Automatic positioning device for acupoint catgut embedding and use method of automatic positioning device

Abstract

The invention discloses an automatic positioning device for acupoint catgut embedding and a using method thereof, and is applied to the technical field of automatic positioning of acupoint catgut embedding. The automatic positioning device comprises a support and a movable disc fixed to the bottom of the support, and a positioning mechanism is arranged on the right side of the support and used for catgut embedding positioning; the positioning mechanism comprises a moving assembly, a connecting assembly, a marking assembly and a disinfecting assembly, the marking assembly and the disinfecting assembly are arranged below the connecting assembly, the connecting assembly is arranged below the moving assembly, and the moving assembly drives the connecting assembly to move, so that the marking assembly and the disinfecting assembly are driven to move; a connecting base is fixed to the output end of the micro air cylinder, the connecting base is in sliding connection with the inner wall of the mounting sleeve, a marking pen is fixed to the bottom of the connecting base, a conveying pipe is connected between the storage bin and the disinfection box, and a conveying pipe is connected to the bottom of the storage bin.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic positioning of acupoint thread embedding, and in particular relates to an automatic positioning device for acupoint thread embedding and a method of using the same. Background Art

[0002] Traditionally, the injection positioning assistance used for thread embedding in traditional Chinese medicine acupuncture points is all performed manually, and it is rather troublesome for a single person to perform the injection operation. When injecting, the acupuncture point must first be found, then marked, followed by disinfection, threading and injection. The injection must be aligned with the marked point, and the skin must be pinched up before the injection is performed. The injection must be performed while withdrawing.

[0003] Existing acupoint markings are made by medical personnel based on their experience. Although the markings are done, deviations may still occur, which may easily lead to deviations during injection and thread embedding, affecting the thread embedding effect. Therefore, it is necessary to provide an automatic positioning device for acupoint thread embedding and a method of using the device, which can accurately locate the acupoint before thread embedding. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic positioning device for acupuncture thread embedding and a method of using the same for the existing material collection device, so as to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic positioning device for acupuncture point thread embedding and a method of using the same, comprising a bracket, a moving plate fixed at the bottom of the bracket, a positioning mechanism is arranged on the right side of the bracket, the positioning mechanism is used for thread embedding positioning, the positioning mechanism comprises a moving component, a connecting component, a marking component and a disinfecting component, the marking component and the disinfecting component are arranged below the connecting component, the connecting component is arranged below the moving component, the connecting component is driven to move by the moving component, thereby driving the marking component and the disinfecting component to move; A disinfection box is fixed to the rear side of the bracket; The moving assembly includes a mounting platform arranged on a bracket, a first motor fixed to the right side of the mounting platform, and a connecting rod arranged below the mounting platform, wherein: A threaded rod 1 is connected to two bearings at the rear side of the bottom of the mounting platform, a sliding rod 1 is fixed to the front side of the bottom of the mounting platform, the threaded rod 1 is fixedly connected to the output end of the first motor, one end of the connecting rod is threadedly connected to the threaded rod 1, and the other end of the connecting rod is slidably connected to the sliding rod 1; A second motor is fixed to the rear side of the connecting rod, the middle of the connecting rod is hollow, a second threaded rod is connected to the hollow part of the connecting rod by a bearing, a second slide rod is fixed above the hollow part of the connecting rod, the output end of the second motor is fixedly connected to the second threaded rod, a moving platform is threadedly connected to the second threaded rod, and the moving platform is slidably connected to the second slide rod; The marking assembly comprises a mounting sleeve and a micro cylinder fixed inside the mounting sleeve, wherein: A connecting seat is fixed at the output end of the micro cylinder, the connecting seat is slidably connected to the inner wall of the mounting sleeve, and a marking pen is fixed at the bottom of the connecting seat; The disinfection assembly includes a storage bin, the storage bin is fixed at the bottom of the carrier platform, a transmission pipe is connected between the storage bin and the disinfection box, the bottom of the storage bin is connected to a transport pipe, the bottom of the transport pipe is connected to a long column, a liquid pump is connected to the transmission pipe, a valve is connected to the top of the transport pipe, a disinfection cotton is detachably provided on the surface of the long column, and a plurality of disinfection holes are opened on the surface of the long column; An ultrasonic probe is fixed on the bottom of the bearing platform.

[0006] The present invention further illustrates that the positioning control system comprises a positioning module and a data acquisition module, the positioning module comprises a moving submodule, a position identification submodule and a recording submodule, and the moving submodule is electrically connected to the first motor and the second motor; The data acquisition module includes an image receiving submodule, a logic judgment submodule and a vibration receiving submodule. The image receiving submodule is electrically connected to the ultrasonic probe, and the vibration receiving submodule is electrically connected to the vibration sensor.

[0007] The present invention further illustrates that the positioning control system includes the following specific operation steps: Step 1: Move the automatic positioning device over the patient's body to facilitate positioning of the markers; Step 2: When marking the acupuncture points, start the connection component to drive the marking component to rise and fall, start marking the patient's skin, and use the ultrasonic probe to determine the skin fat thickness and control the marking area; Step 3: After marking, start disinfecting the marked skin.

[0008] The present invention further illustrates that the step 2 includes the following specific operation steps: Step 2-a: When the marking pen is working, the vibration sensor is used to determine whether the electric telescopic rod is shaking; Step 2-b: Through the logic judgment submodule, combined with the shaking of the electric telescopic rod and the size of the marked area, it is determined whether there is a problem with the automatic positioning device during the marking process, so as to improve the accuracy of acupoint positioning.

[0009] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention, by providing a marking component, realizes automatic positioning of the buried thread, replacing the step of medical personnel finding the acupoints by themselves, and marking different sizes according to different fat thicknesses, which makes it easier for subsequent medical personnel to quickly find the acupoints when burying the thread and improve the accuracy of the thread burying. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a front schematic diagram of the overall structure of the present invention; Figure 3 It is a side schematic diagram of the overall structure of the present invention; Figure 4 The present invention Figure 1 A local enlarged schematic diagram of area A; Figure 5 The present invention Figure 2 A local enlarged schematic diagram of area B; Figure 6 The present invention Figure 3 A local enlarged schematic diagram of the C region; Figure 7 is a two-dimensional schematic diagram of the installation sleeve of the present invention; Figure 8 is a schematic diagram of a positioning control system of the present invention; In the figure: 1. bracket; 2. moving plate; 3. disinfection box; 4. collection box; 5. display screen; 6. mounting frame; 7. mounting table; 8. transmission tube; 9. connecting plate; 10. electric telescopic rod; 11. mounting disc; 12. third motor; 13. storage bin; 14. connecting column; 15. bearing platform; 16. mounting sleeve; 17. long column; 18. ultrasonic probe; 19. transport tube; 20. marking pen; 21. secondary gear; 22. main gear; 23. through slot; 24. first motor; 25. second motor; 26. threaded rod one; 27. sliding rod one; 28. connecting rod; 29. ​​threaded rod two; 30. moving table; 31. micro cylinder; 32. connecting seat; 33. sliding block; 34. liquid pump; 35. valve; 36. vibration sensor. DETAILED DESCRIPTION

[0011] The following is a further non-limiting detailed description of the technical solution of the present invention in conjunction with the preferred embodiments and the accompanying drawings. 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.

[0012] See also Figure 1-8 The present invention provides a technical solution: an automatic positioning device for acupuncture thread embedding and a method of using the same, comprising a bracket 1, and a movable plate 2 fixed at the bottom of the bracket 1, which is convenient for moving the entire automatic positioning device.

[0013] A positioning mechanism is provided on the right side of the bracket 1, and the positioning mechanism is used for positioning the buried wire. The positioning mechanism includes a moving component, a connecting component, a marking component and a disinfection component. The marking component and the disinfection component are arranged below the connecting component, and the connecting component is arranged below the moving component. The connecting component is driven to move by the moving component, thereby driving the marking component and the disinfection component to move.

[0014] A collection box 4 is fixed to the front side of the bracket 1, a disinfection box 3 is fixed to the rear side of the bracket 1, a mounting frame 6 is fixed to the top of the bracket 1, a display screen 5 is fixed on the mounting frame 6, and the collection box 4 can collect the thread embedding needles used by medical staff, making the operation more convenient.

[0015] The moving assembly includes a mounting platform 7 arranged on the bracket 1, a first motor 24 is fixed on the right side of the mounting platform 7, a connecting rod 28 is arranged below the mounting platform 7, two bearings on the rear side of the bottom of the mounting platform 7 are connected with a threaded rod 26, a sliding rod 27 is fixed on the front side of the bottom of the mounting platform 7, the threaded rod 26 is fixedly connected to the output end of the first motor 24, one end of the connecting rod 28 is threadedly connected to the threaded rod 26, and the other end of the connecting rod 28 is slidably connected to the sliding rod 27, the first motor 24 is started to drive the threaded rod 26 to rotate, thereby driving the connecting rod 28 to move laterally under the mounting platform 7; A second motor 25 is fixed to the rear side of the connecting rod 28. The middle of the connecting rod 28 is hollow. A threaded rod 29 is connected to the hollow part of the connecting rod 28 through a bearing. A slide rod 2 (not shown in the figure) is fixed above the hollow part of the connecting rod 28. The output end of the second motor 25 is fixedly connected to the threaded rod 29. A moving platform 30 is threadedly connected to the threaded rod 29. The moving platform 30 is slidably connected to the slide rod 2. Starting the second motor 25 drives the threaded rod 29 to rotate, thereby driving the moving platform 30 to move longitudinally under the mounting platform 7. The cooperation of the first motor 24 and the second motor 25 can drive the marking component and the disinfection component to move horizontally and longitudinally.

[0016] The connecting component includes an electric telescopic rod 10 and a bearing platform 15. The electric telescopic rod 10 is fixed below the mobile platform 30. A mounting disc 11 is fixed to the output end of the electric telescopic rod 10. A sub-gear 21 is connected to the bottom bearing of the mounting disc 11. A main gear 22 is meshed on one side of the sub-gear 21. The main gear 22 is connected to the mounting disc 11 by a bearing. A third motor 12 is fixed to the top of the mounting disc 11. The output end of the third motor 12 is fixedly connected to the main gear 22. A connecting column 14 is fixed to the bottom of the sub-gear 21. The bearing platform 15 is fixed to the bottom of the connecting column 14. Starting the electric telescopic rod 10 drives the mounting disc 11 to rise and fall, thereby driving the bearing platform 15 to rise and fall through the connecting column 14. When the third motor 12 is started, the sub-gear 21 is driven to rotate through the main gear 22, thereby driving the connecting column 14 to rotate, and then driving the bearing platform 15 to rotate.

[0017] A vibration sensor 36 is fixed to the electric telescopic rod 10 for detecting whether the electric telescopic rod 10 vibrates.

[0018] The marking component includes a mounting sleeve 16, a micro cylinder 31 fixed inside the mounting sleeve 16, a connecting seat 32 fixed at the output end of the micro cylinder 31, the connecting seat 32 is slidably connected to the inner wall of the mounting sleeve 16, and a marking pen 20 is fixed to the bottom of the connecting seat 32. The micro cylinder 31 is started to extend to control the marking pen 20 to move out of the mounting sleeve 16 for easy marking.

[0019] The outer sleeve of the marking pen 20 is provided with a sliding block 33 , and the sliding block 33 is slidably connected to the inner part of the mounting sleeve 16 , so as to ensure the stability of the marking pen 20 when it is lowered.

[0020] The disinfection component includes a storage bin 13, which is fixed at the bottom of the supporting platform 15. A transmission pipe 8 is connected between the storage bin 13 and the disinfection box 3. A transport pipe 19 is connected to the bottom of the storage bin 13. A long column 17 is connected to the bottom of the transport pipe 19. A liquid pump 34 is connected to the transmission pipe 8. A valve 35 is connected to the top of the transport pipe 19. Disinfection cotton is detachably provided on the surface of the long column 17. A plurality of disinfection holes are provided on the surface of the long column 17. The liquid pump 34 is started to pump the disinfectant on the disinfection box 3 into the storage bin 13 through the transmission pipe 8. The valve 35 is opened to allow the disinfectant in the storage bin 13 to infiltrate the disinfectant cotton through the disinfection holes on the long column 17, so as to facilitate skin disinfection.

[0021] The transmission pipe 8 is an elastic pipe.

[0022] It should be noted that after one person has finished using the device, the disinfection cotton on the long column 17 is removed and replaced with a new disinfection cotton to ensure hygiene when the next person uses the device.

[0023] An ultrasonic probe 18 is fixed to the bottom of the carrier 15 for taking images of the markings; A through slot 23 is formed above the mounting platform 7 , and the transmission pipe 8 passes through the through slot 23 .

[0024] A connecting disk 9 is fixed to one side of the mounting platform 7 close to the bracket 1, a slider seat is fixed to one side of the connecting disk 9, the slider seat and the bracket 1 are slidably connected, a rotary drive is fixed to one side of the connecting disk 9, and the output end of the rotary drive is fixedly connected to the mounting platform 7. The rotary drive can drive the mounting platform 7 to swing, and the angle of the mounting platform 7 can be controlled to adapt to acupuncture points at different positions of the human body, thereby improving the applicability of the device.

[0025] A method for using an automatic positioning device for acupuncture thread embedding includes a positioning control system, the positioning control system includes a positioning module and a data acquisition module, the positioning module includes a moving submodule, a position identification submodule and a recording submodule, the moving submodule is electrically connected to a first motor 24 and a second motor 25, the data acquisition module includes an image receiving submodule, a logic judgment submodule and a vibration receiving submodule, the image receiving submodule is electrically connected to an ultrasonic probe 18, and the vibration receiving submodule is electrically connected to a vibration sensor 36.

[0026] The positioning control system includes the following specific operation steps: Step 1: Move the automatic positioning device over the patient's body to facilitate positioning of the markers; The medical staff moves the automatic positioning device to the bedside through the movable plate 2, and the patient lies on the bed. At this time, the mounting table 7 is located above the patient, and the first motor 24 and the second motor 25 are started by controlling the moving submodule to drive the marking assembly to move horizontally and vertically above the patient's body. At this time, the patient's body is photographed by the ultrasonic probe 18 for positioning marking; Specifically, in this embodiment, the staff lies on the bed in the front, and when the ultrasonic probe 18 is moving, it scans the navel of the human body, with the navel as the center point, and according to the distance between the acupuncture point and the navel, controls the moving component to drive the marking pen 20 on the marking component to start running with the navel as the center to mark the acupuncture point; It should be noted that the distances between the various acupoints are set in the recording submodule, and the names of the various acupoints are input, so that the medical staff can select the acupoints that need to be implanted on the display screen 5 .

[0027] Step 2: When marking the acupuncture points, the connection component is started to drive the marking component to rise and fall, and the patient's skin is marked, and the thickness of the skin fat is determined by the ultrasonic probe 18 to control the marking area; Specifically, when the marking pen 20 on the marking component reaches the designated acupuncture point, the electric telescopic rod 10 is started to extend to drive the mounting sleeve 16 to move downward. At this time, the micro cylinder 31 is controlled to start, driving the marking pen 20 to move out of the mounting sleeve 16, so that the marking pen 20 contacts the patient's skin. When in contact, the moving component is controlled to cooperate to drive the marking pen 20 on the marking component to start drawing circles around the acupuncture point. The thickness of the skin fat is judged by the ultrasonic probe 18. When the skin fat thickness is less, the marking pen 20 is controlled to mark a small area. When the skin fat thickness is more, the marking pen 20 is controlled to mark a large area.

[0028] It should be added that the size of the marking area is set in the image receiving submodule, and the size of the marking area is photographed by the ultrasonic probe 18 and transmitted to the image receiving submodule, and compared with the set marking area size, so as to control the size of the marking area in real time according to the skin fat thickness.

[0029] It should be noted that due to the different thickness of fat, it is difficult to find the exact location of the acupoint when the fat is thicker. Therefore, the area of ​​the marking point needs to be larger when the fat is thicker to facilitate faster finding of the acupoint during subsequent thread embedding work.

[0030] Step 3: After marking, start disinfecting the marked skin; Specifically, during disinfection, the marking pen 20 is controlled to re-enter the interior of the mounting sleeve 16, and the control valve 35 is opened, so that the disinfectant in the storage bin 13 is applied to the skin surface of the marking point through the disinfection hole on the long column 17. At this time, the moving submodule controls the moving assembly to drive the long column 17 to move on the skin, thereby expanding the disinfection area.

[0031] Step 2 includes the following specific steps: Step 2-a: When the marking pen 20 is working, the vibration sensor 36 is used to determine whether the electric telescopic rod 10 is shaking; Specifically, when the marking pen 20 is working, the vibration sensor 36 detects the vibration signal of the electric telescopic rod 10 and transmits it to the vibration receiving submodule. In the vibration receiving submodule, the vibration amplitude is set to low and high levels. The low level indicates that the vibration amplitude is small, and the high level indicates that the vibration amplitude is large. The vibration signal detected in real time is compared with the set vibration amplitude. When it matches the low level of the vibration amplitude, it means that the electric telescopic rod 10 is not shaking. When it matches the high level of the vibration amplitude, it means that the electric telescopic rod 10 is shaking.

[0032] Step 2-b: By combining the shaking of the electric telescopic rod 10 and the size of the marked area through the logic judgment submodule, it is determined whether there is a problem with the automatic positioning device during the marking process, so as to improve the accuracy of acupoint positioning; Specifically, when the ultrasonic probe 18 detects that the marking area is larger at the place where the fat thickness is less, the vibration amplitude of the electric telescopic rod 10 is large, indicating that the electric telescopic rod 10 generates shaking when moving, affecting the marking area of ​​the marking pen 20. At this time, the signal is transmitted to the position recognition submodule to record the position, so that the medical staff can identify the problem of the acupoint marking when the thread is embedded, and inform the manual to further judge the acupoint when the thread is embedded. At the same time, it is further analyzed that when the ultrasonic probe 18 detects that the marking area is larger at the place where the fat thickness is less, and the vibration amplitude of the electric telescopic rod 10 is small, it means that there is a problem with the marking component, and the medical staff can be informed to come for maintenance; When the ultrasonic probe 18 detects that the marking area is smaller at the location with greater fat thickness, it means that the movement of the motor screw assembly of the moving component is obstructed, resulting in a shorter moving distance, and there may be rust. At this time, the signal is transmitted to the position identification submodule to mark the position for the medical staff to make their own judgment during the subsequent thread embedding work, and the medical staff is informed through the display screen 5 that there is a problem with the motor screw assembly on the moving component and that it can be repaired.

[0033] Through the above steps, it is possible to determine whether there is a problem with the automatic positioning device during marking, thereby further improving the accuracy of acupoint positioning.

[0034] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0035] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic positioning device for acupuncture point thread embedding, comprising a bracket (1), and a movable plate (2) fixed at the bottom of the bracket (1), characterized in that: A positioning mechanism is arranged on the right side of the bracket (1), and the positioning mechanism is used for positioning the buried wire. The positioning mechanism comprises a moving component, a connecting component, a marking component and a disinfecting component. The marking component and the disinfecting component are arranged below the connecting component, and the connecting component is arranged below the moving component. The moving component drives the connecting component to move, thereby driving the marking component and the disinfecting component to move. A disinfection box (3) is fixed to the rear side of the bracket (1); The moving assembly comprises a mounting platform (7) arranged on a bracket (1), a first motor (24) fixed to the right side of the mounting platform (7), and a connecting rod (28) arranged below the mounting platform (7), wherein: Two bearings at the rear side of the bottom of the mounting platform (7) are connected to a threaded rod (26); a slide rod (27) is fixed to the front side of the bottom of the mounting platform (7); the threaded rod (26) is fixedly connected to the output end of the first motor (24); one end of the connecting rod (28) is threadedly connected to the threaded rod (26); and the other end of the connecting rod (28) is slidably connected to the slide rod (27); A second motor (25) is fixed to the rear side of the connecting rod (28); the middle of the connecting rod (28) is hollow; a second threaded rod (29) is bearing-connected to the hollow part of the connecting rod (28); a second slide rod is fixed above the hollow part of the connecting rod (28); an output end of the second motor (25) is fixedly connected to the second threaded rod (29); a moving platform (30) is threadedly connected to the second threaded rod (29); and the moving platform (30) is slidably connected to the second slide rod; The connection assembly comprises an electric telescopic rod (10) and a bearing platform (15), and a vibration sensor (36) is fixed on the electric telescopic rod (10); The marking assembly comprises a mounting sleeve (16) and a micro cylinder (31) fixed inside the mounting sleeve (16), wherein: A connecting seat (32) is fixed to the output end of the micro cylinder (31), the connecting seat (32) is slidably connected to the inner wall of the mounting sleeve (16), and a marking pen (20) is fixed to the bottom of the connecting seat (32); The disinfection assembly comprises a storage bin (13), the storage bin (13) being fixed at the bottom of a carrying platform (15), a transmission pipe (8) being connected between the storage bin (13) and the disinfection box (3), a transport pipe (19) being connected at the bottom of the storage bin (13), a long column (17) being connected at the bottom of the transport pipe (19), a liquid pump (34) being connected to the transmission pipe (8), a valve (35) being connected to the transport pipe (19), a disinfection cotton being detachably provided on the surface of the long column (17), and a plurality of disinfection holes being provided on the surface of the long column (17); An ultrasonic probe (18) is fixed to the bottom of the supporting platform (15).

2. The automatic positioning device for acupoint thread embedding according to claim 1, characterized in that: The electric telescopic rod (10) is fixed below the mobile platform (30); a mounting disc (11) is fixed to the output end of the electric telescopic rod (10); a bearing at the bottom of the mounting disc (11) is connected to a secondary gear (21); a main gear (22) is meshed on one side of the secondary gear (21); the main gear (22) is connected to the mounting disc (11) via a bearing; a third motor (12) is fixed to the top of the mounting disc (11); an output end of the third motor (12) is fixedly connected to the main gear (22); a connecting column (14) is fixed to the bottom of the secondary gear (21); and the bearing platform (15) is fixed to the bottom of the connecting column (14).

3. The automatic positioning device for acupoint thread embedding according to claim 2, characterized in that: The outer portion of the marking pen (20) is covered with a sliding block (33).

4. The automatic positioning device for acupoint thread embedding according to claim 3, characterized in that: A collection box (4) is fixed on the front side of the bracket (1), a mounting frame (6) is fixed on the top of the bracket (1), and a display screen (5) is fixed on the mounting frame (6).

5. The automatic positioning device for acupoint thread embedding according to claim 4, characterized in that: The transmission pipe (8) is an elastic pipe, a through groove (23) is provided above the mounting platform (7), and the transmission pipe (8) passes through the through groove (23).

6. The automatic positioning device for acupuncture thread embedding according to claim 5, characterized in that: A connecting disk (9) is fixed to one side of the mounting platform (7) close to the bracket (1), a slider seat is fixed to one side of the connecting disk (9), the slider seat and the bracket (1) are slidably connected, a rotary drive is fixed to one side of the connecting disk (9), and an output end of the rotary drive is fixedly connected to the mounting platform (7).

7. A method for using an automatic positioning device for acupoint thread embedding, using the automatic positioning device for acupoint thread embedding according to any one of claims 1 to 6, characterized in that: It comprises a positioning control system, the positioning control system comprises a positioning module and a data acquisition module, the positioning module comprises a moving submodule, a position identification submodule and a recording submodule, the moving submodule is electrically connected to the first motor (24) and the second motor (25); The data acquisition module comprises an image receiving submodule, a logic judgment submodule and a vibration receiving submodule, the image receiving submodule is electrically connected to the ultrasonic probe (18), and the vibration receiving submodule is electrically connected to the vibration sensor (36).

8. The method for using the automatic positioning device for acupoint thread embedding according to claim 7, characterized in that: The positioning control system includes the following specific operation steps: Step 1: Move the automatic positioning device over the patient's body to facilitate positioning of the markers; Step 2: When marking the acupuncture points, the connection component is started to drive the marking component to rise and fall, and the patient's skin is marked, and the thickness of the skin fat is determined by the ultrasonic probe (18) to control the marking area; Step 3: After marking, start disinfecting the marked skin.

9. The method for using the automatic positioning device for acupoint thread embedding according to claim 8, characterized in that: Step 2 includes the following specific steps: Step 2-a: When the marking pen (20) is working, the vibration sensor (36) is used to determine whether the electric telescopic rod (10) is shaking; Step 2-b: By combining the shaking of the electric telescopic rod (10) and the size of the marked area through the logic judgment submodule, it is determined whether there is a problem with the automatic positioning device during the marking process, thereby improving the accuracy of acupoint positioning.

Images