An automatic acupuncture needle withdrawing device based on automatic control and its control method

Abstract

The present invention relates to an automatic acupuncture needle withdrawal device based on automatic control and its control method. The device realizes precise control of the force and depth during the acupuncture needle insertion process through a current regulation and feedback control mechanism, combined with a pressure sensor and an electric drive push rod mechanism. The device includes an elastic ring detachably fixed on the operator's thumb and index finger, with a conductive block and a pressure sensor provided on the ring; through an electrical contact circuit, the drive push rod mechanism assists the acupuncture needle insertion action; at the same time, the pressure sensor monitors the pressure signal and transmits it to the controller, and the controller adjusts the current magnitude and the power supply discharge time according to the pressure information, thereby precisely adjusting the insertion depth and speed of the acupuncture needle. The present invention can achieve precise control according to different operation requirements by automatically adjusting the current and discharge time, avoiding the precision deviation existing in manual needle insertion, and has the characteristics of high efficiency, safety and precision, and is applicable to the automatic assisted needle insertion in modern acupuncture treatment.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical automatic control, and particularly relates to an automatic acupuncture needle withdrawing device based on automatic control and its control method. Background Art

[0002] As an important therapy in traditional Chinese medicine treatment, acupuncture treats diseases by inserting acupuncture needles into specific acupoints of the human body to stimulate meridians and regulate the qi and blood circulation of the human body. Traditional acupuncture operations are mostly completed manually by doctors. Although the operation is flexible, there are the following technical limitations:

[0003] 1. Limitations of manual operation

[0004] Traditional manual acupuncture completely depends on the experience and technical level of doctors. It is difficult to accurately control the insertion depth and angle of acupuncture needles. Especially for beginners or when facing complex acupoints, problems such as too deep or too shallow insertion are likely to occur. In addition, it is not easy to grasp the insertion speed and force of acupuncture needles, which may cause pain to patients and reduce the comfort and compliance of treatment.

[0005] 2. Technical obstacles in combination with heat therapy

[0006] In acupuncture treatments such as heat-sensitive moxibustion, external heat sources are usually required to heat acupuncture needles to enhance the therapeutic effect. However, traditional heat therapy methods are prone to problems such as uneven heating, too high or too low temperature, which not only affect the treatment effect but also may cause discomfort or even the risk of burns to patients.

[0007] 3. Deficiencies of existing automatic needle withdrawing devices

[0008] To overcome the limitations of manual acupuncture, there are already some automated acupuncture devices on the market. However, these devices generally have problems of complex structure and inconvenient operation. Specifically:

[0009] Lack of precise force and depth control: Most existing automatic needle withdrawing devices use simple mechanical pushing methods and lack a fine force sensing and adjustment mechanism, resulting in difficulty in precisely controlling the depth and force of acupuncture needles during the needle insertion process.

[0010] Insufficient current and voltage control: Some automated devices use electric drive or electromagnetic force to push acupuncture needles, but most devices lack fine adjustment of current and voltage, making it difficult to ensure that the acupuncture needles apply appropriate force while avoiding unnecessary stimulation or harm to the human body.

[0011] Imprecise automatic adjustment during the needle insertion process: The needle insertion process in existing devices usually relies on simple mechanical structures and cannot perform real-time automatic adjustment according to the actual operation situation of the operator and the different requirements of the acupuncture site, resulting in difficulty in precisely controlling the needle insertion depth, angle, and accuracy.

[0012] 4. Limited scope of application

[0013] Existing automatic needle - inserting devices are mostly applicable to fixed scenarios such as clinics or hospitals, and it is difficult to meet the needs of home medical treatment or portable applications. In addition, the use of these devices in special populations such as children, pregnant women, or highly sensitive patients is not effective, which limits their popularization and application.

[0014] Based on the above background, there is an urgent need for an automatic needle - inserting device with a simple structure, convenient operation, high needle - inserting stability, and a heat - therapy function, to solve the problems in the existing technology and meet the usage requirements of different scenarios and populations. Summary of the Invention

[0015] The purpose of the present invention is: The present invention aims to provide an automatic acupuncture needle - inserting device based on automatic control. This acupuncture automatic needle - inserting device is superior to traditional manual acupuncture in terms of structural simplification, operation stability, doctor - friendliness, treatment effect, and safety. At the same time, it effectively overcomes the disadvantages of complex, unstable, and limited use of existing automatic needle - inserting devices. It is an innovative device with portability, precision, and versatility, and has broad application prospects.

[0016] The technical solution adopted by the present invention is as follows:

[0017] An automatic acupuncture needle - inserting device based on automatic control, including an elastic ring detachably fixed at the middle or rear part of the frontmost joints of the operator's thumb and index finger; on the outer surface of the elastic ring corresponding to the finger pulp positions, a conductive block and a pressure sensor are respectively arranged; the two conductive blocks are respectively connected to the positive and negative electrodes of a portable power source through conducting wires; a holding clip is detachably fixed at the tiger's mouth between the index finger and the thumb; a push - rod mechanism is fixed on the holding clip; the operator holds the acupuncture needle with the thumb and index finger, and the rear end of the acupuncture needle abuts against the front end of the push - rod mechanism; when the operator inserts the needle, the thumb and index finger extend forward, making the conductive blocks of the two elastic rings in electrical contact to form an electrical circuit, driving the front end of the push - rod mechanism to elongate, and assisting in pushing the acupuncture needle into the skin; the pressure sensor monitors the pressure signal and transmits the pressure information to the controller, and the controller adjusts the electrical variable accordingly to control the discharge time and current magnitude of the portable power source, ensuring that the acupuncture needle accurately enters the predetermined depth and maintaining precise current control during the operation process.

[0018] Among them, the holding clip is an elastic U - shaped structure and can be clamped at the tiger's mouth without falling off by itself.

[0019] Among them, the push - rod mechanism is a small electric push - rod or a linear stepper motor.

[0020] Among them, the front end of the push - rod mechanism is an inward - concave arc surface to facilitate the positioning of the rear end of the acupuncture needle.

[0021] Among them, a bowl - shaped guiding head is arranged at the front end of the push - rod mechanism.

[0022] Among them, the elastic ring is made of medical silicone.

[0023] Among them, a acupuncture needle adapter head is provided at the front end of the push rod mechanism, and the rear end of the acupuncture needle adapter head is detachably connected to the front end of the push rod mechanism by a magnetic or snap connection; an acupuncture needle insertion groove is provided at the front end of the acupuncture needle adapter head; the acupuncture needle insertion groove is used for detachably inserting and matching with the rear part of the acupuncture needle.

[0024] Among them, a permanent magnet is provided at the rear end of the acupuncture needle adapter head.

[0025] Among them, an adapter groove is provided at the front end of the push rod mechanism corresponding to the permanent magnet; the outer end of the acupuncture needle insertion groove is a flared opening.

[0026] Among them, the needle discharging method of the automatic acupuncture needle device is as follows:

[0027] Step 1. Device preparation

[0028] The operator fixes the elastic ring at the middle or rear part of the outermost joint of the thumb and index finger, ensures that the conductive block at the position corresponding to the finger pulp of the elastic ring fits in place, and connects the conductive block to the positive and negative poles of a portable power supply through a conductive wire;

[0029] Clamp the support clip at the tiger's mouth, ensure its stability and no detachment, and at the same time install the push rod mechanism on the support clip;

[0030] Check whether the function of the push rod mechanism is normal, and confirm that the acupuncture needle adapter head has been correctly connected to the front end of the push rod mechanism;

[0031] Step 2. Acupuncture needle installation

[0032] The user can choose the following two installation methods according to needs:

[0033] Method 1: Insert the needle first and then suck and match the adapter head

[0034] Insert the rear end of the acupuncture needle into the acupuncture needle insertion groove of the acupuncture needle adapter head, and ensure that the needle body is firmly inserted and centered;

[0035] Suck and match or snap-fix the acupuncture needle adapter head with the front adapter groove of the push rod mechanism;

[0036] Method 2: Suck and match the adapter head first and then insert the needle

[0037] Connect the acupuncture needle adapter head with the front adapter groove of the push rod mechanism, and ensure that the acupuncture needle adapter head is firmly fixed;

[0038] Each time of operation, directly insert the rear end of the acupuncture needle into the acupuncture needle insertion groove of the adapter head, and ensure that the insertion is firm and accurate;

[0039] Step 3. Acupuncture needle insertion operation

[0040] The operator pinches the middle part of the acupuncture needle with the thumb and index finger, adjusts the angle between the acupuncture needle and the skin surface to make it in the correct needle insertion direction;

[0041] The operator extends the thumb and index finger forward so that the conductive blocks of the two elastic rings come into contact to form a circuit, starting the forward pushing action of the push rod mechanism;

[0042] The front end of the push rod mechanism extends, and the concave arc surface or bowl-shaped guiding head steadily pushes the acupuncture needle, smoothly inserting the needle body into the target acupoint and achieving the accurate needle insertion depth in a labor-saving state;

[0043] At the same time, the pressure sensor monitors the pinching force of the operator's thumb and index finger and transmits the pressure signal to the controller. The controller adjusts the electrical variable accordingly to control the discharge time and current magnitude of the portable power source, thereby adjusting the insertion depth of the acupuncture needle;

[0044] Step 4. Acupuncture needle withdrawal operation

[0045] After the needle insertion is completed, the operator releases the pinch on the acupuncture needle with the thumb and index finger, moves the hand backward, and the acupuncture needle disengages from the needle insertion slot;

[0046] Since the thumb and index finger are opened, the two conductive blocks lose electrical contact, so the circuit is disconnected, and the forward pushing action of the push rod mechanism automatically stops. The push rod mechanism returns to the initial position under the action of the preset program; thus, only the actions and forces of the thumb and index finger can control the forward pushing action and distance of the push rod mechanism.

[0047] To sum up, due to the adoption of the above technical solutions, the beneficial effects of the present invention are:

[0048] 1. The structure design is more concise and the portability is stronger

[0049] Although traditional manual acupuncture does not require equipment, it completely relies on the doctor's manual operation and has limited functions. Although the existing automatic needle ejection devices solve some problems, their structures are generally complex, including multi-axis motors, fixed brackets, and sliding rails, etc., which are bulky and difficult to carry.

[0050] In contrast, this device adopts a modular and miniaturized design. The core components only include elastic rings, a clamping bracket, and a push rod mechanism, with a weight of less than 100 grams, a small volume, and is convenient for carrying and installation, especially suitable for various scenarios such as clinics, families, and the wild.

[0051] 2. The operation stability is significantly improved

[0052] Manual acupuncture completely relies on the doctor's experience, and the needle insertion depth and angle are prone to errors due to hand tremors or fatigue, resulting in insufficient operation stability. During the operation of the existing automatic needle ejection devices, due to unstable mechanical structures or improper designs, problems such as vibration or needle body deviation are likely to occur.

[0053] This device drives the push rod mechanism by using a precision stepper motor to eliminate excessive vibration and ensure smooth needle insertion. The acupuncture needle adapter head is fixed by both magnetic attraction and snap fasteners, avoiding loosening or offset of the needle body. In addition, the pressure sensor monitors the finger force in real time and dynamically adjusts the push rod action, making the insertion depth of the acupuncture needle more accurate.

[0054] 3. More user-friendly for doctors

[0055] Manual acupuncture is flexible in operation, but doctors need to hold the acupuncture needle by hand for a long time and adjust it repeatedly, which is extremely easy to cause hand fatigue. And the existing automatic needle ejection devices are bulky in structure and occupy space, seriously hindering the doctor's freedom of operation in complex parts.

[0056] This device fixes the key components to the doctor's hand through an elastic ring and a support clip. Doctors do not need to manually hold the acupuncture needle, and only need to make slight movements to control the needle pushing operation, significantly reducing the hand burden. At the same time, the device is compactly designed and does not interfere with finger activities, especially suitable for acupuncture treatment in narrow areas (such as the face and hands). It not only retains the flexibility of manual acupuncture but also effectively relieves the doctor's operation pressure.

[0057] 4. Improve the treatment effect

[0058] The treatment effect of manual acupuncture completely depends on the doctor's operation ability. The insertion depth and angle of the acupuncture needle vary from person to person, making it difficult to ensure the consistency of each treatment. And most of the existing automatic needle ejection devices adopt a fixed depth design and lack the ability of dynamic adjustment, making it difficult to meet the personalized needs of different patients.

[0059] This device combines a pressure sensor and a push rod mechanism to ensure treatment accuracy by dynamically adjusting the insertion depth and speed. In addition, the acupuncture needle adapter head has a built-in constant temperature heating function, which, combined with a low-density thermal conductive gel, evenly transfers heat to the acupuncture needle to achieve efficient heat therapy and further enhance the acupuncture effect. Especially for children or highly sensitive patients, the design of the device that smoothly advances the acupuncture needle greatly reduces the pain and improves the patient's treatment comfort.

[0060] 5. Enhance safety

[0061] In manual acupuncture, since it is completely manually operated, the problems of too deep or too shallow insertion depth are relatively common, especially in sensitive parts of patients, which are likely to cause accidental injuries. And when the control system of the existing automatic needle ejection device fails or is not firmly fixed, there is also a risk of uncontrolled insertion or burning of patients.

[0062] Through real-time pressure monitoring and combined with an automatic stop mechanism, when the doctor releases the finger, the device immediately stops the needle pushing action, ensuring that the acupuncture needle will not be accidentally inserted too deeply. The constant temperature control system combined with the heat insulation layer design avoids the burning problem caused by uneven temperature in traditional heat therapy, further enhancing the safety of patients and operators.

[0063] 6. Wider application scenarios

[0064] Manual acupuncture has a wide range of applications, but it highly depends on the doctor's skills and is not suitable for multi-needle synchronous operations or scenarios that require heat therapy. Existing automatic needle ejection devices are mostly designed for fixed scenarios and have limited adaptability.

[0065] This device combines miniaturization and modular design, making it suitable for both professional acupuncture clinics and home and mobile medical environments. In addition, by replacing the adapter head and adjusting the needle pushing force, the device can be adapted to different treatment scenarios, such as large-area acupuncture, local micro-needle treatment, and the personalized needs of special patients such as children and pregnant women.

[0066] Generally speaking, this automatic acupuncture needle ejection device is superior to traditional manual acupuncture in terms of structural simplification, operation stability, doctor-friendliness, treatment effect, and safety. At the same time, it effectively overcomes the disadvantages of existing automatic needle ejection devices being complex, unstable, and limited in use. It is an innovative device with portability, precision, and versatility, and has broad application prospects. Brief description of the drawings

[0067] Figure 1 It is a schematic structural diagram of the needle ejection device of the present invention when holding the needle;

[0068] Figure 2 It is a schematic structural diagram of the needle ejection device of the present invention when inserting the needle;

[0069] Figure 3 It is a schematic diagram when the front end of the push rod mechanism of the present invention adopts a concave arc surface;

[0070] Figure 4 It is a schematic diagram when the front end of the push rod mechanism of the present invention adopts a bowl-shaped guiding head;

[0071] Figure 5 It is a schematic diagram of the front end of the push rod mechanism of the present invention provided with an acupuncture needle adapter head;

[0072] Figure 6 It is an exploded schematic diagram of the front end of the push rod mechanism of the present invention provided with an acupuncture needle adapter head.

[0073] Markings in the figure: 1, thumb; 2, index finger; 3, elastic ring; 31, conductive block; 32, conductive wire; 4, thenar; 5, support clip; 6, push rod mechanism; 61, concave arc surface; 62, acupuncture needle adapter head; 63, needle insertion groove; 64, permanent magnet; 65, adapter groove; 66, first electrical connector; 67, second electrical connector; 7, acupuncture needle; 8, bowl-shaped guiding head. Detailed implementation mode

[0074] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0075] See Figures 1 to 6 , the present invention relates to an automatic acupuncture needle discharging device based on automatic control, including an elastic ring 3 detachably fixed to the middle or rear part of the frontmost joints of the operator's thumb 1 and index finger 2; conductive blocks 31 and pressure sensors are respectively arranged on the outer surfaces of the elastic ring 3 corresponding to the finger pulp positions; the conductive block 31 is a gold-plated copper sheet with a smooth surface, a diameter of about 6-8 mm, and a thickness of 1 mm; the pressure sensor is a flexible film type pressure sensor with a diameter of 7 mm and a thickness of about 0.2 mm; the two conductive blocks 31 are respectively connected to the positive and negative poles of the portable power supply through conductive wires 32, and the portable power supply is selected as a rechargeable lithium battery pack; a support clip 5 is detachably fixed at the thenar 4 between the index finger 2 and the thumb 1; the support clip 5 is made of medical-grade elastic plastic (such as nylon or polypropylene), with a width of 10-15 mm, a thickness of 3-5 mm, and a total unfolded length of 30-50 mm; a push rod mechanism 6 is fixed on the support clip 5; the operator holds the acupuncture needle 7 with the thumb 1 and the index finger 2, and the rear end of the acupuncture needle 7 abuts against the front end of the push rod mechanism 6; when the operator inserts the needle, the thumb 1 and the index finger 2 extend forward, so that the conductive blocks 31 of the two elastic rings 3 are in electrical contact to form an electrical circuit, driving the front end of the push rod mechanism 6 to elongate and assisting in pushing the acupuncture needle 7 to insert; the pressure sensor monitors the pressure signal and transmits the pressure information to the controller. The controller is a small single-chip microcomputer, and the controller adjusts the electrical variables accordingly to control the discharge time and current magnitude of the portable power supply.

[0076] Further, the push rod mechanism 6 is a small electric push rod or a linear stepper motor, with a length of 50-70 mm and a diameter of 10-15 mm.

[0077] Further, see Figure 3 , the front end of the push rod mechanism 6 is a concave arc surface 61 to facilitate the positioning of the rear end of the acupuncture needle 7. The arc surface has a diameter of about 6 mm and a depth of about 2 mm.

[0078] Further, see Figure 4The front end of the push rod mechanism 6 is provided with a bowl-shaped guide head 8 with a diameter of 8-10 mm and a height of about 5 mm.

[0079] Furthermore, the elastic ring 3 is made of medical silicone with an inner diameter of 15-25 mm and a thickness of about 2 mm.

[0080] For further information, see Figure 5 and 6 The front end of the push rod mechanism 6 is provided with an acupuncture needle adapter head 62 with an outer diameter of about 10 mm and a length of 20-30 mm. The rear end of the acupuncture needle adapter head 62 is detachably connected to the front end of the push rod mechanism 6 through a magnetic or snap-on connection; the front end of the acupuncture needle adapter head 62 is provided with a needle insertion groove 63; the needle insertion groove 63 is used for detachable mating with the rear part of the acupuncture needle 7, with a diameter of 0.5-1 mm and a depth of about 10 mm.

[0081] Furthermore, a permanent magnet 64 with a diameter of 5 mm and a thickness of 2 mm is provided at the rear end of the acupuncture needle adapter 62; an adapter groove 65 is provided at the front end of the push rod mechanism 6 corresponding to the permanent magnet 64, and the adapter groove 65 is slightly larger than the permanent magnet 64.

[0082] Furthermore, the outer end of the pin slot 63 is flared, and the slot is filled with a thermally conductive gel. The thermally conductive gel utilizes low-density properties, with a density of < 1.0 g / cm³ (low density reduces resistance to acupuncture needles). It exhibits excellent thixotropy and is easily squeezed open under pressure, creating no significant resistance when inserting or removing the needles. Its thermal conductivity is ≥ 3 W / m·K, ensuring excellent thermal conductivity. It is flexible and does not exert clamping force on the needles under low pressure, while providing gap-filling and heat-conducting properties. It is temperature-stable and can withstand operating temperatures from -40°C to 200°C. Specifically, modified polysiloxane-based gels can be used. These materials can be customized in density and hardness, making them suitable for the thermal conductivity requirements of specific acupuncture needles.

[0083] Furthermore, the push rod mechanism 6 is electrically connected to a portable power supply, a first electrical connector 66 is provided at the front end of the push rod mechanism 6, and a second electrical connector 67 is provided at the rear end of the acupuncture needle adapter 62 corresponding to the first electrical connector 66. When the acupuncture needle adapter 62 is plugged into the front end of the push rod mechanism 6, the first electrical connector 66 and the second electrical connector 67 are electrically contacted respectively; the acupuncture needle adapter 62 is an electric heating element, and its circuit is connected to the conductive block 31. A loop is formed through the electrical contact of the two conductive blocks 31. When powered on, it generates heat and transfers the heat to the acupuncture needle 7 through the thermal conductive gel.

[0084] Furthermore, a heat insulation layer is attached to the outer circumference of the acupuncture needle adapter head 62 .

[0085] Furthermore, the support clip 5 is an elastic U-shaped structure, which can be clamped at the base of the thumb and will not fall off.

[0086] Furthermore, the needle removal method of the automatic acupuncture needle removal device is:

[0087] Step 1. Device preparation

[0088] The operator fixes the elastic ring 3 to the middle or back of the front joint of the thumb 1 and index finger 2, ensuring that the conductive block 31 of the elastic ring corresponding to the finger pad is in place, and connects the conductive block to the positive and negative poles of a portable power supply through the conductive wire 32;

[0089] Clamp the support clip 5 at the jaws 4 to ensure it is stable and does not fall off, and install the push rod mechanism 6 onto the support clip;

[0090] Check whether the push rod mechanism 6 functions normally and confirm that the acupuncture needle adapter 62 is correctly connected to the front end of the push rod mechanism;

[0091] Step 2. Acupuncture needle installation

[0092] Users can choose from the following two installation methods according to their needs:

[0093] Method 1: Insert the pin first and then attach the adapter

[0094] Insert the rear end of the acupuncture needle 7 into the needle slot 63 of the acupuncture needle adapter 62, ensuring that the needle body is firmly inserted and centered;

[0095] Fix the acupuncture needle adapter 62 with the front end adapter groove 65 of the push rod mechanism 6 by suction or snap fastening;

[0096] Method 2: First attach the adapter and then insert the pins

[0097] Connect the acupuncture needle adapter 62 to the front end adapter slot 65 of the push rod mechanism 6 and ensure that the acupuncture needle adapter is firmly fixed;

[0098] During each operation, insert the rear end of the acupuncture needle 7 directly into the pin slot 63 of the adapter to ensure a firm and accurate insertion.

[0099] Step 3. Acupuncture needle insertion

[0100] The operator pinches the middle of the acupuncture needle 7 with the thumb 1 and index finger 2, and adjusts the angle between the acupuncture needle 7 and the skin surface so that it is in the correct needle insertion direction;

[0101] The operator extends the thumb 1 and index finger 2 forward, so that the conductive blocks 31 of the two elastic rings 3 come into contact, forming a circuit, and starting the forward movement of the push rod mechanism 6 and the heating function of the acupuncture needle adapter 62;

[0102] The front end of the push rod mechanism 6 extends, and the concave arc surface 61 or the bowl-shaped guide head 8 stably pushes the acupuncture needle 7, smoothly inserting the needle body into the target acupoint, achieving the accurate insertion depth of the needle in a labor-saving state;

[0103] At the same time, the pressure sensor monitors the pinching force of the operator's thumb 1 and index finger 2, and transmits the pressure signal to the controller. The controller adjusts the electrical variable accordingly, controls the discharge time and current magnitude of the portable power supply, thereby adjusting the insertion depth and heat of the acupuncture needle 7;

[0104] Step 4. Auxiliary functions during acupuncture

[0105] During acupuncture, the acupuncture needle adapter head 62 remains in a continuous heating state, transferring heat to the acupuncture needle 7 through the thermal conductive gel to achieve the effect of heat therapy.

[0106] The heat insulation layer ensures that the outside of the acupuncture needle adapter head maintains a safe temperature, avoiding burns caused by heating during operation;

[0107] Step 5. Withdrawal operation of the acupuncture needle

[0108] After the needle insertion is completed, the operator's thumb 1 and index finger 2 release the pinching of the acupuncture needle 7, and the hand moves backward. Since the clamping force of the thermal conductive gel on the acupuncture needle 7 is less than the clamping force of the human skin on the acupuncture needle 7, the acupuncture needle 7 disengages from the needle insertion groove 63;

[0109] Since the thumb 1 and index finger 2 are opened, the two conductive blocks 31 lose electrical contact, so the circuit is disconnected, and both the forward pushing action of the push rod mechanism 6 and the heating function of the acupuncture needle adapter head 62 automatically stop. The push rod mechanism 6 returns to the initial position under the action of the preset program; Therefore, only by the actions of the thumb and index finger can the forward pushing action of the push rod mechanism 6 and the heating function of the acupuncture needle adapter head 62 be controlled.

[0110] This acupuncture device is simple and easy to prepare, and has remarkable effects during use. The following are some practical cases:

[0111] Case 1: Rapid acupuncture treatment for patients with low back pain

[0112] The patient has had long-term low back pain and needs acupuncture at the lumbar acupoints.

[0113] After using the device, the insertion depth of the acupuncture needle is accurate and stable, and there is no obvious pain during the treatment process. Compared with traditional manual acupuncture, the treatment time is shortened by 30%, and the patient feedback shows that the pain is significantly reduced and the treatment effect is obvious.

[0114] Case 2: Precise treatment of scapulohumeral periarthritis

[0115] The patient is a 50-year-old female with scapulohumeral periarthritis and needs acupuncture at multiple shoulder acupoints.

[0116] The device can adjust the push rod speed to ensure consistent needle insertion depth each time and maintain the constant temperature heat therapy effect of the needle body. After 3 treatments, the patient's shoulder mobility was significantly improved, and the pain was reduced by 40%. The curative effect is better than that of traditional acupuncture.

[0117] Case 3: Gentle treatment for children's cough

[0118] An 8-year-old child had a cough caused by a cold and needed acupuncture at the Feishu acupoint.

[0119] The low-density thermal conductive gel and the automatic needle insertion function effectively reduce the discomfort during needle insertion. The child did not feel pain throughout the treatment, and the cough symptoms were significantly reduced after treatment. The parents highly evaluated the safety and effectiveness of the device.

[0120] Case 4: Rehabilitation acupuncture for an athlete's knee injury

[0121] A professional athlete had a minor strain of the knee ligament and needed acupuncture at the acupoints around the knee joint.

[0122] The stability of the device's push rod mechanism ensures the precise insertion of the acupuncture needle at special sites, and at the same time, the blood circulation is promoted through constant temperature heating to accelerate recovery. After 5 treatments, the patient's pain was relieved by 70%, and the recovery training time was advanced by 2 weeks.

[0123] Case 5: Comfortable treatment for elderly patients

[0124] A 70-year-old elderly patient needed long-term acupuncture treatment due to spondylitis. The skin was sensitive and the pain tolerance was low.

[0125] The automatic needle withdrawal device enables fast and painless acupuncture operations. The heating function promotes the local curative effect. The patient does not need to endure the repeated adjustments of manual acupuncture and has a high satisfaction rate.

[0126] Case 6: Adjuvant treatment for patients with anxiety disorder

[0127] The patient needed to relieve emotional problems by acupuncture at the Anshen acupoint due to anxiety disorder.

[0128] After using the device, the doctor can accurately control the needle insertion depth, reduce the patient's anxiety caused by discomfort during needle insertion, and at the same time, the constant temperature acupuncture needle provides a soothing effect. The patient's mood is stable and the treatment compliance is improved.

[0129] Case 7: Safe treatment for pregnant women with low back and back pain

[0130] The pregnant woman had low back and back pain due to weight gain in the late pregnancy.

[0131] The constant temperature control and precise needle pushing function of the device ensure a safe and non-invasive treatment process. After treatment, the pregnant woman's comfort level in the low back and back increased by 50% without any adverse reactions.

[0132] Case 8: Local Treatment for Post-Traumatic Rehabilitation

[0133] The patient needs acupuncture to promote blood circulation during the rehabilitation period after wrist trauma.

[0134] The automated function of the device precisely inserts the needle within a small range, promotes local blood circulation at a constant temperature, and improves the treatment efficiency. The patient's recovery time is shortened by 20%.

[0135] Case 9: Adjuvant Treatment for Diabetic Foot Patients

[0136] Diabetic foot patients need acupuncture treatment to improve peripheral blood circulation.

[0137] The device avoids the accidental injuries that may be caused by manual acupuncture, automatically controls the needle insertion depth, and ensures safety. After treatment, the patient's local warmth sensation is enhanced, and the symptoms are significantly improved.

[0138] The effects of the practical cases prove that this acupuncture device can significantly improve:

[0139] Efficiency improvement: The treatment time is shortened by 20% - 30% on average, and the operation is more efficient.

[0140] Precision control: The insertion depth of the acupuncture needle and the temperature of heat therapy are precisely controllable, and the curative effect is remarkable.

[0141] Comfort improvement: Patients report that the pain is reduced by more than 40%, which is especially suitable for children and sensitive patients.

[0142] Safety enhancement: It avoids the unstable factors of traditional manual acupuncture and is especially suitable for elderly patients and pregnant women.

[0143] This fully demonstrates that the device is superior to traditional acupuncture methods in terms of precision, efficiency, comfort, and safety, and is applicable to various different treatment scenarios.

[0144] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic acupuncture needle withdrawal device based on automatic control, characterized in that: It includes an elastic ring (3) detachably fixed to the middle or rear part of the frontmost joints of the operator's thumb (1) and index finger (2); conductive blocks (31) and pressure sensors are respectively arranged on the outer surfaces of the elastic ring (3) corresponding to the finger pulp positions; the two conductive blocks (31) are respectively connected to the positive and negative electrodes of a portable power supply through conductive wires (32); a support clip (5) is detachably fixed at the thumb web (4) between the index finger (2) and the thumb (1); a push rod mechanism (6) is fixed on the support clip (5); the operator pinches the acupuncture needle (7) with the thumb (1) and the index finger (2), and the rear end of the acupuncture needle (7) abuts against the front end of the push rod mechanism (6); when the operator inserts the needle, the thumb (1) and the index finger (2) extend forward to make the conductive blocks (31) of the two elastic rings (3) in electrical contact to form an electrical circuit, driving the front end of the push rod mechanism (6) to elongate and assisting in pushing the acupuncture needle (7) into the body; the pressure sensor monitors the pressure signal and transmits the pressure information to the controller, and the controller adjusts the electrical variable accordingly to control the discharge time and current magnitude of the portable power supply, ensuring that the acupuncture needle (7) accurately penetrates to the predetermined depth and maintaining precise current control during the operation process; the support clip (5) is of an elastic U-shaped structure and can be clamped at the thumb web without falling off by itself; the push rod mechanism (6) is a small electric push rod or a linear stepper motor; the front end of the push rod mechanism (6) is provided with an acupuncture needle adapter head (62), and the rear end of the acupuncture needle adapter head (62) is detachably connected to the front end of the push rod mechanism (6) by a magnetic or snap connection; the front end of the acupuncture needle adapter head (62) is provided with a needle insertion groove (63); the needle insertion groove (63) is used for detachably inserting and matching with the rear part of the acupuncture needle (7); a permanent magnet (64) is arranged at the rear end of the acupuncture needle adapter head (62); a matching groove (65) corresponding to the permanent magnet (64) is arranged at the front end of the push rod mechanism (6); the outer end of the needle insertion groove (63) is a flared opening; a first electrical connector (66) is arranged at the front end of the push rod mechanism (6), and a second electrical connector (67) corresponding to the first electrical connector (66) is arranged at the rear end of the acupuncture needle adapter head (62). When the acupuncture needle adapter head (62) is inserted and matched with the front end of the push rod mechanism (6), the first electrical connector (66) and the second electrical connector (67) are in electrical contact respectively; the acupuncture needle adapter head (62) is an electric heating element, and its circuit is connected to the conductive block (31). An electrical circuit is formed through the electrical contact of the two conductive blocks (31), and after being powered on, it generates heat and transfers the heat to the acupuncture needle (7) through a thermal conductive gel.

2. The automatic acupuncture needle withdrawing device based on automatic control according to claim 1, characterized in that: The elastic ring (3) is made of medical silicone.

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