Acupuncture robot and control method

Abstract

The invention discloses an acupuncture robot and a control method, and relates to the technical field of acupuncture, the acupuncture robot comprises a cylinder, a direction adjusting mechanism and a needle outlet mechanism, the cylinder accommodates a plurality of silver needles arranged in the circumferential direction of the cylinder, and the direction adjusting mechanism is used for adjusting the position and the extension direction of the cylinder in the horizontal direction and the up-down direction; the needle outlet mechanism comprises a driving structure and a switching structure which are arranged at intervals in the axial direction of the cylinder body, the driving structure is used for driving the switching structure to move in the axial direction of the cylinder body and rotate along the axial extending axis of the cylinder body, and the switching structure is used for abutting against one silver needle and ejecting the silver needle out of the cylinder body; the switching structure abuts against different silver needles in the process of rotating along the axis extending in the axial direction of the barrel, tiny notches are formed in guide pipes at the front edges of the silver needles, and when the silver needles stretch out, alcohol or alcohol cotton in the notches can be soaked and dyed for silver needle disinfection. Through the arrangement, the silver needle can be replaced all the time in acupuncture treatment, rapid needle replacement is achieved, the disinfection effect is achieved, and the acupuncture efficiency and safety are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of acupuncture, and in particular to an acupuncture robot and a control method thereof. Background Art

[0002] Robot technology has developed rapidly in recent years, especially in the medical field. Medical robots can be divided into surgical robots, rehabilitation robots, nursing robots and other types. Medical robots have the advantages of high precision, strong repeatability, and can reduce the labor intensity of medical staff, and can make up for the shortcomings of manual operation in some aspects.

[0003] Acupuncture robot is an innovative device that combines traditional Chinese acupuncture therapy with modern robotics technology. It aims to improve the accuracy, efficiency and safety of acupuncture treatment. It is a product that combines acupuncture therapy with modern robotics technology and represents the development direction of medical technology. With the continuous advancement of technology, acupuncture robots are expected to play a more important role in future medical practice and promote the development of Chinese acupuncture therapy towards a more accurate, efficient and safe direction.

[0004] However, during acupuncture treatment, silver needles need to be replaced from time to time. Existing acupuncture robots are unable to quickly replace needles, which affects the efficiency and safety of acupuncture. Summary of the invention

[0005] The main purpose of the present invention is to provide an acupuncture robot and a control method, aiming to solve the problem that the existing acupuncture robots cannot achieve the function of quickly changing needles, which affects the efficiency and safety of acupuncture.

[0006] To achieve the above-mentioned purpose, the acupuncture robot proposed by the present invention comprises:

[0007] A cylinder, the cylinder is used to accommodate a plurality of silver needles arranged along the circumference of the cylinder, and the front portion of the cylinder has a tiny notch, and alcohol or alcohol cotton wraps the notch of the cylinder;

[0008] A direction adjustment mechanism is drivingly connected to the cylinder, and is used to adjust the horizontal and vertical position and extension direction of the cylinder;

[0009] The needle ejection mechanism is disposed in the cylinder and comprises a driving structure and a switching structure which are spaced apart along the axial direction of the cylinder. The driving structure and the switching structure are drivingly connected to drive the switching structure to move along the axial direction of the cylinder and rotate along the axis extending axially of the cylinder. The switching structure is used to abut against one of the silver needles and can eject the silver needle from the cylinder.

[0010] Wherein, the switching structure is used to abut against different silver needles during the process of rotation along the axis extending axially of the cylinder.

[0011] In one embodiment, the switching structure includes:

[0012] A rotating part, wherein a plurality of matching pieces are convexly arranged at intervals on the peripheral side surface of the rotating part, and an end surface of each matching piece facing the driving structure is inclinedly arranged in the peripheral direction of the cylinder, and the rotating part is used to abut against one of the silver needles, and the rotating part has a first position in which the silver needle is accommodated in the cylinder, and a second position in which the silver needle is partially exposed in the cylinder, and the silver needle also passes through the alcohol disinfection area in the second position of the cylinder;

[0013] The abutment portion is provided between the rotating portion and the driving structure and is drivingly connected to the driving structure. A plurality of grooves are concavely provided along the circumference of the cylinder at one end of the abutment portion away from the driving structure, and each of the grooves is arranged close to each other from the groove opening toward the groove bottom along the two side walls in the circumference of the cylinder. At least part of the grooves can accommodate and abut against one end of the matching piece that is arranged obliquely, so as to drive the matching piece to move along the axial direction of the cylinder and rotate along the axis extending axially of the cylinder.

[0014] The limiting portion includes a plurality of first limiting grooves and a plurality of second limiting grooves alternately arranged on the inner side wall of the cylinder, and each of the first limiting grooves and each of the second limiting grooves is open at one end away from the driving structure, and the plurality of the first limiting grooves and the plurality of the second limiting grooves are used to alternately accommodate the matching piece in the process that the matching piece moves along the axial direction of the cylinder and rotates along the axis extending axially of the cylinder;

[0015] Wherein, the number of the matching pieces is A, the number of the grooves is B, and A≤B / 2.

[0016] In one embodiment, the switching structure further includes an elastic reset member, the elastic reset member abuts against an end of the abutting portion away from the rotating portion, and the elastic reset member is elastically arranged in the axial direction of the cylinder.

[0017] In one embodiment, the barrel body includes a first barrel section and a second barrel section arranged along its axial direction, the first barrel section is used to accommodate the driving structure and the switching structure, the second barrel section is movably arranged on the first barrel section along its axial direction, and has a first state exposed in the first barrel section and a second state housed in the first barrel section in its movable stroke, the second barrel section gradually retracts toward one end of the first barrel section, and the alcohol or the alcohol cotton is arranged in the second barrel section to perform the function of silver needle disinfection.

[0018] In one embodiment, the driving structure includes an electromagnet, which is electrically connected to a power source. The electromagnet is used to drive the switching structure to move along the axial direction of the cylinder and rotate along an axis extending axially of the cylinder by opening and closing a circuit.

[0019] In one embodiment, the direction adjustment mechanism includes a multi-axis robot arm, which is drivingly connected to the cylinder to adjust the horizontal and up-down and upward position and spatial extension direction of the cylinder.

[0020] In one embodiment, the direction adjustment mechanism also includes a rotation adjustment structure, which is arranged between the multi-axis robot arm and the cylinder and is drivingly connected to the cylinder. The rotation adjustment mechanism is used to drive the cylinder to rotate along its axially extending axis.

[0021] In one embodiment, the acupuncture robot further includes a visual detection mechanism, which is disposed on the rotation adjustment mechanism and can move synchronously with the cylinder, and the visual detection mechanism is used to collect acupoint images and acupoint fixed points.

[0022] In one embodiment, the acupuncture robot also includes a plurality of guide structures, each of the guide structures is used to be sleeved on the circumferential side of a silver needle to guide the corresponding silver needle to move along the axial direction of the cylinder, and the circumferential side surface of each guide structure is penetrated by a plurality of through holes, and the alcohol or the alcohol cotton is provided at the opening of each through hole, and the alcohol or the alcohol cotton is used to disinfect the silver needle.

[0023] The present invention also proposes a control method for an acupuncture robot. Based on the above acupuncture robot, the control method for the acupuncture robot includes:

[0024] The control direction adjustment mechanism adjusts the position and extension direction of the cylinder so that the cylinder faces the acupuncture point to be acupunctured;

[0025] Controlling the driving structure to drive the switching structure to move along the axial direction of the cylinder, so that the switching structure pushes out the silver needle;

[0026] Controlling the direction adjustment mechanism to drive the cylinder to continue to move toward the acupuncture point to be acupunctured, so that the silver needle is inserted into the acupuncture point to be acupunctured;

[0027] The driving structure is controlled to drive the switching structure to reset, so that the switching structure drives the silver needle to retract into the cylinder and switches the silver needle at the same time.

[0028] In the technical solution of the present invention, when the acupuncture robot needs to perform acupuncture treatment, the direction adjustment mechanism first adjusts the cylinder in the horizontal direction and the up-down-up direction so that the cylinder is close to the acupuncture point to be acupunctured, and adjusts the extension direction of the cylinder so that the cylinder can be aligned with the acupuncture point to be acupunctured. After that, the driving structure works to drive the switching structure to move along the axial direction of the cylinder. Since the switching structure abuts against one of the silver needles, when the switching structure moves along the cylinder, the switching structure can push the silver needle out of the cylinder, so that the silver needle part can be exposed from the cylinder from the notch. At this time, since the notch is wrapped with the alcohol or alcohol cotton, when the silver needle extends from the corresponding notch, it can contact the alcohol. Or alcohol cotton, so as to disinfect, and then insert the silver needle into the acupuncture point to be treated for acupuncture. After the acupuncture treatment is completed, the driving structure works again, the switching structure is reset, and the corresponding silver needle is also retracted into the cylinder. At this time, the part of the silver needle inserted into the acupuncture point will contact the alcohol or the alcohol cotton again, and the alcohol or the alcohol cotton will perform a secondary disinfection on the silver needle, so as to ensure the cleanliness of the silver needle retracted into the cylinder. Afterwards, when the silver needle is to be switched, the switching structure rotates along the axis extending axially of the cylinder to switch the silver needle, that is, to abut against another silver needle. At this time, the direction adjustment mechanism works again to drive the cylinder to move to the next acupuncture point to be treated, so as to perform the next acupuncture treatment. With such a configuration, the acupuncture robot can replace the silver needle at any time during the acupuncture treatment, realize the function of rapid needle replacement, and ensure the efficiency and safety of acupuncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the structure of an acupuncture robot according to an embodiment of the present invention;

[0031] Figure 2 for Figure 1 Schematic diagram of some structures of the acupuncture robot;

[0032] Figure 3 for Figure 2 Schematic diagram of the cross section of AA;

[0033] Figure 4 for Figure 1An exploded schematic diagram of the needle ejection mechanism in FIG.

[0034] Figure 5 for Figure 4 Schematic cross-section of the middle BB;

[0035] Figure 6 This is a flow chart of an embodiment of a control method for an acupuncture robot provided by the present invention.

[0036] Description of Figure Numbers:

[0037] 100. Acupuncture robot; 1. Cylinder; 11. First cylinder section; 12. Second cylinder section; 2. Direction adjustment mechanism; 21. Rotation adjustment structure; 3. Needle removal mechanism; 31. Driving structure; 32. Switching structure; 321. Rotating part; 3211. Matching part; 322. Abutting part; 3221. Groove; 323. Limiting part; 3231. First limiting groove; 3232. Second limiting groove; 324. Elastic reset part; 4. Visual detection mechanism; 5. Guide structure.

[0038] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0042] The present invention provides an acupuncture robot, which aims to solve the problem that the existing acupuncture robots cannot achieve the function of quickly changing needles, thus affecting the efficiency and safety of acupuncture.

[0043] See also Figure 1-5 In one embodiment of the present invention, the acupuncture robot 100 includes a barrel 1, a direction adjustment mechanism 2 and a needle ejection mechanism 3. The barrel 1 is used to accommodate a plurality of silver needles arranged circumferentially along the barrel 1. The direction adjustment mechanism 2 is drivingly connected to the barrel 1. The direction adjustment mechanism 2 is used to adjust the horizontal and vertical position and extension direction of the barrel 1. The needle ejection mechanism 3 is arranged in the barrel 1 and includes a driving structure 31 and a switching structure 32 arranged at intervals along the axial direction of the barrel 1. The driving structure 31 and the switching structure 32 are drivingly connected to drive the switching structure 32 to move along the axial direction of the barrel 1 and rotate along the axis extending axially of the barrel 1. The switching structure 32 is used to abut one of the silver needles and can push the silver needle out of the barrel 1. The switching structure 32 is used to abut different silver needles during the rotation along the axis extending axially of the barrel 1.

[0044] In the technical solution of the present invention, when the acupuncture robot 100 needs to perform acupuncture treatment, the direction adjustment mechanism 2 first adjusts the barrel 1 in the horizontal direction and the up-down and up-down directions to make the barrel 1 close to the acupuncture point to be acupunctured, and adjusts the extension direction of the barrel 1 so that the barrel 1 can be aligned with the acupuncture point to be acupunctured. After that, the driving structure 31 works to drive the switching structure 32 to move along the axial direction of the barrel 1. Since the switching structure 32 abuts against one of the silver needles, when the switching structure 32 moves along the barrel 1, the switching structure 32 can push the silver needle out of the barrel 1, so that the silver needle part can be exposed from the barrel 1 from the notch. At this time, since the notch is wrapped with the alcohol or alcohol cotton, when the silver needle extends from the corresponding notch, it can be connected. The silver needle is then inserted into the acupuncture point to be treated with acupuncture. After the treatment is completed, the driving structure 31 works again, the switching structure 32 is reset, and the corresponding silver needle is also retracted into the barrel 1. At this time, the part of the silver needle inserted into the acupuncture point will contact the alcohol or the alcohol cotton again, and the alcohol or the alcohol cotton will perform a secondary disinfection on the silver needle, thereby ensuring the cleanliness of the silver needle retracted into the barrel 1. Afterwards, when the silver needle is to be switched, the switching structure 32 rotates along the axis extending axially from the barrel 1 to switch the silver needle, that is, to contact with another silver needle. At this time, the direction adjustment mechanism 2 works again to drive the barrel 1 to move to the next acupuncture point to be treated with acupuncture, thereby performing the next acupuncture treatment. With such a configuration, the acupuncture robot 100 can replace the silver needle at any time during the acupuncture treatment, realize the function of rapid needle replacement, and ensure the efficiency and safety of acupuncture.

[0045] It should be noted that, in order to realize the ability of the switching structure 32 to switch the silver needles, the switching structure 32 can adopt a variety of structures that can move along the axial direction of the barrel 1 and rotate along the axis extending axially of the barrel 1. In one embodiment of the present invention, the switching structure 32 includes a rotating portion 321, an abutting portion 322 and a limiting portion 323. The circumferential side surface of the rotating portion 321 is convexly provided with a plurality of matching pieces 3211 at intervals, and each of the matching pieces 3211 is inclined in the circumferential direction of the barrel 1 toward one end face of the driving structure 31. The rotating portion 321 is used to abut against one of the silver needles. The rotating portion 321 has a first position that allows the silver needle to be accommodated in the barrel 1, and a second position that allows the silver needle to be partially exposed in the barrel 1, and the silver needle also passes through the alcohol disinfection area in the second position of the barrel 1. The abutting portion 322 is arranged between the rotating portion 321 and the driving structure 31, and is drivingly connected to the driving structure 31. The end of the portion 322 away from the driving structure 31 is concavely provided with a plurality of grooves 3221 along the circumference of the cylinder 1, and each of the grooves 3221 is arranged close to each other from the notch toward the groove bottom along the two side walls in the circumference of the cylinder 1, and at least part of the grooves 3221 can accommodate and abut against one end of the matching piece 3211 which is arranged obliquely, so as to drive the matching piece 3211 to move axially along the cylinder 1 and rotate along the axis extending axially of the cylinder 1. The limiting portion 323 includes a plurality of cross The first limiting groove 3231 and the second limiting groove 3232 are alternately arranged on the inner wall of the cylinder 1, and each of the first limiting grooves 3231 and each of the second limiting grooves 3232 are open at one end away from the driving structure 31, and the plurality of the first limiting grooves 3231 and the plurality of the second limiting grooves 3232 are used to alternately accommodate the matching piece 3211 during the process of the matching piece 3211 moving along the axial direction of the cylinder 1 and rotating along the axis extending axially of the cylinder 1.

[0046] The first locking cam 3211 is in the state where the locking cam 321 is in the unlocked position and the locking cam 3212 is in the unlocked position. Corresponding to the second limiting groove 3232, at this time, the abutting portion 322 returns, and the matching piece 3211 is limited by the second limiting groove 3232, so that the rotating portion 321 is in the second position, and the silver needle portion is partially exposed in the cylinder 1; after the acupuncture treatment is completed, the driving structure 31 works again, drives the groove 3221 and the matching piece 3211 to abut again, and drives the rotating portion 321 to move axially along the cylinder 1, and the rotating portion 321 rotates again along the axis extending axially of the cylinder 1, thereby moving to the opening of the second limiting groove 3232, and disengaging from the second limiting groove 3232 to rotate to the corresponding other first limiting groove 3231, at this time, the abutting portion 322 returns again, the matching piece 3211 is limited by the first limiting groove 3231, and the rotating portion 321 is in the first position, and at this time, the rotating portion 321 also switches to abut against another silver needle.

[0047] Based on the above content, it can be understood that the plurality of first limiting grooves 3231 are respectively arranged corresponding to the plurality of silver needles in the radial direction of the cylinder 1 .

[0048] Of course, in other embodiments of the present invention, the first limiting groove 3231 can also be configured to limit the rotating part 321 to be in the second position, and the second limiting groove 3232 is used to limit the rotating part 321 to be in the first position, and the present invention does not impose any limitation on this.

[0049] In another embodiment of the present invention, the switching structure 32 can also be configured as a ball screw structure, the screw of the ball screw structure and the driving structure 31 are drivingly connected so as to be able to rotate along the axis extending axially of the barrel 1, and the ball nut of the ball screw structure is used to abut one of the silver needles. In this way, when the driving structure 31 is working, the screw of the ball screw structure rotates along the axis extending axially of the barrel 1 to drive the ball nut of the ball screw structure to move axially along the barrel 1, thereby making the ball nut of the ball screw structure move from the first position to the second position, and the silver needle is exposed in the barrel 1; when the acupuncture treatment is completed, the driving structure 31 drives the screw of the ball screw structure to rotate in the opposite direction to drive the ball nut of the ball screw structure to return and move from the second position to the first position to accommodate the silver needle, and complete the switching of the silver needle at the same time.

[0050] Of course, in other embodiments of the present invention, the switching structure 32 may also be configured as other structural forms, and the present invention does not limit this.

[0051] In order to enable the rotating portion 321 to rotate in the flow field, in the present invention, the number of the matching pieces 3211 is A, the number of the grooves 3221 is B, and A≤B / 2.

[0052] In addition, in order to ensure that when the abutting portion 322 returns, the rotating portion 321 can also return with the abutting portion 322, thereby ensuring the stability of the first limiting groove 3231 or the second limiting groove 3232 limiting the matching member 3211, in one embodiment of the present invention, the switching structure 32 also includes an elastic reset member 324, the elastic reset member 324 abuts against one end of the abutting portion 322 away from the rotating portion 321, and the elastic reset member 324 is elastically arranged in the axial direction of the cylinder 1. When the rotating portion 321 moves from the first position to the second position, the elastic reset member 324 is compressed, and when the abutting portion 322 returns, the rotating portion 321 will move in the direction close to the abutting portion 322 under the elastic recovery trend of the elastic reset member 324, so that the matching member 3211 moves to the first limiting groove 3231 or the second limiting groove 3232 for limiting.

[0053] Of course, in another embodiment of the present invention, the elastic return member 324 can also be arranged between the rotating part 321 and the abutting part 322, and connect the rotating part 321 and the abutting part 322. In this way, when the abutting part 322 returns, it will drive the elastic return member 324 to return together, and the elastic return member 324 will drive the rotating part 321 to move in the direction close to the abutting part 322, so that the matching member 3211 moves to the first limiting groove 3231 or the second limiting groove 3232 for limiting.

[0054] In other embodiments of the present invention, other structures may be used to realize that the rotating portion 321 returns together with the abutting portion 322 . In actual settings, other structures may be selected according to requirements, and the present invention does not impose any limitation on this.

[0055] It is understandable that the present invention does not limit the specific form of the driving structure 31. In one embodiment of the present invention, the driving structure 31 is configured as an electromagnet, which is electrically connected to a power source, and is used to drive the switching structure 32 to move along the axial direction of the cylinder 1 and rotate along the axis extending axially of the cylinder 1 by opening and closing the circuit. In this configuration, when the electromagnet is powered on, it can drive the abutment portion 322 to move, thereby driving the rotating portion 321 to move from the first position to the second position; when the electromagnet is powered off, it stops driving, and the abutment portion 322 returns, so that the movable portion is limited by one of the first limiting groove 3231 or the second limiting groove 3232.

[0056] In another embodiment of the present invention, the driving structure 31 can also be set as a stepper motor, and the stepper motor and the switching structure 32 are drivingly connected, so that when the stepper motor rotates forward, it can drive the abutment portion 322 to move in a direction away from the stepper motor, thereby driving the rotating portion 321 to move from the first position to the second position; when the stepper motor is reversed, the drive moves in a direction close to the stepper motor, and the abutment portion 322 returns, so that the movable portion is limited by one of the first limiting groove 3231 or the second limiting groove 3232.

[0057] Similarly, the present invention does not limit the specific form of the direction adjustment mechanism 2. In one embodiment of the present invention, the direction adjustment mechanism 2 includes a multi-axis manipulator, which is connected to the cylinder 1 in a driving manner to adjust the horizontal and vertical position and spatial extension direction of the cylinder 1. In this way, the multi-axis manipulator has a good range of motion, so that the cylinder 1 can move in a wide range and can adjust its own spatial extension direction in multiple directions to ensure the applicable scope of the acupuncture robot 100.

[0058] Of course, in another embodiment of the present invention, the direction adjustment mechanism 2 can also include a three-axis movable slide and a universal rotating structure arranged on the three-axis movable slide. The universal rotating structure is drivingly connected to the cylinder 1. Such an arrangement can also ensure that the cylinder 1 can move up and down and horizontally upward, and the universal rotating structure can drive the axis of the cylinder 1 extending in multiple directions to rotate so as to adjust the spatial extension direction of the cylinder 1.

[0059] In other embodiments of the present invention, the direction adjustment mechanism 2 can also be set to other structural forms. It only needs to ensure that the horizontal and upward position and spatial extension direction of the cylinder 1 can be adjusted. During actual setting, it can be selected according to its own needs, and the present invention does not impose any restrictions on this.

[0060] Furthermore, since the length of the silver needles inserted into the human body during acupuncture treatment is usually long, in order to further increase the portion of the silver needles that can be exposed from the barrel 1, in an embodiment of the present invention, the barrel 1 includes a first barrel section 11 and a second barrel section 12 arranged along its axial direction, the first barrel section 11 is used to accommodate the driving structure 31 and the switching structure 32, the second barrel section 12 is movably arranged on the first barrel section 11 along its axial direction, and has a first state of being exposed to the first barrel section 11 and a second state of being accommodated in the first barrel section 11 in its movable stroke, the second barrel section 12 gradually retracts toward one end of the first barrel section 11, and the alcohol or the alcohol cotton is arranged in the second barrel section 12 to perform the function of disinfecting the silver needles. In this way, when the driving structure 31 drives the rotating part 321 to move to the second position, the direction adjustment mechanism 2 works to disinfect the part of the silver needles exposed in the second barrel section 12 and then insert them into the acupuncture points to be treated. Then, the direction adjustment mechanism 2 continues to drive the barrel 1 to move toward the acupuncture points to be treated. At this time, the second barrel section 12 will contact the patient's skin and will move toward the direction of the first barrel section 11 after being squeezed to switch from the first state to the second state, so that the silver needles can be more exposed in the second barrel section 12 to be inserted into the acupuncture points to be treated with the patient, thereby ensuring the efficacy of acupuncture treatment.

[0061] At the same time, the end of the second barrel section 12 away from the first barrel section 11 is set to be tapered, so that only one of the silver needles can be exposed in the second barrel section 12, thereby limiting the exposure of other silver needles from the second barrel section 12 and affecting the effect of acupuncture treatment.

[0062] Furthermore, in order to further improve the efficacy of acupuncture treatment, after the silver needle is inserted into the acupuncture point to be treated, a twisting manipulation operation needs to be performed. Therefore, in one embodiment of the present invention, the direction adjustment mechanism 2 also includes a rotation adjustment structure 21, which is arranged between the multi-axis robot arm and the barrel 1, and is connected to the barrel 1 in a driving manner. The rotation adjustment mechanism is used to drive the barrel 1 to rotate along its axially extending axis. In this way, when the acupuncture robot 100 inserts the silver needle into the acupuncture point to be treated, the rotation adjustment structure 21 starts to work to drive the barrel 1 to rotate along its axially extending axis, thereby driving the silver needle in the acupuncture point to be treated to rotate together, realizing a twisting operation and improving the efficacy of acupuncture treatment.

[0063] In addition, the efficacy of acupuncture treatment needs to be improved not only in terms of technique, but also in terms of the accuracy of the acupuncture points to be determined by the acupuncture robot 100, so as to ensure the accuracy of the insertion of the silver needles and avoid harming the patient. In one embodiment of the present invention, the acupuncture robot 100 also includes a visual detection mechanism 4, which is arranged on the rotation adjustment mechanism and can move synchronously with the barrel 1. The visual detection mechanism 4 is used to collect acupuncture point maps and acupuncture point fixed point images. In this way, before acupuncture treatment, the pickup detection mechanism starts working and collects the patient's image, and then analyzes the patient's image to obtain the patient's acupuncture point image, and the acupuncture point is fixed according to the acupuncture point image, and then the direction adjustment structure adjusts the position and orientation of the barrel 1 according to the acupuncture point image to ensure the accuracy of the acupuncture robot 100 in confirming the acupuncture point to be determined.

[0064] Of course, after determining the precise position of the acupuncture point to be treated, it is also necessary to ensure that the angle at which the silver needle extends out of the barrel 1 is accurate, so as to prevent the silver needle from being offset in angle when extending out of the barrel 1, resulting in the wrong insertion position and harming the patient. In the embodiment of the present invention, the acupuncture robot 100 further includes a plurality of guide structures 5, each of which is used to be sleeved on the peripheral side of a silver needle to guide the corresponding silver needle to move along the axial direction of the barrel 1, and a plurality of through holes are provided on the peripheral side of each guide structure 5, and the alcohol or alcohol cotton is provided at the orifice of each through hole, and the alcohol or alcohol cotton is used to disinfect the silver needle. In this way, when a silver needle needs to extend out of the barrel 1, the corresponding guide structure 5 can limit the movable angle of the silver needle, so that the silver needle can be accurately inserted into the acupuncture point to be treated. At the same time, since a plurality of through holes are provided on the peripheral side of each guide structure 5, the alcohol or alcohol cotton is provided at the orifice of the through hole, and the alcohol or alcohol cotton can disinfect the silver needle to ensure the cleanliness of acupuncture treatment.

[0065] The present invention also provides a control method for an acupuncture robot 100. Based on the above acupuncture robot 100, please refer to Figure 6 , the control method of the acupuncture robot 100 includes:

[0066] S100, controlling the direction adjustment mechanism 2 to adjust the position and extension direction of the cylinder 1 so that the cylinder 1 faces the acupuncture point to be acupunctured;

[0067] It can be understood that when the acupuncture robot 100 needs to perform acupuncture treatment, the direction adjustment mechanism 2 first adjusts the cylinder 1 in the horizontal direction and the up and down directions to make the cylinder 1 close to the acupuncture point to be acupunctured, and adjusts the extension direction of the cylinder 1 so that the cylinder 1 can be aligned with the acupuncture point to be acupunctured.

[0068] S200, controlling the driving structure 31 to drive the switching structure 32 to move along the axial direction of the cylinder 1, so that the switching structure 32 pushes out the silver needle;

[0069] In this way, the driving structure 31 works to drive the switching structure 32 to move along the axial direction of the cylinder 1. Since the switching structure 32 abuts against one of the silver needles, when the switching structure 32 moves along the cylinder 1, the switching structure 32 can push the silver needle out of the cylinder 1, so that the silver needle part can be exposed from the cylinder 1.

[0070] S300, controlling the direction adjustment mechanism 2 to drive the cylinder 1 to continue to move toward the acupuncture point to be acupunctured, so that the silver needle is inserted into the acupuncture point to be acupunctured;

[0071] It can be understood that when the silver needle is exposed in the barrel 1, acupuncture treatment can be started, and the direction adjustment mechanism 2 works again to drive the barrel 1 to move toward the acupuncture point until the silver needle is inserted into the acupuncture point to perform acupuncture treatment.

[0072] S400, controlling the driving structure 31 to drive the switching structure 32 to reset, so that the switching structure 32 drives the silver needle to retract into the cylinder 1, and switches the silver needle at the same time.

[0073] After the acupuncture treatment is completed, the driving structure 31 works again, the switching structure 32 is reset, and the corresponding silver needle is also retracted into the cylinder 1. At this time, the switching structure 32 rotates along the axis extending axially of the cylinder 1 to switch the silver needle, that is, to abut against another silver needle to complete the switching of the silver needle.

[0074] In the technical solution of the present invention, when the acupuncture robot 100 needs to perform acupuncture treatment, the direction adjustment mechanism 2 first adjusts the barrel 1 in the horizontal direction and the up-down-up direction so that the barrel 1 is close to the acupuncture point to be treated, and adjusts the extension direction of the barrel 1 so that the barrel 1 can be aligned with the acupuncture point to be treated. After that, the driving structure 31 works to drive the switching structure 32 to move along the axial direction of the barrel 1. Since the switching structure 32 abuts against one of the silver needles, when the switching structure 32 moves along the barrel 1, the switching structure 32 can push the silver needle out of the barrel 1, so that the silver needle part can be exposed to the acupuncture point. The cylinder 1, when the silver needle is exposed in the cylinder 1, acupuncture treatment can be started, the direction adjustment mechanism 2 works again, driving the cylinder 1 to move toward the acupuncture point to be treated, until the silver needle is inserted into the acupuncture point to be treated, and acupuncture treatment is performed. After the acupuncture treatment is completed, the driving structure 31 works again, the switching structure 32 is reset, and the corresponding silver needle is also retracted into the cylinder 1. At this time, the switching structure 32 rotates along the axis extending axially from the cylinder 1 to switch the silver needle, that is, to contact with another silver needle. At this time, the direction adjustment mechanism 2 works again to drive the cylinder 1 to move to the next acupuncture point to be treated, so as to perform the next acupuncture treatment. With such a configuration, the acupuncture robot 100 can replace the silver needle at any time during the acupuncture treatment, realize the function of rapid needle replacement, and ensure the efficiency and safety of acupuncture.

[0075] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An acupuncture robot, characterized in that: include: A cylinder, the cylinder is used to accommodate a plurality of silver needles arranged along the circumference of the cylinder, and the front portion of the cylinder has a tiny notch, and alcohol or alcohol cotton wraps the notch of the cylinder; A direction adjustment mechanism is drivingly connected to the cylinder, and the direction adjustment mechanism is used to adjust the horizontal and vertical position and extension direction of the cylinder; as well as, The needle ejection mechanism is disposed in the cylinder and comprises a driving structure and a switching structure which are spaced apart along the axial direction of the cylinder. The driving structure and the switching structure are drivingly connected to drive the switching structure to move along the axial direction of the cylinder and rotate along the axis extending axially of the cylinder. The switching structure is used to abut against one of the silver needles and can eject the silver needle from the cylinder. Wherein, the switching structure is used to abut against different silver needles during the process of rotation along the axis extending axially of the cylinder.

2. The acupuncture robot according to claim 1, characterized in that: The switching structure comprises: A rotating part, wherein a plurality of matching pieces are convexly arranged at intervals on the peripheral side surface of the rotating part, and an end surface of each matching piece facing the driving structure is inclinedly arranged in the peripheral direction of the cylinder, and the rotating part is used to abut against one of the silver needles, and the rotating part has a first position in which the silver needle is accommodated in the cylinder, and a second position in which the silver needle is partially exposed in the cylinder, and the silver needle also passes through the alcohol disinfection area in the second position of the cylinder; The abutment portion is provided between the rotating portion and the driving structure and is drivingly connected to the driving structure. A plurality of grooves are concavely provided along the circumference of the cylinder at one end of the abutment portion away from the driving structure, and each of the grooves is arranged close to each other from the groove opening toward the groove bottom along the two side walls in the circumference of the cylinder. At least part of the grooves can accommodate and abut against one end of the matching piece that is arranged obliquely, so as to drive the matching piece to move along the axial direction of the cylinder and rotate along the axis extending axially of the cylinder. The limiting portion includes a plurality of first limiting grooves and a plurality of second limiting grooves alternately arranged on the inner side wall of the cylinder, and each of the first limiting grooves and each of the second limiting grooves is open at one end away from the driving structure, and the plurality of the first limiting grooves and the plurality of the second limiting grooves are used to alternately accommodate the matching piece in the process that the matching piece moves along the axial direction of the cylinder and rotates along the axis extending axially of the cylinder; Wherein, the number of the matching pieces is A, the number of the grooves is B, and A≤B / 2.

3. The acupuncture robot according to claim 2, characterized in that: The switching structure further comprises an elastic reset member, the elastic reset member abuts against an end of the abutting portion away from the rotating portion, and the elastic reset member is elastically arranged in the axial direction of the cylinder.

4. The acupuncture robot according to claim 1, characterized in that: The barrel body includes a first barrel section and a second barrel section arranged along its axial direction, the first barrel section is used to accommodate the driving structure and the switching structure, the second barrel section is movably arranged on the first barrel section along its axial direction, and has a first state exposed in the first barrel section and a second state accommodated in the first barrel section in its movable stroke, the second barrel section gradually retracts toward one end of the first barrel section, and the alcohol or the alcohol cotton is arranged in the second barrel section to perform the function of silver needle disinfection.

5. The acupuncture robot according to claim 1, characterized in that: The driving structure includes an electromagnet, which is electrically connected to a power source. The electromagnet is used to drive the switching structure to move along the axial direction of the cylinder and rotate along an axis extending axially of the cylinder by opening and closing a circuit.

6. The acupuncture robot according to claim 1, characterized in that: The direction adjustment mechanism comprises a multi-axis mechanical arm, which is drivingly connected to the cylinder to adjust the horizontal, up-down and upward position and spatial extension direction of the cylinder.

7. The acupuncture robot according to claim 6, characterized in that: The direction adjustment mechanism also includes a rotation adjustment structure, which is arranged between the multi-axis robot arm and the cylinder and is drivingly connected to the cylinder. The rotation adjustment mechanism is used to drive the cylinder to rotate along its axially extending axis.

8. The acupuncture robot according to claim 7, characterized in that: The acupuncture robot also includes a visual detection mechanism, which is arranged on the rotation adjustment mechanism and can move synchronously with the cylinder. The visual detection mechanism is used to collect acupoint images and acupoint fixed points.

9. The acupuncture robot according to claim 1, characterized in that: The acupuncture robot also includes a plurality of guide structures, each of which is used to be sleeved on the circumferential side of a silver needle to guide the corresponding silver needle to move along the axial direction of the cylinder, and a plurality of through holes are penetrated by the circumferential side surface of each guide structure, and the alcohol or the alcohol cotton is provided at the opening of each through hole, and the alcohol or the alcohol cotton is used to disinfect the silver needle.

10. A control method for an acupuncture robot, characterized in that: Based on the acupuncture robot according to any one of claims 1 to 9, the control method of the acupuncture robot includes: The control direction adjustment mechanism adjusts the position and extension direction of the cylinder so that the cylinder faces the acupuncture point to be acupunctured; Controlling the driving structure to drive the switching structure to move along the axial direction of the cylinder, so that the switching structure pushes out the silver needle; Controlling the direction adjustment mechanism to drive the cylinder to continue to move toward the acupuncture point to be acupunctured, so that the silver needle is inserted into the acupuncture point to be acupunctured; The driving structure is controlled to drive the switching structure to reset, so that the switching structure drives the silver needle to retract into the cylinder and switches the silver needle at the same time.

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