are set, and the robotic arm is controlled to imitate the acupuncture technique of the physician to pierce the acupuncture points of the patient. The force on the filiform needle is converted into an electrical signal by the measuring unit, and the electrical signal is transmitted to the host computer through the wireless transmission module to process and display the measurement data. The host computer stores the reference data of the acupuncture technique of the professional physician. After receiving the measurement data sent by the measuring unit, the host computer compares and adjusts the filiform needle according to the comparison result until the measurement data is consistent with the reference data. The measurement data and the reference data both include the magnitude of the force, the depth of the needle and the frequency of the force; Control the movement of the robotic arm to drive the measuring unit to release the filiform needle, so that the filiform needle remains on the patient to complete the needle retention operation; The timer starts after the needle is left in place, and a reminder will be given when the set needle retention time is reached; After receiving the prompt message, the robot arm is controlled to drive the measuring unit to re-clamp the filiform needle, perform the needle removal operation, and separate the filiform needle from the patient.

[0020] Optionally, after receiving the measurement data sent by the measurement unit, the host computer performs comparison and adjusts the needle according to the comparison result. If the measured data is smaller than the reference data and the force and the needle insertion depth in the reference data are smaller than the measured data, the driving rod is controlled to continue to move toward the shell to drive the mechanical arm to continue to contract toward the center of the shell, thereby increasing the force on the needle. When the measured data is smaller than the frequency of the force in the reference data, the frequency of the driving rod moving toward or away from the shell is controlled to increase. If the measured data is greater than the reference data and when the measured data is greater than the force magnitude and needle insertion depth in the reference data, the drive rod is controlled to move away from the shell to drive the robotic arm to extend toward the center of the shell away from the shell, thereby reducing the force on the needle. When the measured data is greater than the frequency of the force in the reference data, the frequency of the drive rod moving toward or away from the shell is controlled to be reduced.

[0021] Compared with the prior art, the advantages of the present invention are: The acupuncture clamp of the present invention adopts a transmission member movably connected to the housing, fixes the measuring unit at the inner end of the transmission member, and the outer end of the transmission member is connected to the mechanical arm, imitating the doctor's acupuncture technique. The measuring unit clamps and fixes the filiform needle and collects the force on the filiform needle, and then adjusts the force acting on the filiform needle and / or the driving frequency of the driving member after comparing with the acupuncture technique of the professional physician, so as to achieve consistency with the acupuncture technique of the professional physician, and help the acupuncture mechanical arm to more accurately imitate the physician's technique during acupuncture, which can better provide the physician with an intuitive and visual basis for judgment, and also provide a reference for the parameter setting of the acupuncture mechanical arm, so as to promote the development and inheritance of traditional Chinese medicine. The whole device is light in weight and easy to mass produce, and can also achieve multi-needle acupuncture by retaining the needle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 A schematic diagram of the structure of an acupuncture clamp according to an embodiment of the present invention; Figure 2 for Figure 1 Axial section of the acupuncture fixture; Figure 3 for Figure 1 The schematic diagram of the structure of the acupuncture fixture omitting the housing and the mounting frame; Figure 4 for Figure 1 A schematic structural diagram of a housing and a mounting frame of an acupuncture fixture; Figure 5 This is a cross-sectional structural diagram of a measuring unit of an acupuncture clamp according to an embodiment of the present invention.

[0023] Among them: 10, shell; 11, radial through hole; 20, transmission rod; 30, measuring unit; 31, circuit board; 32, gold wire; 33, packaging tube shell; 34, three-dimensional force sensor; 341, sensitive structure; 342, force transmission column; 35, flexible contact; 40, driving mechanism; 41, driving rod; 42, mechanical arm; 421, first connecting rod; 422, second connecting rod; 423, third connecting rod; 50, mounting frame; 51, mounting column; 52, mounting table; 521, avoidance through hole; 60, limit assembly; 61, fixing rod; 62, sleeve; 70, millimeter needle. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0025] See also Figures 1 to 5 The acupuncture fixture of the embodiment of the present invention includes a housing 10, at least one set of transmission parts, at least one set of measurement structures and a driving mechanism 40.

[0026] Specifically, the housing 10 is a Figure 1 The upper end is sealed as shown, and the other end is also as shown Figure 1 The cylindrical structure shown is open at the lower end and hollow inside to form a cavity. The transmission member is arranged on the housing 10, and any group of transmission members includes two transmission rods 20 symmetrically arranged about the axis of the housing 10. Any transmission rod 20 extends along the radial direction of the housing 10 and slides with the side wall of the housing 10. That is to say, the side wall of the housing 10 is provided with radial through holes 11 symmetrically distributed and penetrating the side wall. The transmission rod 20 is slidably arranged in the radial through holes 11 and the axial length of the transmission rod 20 is greater than the side wall of the housing 10, so that the transmission rod 20 can always partially extend out of the cavity of the housing 10 to connect with the drive mechanism 40 and partially be in the cavity of the housing 10 to connect with the measuring structure. The measuring structure is arranged in the cavity of the housing 10, and the measuring structure and the transmission member are arranged one by one. Any measuring structure includes two measuring units 30, and any measuring unit 30 is fixed to the inner end of a transmission rod 20, that is, one end of the transmission rod 20 located in the cavity of the housing 10. The driving mechanism 40 is movably disposed outside the housing 10, more specifically, at a sealed end of the housing 10. Figure 1Above the upper end of the shell 10 shown, the driving mechanism 40 is connected to the two transmission rods 20 of the transmission member. When the driving mechanism 40 is active, it drives the two transmission rods 20 of the transmission member to perform synchronous telescopic reciprocating motion along the radial direction relative to the shell 10. That is to say, the two transmission rods 20 of any group of transmission members move toward each other (including relative motion approaching each other and opposite motion away from each other). The fine needle 70 is arranged in the cavity of the shell 10 along the axial direction of the shell 10, more specifically in the space defined between the two measuring units 30 of the measuring structure. When the two measuring units 30 of any group of measuring structures are driven by the driving mechanism 40 to move toward each other, the fine needle 70 is clamped and fixed by the two measuring units 30 of the measuring structure. When any group of measuring structures clamps and fixes the fine needle 70, any measuring unit 30 contacts the fine needle 70 to collect the force on the fine needle 70. A group of two measuring units 30 symmetrical about the shell 10 are driven by a group of two transmission parts symmetrical about the shell 10 to clamp the fine needle 70, which can imitate the needle holding action of the doctor in acupuncture. At the same time, the measuring unit 30 collects the force and bending information on the fine needle 70 in the process of clamping and fixing the fine needle 70, and after comparing with the acupuncture technique data of a professional doctor, the force of clamping the fine needle 70 can be adjusted by driving the driving mechanism 40 to change the force on the fine needle 70 and the frequency of acupuncture can be changed by changing the driving frequency of the driving mechanism 40, thereby achieving the acupuncture technique of a professional doctor, which can better provide doctors with intuitive and visual judgment basis, and also provide a reference for the parameter setting of the acupuncture robot arm 42, so as to promote the development and inheritance of Chinese medicine.

[0027] As some preferred embodiments, Figures 1 to 3 As shown, the number of transmission parts and measuring structures are both two groups. The two groups of transmission parts are arranged at intervals along the axial direction of the shell 10, that is, the two groups of transmission parts are distributed at different heights of the shell 10, and correspondingly, two groups of through holes of different heights corresponding to the force transmission rods of the two groups of force transmission parts are opened on the side wall of the shell 10; similarly, since the measuring structure and the transmission parts are in a one-to-one correspondence, the two groups of measuring structures are also arranged at intervals along the axial direction of the shell 10. And the four transmission rods 20 of the two groups of transmission parts are evenly spaced along the circumference of the shell 10, that is, the four transmission rods 20 are orthogonally distributed on the same projection plane. This makes the force on the fine needle 70 uniform, which is convenient for the lifting, insertion and twisting operations of the fine needle 70.

[0028] According to some preferred embodiments of the present invention, Figures 1 to 3As shown, the driving mechanism 40 mainly includes a mechanical arm 42 and a driving member. The driving member is movably arranged at one axial end of the housing 10, that is, outside the sealed end of the housing 10, and the driving member moves closer to or away from the housing 10 along the axial direction of the housing 10, so as to drive the mechanical arm 42 to move and realize the extension and retraction of the transmission rod 20 connected to the execution end of the mechanical arm 42. One end of the mechanical arm 42 is connected to the driving member, and the other end is connected to the outer ends of all the transmission rods 20 respectively. Figure 1 or Figure 3 As shown, there are two groups of force transmission members, that is, the number of force transmission rods is four, so the mechanical arm 42 is a four-claw mechanical arm 42, each mechanical arm 42 includes a connecting rod assembly composed of a plurality of hinged connecting rods, and the number of connecting rod assemblies corresponds to the number of transmission rods 20. For any connecting rod assembly, Figures 1 to 3 As shown, the connecting rod assembly in the embodiment of the present invention preferably includes three connecting rods (corresponding to human finger joints), each connecting rod is equivalent to a finger joint, and the hinge of any two connecting rods is equivalent to a joint. For the convenience of description and distinction, the three connecting rods in the direction from one end of the connecting rod assembly connected to the driving rod 41 to one end connected to the transmission rod 20 are described as the first connecting rod 421, the second connecting rod 422 and the third connecting rod 423 in sequence. More specifically, one end of the first connecting rod 421 is connected to the driving member and extends along the axial direction of the housing 10, one end of the second connecting rod 422 is hinged to the other end of the first connecting rod 421, the other end of the second connecting rod 422 is hinged to one end of the third connecting rod 423, and the second connecting rod 422 extends outwardly in a radial direction of the housing 10, one end of the third connecting rod 423 is hinged to the second connecting rod 422, the other end is hinged to the outer end of the transmission rod 20, and the third connecting rod 423 extends downward in a axial direction of the housing 10. The first connecting rod 421 is synchronously moved toward or away from the shell 10 by the moving driving force of the driving member along the axial direction of the shell 10, thereby driving the second connecting rod 422 and the third connecting rod 423 to move. When the driving member moves closer to the shell 10, the lower end of the third connecting rod 423, that is, the end connected to the transmission rod 20, is pushed toward the shell 10, thereby driving the transmission rod 20 to retract inward along the radial direction of the shell 10 to achieve clamping of the fine needle 70, and vice versa. It should be noted that the mechanical arm 42 of the embodiment of the present invention can also be composed of other numbers of connecting rods, which are not specifically described or limited, as long as the transmission rod 20 can be driven to extend and retract relative to the shell 10. Further preferably, in order to ensure the stability of the measuring unit 30 during the movement of the transmission rod 20 and to achieve the limiting function of the mechanical arm 42, the mechanical arm 42 also includes a limiting assembly 60, and the number of the limiting assemblies 60 corresponds to the number of the connecting rod assemblies, that is, each connecting rod assembly is provided with a limiting assembly 60. Specifically, for the limiting assembly 60, if Figures 1 to 3As shown, any limiting assembly 60 includes a fixing rod 61 and a sleeve 62 that are rotatably connected together, wherein the fixing rod 61 extends along the radial direction of the housing 10 and one end is fixed to the outer wall of the housing 10, and the fixing rod 61 is parallel to the transmission rod 20 and is located above the corresponding transmission rod 20. In other words, Figure 2 As shown, a fixed rod 61 is horizontally spaced above each of the two transmission rods 20 of a group of transmission parts near the upper end of the housing 10. Similarly, a fixed rod 61 is horizontally spaced above each of the two transmission rods 20 of a group of transmission parts near the lower end of the housing 10. The length of the fixed rod 61 is longer than the length of each corresponding transmission rod 20 extending out of the housing 10. The sleeve 62 is sleeved on the outer periphery of the third connecting rod 423 of the corresponding mechanical arm 42 and slidably fits together, and the sleeve 62 is rotatably connected to the end of the corresponding fixed rod 61 that is connected to the housing 10, such as hinged. The angle between the sleeve 62 and the corresponding fixed rod 61 changes with the length of the transmission rod 20 corresponding to the limit assembly 60 extending or retracting inside and outside the housing 10. Specifically, when the transmission rod 20 extends out of the housing 10, the angle between the corresponding sleeve 62 and the fixed rod 61 becomes larger, and vice versa.

[0029] In the embodiment of the present invention, the driving member preferably moves along the axial direction of the shell 10 to drive the mechanical arm 42 to drive the corresponding transmission rod 20 to telescope, clamp or loosen. That is, the driving member in the embodiment of the present invention is a driving rod 41 extending along the axial direction of the shell 10 and radially protruding at both ends, that is, with large diameters at both ends and a small diameter in the middle. In other words, the driving member can also move in other directions instead of along the axial direction of the shell 10, as long as it can drive the transmission rod 20 to telescope along the radial direction of the shell 10. No specific description or limitation is made, and those skilled in the art can select and design according to actual conditions. In order to ensure the straightness of the driving member moving along the axial direction of the shell 10, in the embodiment of the present invention, Figure 1 and Figure 2 As shown, a mounting frame 50 is also provided on the sealed end of the housing 10. Specifically, as Figure 4As shown, the mounting frame 50 includes a mounting column 51 and a mounting platform 52. The mounting column 51 includes a plurality of mounting columns, and in the embodiment of the present invention, four mounting columns are exemplarily distributed along the circumference of the sealed end of the shell 10, and any mounting column 51 extends along the axial direction of the shell 10, and a movable space for the drive rod 41 to move is defined between the four mounting columns 51. The mounting platform 52 is fixed on the end of the four mounting columns 51 away from the connection with the shell 10, and the shape of the mounting platform 52 is preferably a frustum, specifically, the area of ​​the end surface facing the shell 10 is larger than the area of ​​the end surface facing away from the shell 10. The middle of the mounting platform 52 is hollowed out, that is, an avoidance through hole 521 is opened along the axial direction of the shell 10, and the avoidance through hole 521 is for the drive rod 41 to pass through and for the drive rod 41 to move. One end of the plurality of connecting rod assemblies is respectively connected to the end of the drive rod 41 facing the shell 10, and the plurality of connecting rod assemblies are evenly spaced along the circumference of the end of the drive rod 41 facing the shell 10.

[0030] According to some preferred embodiments of the present invention, the driving rod 41 is an electric driving rod 41 having a controller (not shown, preferably a PLC controller with a control panel), and the motion parameters of the mechanical arm 42 (such as the parameters corresponding to the magnitude of the force acting on the fine needle 70 and the frequency of the driving rod 41 activity) can be set by the controller. That is to say, the driving mechanism 40 includes the driving rod 41, the mechanical arm 42, and also includes a controller. Further preferably, the controller is electrically connected to a timer (not shown) and an alarm (not shown, such as a buzzer currently available on the market), and the controller can set the needle retention time. The timer is used to count after the needle is applied and the needle is retained and feedback is sent to the controller after the set needle retention time is reached. After receiving the feedback, the controller activates the alarm to send an alarm signal, and the alarm signal includes sound and / or light.

[0031] For any measuring unit 30, the measuring unit 30 of the embodiment of the present invention is a measuring device for measuring the force and torque acting on the needle 70. For example, the MEMS measuring unit 30. The principle is to use a piezoresistor as a unit and apply MEMS processing technology to make it. Specifically, Figure 5As shown, the measuring unit 30 of the embodiment of the present invention includes a circuit board 31, a three-dimensional force sensor 34, a packaging tube shell 33, a gold wire 32 and a flexible contact 35. The circuit board 31 is exemplarily a PCB circuit board 31, and the three-dimensional force sensor 34 is a sensor that measures force by converting a force signal into an electrical signal based on the principle of piezoresistance. Specifically, the three-dimensional force sensor 34 includes a sensitive structure 341 and a force transmission column 342. The sensitive structure 341 is a component based on the principle of piezoresistance. The packaging tube shell 33 is used to package the three-dimensional force sensor 34 and the circuit board 31 to protect the circuit components. One end of the force transmission column 342 is connected to the shell of the three-dimensional force sensor, and the other end passes through a through hole (not shown) opened on the packaging tube shell 33 and is connected to a flexible contact 35 provided outside the packaging tube shell. The force transmission column 342 does not act on the sensitive structure 341 in the initial state. Only when subjected to external force will it move relative to the through hole of the packaging tube shell 33 toward the direction of the three-dimensional force sensor 34, that is, The force sensor 34 contracts inwards and acts on the sensitive structure 341, so that the piezoresistors of the sensitive structure 341 sense the force signal and convert the force signal into an electrical signal, and then transmit the electrical signal to the circuit board 31 through the three-dimensional force sensor 34. The three-dimensional force sensor 34 is electrically connected to the circuit board 31 through a plurality of gold wires 32 (for example, the three-dimensional force sensor 34 has a quadrilateral structure, and a plurality of gold wires 32 are evenly distributed on the four sides of the three-dimensional force sensor 34). The flexible contact 35 is connected to the end of the force transmission column 342 away from the packaging tube shell 33. When the measuring unit 30 clamps the millimeter needle 70, the flexible contact 35 contacts the millimeter needle 70. The force on the needle 70 will act on the force transmission column 342 connected to the flexible contact 35, and the force transmission column 342 acts on the sensitive structure 341. The piezoresistors on the sensitive structure 341 convert the force signals into electrical signals, which are transmitted to the circuit board 31 for processing by the three-dimensional force sensor 34, so that the measuring unit 30 can collect the force on the needle 70 during the process of clamping the needle 70. It should be noted that the circuit board 31 of the embodiment of the present invention includes a wireless transmission module, the purpose of which is to communicate with a host computer such as a computer. The host computer has a corresponding program to process the measured values ​​of the measuring unit 30. The measured data is processed, and reference data of acupuncture manipulation techniques of professional physicians are also built in. During processing, the measured data is compared with the reference data, and then the motion parameters of the robot arm 42 are adjusted until the measured data is consistent with the reference data (it should be noted that they are not completely consistent, and can be within the allowable error range). The host computer here preferably includes the above-mentioned controller, that is, it is set on the drive mechanism 40, and can also be a separate desktop computer or laptop computer or handheld terminal device, as long as it can achieve communication connection with the measuring unit 30. Improve the automation of the device and improve the integration at the same time.

[0032] The embodiment of the present invention also provides an operating method of the acupuncture clamp of the above embodiment, comprising the following steps: The control driving mechanism 40 drives the measuring unit 30 to move toward the center of the housing 10 to clamp and fix the acupuncture needle 70 to be applied. This step is to adjust the zero force of the measuring unit 30 to adjust the force of the measuring unit 30 to clamp the acupuncture needle 70 according to the initial force state of the measuring unit 30 (that is, the force is zero); The motion parameters of the robot arm 42 are set (the purpose is to first set the force on the fine needle 70 and the activity frequency, i.e., the speed, of the driving rod 41, so that the fine needle 70 can be inserted according to the set force, insertion depth, and speed during the acupuncture process), and the robot arm 42 is controlled to imitate the doctor's acupuncture technique to pierce the patient's acupuncture point. The force on the fine needle 70 is converted into an electrical signal by the measurement unit 30, and the electrical signal is transmitted to the host computer through the wireless transmission module to process and display the measurement data. The host computer stores the reference data of the acupuncture technique of professional doctors. After receiving the measurement data sent by the measurement unit 30, the host computer compares and adjusts the fine needle 70 according to the comparison result until the measurement data is consistent with the reference data. The measurement data and the reference data both include the force, the insertion depth, and the frequency of the force; Controlling the robot arm 42 to drive the measuring unit 30 to release the fine needle 70, so that the fine needle 70 remains on the patient to complete the needle retention operation; The timer starts after the needle is left in place, and a reminder will be given when the set needle retention time is reached; After receiving the prompt information, the robot arm 42 is controlled to drive the measuring unit 30 to re-clamp the needle 70, perform the needle removal operation, and separate the needle 70 from the patient. In this step, if the needle 70 is disposable, it can be directly discarded, and if it is reusable, it can be thrown into a special disinfection collection device.

[0033] According to some preferred embodiments of the present invention, after receiving the measurement data sent by the measurement unit 30, the host computer performs comparison and adjusts the filiform needle 70 according to the comparison result. If the measured data is smaller than the reference data and the force and the needle insertion depth in the reference data are smaller than the measured data, the driving rod 41 is controlled to continue to move toward the shell 10 to drive the mechanical arm 42 to continue to contract toward the center of the shell 10, thereby increasing the force on the needle 70. When the measured data is smaller than the frequency of the force in the reference data, the frequency of the driving rod 41 moving toward or away from the shell 10 is controlled to increase. If the measured data is greater than the reference data and when the measured data is greater than the force magnitude and needle insertion depth in the reference data, the drive rod 41 is controlled to move away from the shell 10 to drive the robotic arm 42 to extend toward the center direction away from the shell 10, thereby reducing the force on the needle 70. When the measured data is greater than the frequency of the force in the reference data, the frequency of the drive rod 41 moving toward or away from the shell 10 is controlled to be reduced.

[0034] It should be noted that the above steps are for one acupuncture application. If multiple acupuncture applications are required, just repeat the above steps.

[0035] It should be noted that when a timeout occurs during the operation, the alarm will sound and the indicator light will prompt. At this time, it is necessary to give up the acupuncture step and restart the acupuncture step.

[0036] A transmission member movably connected to the housing 10 is used, and the measuring unit 30 is fixed to the inner end of the transmission member, and the outer end of the transmission member is connected to the mechanical arm 42, imitating the doctor's acupuncture technique. The measuring unit 30 clamps and fixes the filiform needle 70 and collects the force on the filiform needle 70, and then adjusts the force acting on the filiform needle 70 and / or the driving frequency of the driving member after comparing with the acupuncture technique of the professional physician, so as to achieve consistency with the acupuncture technique of the professional physician, and help the acupuncture mechanical arm 42 to more accurately imitate the physician's technique during acupuncture, which can better provide the physician with an intuitive and visual basis for judgment, and also provide a reference for the parameter setting of the acupuncture mechanical arm 42, and promote the development and inheritance of traditional Chinese medicine. The whole device is light in weight and easy to mass produce, and can also achieve multi-needle acupuncture by retaining the needle.

[0037] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. An acupuncture fixture, characterized in that: include A shell, which is a cylinder with a cavity inside; At least one group of transmission members, any one group of transmission members comprises two transmission rods symmetrically arranged about the axis of the housing, any one of the transmission rods extending in the radial direction of the housing and slidingly engaged with the side wall of the housing; At least one set of measuring structures, which is arranged in the cavity of the housing and corresponds to the transmission member, any set of measuring structures includes two measuring units and any of the measuring units is fixed to the inner end of one of the transmission rods; A driving mechanism, which is movably disposed outside the housing and is respectively connected to the outer ends of the two transmission rods of the transmission member, and drives the two transmission rods of the transmission member to perform synchronous telescopic reciprocating motion in a radial direction relative to the housing; The filigree needle is arranged along the axial direction of the shell in the space defined between two measuring units of at least one group of measuring structures. When the two measuring units of any group of measuring structures are driven by the driving mechanism to move closer, the filigree needle is clamped and fixed by the measuring structure. When any group of measuring structures clamps and fixes the filigree needle, any measuring unit contacts the filigree needle to collect the force on the filigree needle.

2. The acupuncture fixture according to claim 1, characterized in that: The number of the transmission members and the measuring structures are both two groups, the two groups of transmission members are arranged at intervals along the axial direction of the housing, and the four transmission rods of the two groups of transmission members are orthogonally distributed.

3. The acupuncture fixture according to claim 1 or 2, characterized in that: The driving mechanism includes a mechanical arm and a driving member, and the driving member is movably arranged on the outside of one axial end of the shell. One end of the mechanical arm is connected to the driving member, and the other end is respectively connected to the outer ends of all the transmission rods. The mechanical arm includes a plurality of connecting rod assemblies corresponding to the number of the transmission rods, and any connecting rod assembly includes a plurality of articulated connecting rods.

4. The acupuncture fixture according to claim 3, characterized in that: The connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod in sequence from one end connected to the driving member to one end connected to the transmission rod. One end of the first connecting rod is connected to the driving member and extends along the axial direction of the shell, one end of the second connecting rod is hinged to the other end of the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the second connecting rod extends obliquely outward in the radial direction of the shell, one end of the third connecting rod is hinged to the second connecting rod, the other end is hinged to the outer end of the transmission rod, and the third connecting rod extends obliquely downward along the axial direction of the shell.

5. The acupuncture fixture according to claim 4, characterized in that: The robotic arm also includes a limit assembly corresponding to the number of the connecting rod assemblies, and any of the limit assemblies includes a rotatably connected fixed rod and a sleeve, one end of the fixed rod away from the sleeve is fixed to the outer wall of the shell and the fixed rod extends outward in the radial direction of the shell, and the sleeve is slidably connected to the third connecting rod of the corresponding connecting rod assembly.

6. The acupuncture fixture according to claim 3, characterized in that: The driving member is a driving rod that moves along the axial direction of the shell, and a mounting frame for the driving member to be mounted and moved is provided at one axial end of the shell, and the mounting frame includes a plurality of mounting posts that are arranged at intervals along the circumference of the shell and extend along the axial direction of the shell, and a mounting platform that is hollowed out in the middle to form a sliding cavity for the driving rod to be slidably connected, one end of any of the mounting posts is connected to one axial end of the shell, and the other end of any of the mounting posts is connected to the mounting platform, and a movable space for the driving rod to move is enclosed between the plurality of mounting posts; The plurality of connecting rod assemblies are evenly spaced apart along the circumferential direction of the driving rod.

7. The acupuncture fixture according to claim 6, characterized in that: The driving rod is an electric driving rod with a controller, and the motion parameters of the robot arm can be set by the controller; The controller is electrically connected to a timer and an alarm. The controller can set the needle retention time. The timer is used to count after acupuncture and needle retention and to provide feedback to the controller after the set needle retention time is reached. After receiving the feedback, the controller activates the alarm to send an alarm signal. The alarm signal includes sound and / or light.

8. The acupuncture fixture according to claim 1 or 2, characterized in that: Any of the measuring units includes a circuit board, a three-dimensional force sensor electrically connected to the circuit board and including a sensitive structure and a force transmission column, a packaging tube shell for packaging the three-dimensional force sensor and the circuit board, and a flexible contact having one end connected to the outer end of the force transmission column and flexibly contacting the needle when clamped. The three-dimensional force sensor is electrically connected to the circuit board through a plurality of gold wires. The sensitive structure is a sensitive element based on a piezoresistor. The force transmission column is slidably arranged on the packaging tube shell and when the flexible contact clamps the needle, it is forced to move relative to the packaging tube shell toward the direction of the three-dimensional force sensor to act on the sensitive structure. The three-dimensional force sensor converts the force signal into an electrical signal and transmits it to the circuit board. The circuit board includes a wireless transmission module. The measuring unit is communicatively connected to a host computer through the wireless transmission module.

9. An operating method of the acupuncture clamp according to any one of claims 1 to 8, characterized in that: The following steps are involved: Controlling the driving mechanism to drive the measuring unit to move toward the center of the housing to clamp and fix the needles to be applied; The motion parameters of the robotic arm are set, and the robotic arm is controlled to imitate the acupuncture technique of the physician to pierce the acupuncture points of the patient. The force on the filiform needle is converted into an electrical signal by the measuring unit, and the electrical signal is transmitted to the host computer through the wireless transmission module to process and display the measurement data. The host computer stores the reference data of the acupuncture technique of the professional physician. After receiving the measurement data sent by the measuring unit, the host computer compares and adjusts the filiform needle according to the comparison result until the measurement data is consistent with the reference data. The measurement data and the reference data both include the magnitude of the force, the depth of the needle and the frequency of the force; Control the movement of the robotic arm to drive the measuring unit to release the filiform needle, so that the filiform needle remains on the patient to complete the needle retention operation; The timer starts after the needle is left in place, and a reminder will be given when the set needle retention time is reached; After receiving the prompt message, the robot arm is controlled to drive the measuring unit to re-clamp the filiform needle, perform the needle removal operation, and separate the filiform needle from the patient.

10. The operating method according to claim 9, characterized in that: After receiving the measurement data sent by the measuring unit, the host computer compares it and adjusts the needle according to the comparison result. If the measured data is smaller than the reference data and the force and the needle insertion depth in the reference data are smaller than the measured data, the driving rod is controlled to continue to move toward the shell to drive the mechanical arm to continue to contract toward the center of the shell, thereby increasing the force on the needle. When the measured data is smaller than the frequency of the force in the reference data, the frequency of the driving rod moving toward or away from the shell is controlled to increase. If the measured data is greater than the reference data and when the measured data is greater than the force magnitude and needle insertion depth in the reference data, the drive rod is controlled to move away from the shell to drive the robotic arm to extend toward the center of the shell away from the shell, thereby reducing the force on the needle. When the measured data is greater than the frequency of the force in the reference data, the frequency of the drive rod moving toward or away from the shell is controlled to be reduced.

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