Acupuncture and moxibustion system based on triangular positioning and acupuncture and moxibustion robot

Abstract

The invention discloses an acupuncture system and an acupuncture robot based on triangular positioning, and the system comprises an image data module which is used for obtaining image data before needle insertion, determining a puncture point, a needle insertion point and a target point, constructing a triangular model, and determining a needle insertion working surface; the feedback module is used for monitoring positioning data and needle point feedback data in the acupuncture process in real time; the acupuncture control module is used for generating acupuncture control data according to the needle inserting working surface, the needle inserting point and the target point; dynamically adjusting acupuncture control data according to the positioning data and the needle point feedback data; the acupuncture control data at least comprise a needle inserting included angle, a needle inserting depth and a needle inserting path. The needling process is changed into a quantifiable normative operation process, and the precision of the needling needle is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent medical treatment, and in particular to an acupuncture system and an acupuncture robot based on triangulation positioning. Background Art

[0002] The current acupuncture technology relies on the doctor's personal experience in the depth and angle of acupuncture points. It is difficult for experienced senior doctors to pass on their acupuncture experience to young doctors in the form of quantified depth and angle. Even for experienced doctors, there is no uniform standard for the angle and depth of acupuncture points for each person, resulting in significant differences in the therapeutic effects of acupuncture for different patients, affecting the stability and effectiveness of acupuncture treatment.

[0003] At the same time, existing acupuncture methods usually use a vertical needle insertion method, which directly inserts the needle from the puncture point on the skin to the target acupuncture point. It is easy to produce deviations during the needle insertion process and it is impossible to achieve quantitative and precise operation goals. Summary of the invention

[0004] According to one aspect of the present invention, an acupuncture system and an acupuncture robot based on triangulation positioning are provided, so that the acupuncture process becomes a quantifiable and standardized operation process, thereby improving the accuracy of acupuncture.

[0005] In a first aspect, the present invention provides an acupuncture system based on triangulation positioning, comprising:

[0006] The image data module is used to obtain image data before needle insertion, determine the puncture point, needle insertion point and target point, build a triangular model, and determine the needle insertion working surface;

[0007] Feedback module, used to monitor the positioning data and needle tip feedback data during acupuncture in real time;

[0008] The acupuncture control module is used to generate acupuncture control data according to the needle insertion working surface, needle insertion point and target point; dynamically adjust the acupuncture control data according to the positioning data and needle tip feedback data; the acupuncture control data at least includes the needle insertion angle, needle insertion depth and needle insertion path.

[0009] In some embodiments, obtaining image data before needle insertion, determining the puncture point, needle insertion point, and target point, constructing a triangular model, and determining the needle insertion working surface includes:

[0010] Obtain the image data before needle insertion to construct a three-dimensional reconstructed image, and mark the specific location of the target acupuncture point on the three-dimensional reconstructed image;

[0011] The puncture point is determined according to the specific position of the target acupuncture point, and the needle insertion point and the target point are determined in the operating sagittal plane of the target acupuncture point according to the functional position of the target acupuncture point, the constitution of the acupuncture subject and the nature of the acupuncture effect, and a triangular model is constructed, and the plane where the triangular model is located is used as the needle insertion working surface.

[0012] In some embodiments, the needle tip feedback data of the feedback module includes pressure data and resistance data, the pressure data is used to monitor the pressure change between the needle tip and the soft tissue, and the resistance data is used to monitor the resistance change of the needle tip contacting the tissue. The acupuncture control module determines the position of the needle tip according to the target acupoints and individual differences of the acupuncture subjects, the pressure data and the resistance data, and adjusts the acupuncture control data.

[0013] In some embodiments, the acupuncture control module determines the location of the needle tip according to the target acupuncture point and individual differences of the acupuncture subject, pressure data and resistance data, including:

[0014] After the acupuncture needle is inserted into the insertion point, whether the changes in resistance and pressure are within the range of the target acupoint;

[0015] If the pressure and resistance changes are within the range of the target point, it is determined whether the tip of the acupuncture needle has reached the actual target point based on the resistance changes; if the resistance data remains at a low level and then increases, the tip of the acupuncture needle enters the actual target point; if the resistance data remains at a low level, the acupuncture control module adjusts the needle insertion depth of the acupuncture control data so that the acupuncture needle continues to penetrate along the needle insertion path.

[0016] In some embodiments, the feedback data also includes neural electrical reflex data, and the acupuncture control module adjusts the vibration frequency and acupuncture force of the acupuncture control data according to the neural electrical reflex data.

[0017] In some embodiments, the triangular model is a right triangle, and the needle insertion angle comprises 30°, 60° or 45°.

[0018] In a second aspect, the present invention provides an acupuncture robot based on triangular positioning, comprising an acupuncture needle robotic arm and a needle holding device, wherein the free end of the acupuncture needle robotic arm is provided with a plug-in assembly, and the needle holding device is detachably connected to the acupuncture needle through the plug-in assembly, and the acupuncture needle robotic arm is controlled by an acupuncture system based on triangular positioning as described above, and the robotic arm device is controlled by preset instructions to drive the acupuncture needle to insert the needle.

[0019] In some embodiments, the needle holding device includes a hollow fixed tube for accommodating an acupuncture needle, a positioning component is provided in the hollow fixed tube, a needle tip fixing seat is provided in the hollow fixed tube, an acupuncture needle is fixedly mounted on the needle tip fixing seat, and the needle tip of the acupuncture needle extends out of the hollow fixed tube; a feedback module is integrated inside the acupuncture needle.

[0020] In some embodiments, the needle tip fixing seat is provided with a clamping assembly, which includes a clip slot and a buckle. The acupuncture needle is fixed by the clip slot and the buckle, so that the acupuncture needle and the needle tip fixing seat are relatively stationary during the needle insertion process.

[0021] In some embodiments, the positioning assembly includes an optical locator, and the clamping assembly also includes an optical locator slot for fixing the optical locator; the optical locator slot is arranged at the tail of the needle holding device.

[0022] The present invention acquires image data before needle insertion, accurately locates the puncture point and the needle insertion point, constructs a triangular model, and reduces the dimension of the acupuncture needling process from three-dimensional operation to two-dimensional operation, thereby improving the accuracy of the needling and ensuring a reasonable needle insertion path; by real-time monitoring of needle tip feedback data and positioning data, real-time feedback is provided to ensure accurate positioning and dynamic adjustment of the needle tip during the operation. During the acupuncture process, there is no need to completely rely on the doctor's manual operation, and the control data is automatically adjusted dynamically according to the feedback data, thereby reducing dependence on the doctor's experience, improving the consistency and standardization of operations, making acupuncture operations more intelligent, effectively improving the efficacy, and reducing misoperation and tissue damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of a module of an acupuncture system based on triangulation positioning provided by the present invention;

[0024] Figure 2 This is a schematic structural diagram of an acupuncture robot provided by the present invention.

[0025] In the figure: 1. Acupuncture needle; 2. Hollow fixing tube; 3. Clamping assembly; 4. Optical locator slot; 5. Insertion assembly; 6. Acupuncture needle robotic arm. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0027] The present application provides an acupuncture system and an acupuncture robot based on triangulation positioning, which transforms the acupuncture process into a quantifiable and standardized operation process, thereby improving the accuracy of acupuncture.

[0028] like Figure 1 An acupuncture system based on triangulation positioning is shown, comprising:

[0029] The image data module is used to obtain image data before needle insertion, determine the puncture point, needle insertion point and target point, build a triangular model, and determine the needle insertion working surface;

[0030] Feedback module, used to monitor the positioning data and needle tip feedback data during acupuncture in real time;

[0031] The acupuncture control module is used to generate acupuncture control data according to the needle insertion working surface, needle insertion point and target point; dynamically adjust the acupuncture control data according to the positioning data and needle tip feedback data; the acupuncture control data at least includes the needle insertion angle, needle insertion depth and needle insertion path.

[0032] The image data module obtains the image data before the needle is inserted, determines the puncture point, the needle insertion point and the target point, constructs a triangular model, and determines the needle insertion working surface. The image data before the needle is inserted may include three-dimensional image data before the needle is inserted through CT (computed tomography) or MRI (magnetic resonance imaging) equipment. CT or MRI can provide high-resolution three-dimensional images of the body, especially the detailed anatomical structure of the area where the target acupuncture points are located.

[0033] Specifically, the image data module constructs a three-dimensional reconstructed image using the image data before needle insertion, and marks the specific location of the target acupuncture point in the three-dimensional reconstructed image;

[0034] The specific position of the target acupuncture point is used as the puncture point, the needle insertion point and the target point are determined in the operating sagittal plane of the target acupuncture point, a triangular model is constructed, and the plane where the triangular model is located is used as the needle insertion working plane.

[0035] The CT or MRI tomographic images are reconstructed in three dimensions to generate a three-dimensional reconstructed image before the needle is inserted. The three-dimensional reconstructed image shows the anatomical structure of the human body, including muscles, bones, nerves and other related tissues. On the three-dimensional reconstructed image, the location of the target acupoint is marked according to the anatomical landmarks or the acupoints determined by proportion, and the acupoint information identified in the image. The projected position of this acupoint on the skin surface is used as the puncture point.

[0036] After determining the specific location of the target acupoint, determine the operating sagittal plane. The operating sagittal plane refers to a two-dimensional reference plane that acupuncture operations rely on, which is usually parallel to the long axis of the body and contains the location of the target acupoint. In the three-dimensional reconstructed image, the operating sagittal plane is constructed in the anatomical area of ​​the target acupoint with the location of the target acupoint as the center, which serves as a reference for the subsequent triangular model construction.

[0037] After determining the sagittal plane for operation, the location of the target point is determined according to the functional location of the target acupoint, the physical condition of the acupuncture subject, and the nature of the acupuncture effect. This is because the acupoints are located in different parts of the body, with different soft tissue thickness and depth, and require different acupuncture depths. The therapeutic effect of some acupoints requires deeper insertion to stimulate the corresponding meridians or organs, while some acupoints only require shallow stimulation. For example, the acupoints on the back and buttocks are usually deeper, while the acupoints on the hands and feet are inserted shallowly. The age, body shape, gender and other factors of the acupuncture subject will affect the depth of acupuncture. For example, children, the elderly or people with weak physical conditions usually have shallow acupuncture, while strong adults can have relatively deep acupuncture. Moreover, the location of the target point may be adjusted according to the nature of the disease being treated. Some diseases may require deeper stimulation, while others require shallow acupuncture.

[0038] Determine the appropriate insertion point based on the safety of needle insertion and the needle insertion path. The path from the insertion point to the target point should minimize interference with surrounding tissues to ensure the accuracy and safety of acupuncture needle insertion. The insertion point is usually located on the skin surface, and can be connected with the location of the target acupuncture point in the three-dimensional reconstructed image through the guidance of the pre-needle imaging data, that is, the puncture point, so as to determine the most suitable puncture entrance. The insertion point can be selected at any point on the long axis of the body. According to the influence of the target acupuncture point and the surrounding bones and tissues, and the length of the acupuncture needle, a point on the skin surface located in the operating sagittal plane is selected.

[0039] A triangular model is constructed based on the puncture point, the needle insertion point, and the target point in the operating sagittal plane. Fixing the triangle on the sagittal plane changes the needle insertion path of acupuncture from a two-point determination method in three-dimensional space to a two-dimensional space determined by a triangle. Through the geometric relationship of the triangular model, the three-dimensional operation of acupuncture can be simplified to a two-dimensional plane operation. The puncture path is more prone to errors in three-dimensional space, while the two-dimensional puncture path is more accurate and helps to standardize the path, depth, and angle of acupuncture. Generally, the triangular model is a right triangle model. Figure 2 As shown, the right triangle △bac has a piercing point, Figure 2 At point a, ∠bac=90°, and the line between the puncture point a and the needle insertion point b is the first right-angled side, constructing a right triangle, where the included angle of the right triangle includes but is not limited to 30°, 60°, and 45°.

[0040] The needle insertion angle α is the incident angle of the needle tip through the needle insertion point b relative to the skin surface, which determines the angle at which the needle enters the skin. The needle insertion angle needs to be calculated based on the position of the target point c and the acupuncture path to ensure that the needle tip can accurately reach the target point c. At the same time, the needle insertion angle is adjusted according to the patient's specific body position to make the acupuncture operation safer and more accurate. The needle insertion angle α can determine the most appropriate angle based on the target point c and the puncture point a. Usually, the needle insertion angle α is 45 degrees to ensure accurate entry into the target acupuncture point.

[0041] For example, on the needle insertion working surface, the position 1 cm away from the puncture point a is generally taken as the needle insertion point b, L ba = 1cm, at this time the needle insertion angle α is 45 degrees. The target point c is generally 1 cm away from the puncture point a, that is, L ca = 1cm. If it is for special acupuncture points or the influence of the fixed limbs of the acupuncture object, to avoid damaging other tissues, the needle insertion angle α can be selected as 30° or 60°, and the position of the needle insertion point b can be adaptively adjusted. ab Increase and decrease accordingly.

[0042] The acupuncture control module generates acupuncture control data according to the needle insertion working surface, the needle insertion point and the target point. The acupuncture control data at least includes the needle insertion angle, the needle insertion depth and the needle insertion path. First, geometric calculations are performed based on the triangular model of the needle insertion working surface to determine the path between the needle insertion point b and the target point c, that is, the hypotenuse in the triangular model, to obtain the needle insertion depth, the total depth that the needle tip needs to be inserted. The needle insertion depth can be calculated using the Pythagorean theorem. Secondly, the needle insertion angle, the angle between the acupuncture path and the skin surface, that is, the needle insertion working surface, is obtained through the triangular model. The needle insertion path includes the path that controls the transfer of the acupuncture needle to the needle insertion point.

[0043] During the needle insertion process, the insertion depth will be calculated in real time based on the positioning data of the feedback module, and the needle insertion path and depth will be adjusted dynamically. The positioning data is obtained through an optical locator set on the needle holding device. The optical locator achieves spatial positioning by tracking reflective markers or identification points, and determines the three-dimensional spatial position of the object by capturing and analyzing the position of reflective markers or indicating points. It has a high sampling frequency and resolution and can provide accurate position information of the object in real time. For example, the Optotrak Certus system has an accuracy of up to 0.1mmRMS and a resolution of 0.01mm, which ensures its reliability in applications that require high-precision measurements. In addition, multiple identification point tracking can be used to track multiple reflective markers at the same time, further improving the efficiency and accuracy of the measurement.

[0044] During the acupuncture operation, the real-time needle tip feedback data of the feedback module is used to dynamically adjust the acupuncture control data. Since the target acupoints are located in different parts of the body, the thickness and depth of the soft tissues vary, and the needle tip feedback data during the insertion process is also different. The therapeutic effect of some acupoints requires deeper insertion to stimulate the corresponding meridians or organs, while some acupoints only require shallow stimulation. In areas with thicker skin, such as the back or palm, the resistance of the needle tip will be greater, and more pressure will be required to penetrate the skin. In areas with thinner skin, such as the face or the inside of the wrist, the resistance of the needle tip is smaller and the pressure is lighter. In areas with more developed muscles, greater force is required to penetrate the muscle layer during acupuncture, and the resistance is greater, and the pressure felt when the needle tip enters is more obvious. In areas with more fat, such as the abdomen, the resistance will be relatively small and the pressure is lighter because the tissue is softer. Factors such as the age, body shape, and gender of the acupuncture subject will affect the needle tip pressure or resistance. For example, children, the elderly or people with weak constitutions usually have shallow acupuncture, with less pressure and resistance, while strong adults can have relatively deep acupuncture, with relatively greater pressure and resistance.

[0045] The needle tip feedback data is obtained by the sensor located at the tip of the acupuncture needle. The pressure data is used to monitor the pressure changes between the needle tip and the soft tissue, and to monitor the pressure encountered by the needle tip when piercing different tissues in real time. If the pressure of the needle tip exceeds the set threshold, the acupuncture control module will automatically reduce the force of the needle or adjust the angle to avoid piercing sensitive tissues. During the acupuncture process, the needle tip will encounter different resistances when moving between different tissue layers. The resistance sensor records these changes, and the resistance data is used to monitor the resistance changes of the needle tip contacting the tissue. The acupuncture control module combines the pressure data and the resistance data to determine whether the needle tip encounters different tissue layers, such as skin, fat, muscle, etc., and determines the depth and position of the needle tip. Each target acupoint has its force variation range, and the needle tip feedback data should be within the force variation range during normal acupuncture. Whether the changes in resistance and pressure after the acupuncture needle is inserted into the needle point are within the force variation range of the target acupoint. When the pressure data or resistance data is detected to be beyond the variation range, it may be that there is abnormal resistance at this stage, the needle insertion position is inaccurate, or there is an abnormality in the acupuncture object, and human intervention or stopping the acupuncture operation is required.

[0046] Furthermore, the acupuncture control module can also adjust the acupuncture control data, such as the force or speed of needle insertion, through the pressure data and resistance data. When it is detected that the pressure data exceeds the range of variation, the force of the needle insertion is automatically reduced to ensure that no excessive damage is caused to the tissue. If the resistance data changes beyond the range of variation, there may be abnormal resistance at this stage, and the force of the needle insertion is reduced. At the same time, the needle insertion speed can also be dynamically adjusted according to the feedback resistance and pressure data. For example, when piercing the skin layer or hard tissue, the needle insertion speed can be slowed down; when entering the soft tissue layer, the speed can be slightly increased. By monitoring the resistance data and pressure data, when the needle tip approaches the fascia layer or the target point, the speed will automatically slow down to ensure the accuracy of the final position.

[0047] If the pressure and resistance changes are within the range of the target point, it is determined whether the tip of the acupuncture needle has reached the actual target point based on the resistance changes; if the resistance data remains at a low level and then increases, the tip of the acupuncture needle enters the actual target point; if the resistance data remains at a low level, the acupuncture control module adjusts the needle insertion depth of the acupuncture control data so that the acupuncture needle continues to penetrate along the needle insertion path.

[0048] During acupuncture, the acupuncture control module combines the positioning data and the needle tip feedback data to calculate the actual position of the needle tip. The actual position includes the spatial position of the acupuncture needle and the position of the needle tip after entering the skin. During the entire acupuncture process, the resistance changes in the following stages:

[0049] 1. The needle does not enter the skin through the insertion point, and the resistance is air resistance, which can be ignored;

[0050] 2. The needle tip penetrates through point b and enters the skin, and the resistance increases;

[0051] 3. Enter the fat layer and reduce resistance;

[0052] 4. The needle tip continues to penetrate according to the preset needle insertion depth in the acupuncture control data until it reaches the preset needle insertion depth and reaches the preset target point c.

[0053] Due to individual differences, after entering the preset needle insertion depth, it may be located in the fascia layer or still remain in the fat layer. If it is still in the fat layer, the actual target point has not been reached and the needle insertion depth needs to be extended. The acupuncture control module determines whether the actual target point has been reached through changes in resistance, including:

[0054] Determine whether the resistance data increases. If so, the acupuncture needle enters the fascia layer and reaches the actual target point, and there is no need to adjust the acupuncture control data. If the resistance data does not increase, the acupuncture needle is still in the fat layer. Adjust the needle insertion depth of the acupuncture control data so that the acupuncture needle continues to penetrate along the needle insertion path until the resistance sensor detects the fascia resistance, which is manifested as an increase in resistance data, indicating that the needle tip has entered the fascia layer.

[0055] 5. Enter the fascia layer and reach the actual target point, and stop inserting. Judging from the resistance data, the needle tip may have entered the fascia layer, and the needle insertion speed is automatically slowed down to ensure that the fascia will not be pierced.

[0056] Furthermore, the acupuncture control module can also adjust the acupuncture control data, such as the force or speed of needle insertion, through the pressure data and resistance data. When it is detected that the pressure data exceeds the range of variation, the force of the needle insertion is automatically reduced to ensure that no excessive damage is caused to the tissue. If the resistance data changes beyond the range of variation, there may be abnormal resistance at this stage, and the force of the needle insertion is reduced. At the same time, the needle insertion speed can also be dynamically adjusted according to the feedback resistance and pressure data. For example, when piercing the skin layer or hard tissue, the needle insertion speed can be slowed down; when entering the soft tissue layer, the speed can be slightly increased. By monitoring the resistance data and pressure data, when the needle tip approaches the fascia layer or the target point, the speed will automatically slow down to ensure the accuracy of the final position.

[0057] When the needle tip reaches the target point, the acupuncture control module can stimulate the nerve endings in the area by controlling the acupuncture needle to produce tiny vibrations to activate the nerve endings and induce nerve electrical reflexes, which is the "qi" feeling in traditional Chinese medicine. The nerve electrical reflex data can monitor the response of the nerves and the effectiveness of the stimulation during acupuncture in real time. The feedback module monitors the nerve electrical reflex data and transmits it to the acupuncture control module. The acupuncture control module compares the nerve electrical reflex data with the patient's subjective feedback, and further adjusts the vibration frequency and the intensity of the acupuncture operation to ensure the continuity of the "qi" feeling and optimize the acupuncture effect. Ensure that the needle tip remains in the best position, and further optimize the treatment according to the patient's "qi" feeling and nerve reflex signals, ensure individualized adjustment of the acupuncture operation, and obtain an optimized treatment plan according to the patient's own nerve reflex conditions, thereby enhancing the accuracy and efficacy of the acupuncture operation. Accordingly, the vibration can be stopped appropriately according to the strength of the reflection signal to avoid excessive stimulation of the nerves or discomfort.

[0058] like Figure 2As shown, the present application also provides an acupuncture robot based on triangular positioning, comprising: an acupuncture needle robotic arm 6 and a needle holding device, wherein the free end of the acupuncture needle robotic arm 6 is provided with an insertion component, and the needle holding device is detachably connected to the acupuncture needle 1 through the insertion component 5, and the acupuncture needle robotic arm 6 is controlled by an acupuncture system based on triangular positioning as described above, and the acupuncture needle 1 is driven to be inserted along a preset direction through the acupuncture needle robotic arm 6 through preset instructions.

[0059] Specifically, the needle holding device includes a hollow fixed tube 2 for accommodating acupuncture needles, a positioning component is provided in the hollow fixed tube 2, a needle tip fixing seat is provided in the hollow fixed tube, an acupuncture needle is fixedly mounted on the needle tip fixing seat, and the needle tip of the acupuncture needle extends out of the hollow fixed tube; a feedback module is provided inside the acupuncture needle.

[0060] The hollow fixing tube is used to accommodate acupuncture needles. The hollow design allows the acupuncture needles to move along the long axis of the hollow fixing tube, which is convenient for replacing the acupuncture needles and provides stable fixation: a positioning component is provided in the hollow fixing tube to determine the relative position of the acupuncture needles and ensure that the needle tip always remains on the correct track during the needle insertion process. The positioning component includes an optical locator, and the clamping component also includes an optical locator slot 4 for fixing the optical locator; the optical locator slot is provided at the tail of the needle holding device.

[0061] Furthermore, the acupuncture needle mechanical arm 6 is rotatably connected to the needle holding device through the insertion assembly 5. A control line is arranged in the insertion assembly, and the control line acts on the needle holding device, and the needle holding device can be driven to rotate a preset angle through the control line to further adjust the needle insertion position of the needle holding device.

[0062] The pressure sensor and resistance sensor of the feedback module are set in the acupuncture needle, which will not affect the normal progress of acupuncture. The feedback module is equipped with a wireless or wired data transmission unit, which can send the data collected by the pressure sensor and resistance sensor to the acupuncture control module in real time to form a closed-loop feedback.

[0063] Exemplarily, the needle tip fixing inner seat is provided with a clamping assembly 3, and the clamping assembly 3 includes a clip slot and a buckle, and the clip slot and the buckle cooperate to fix the acupuncture needle, so that the acupuncture needle and the needle tip fixing seat are relatively stationary during the needle insertion process. The method of fixing the acupuncture needle in the hollow fixing tube is not limited here, and can be achieved by a buckle, a fixing slot or other structures that can fix the acupuncture needle.

[0064] Unlock the head of the needle holding device, put the tail of the acupuncture needle into the needle groove formed by the unlocked clip groove, lock the clip, and fix the tail of the needle in the acupuncture fixing seat. Match the plug-in assembly of the hollow fixed tube with the plug-in assembly of the robotic arm to achieve plug-in docking. In addition, the acupuncture robot is also provided with an interactive module, which is responsible for receiving input information, including acupuncture control data, or rotation angle, needle insertion depth, and resistance data and pressure data fed back from the needle tip during needle insertion, and drives the needle holding device to insert the needle from the insertion point to the target point in the planned direction.

[0065] Before the acupuncture operation begins, the acupuncture needle is fixed in the hollow fixed tube by the needle tip fixing seat. The fixing seat ensures the stability of the needle, and the optical locator ensures that the needle tip remains accurately positioned relative to the needle insertion path of the target point. Through imaging data (such as CT or MRI) and the path planned by the system, the positioning component will adjust the angle of the hollow fixed tube and the needle tip to ensure that the angle and depth of acupuncture are accurate. The acupuncture control module controls the manipulator to start the needle holding device and the acupuncture needle according to the acupuncture control data, and adjusts the needle insertion angle and needle insertion depth.

[0066] As the needle tip of acupuncturist Cui Zhen gradually penetrates the target area, the pressure sensor and resistance sensor in the feedback module begin to monitor the performance of the needle in real time. The feedback module senses the changes in resistance and pressure at different tissue levels, and sends the above needle tip feedback data to the acupuncture control module, which adjusts the acupuncture control data based on the needle tip feedback data and positioning data. The feedback module also obtains the nerve electrical reflex signal to assist in confirming that the needle tip has reached the target position, and will stop further insertion to prevent the needle tip from piercing too deep. By continuously monitoring the pressure, resistance and nerve electrical reflex of the needle tip, the depth and angle of insertion can be continuously adjusted to ensure the accuracy of acupuncture. For example, when encountering too much resistance, the system will stop inserting the needle appropriately to prevent piercing hard tissue or damaging important structures.

[0067] The present invention acquires image data before needle insertion, accurately locates the puncture point and the needle insertion point, constructs a triangular model, and reduces the dimension of the acupuncture needling process from three-dimensional operation to two-dimensional operation, thereby improving the accuracy of the needling and ensuring a reasonable needle insertion path; by real-time monitoring of needle tip feedback data and positioning data, real-time feedback is provided to ensure accurate positioning and dynamic adjustment of the needle tip during the operation. During the acupuncture process, there is no need to completely rely on the doctor's manual operation, and the control data is automatically adjusted dynamically according to the feedback data, thereby reducing dependence on the doctor's experience, improving the consistency and standardization of operations, making acupuncture operations more intelligent, effectively improving the efficacy, and reducing misoperation and tissue damage.

[0068] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An acupuncture system based on triangulation positioning, characterized in that: include: The image data module is used to obtain the image data before needle insertion, determine the puncture point, needle insertion point and target point, build a triangular model, and determine the needle insertion working surface; Feedback module, used to monitor the positioning data and needle tip feedback data during acupuncture in real time; The acupuncture control module is used to generate acupuncture control data according to the needle insertion working surface, needle insertion point and target point; dynamically adjust the acupuncture control data according to the positioning data and needle tip feedback data; the acupuncture control data at least includes the needle insertion angle, needle insertion depth and needle insertion path.

2. The acupuncture system based on triangulation positioning according to claim 1, characterized in that: Obtain image data before needle insertion, determine the puncture point, needle insertion point, and target point, build a triangular model, and determine the needle insertion working surface, including: Obtain the image data before needle insertion to construct a three-dimensional reconstructed image, and mark the specific location of the target acupuncture point on the three-dimensional reconstructed image; The puncture point is determined according to the specific position of the target acupuncture point, and the needle insertion point and the target point are determined in the operating sagittal plane of the target acupuncture point according to the functional position of the target acupuncture point, the constitution of the acupuncture subject and the nature of the acupuncture effect, and a triangular model is constructed, and the plane where the triangular model is located is used as the needle insertion working surface.

3. The acupuncture system based on triangulation positioning according to claim 2, characterized in that: The needle tip feedback data of the feedback module includes pressure data and resistance data. The pressure data is used to monitor the pressure change between the needle tip and the soft tissue, and the resistance data is used to monitor the resistance change of the needle tip contacting the tissue. The acupuncture control module determines the position of the needle tip according to the target acupoints and individual differences of the acupuncture subjects, the pressure data and the resistance data, and adjusts the acupuncture control data.

4. The acupuncture system based on triangulation positioning according to claim 3, characterized in that: The acupuncture control module determines the location of the needle tip based on the target acupuncture points, individual differences of the acupuncture subjects, pressure data and resistance data, including: After the acupuncture needle is inserted into the insertion point, whether the changes in resistance and pressure are within the range of the target acupoint; If the pressure and resistance changes are within the range of the target point, it is determined whether the tip of the acupuncture needle has reached the actual target point based on the resistance changes; if the resistance data remains at a low level and then increases, the tip of the acupuncture needle enters the actual target point; if the resistance data remains at a low level, the acupuncture control module adjusts the needle insertion depth of the acupuncture control data so that the acupuncture needle continues to penetrate along the needle insertion path.

5. The acupuncture system based on triangulation positioning according to claim 4, characterized in that: The feedback data also includes nerve electrical reflex data, and the acupuncture control module adjusts the vibration frequency and acupuncture strength of the acupuncture control data according to the nerve electrical reflex data.

6. An acupuncture system based on triangulation positioning according to claim 1 or 2, characterized in that: The triangular model is a right triangle, and the needle insertion angle includes 30°, 60° or 45°.

7. An acupuncture robot based on triangulation positioning, characterized in that: It comprises an acupuncture needle robotic arm and a needle holding device, wherein a plug-in assembly is provided at the free end of the acupuncture needle robotic arm, and the needle holding device is detachably connected to the acupuncture needle via the plug-in assembly, and the acupuncture needle robotic arm is controlled by an acupuncture system based on triangulation positioning as described in any one of claims 1 to 6, and the robotic arm device is controlled by preset instructions to drive the acupuncture needle to be inserted.

8. The acupuncture robot based on triangulation positioning as claimed in claim 7, characterized in that: The needle holding device includes a hollow fixed tube for accommodating acupuncture needles, a positioning component is provided in the hollow fixed tube, a needle tip fixing seat is provided inside the hollow fixed tube, an acupuncture needle is fixedly mounted on the needle tip fixing seat, and the needle tip of the acupuncture needle extends out of the hollow fixed tube; a feedback module is integrated inside the acupuncture needle.

9. The acupuncture robot based on triangulation positioning as claimed in claim 8, characterized in that: The needle tip fixing seat is provided with a clamping assembly, which includes a clip groove and a buckle. The acupuncture needle is fixed by the clip groove and the buckle, so that the acupuncture needle and the needle tip fixing seat are relatively stationary during the needle insertion process.

10. The acupuncture robot based on triangulation positioning as claimed in claim 9, characterized in that: The positioning assembly includes an optical locator, and the clamping assembly also includes an optical locator slot for fixing the optical locator; the optical locator slot is arranged at the tail of the needle holding device.

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