Full-automatic floating needle inserting and sweeping treatment device and control method

Abstract

The invention discloses a full-automatic floating needle inserting and sweeping treatment device and a control method, and the full-automatic floating needle inserting and sweeping treatment device is characterized by comprising a base, a connecting support, a movable seat, a floating needle assembly, an elastic part, a limiting part and a first driver; a first sliding rail is arranged on the base; the connecting bracket is arranged on the first sliding rail in a sliding manner; the movable seat is rotatably arranged on the connecting bracket and is provided with a sliding chute; the floating needle assembly is slidably arranged on the sliding groove. The elastic piece is located at the rear end of the sliding groove, and one end of the elastic piece is connected with the movable seat and abuts against the floating needle assembly; the limiting piece is connected with the movable base and arranged at the front end of the sliding groove. The first driver is connected with the base, can move to the position above the movable base and is used for driving the movable base to swing. The needle inserting depth of the floating needle assembly is controlled through the limiting piece, the floating needle assembly is driven to be scattered through the first driver, and automation of floating needle inserting and scattering is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a fully automatic floating needle insertion and sweeping treatment device and a control method. Background Art

[0002] Floating needle therapy is an invasive physical therapy method that mainly uses disposable special floating needles as treatment tools. This therapy only penetrates the superficial fascia layer and does not go deep into the muscle layer, focusing on the treatment of subcutaneous loose connective tissue. At present, floating needle therapy mainly relies on doctors to manually insert and sweep the needle. When inserting the needle, the doctor determines the angle and depth of the needle based on experience; after inserting the needle, the doctor performs a sweeping operation at a certain frequency. The sweeping action requires gentleness, rhythm, and the doctor's full concentration; at the same time, the sweeping operation should last as long as possible to ensure the treatment effect.

[0003] Since the existing floating needle operation method is manual, it is difficult to accurately control the needle insertion angle and depth; at the same time, manual operation makes it difficult to control the sweeping frequency and it is impossible to make micro-adjustments to the sweeping angle, resulting in the inability to accurately control the sweeping angle; in addition, due to time and manpower constraints, the duration of the sweeping cannot be too long, so when treating some stubborn diseases, the therapeutic effect may not be ideal.

[0004] Therefore, the prior art needs to be improved. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a fully automatic floating needle insertion and sweeping treatment device and control method, aiming to solve the problems of difficulty in controlling the needle insertion angle and needle insertion depth, and inability to accurately control the sweeping frequency and sweeping angle when manually operating the floating needle.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present application discloses a fully automatic floating needle insertion and sweeping treatment device, which comprises:

[0008] A base, wherein a first slide rail is arranged on the base;

[0009] A connecting bracket, slidably disposed on the first slide rail;

[0010] A movable seat is rotatably arranged on the connecting bracket; a slide groove is arranged on the movable seat;

[0011] A floating needle assembly, slidably disposed on the slide groove;

[0012] An elastic member is located at the rear end of the slide groove; one end of the elastic member is connected to the movable seat, and the other end is abutted against the floating needle assembly;

[0013] A limiting member is connected to the movable seat and is disposed at the front end of the slide groove; the elastic member is used to push the floating needle assembly to move toward the limiting member;

[0014] The first driver is connected to the base; the first driver can be moved to the top of the movable seat and arranged opposite to the movable seat; and a clamping part is rotatably provided on the first driver, and the clamping part extends to the side of the movable seat for clamping the movable seat and driving the movable seat to swing.

[0015] The fully automatic floating needle insertion and sweeping treatment device, wherein a plurality of limiting holes are provided on the side wall of the movable seat; the floating needle assembly includes a first movable seat, which is slidably arranged on the slide groove; a groove is provided at one end of the first movable seat; the limiting member is plugged into the limiting hole and abuts against the groove wall of the groove to constrain the movement stroke of the floating needle assembly.

[0016] The fully automatic floating needle insertion and sweeping treatment device, wherein the end of the first movable seat away from the groove is provided with a first protrusion; the fully automatic floating needle insertion and sweeping treatment device also includes:

[0017] A firing button is movably arranged on the movable seat; a second protrusion is arranged at one end of the firing button close to the first protrusion; the first protrusion and the second protrusion abut against each other.

[0018] The fully automatic floating needle insertion and sweeping treatment device, wherein the front end of the first movable seat extends out of the slide slot and is provided with a connecting portion; the floating needle assembly further comprises:

[0019] A fixer is rotatably arranged on the connecting portion; the inside of the fixer is hollow to form a mounting cavity;

[0020] The needle body has one end disposed in the installation cavity and connected to the fixer; and the other end extending out of the installation cavity.

[0021] The fully automatic floating needle insertion and sweeping treatment device, wherein the end of the fixator close to the connecting part is provided with a connecting track and a positioning groove;

[0022] The floating needle assembly also includes a buckle, one end of which is nested on the needle body, and the other end is inserted on the connecting track and can rotate along the connecting track; a positioning hole is provided on the buckle at a position opposite to the positioning groove; the two ends of a connecting piece are inserted into the positioning groove and the positioning hole to constrain the rotation of the buckle.

[0023] The fully automatic floating needle insertion and sweeping treatment device, wherein the fully automatic floating needle insertion and sweeping treatment device also includes:

[0024] A slider, slidably disposed on the base;

[0025] A needle insertion assistant, one end of which is hinged to the slider and is provided with a third protrusion; a positioning portion is provided at the end of the needle insertion assistant away from the slider; the positioning portion is used to fit the floating needle assembly;

[0026] The third protrusion is inserted into the guide groove and can slide along the guide groove.

[0027] The fully automatic floating needle insertion and sweeping treatment device, wherein the front end of the connecting bracket extends out of the first slide rail to form a connecting platform; the movable seat is rotatably arranged on the connecting platform;

[0028] The fully automatic floating needle insertion and sweeping treatment device also includes a second driver; the second driver is arranged in the base and is arranged parallel to the connecting bracket; a connecting rod is provided at the front end of the second driver; the connecting rod is transmission-connected to the connecting bracket; the connecting rod is retractable.

[0029] The present application also discloses a control method for a fully automatic floating needle insertion and sweeping treatment device, which is used for any of the fully automatic floating needle insertion and sweeping treatment devices described above; wherein the control method comprises:

[0030] Determine the preset pin insertion depth and preset sweep time, frequency, and angle;

[0031] Move the base to the target position to be swept; activate the elastic member to push the front end of the floating needle assembly into the subcutaneous tissue;

[0032] Move the connecting bracket to push the floating needle assembly to continue inserting the needle toward the target position, and stop moving the connecting bracket when the insertion depth is equal to the preset needle insertion depth;

[0033] Starting the first driver to drive the floating needle assembly to sweep based on a preset sweeping frequency and angle, and recording the operation time;

[0034] When the operation time reaches the preset sweeping time, the first driver is turned off, the connecting bracket is moved in the reverse direction, and the needle withdrawal distance is recorded;

[0035] When the needle withdrawal distance is greater than the preset needle insertion depth, the movement of the connecting bracket is stopped to end the sweeping.

[0036] The control method of the fully automatic floating needle insertion and sweeping treatment device, wherein the control method of the fully automatic floating needle insertion and sweeping treatment device further includes:

[0037] Preset the sweeping time and the sweeping frequency through a sweeping controller, and record the operation time and needle withdrawal distance through the sweeping controller;

[0038] The sweeping controller records the torque generated when the floating needle assembly is inserted, and the sweeping force is preset according to the torque.

[0039] The control method of the fully automatic floating needle insertion and sweeping treatment device, wherein the moving connection bracket pushes the floating needle assembly to continue inserting the needle toward the target position specifically includes:

[0040] The sweep controller collects the angle between the floating needle assembly and the epidermis;

[0041] When the angle is greater than or equal to 10 degrees and less than or equal to 35 degrees, the floating needle assembly is pushed to continue to advance the needle toward the target position.

[0042] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0043] The present invention provides a fully automatic floating needle insertion and sweeping treatment device and control method, which adjusts the insertion depth of the floating needle assembly by setting a limiter and an elastic member; at the same time, the first driver drives the movable seat to swing, thereby driving the floating needle assembly to swing to complete the sweeping treatment, so as to avoid the influence caused by manual operation. The present invention realizes floating needle diagnosis and treatment through the driver, and can realize long-term continuous sweeping at a constant frequency to achieve a better sweeping effect, avoiding the influence of the doctor's technology, experience level and subjective factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 It is a schematic diagram of the main structure of the fully automatic floating needle insertion and sweeping treatment device of the present invention;

[0046] Figure 2 It is a schematic diagram of another state of the fully automatic floating needle insertion and sweeping treatment device of the present invention;

[0047] Figure 3 It is a schematic diagram of a partial structure of the fully automatic floating needle insertion and sweeping treatment device of the present invention;

[0048] Figure 4 It is a partial cross-sectional view of the fully automatic floating needle insertion and sweeping treatment device of the present invention;

[0049] Figure 5 It is a schematic diagram of another part of the structure of the fully automatic floating needle insertion and sweeping treatment device of the present invention;

[0050] Figure 6 It is a schematic diagram of another part of the structure of the fully automatic floating needle insertion and sweeping treatment device of the present invention;

[0051] Figure 7 It is a schematic diagram of the overall structure of the fully automatic floating needle insertion and sweeping treatment device of the present invention;

[0052] Figure 8 It is a flow chart of the steps of the control method of the fully automatic floating needle insertion and sweeping treatment device in the present invention.

[0053] Description of reference numerals: 100, base; 110, first slide rail; 200, connecting bracket; 210, connecting platform; 300, movable seat; 310, slide groove; 320, limiting hole; 400, floating needle assembly; 410, first movable seat; 411, connecting portion; 412, groove; 413, first protrusion; 420, fixer; 421, installation cavity; 422, connecting rail; 423, positioning groove; 430, needle body; 4 40. Buckle; 500. Elastic member; 600. Limiting member; 700. First driver; 710. Clamping portion; 800. Firing button; 810. Second protrusion; 910. Sliding block; 920. Needle insertion aid; 921. Third protrusion; 922. Positioning portion; 930. Guide groove; 940. Second driver; 941. Connecting rod; 950. First bracket connecting arm; 960. Second bracket connecting arm; 970. Base. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] The present application is further described in detail below in conjunction with the accompanying drawings.

[0056] The present application embodiment discloses a fully automatic floating needle insertion and sweeping treatment device, such as Figure 1 and Figure 2As shown, the fully automatic floating needle insertion and sweeping treatment device includes a base 100, a connecting bracket 200, a movable seat 300, a floating needle assembly 400, an elastic member 500, a limit member 600 and a first driver 700; a first slide rail 110 is arranged on the base 100; the connecting bracket 200 can be slidably arranged on the first slide rail 110; the movable seat 300 can be rotatably arranged on the connecting bracket 200; a slide groove 310 is arranged on the movable seat 300; the floating needle assembly 400 can be slidably arranged on the slide groove 310; the elastic member 500 is arranged on the movable seat 300, located at the rear end of the slide groove 310; one end of the elastic member 500 is connected to the movable seat 300. The first drive 700 is connected to the movable seat 300, and the other end is abutted against the floating needle assembly 400; the limiting member 600 is connected to the movable seat 300, and is arranged at the front end of the slide groove 310; the elastic member 500 is used to push the floating needle assembly 400 to move toward the limiting member 600; the first driver 700 is connected to the base 100; the first driver 700 can be moved to the top of the movable seat 300, and is arranged opposite to the movable seat 300; and a rotatable clamping part 710 is provided on the first driver 700, and the clamping part 710 extends to the side of the movable seat 300, and is used to clamp the movable seat 300 and drive the movable seat 300 to swing.

[0057] When in use, the position of the limiter 600 in the slide groove 310 is adjusted, one end of the elastic member 500 is fixedly connected to the rear end of the movable seat 300, and the other end is in contact with the floating needle assembly 400, and the elastic member 500 has elastic potential energy to set the floating needle assembly 400 toward the front end of the slide groove 310. When the elastic member 500 releases the elastic potential energy, the elastic member 500 pushes the floating needle assembly 400 to move toward the limiter 600, and the limiter 600 and the floating needle assembly 400 are in contact with each other. The floating needle assembly 400 is constrained by the limiter 600 and stops moving. At this time, the front end of the floating needle assembly 400 is inserted into the subcutaneous tissue. By moving the limiter 600 to different positions of the slide groove 310, the acupuncture depth of the floating needle assembly 400 can be controlled.

[0058] Subsequently, the connecting bracket 200 is continued to be pushed to slide toward the front end of the first slide rail 110. The movable seat 300 is arranged on the connecting bracket 200. Therefore, the movable seat 300 moves forward accordingly, driving the entire floating needle assembly 400 to enter the subcutaneous tissue and complete the needle insertion process; at the same time, the clamping part 710 arranged on the first driver 700 is moved to the top of the movable seat 300, and the clamping part 710 is clamped on the two side walls of the movable seat 300; when the first driver 700 is started, the clamping part 710 rotates, and the clamping part 710 drives the movable seat 300 to swing, thereby realizing the automatic sweeping process.

[0059] Specifically, during the floating needle treatment process, the insertion depth of the floating needle assembly 400 is determined according to the treatment site and the actual situation of the patient, the position of the limiter 600 in the slide groove 310 is adjusted according to the insertion depth, and the movable seat 300 is pushed so that the movable seat 300 compresses the elastic member 500; then, the movable seat 300 is released, and the elastic member 500 releases the elastic potential energy to push the movable seat 300 forward, driving the front end of the floating needle assembly 400 to enter the subcutaneous tissue; then, the connecting bracket 200 is pushed to slide toward the front end of the first slide rail 110, and the connecting bracket 200 drives the movable seat 300 to move, so as to continue to push the entire floating needle assembly 400 arranged on the movable seat 300 into the subcutaneous tissue, thereby completing the insertion process of the floating needle assembly 400; after the insertion is completed, the first driver 700 is moved to the top of the movable seat 300, and the two side walls of the movable seat 300 are clamped by the clamping part 710 to drive the movable seat 300 to swing, completing the sweeping process and realizing the automation of the sweeping process.

[0060] It can be seen that this embodiment flexibly and accurately controls the insertion depth of the front end of the floating needle assembly 400 through the cooperation of the elastic member 500 and the limit member 600; then the bracket 200 is slidably connected to drive the entire floating needle assembly 400 to enter the subcutaneous tissue until the target treatment position, thereby replacing the traditional handheld floating needle insertion operation method; at the same time, the first driver 700 is used to drive the movable seat 300 to swing, so as to achieve sweeping at a constant frequency, thereby improving the sweeping efficiency.

[0061] In another embodiment of the present invention, Figure 1 and Figure 3 As shown, a plurality of limiting holes 320 are provided on the front end side wall of the movable seat 300; the floating needle assembly 400 includes a first movable seat 410, and the first movable seat 410 is slidably set on the slide groove 310; a groove 412 is provided at one end of the first movable seat 410; the limiting member 600 is plugged into the limiting hole 320 and abuts against the groove wall of the groove 412 to constrain the movement stroke of the floating needle assembly 400.

[0062] When in use, the plurality of limiting holes 320 are arranged at the front end of the movable seat 300, the first movable seat 410 can be slidably set on the slide groove 310, and the front end of the first movable seat 410 is provided with a groove 412. During actual use, both sides of the limiting member 600 are inserted into the limiting holes 320 to fix the limiting member 600; at the same time, the bottom of the limiting member 600 extends into the groove 412. When the first movable seat 410 moves back and forth along the axial direction of the slide groove 310, the bottom of the limiting member 600 abuts against the inner wall of the groove 412 to limit the first movable seat 410, thereby realizing the control of the needle insertion depth.

[0063] Specifically, during the floating needle treatment process, the needle insertion depth is determined according to the treatment site, the position of the limiter 600 in the slide groove 310 is selected according to the needle insertion depth, and the two sides of the limiter 600 are inserted into the limiter hole 320; when the needle is inserted, the first movable seat 410 is pushed to move toward the rear end of the connecting bracket 200 to compress the elastic member 500. The first movable seat 410 is released, and the elastic member 500 releases elastic potential energy and pushes the first movable seat 410 to move toward the limiter 600 until the bottom of the limiter 600 abuts against the rear end groove wall of the groove 412, and the limiter 600 constrains the first movable seat 410 to continue to move toward the front end of the slide groove 310. At this time, the front end of the floating needle assembly 400 enters the subcutaneous tissue. During the actual diagnosis and treatment process, the limiting hole 320 into which the limiting member 600 is inserted is selected according to the actual situation. When the limiting member 600 is inserted into different limiting holes 320, the elastic member 500 ejects and pushes the first movable seat 410 toward the limiting member 600 at different distances, thereby achieving the control of the needle insertion depth of the floating needle assembly 400.

[0064] It can be seen that this embodiment sets a plurality of limit holes 320 and grooves 412, and cooperates with the limit member 600 to adjust the distance that the elastic member 500 can push the floating needle assembly 400 to slide toward the front end direction of the slide groove 310, thereby accurately adjusting the depth of the end of the floating needle assembly 400 entering the subcutaneous tissue, flexibly adapting to the requirements of the needle insertion depth of different diagnosis and treatment sites, and achieving better treatment effects.

[0065] In this embodiment, if Figure 3 and Figure 4 As shown, the elastic member 500 is a spring, and a fixed plate is provided at the rear end of the movable seat 300. One end of the spring is connected to the fixed plate, and the other end is in contact with the first movable seat 410. The shape of the limiting member 600 is a "XX" shape, and the horizontal axis of the limiting member 600 is plugged into the limiting hole 320, and the longitudinal axis extends into the groove 412. When the first movable seat 410 moves along the front end of the connecting bracket 200, the longitudinal axis of the limiting member 600 is in contact with the rear wall of the groove 412 to constrain the first movable seat 410 to continue to move, thereby limiting the first movable seat 410, and further controlling the insertion depth of the floating needle assembly 400.

[0066] In another embodiment of the present invention, Figure 4As shown, a first protrusion 413 is provided at one end of the first movable seat 410 away from the groove 412; the fully automatic floating needle insertion and sweeping treatment device also includes: a firing button 800, which can be movably arranged on the movable seat 300; the middle part of the firing button 800 is connected to the rear end of the movable seat 300; a second protrusion 810 is provided at one end of the firing button 800 close to the first protrusion 413, and the other end extends out of the movable seat 300 to form a key; the first protrusion 413 and the second protrusion 810 are in contact with each other.

[0067] In actual use, the first protrusion 413 and the second protrusion 810 each have one side set as an inclined surface. When the first movable seat 410 is moved, the inclined surface of the first protrusion 413 and the inclined surface of the second protrusion 810 first contact each other, and continue to push the first movable seat 410, so that the side of the first protrusion 413 away from the inclined surface abuts against the side of the second protrusion 810 away from the inclined surface. At this time, the elastic member 500 is compressed, and at the same time, the second protrusion 810 constrains the elastic member 500 to release elastic potential energy to limit the first movable seat 410 from moving toward the front end of the slide groove 310. When the key of the firing button 800 is pressed, the second protrusion 810 is lifted up and released from the abutment with the first protrusion 413. At this time, the elastic member 500 releases elastic potential energy, pushing the first movable seat 410 to move toward the limit member 600 until the inner wall of the groove 412 contacts the bottom of the limit member 600. The first protrusion 413 and the second protrusion 810 are provided to control the ejection timing of the elastic member 500, so that the needle insertion process of the floating needle assembly 400 is more convenient.

[0068] Specifically, during the floating needle treatment process, the first movable seat 410 is pushed to move toward the rear end of the connecting bracket 200 until the first protrusion 413 and the second protrusion 810 abut against each other. At this time, the elastic member 500 is compressed and has a tendency to eject forward. The needle insertion depth is determined according to the actual treatment situation, and the limiting hole 320 is selected according to the needle insertion depth, and the limiting member 600 is plugged into the limiting hole 320. Subsequently, the firing button 800 is pressed downward again, the second protrusion 810 is lifted upward, and the second protrusion 810 is separated from the first protrusion 413. The elastic member 500 releases elastic potential energy and pushes the first movable seat 410 to move toward the front end of the connecting bracket 200 until the groove wall of the groove 412 abuts against the limiting member 600. The first movable seat 410 stops moving, and at the same time, the front end of the floating needle assembly 400 enters the subcutaneous tissue.

[0069] It can be seen that by setting the first protrusion 413 and the second protrusion 810 to constrain the elastic member 500 and releasing the elastic potential energy of the elastic member 500 through the firing button 800, the needle insertion time of the front end of the floating needle assembly 400 can be controlled and the needle insertion speed is also faster.

[0070] In another embodiment of the present invention, Figure 1 and Figure 5 As shown, the front end of the first movable seat 410 extends out of the slide slot 310 and is provided with a connecting portion 411; the floating needle assembly 400 also includes a fixer 420 and a needle body 430; the first movable seat 410 is slidably set on the slide slot 310; the front end of the first movable seat 410 extends out of the slide slot 310 and is provided with a connecting portion 411; the fixer 420 is rotatably set on the connecting portion 411; the inside of the fixer 420 is hollow to form an installation cavity 421; one end of the needle body 430 is set in the installation cavity 421 and is connected to the fixer 420; the other end of the needle body 430 extends out of the installation cavity 421.

[0071] In actual use, the front end of the first movable seat 410 extends out of the slide groove 310 and is provided with a connecting part 411. One end of the fixer 420 is rotatably set on the connecting part 411, and an angle is formed between the fixer 420 and the first movable seat 410. When the front end of the needle body 430 enters the subcutaneous tissue, the angle is adjusted by rotating the fixer 420; when the angle between the first movable seat 410 and the fixer 420 is smaller, the angle between the needle body 430 and the epidermis is smaller, thereby realizing the angle adjustment between the floating needle assembly 400 and the treatment site by rotating the degree of opening and closing between the fixer 420 and the first movable seat 410.

[0072] Specifically, during the actual floating needle treatment process, the needle insertion depth is determined according to the treatment site, and the position of the limiter 600 is adjusted according to the needle insertion depth; then the elastic potential energy of the elastic member 500 is released, and the elastic member 500 pushes the first movable seat 410 to move toward the limiter 600 until the groove wall of the groove 412 abuts against the limiter 600, at which time the end of the needle body 430 enters the subcutaneous tissue; when the front end of the needle body 430 enters the subcutaneous tissue, the angle between the fixer 420 and the first movable seat 410 is adjusted, and part of the needle body 430 is inserted into the mounting cavity 421 on the fixer 420. Therefore, when the angle between the fixer 420 and the first movable seat 410 is adjusted, the angle of the needle body 430 when entering the subcutaneous tissue as a whole is adjusted accordingly, so that it can enter the treatment position at a more accurate angle and achieve better treatment effects.

[0073] In this embodiment, the fixer 420 is rotatably disposed on the connecting portion 411 of the first movable seat 410. By rotating the fixer 420, the angle of the needle body 430 as a whole is adjusted during insertion to ensure that the needle body reaches the predetermined acupuncture point or treatment area, thereby improving the treatment effect. At the same time, it effectively avoids damage to surrounding blood vessels, nerves and other important structures, thereby reducing the risk of complications.

[0074] In this embodiment, the end of the fixer 420 close to the connecting part 411 is provided with a connecting track 422 and a positioning groove 423; the floating needle assembly 400 also includes a buckle 440, one end of the buckle 440 is nested on the needle body 430, and the other end is inserted on the connecting track 422, and can rotate along the connecting track 422; a positioning hole (marked in the accompanying drawings) is provided on the buckle 440 at a position opposite to the positioning groove 423; the two ends of a connecting member are inserted into the positioning groove 423 and the positioning hole to constrain the buckle 440 to rotate.

[0075] When in use, the needle body 430 includes a soft sleeve and a needle core, and the soft sleeve wraps the needle core. One end of the buckle 440 is nested in the position of the port of the needle body 430 facing the installation cavity 421, and the other end is inserted into the connecting track 422; before inserting the needle, the two ends of a connector are respectively inserted into the positioning groove 423 and the positioning hole to lock the buckle 440 to prevent the buckle 440 from rotating by itself under the action of gravity; when the front end of the needle body 430 is pushed into the subcutaneous tissue, the buckle 440 is pushed toward the front end of the needle body to make one end of the connector disengage from the positioning hole, and then the buckle 440 is continuously pushed and rotated along the connecting track 422 to drive the soft sleeve on the 440 to continue to move forward, so that the soft sleeve wraps the needle core of the needle body 430 to prevent the needle core of the needle body 430 from damaging the tissue during the sweeping process.

[0076] Specifically, during the floating needle treatment process, after the entire needle body 430 enters the subcutaneous part of the treatment site, the buckle 440 is pushed along the connecting track 422, and the buckle 440 is rotated at the same time. At this time, the buckle 440 pushes the hose sleeve on the needle body 430 that is embedded therewith further toward the treatment site, so that the hose sleeve on the needle body 430 completely wraps the needle core of the needle body 430; then, a sweeping operation is performed to reduce the damage to the subcutaneous tissue caused by the needle core on the needle body 430 during the sweeping operation, and to avoid abnormal situations such as needle sticking, needle bending, and needle breakage; at the same time, the buckle 440 is used to push the hose sleeve of the needle body 430, so that the force applied to the hose sleeve during the advancement process is more stable, thereby improving the smoothness of the soft sleeve advancement process and reducing damage to the patient. In this embodiment, one end of the buckle 440 is interference fit with the needle body 430, further improving the stability of the buckle advancement process; at the same time, the connector adopts a positioning pin to stably lock the buckle 440 to prevent the risk of the buckle 440 sliding or moving on its own.

[0077] In another embodiment of the present invention, Figure 1 He Ru Figure 6As shown, the fully automatic floating needle insertion and sweeping treatment device also includes a slider 910, a needle insertion assistant 920 and a guide groove 930; the slider 910 can be slidably set on the base 100; one end of the needle insertion assistant 920 is hinged to the slider 910 and is provided with a third protrusion 921; the end of the needle insertion assistant 920 away from the slider 910 is provided with a positioning portion 922; the positioning portion 922 is used to fit the front end of the floating needle assembly 400; the third protrusion 921 is inserted in the guide groove 930 and can slide along the guide groove 930; the third protrusion 921 plays a limiting role on the needle insertion assistant 920, restricting the rotation of the needle insertion assistant 920.

[0078] When in use, the slider 910 is arranged on the base 100 and is arranged parallel to the first slide rail 110, and can slide back and forth along the axial direction of the base 100; one end of the needle insertion assistant 920 is hinged to the end face of the slider 910 close to the connecting bracket 200, and the other end is provided with a positioning portion 922; the guide groove 930 is arranged parallel to the first slide rail 110, is arranged in the base 100 and extends to the port of the base 100. Before inserting the needle, push the slider 910 to slide toward the front end of the base 100, and the slider 910 drives the needle insertion assistant 920 to move toward the front end of the base 100. At this time, the third protrusion 921 slides along the front end of the guide groove 930; when the third protrusion 921 slides out of the guide groove 930, the constraint on the needle insertion assistant 920 is released, and the needle insertion assistant 920 rotates so that the positioning portion 922 is attached to the front end of the needle body 430. At the same time, the outer side of the positioning portion 922 is against the treatment site to support the front end of the needle body 430 and improve the stability of the needle body 430 during rapid needle insertion.

[0079] Specifically, during the floating needle treatment process, the slider 910 is hinged to the needle insertion assistant 920 through a hinge, and a torsion spring is provided on the hinge; at the same time, a third protrusion 921 is provided at the end where the needle insertion assistant 920 and the slider 910 are hinged, and the third protrusion 921 is inserted in the guide groove 930 and can slide along the guide groove 930; the third protrusion 921 plays a positioning role for the needle insertion assistant 920. Before inserting the needle, slide the slider 910 to drive the third protrusion 921 of the needle insertion assistant 920 to slide along the guide groove 930. At this time, the needle insertion assistant 920 maintains a vertical state under the limiting action of the third protrusion 921; when the slider 910 extends out of the base 100, the third protrusion 921 slides out of the guide groove 930. At this time, the needle insertion assistant 920 rotates under the action of the torsion spring and gravity, and the needle insertion assistant 920 flips along the hinge so that the positioning portion 922 is in contact with the front end of the needle body 430 to provide support force for the needle body 430 and maintain stability during needle insertion.

[0080] In this embodiment, a needle insertion aid 920 is provided to provide stable support for the needle body 430 when the needle is inserted quickly, so that the needle insertion process is more stable and accurate; at the same time, through the cooperation of the third protrusion 921 and the guide groove 930, the needle insertion aid 920 is positioned and fixed, thereby improving the convenience of the device.

[0081] In another embodiment of the present invention, Figure 2 As shown, the front end of the connecting bracket 200 extends out of the first slide rail 110 to form a connecting platform 210; the movable seat 300 is rotatably arranged on the connecting platform 210. In actual use, the front end of the movable seat 300 is rotatably connected to the front end of the connecting platform 210, and the other parts are not connected; the bearing capacity of the connecting bracket 200 is improved, the movable seat 300 is supported more stably, and at the same time, the swing of the movable seat 300 is smoother, ensuring the smoothness of the sweeping process.

[0082] Specifically, during the actual diagnosis and treatment process, the connecting bracket 200 extends out of the first slide rail 110 and is provided with a connecting platform 210. The front end of the movable seat 300 is rotatably connected to the front end of the connecting platform 210. When the first driver 700 clamps the movable seat 300 and drives the movable seat 300 to swing left and right, the risk of collision is reduced and the swing is smoother, thereby ensuring the smoothness of the sweeping process.

[0083] In this embodiment, the fully automatic floating needle insertion and sweeping treatment device also includes a second driver 940; the second driver 940 is arranged in the base 100 and is arranged parallel to the connecting bracket 200; a connecting rod 941 is provided at the front end of the second driver 940; the connecting rod 941 is transmission-connected to the connecting bracket 200, and the connecting rod 941 is retractable.

[0084] Specifically, during the actual diagnosis and treatment process, when the front end of the floating needle assembly 400 enters the subcutaneous tissue, the second driver 940 is started, and the second driver 940 drives the connecting rod 941 to extend, and the connecting rod 941 drives the connecting bracket 200 to slide on the first slide rail 110, so as to drive the movable seat 300 to move toward the front end of the first slide rail 110, so that the entire part of the floating needle assembly 400 can accurately and smoothly reach the diagnosis and treatment position, realizing a fully automatic needle insertion process and improving the diagnosis and treatment effect.

[0085] It can be seen that this embodiment realizes the automation of the floating needle insertion process through the second driver 940, so that the floating needle enters the subcutaneous tissue at a preset angle and accurately reaches the diagnosis and treatment position, thereby improving the stability and accuracy of the needle insertion process and, at the same time, improving the efficiency of floating needle treatment.

[0086] In another embodiment of the present invention, Figure 7As shown, the fully automatic floating needle insertion and sweeping treatment device is also provided with a first support connecting arm 950, a second support connecting arm 960 and a base 970, and an adjustment joint is provided at the rear end of the base 100. When in use, one end of the first support connecting arm 950 can be rotatably arranged on the adjustment joint, and the other end is connected to the second support connecting arm 960; the end of the second support connecting arm 960 away from the first support connecting arm 950 is connected to the base 970, and the base 970 can be connected to the bed frame through a guide rail fixer to fix the floating needle insertion and sweeping treatment device as a whole, freeing the operator to hold the device, and also improving the stability of the device.

[0087] In this embodiment, the connecting end of the first bracket connecting arm 950 and the second bracket connecting arm 960 is provided with a locking structure, and the connecting end of the second bracket connecting arm 960 and the base 970 is also provided with a locking structure, and at the same time, the connecting end of the second bracket connecting arm 960 and the base 970 is rotatable. The first bracket connecting arm 950 and the second bracket connecting arm 960 cooperate with each other to achieve different distances and different angles of needle insertion states, and improve the flexibility of the floating needle insertion and sweeping treatment device.

[0088] Based on the above embodiments, the present invention also provides a control method for a fully automatic floating needle insertion and sweeping treatment device, which is used for any of the above-mentioned fully automatic floating needle insertion and sweeping treatment devices; wherein, Figure 8 As shown, the control method includes:

[0089] S100, determining a preset needle insertion depth and a preset sweeping time, frequency, and angle;

[0090] S200, moving the base to the target position to be swept; activating the elastic member to push the front end of the floating needle assembly into the subcutaneous tissue;

[0091] S300, moving the connecting bracket to push the floating needle assembly to continue inserting the needle toward the target position, and when the insertion depth is equal to the preset needle insertion depth, stopping moving the connecting bracket;

[0092] S400, starting the first driver, driving the floating needle assembly to sweep based on a preset sweep frequency and angle, and recording the operation time;

[0093] S500, when the operation time reaches the preset sweeping time, the first driver is turned off, the connecting bracket is moved in the reverse direction, and the needle withdrawal distance is recorded;

[0094] S600: When the needle withdrawal distance is greater than the preset needle insertion depth, stop moving the connecting bracket and end the sweeping.

[0095] In the actual diagnosis and treatment process, specifically, first, determine the needle insertion depth, sweeping time, sweeping frequency and sweeping angle according to different diagnosis and treatment needs, and adjust the position of the limit member 600 in the slide groove 310 according to the needle insertion depth; start the elastic member 500, and use the elastic potential energy of the elastic member 500 to push the front end of the floating needle assembly 400 to quickly enter the subcutaneous tissue, and then push the connecting bracket 200 to slide toward the front end of the first slide rail 110, and the connecting bracket 200 drives the entire floating needle assembly 400 to continue to insert the needle toward the target position of diagnosis and treatment; when the insertion depth of the floating needle assembly 400 is equal to the preset needle insertion depth, stop moving the connecting bracket 200, and at this time, the floating needle assembly 400 stops the insertion process.

[0096] Subsequently, the first driver 700 is moved to a relative position above the movable seat 300, and the clamping part 710 provided on the first driver 700 clamps the two sides of the movable seat 300. The first driver 700 drives the movable seat 300 to swing based on the preset sweeping frequency, and the floating needle assembly 400 sweeps at the preset sweeping frequency, and at the same time, records the sweeping time; when the sweeping time reaches the preset sweeping time, the first driver 700 is turned off, and the connecting bracket 200 is pushed to slide toward the rear end of the first slide rail 110, driving the floating needle assembly 400 to leave the diagnosis and treatment position, and recording the needle withdrawal distance of the floating needle assembly 400; when the needle withdrawal distance is greater than the preset needle insertion depth, stop moving the connecting bracket 200 to end the sweeping.

[0097] It can be seen that this embodiment sets a limit member 600 to restrict the ejection distance of the elastic member 500, thereby adjusting the needle insertion depth of the front end of the floating needle assembly 400 pushed by the elastic member 500; at the same time, the first driver 700 is used to drive the movable seat 300 to swing left and right, so that the floating needle assembly is swept at a specific frequency, thereby avoiding the floating needle treatment process from being affected by the doctor's technology, experience level and subjective factors, and solving the defects of traditional floating needle therapy.

[0098] In this embodiment, a sweeping controller is used to preset the sweeping time, the preset sweeping frequency and the sweeping angle; and the sweeping controller is used to record the sweeping time and the needle withdrawal distance of the floating needle assembly 400. In the actual diagnosis and treatment process, the preset sweeping time, sweeping frequency and sweeping angle are input into the sweeping controller, and the sweeping frequency and sweeping angle are recorded and displayed in real time during the sweeping process, so as to adjust the sweeping data according to different diagnosis and treatment needs during the actual floating needle diagnosis and treatment process, improve the flexibility of floating needle diagnosis and treatment, and further improve the diagnosis and treatment effect. In this embodiment, the sweeping controller can also record the medical data of different patients. When the patient is seeing a doctor, the patient's past medical data is retrieved, and the sweeping values ​​are preset for different patients in the sweeping controller to achieve better diagnosis and treatment effects.

[0099] In another embodiment of the present invention, the sweeping controller can collect and display the torque applied to the floating needle assembly 400 during the needle insertion process and the sweeping process, and adjust different sweeping forces in the sweeping controller according to the collected torque data; the sweeping controller can output the collected data for clinical physicians to perform data analysis to achieve better therapeutic effects.

[0100] In this embodiment, the mobile connecting bracket 200 pushes the floating needle assembly 400 to continue to advance the needle toward the target position, specifically including: the sweeping controller collects the angle between the floating needle assembly 400 and the epidermis; when the angle is greater than or equal to 10 degrees and less than or equal to 35 degrees, the floating needle assembly is pushed to continue to advance the needle toward the target position.

[0101] During the actual diagnosis and treatment process, after the floating needle assembly 400 enters the subcutaneous layer, the sweeping controller collects the angle between the floating needle assembly 400 and the epidermal layer, sets the angle on the sweeping controller, and adjusts the angle of the floating needle assembly 400 to the epidermal layer so that the angle is greater than or equal to 15 degrees and less than or equal to 35 degrees; after adjusting the posture of the floating needle assembly 400, the entire floating needle assembly 400 is pushed into the subcutaneous layer to ensure that the floating needle assembly 400 reaches the target position more accurately and achieves better diagnosis and treatment effects.

[0102] In summary, the present application discloses a fully automatic floating needle insertion and sweeping treatment device and a control method, wherein the fully automatic floating needle insertion and sweeping treatment device comprises a base, a connecting bracket, a movable seat, a floating needle assembly, an elastic member, a limiting member and a first driver; a first slide rail is arranged on the base; the connecting bracket can be slidably arranged on the first slide rail; the movable seat can be rotatably arranged on the connecting bracket; a slide groove is arranged on the movable seat; the floating needle assembly can be slidably arranged on the slide groove; the elastic member is located at the rear end of the slide groove; one end of the elastic member is connected to the movable seat, and the other end is abutted against the floating needle assembly; the limiting member is connected to the movable seat and is arranged at the front end of the slide groove; the elastic member is used to push the floating needle assembly to move toward the limiting member; the first driver is connected to the base; the first driver can be moved to the top of the movable seat and is arranged opposite to the movable seat; and a clamping part is rotatably arranged on the first driver, and the clamping part extends to the side of the movable seat, which is used to clamp the movable seat and drive the movable seat to swing. The present invention sets a limiter to restrict the ejection distance of the elastic member, thereby adjusting the insertion depth of the floating needle assembly pushed by the elastic member; at the same time, the first driver is used to drive the floating needle assembly to swing, so as to achieve sweeping at a specific frequency, improve the sweeping effect, avoid the floating needle treatment process being affected by the physician's skills, experience level and subjective factors, and solve the defects of traditional floating needle therapy.

[0103] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0104] It should be noted that the present invention takes the fully automatic floating needle insertion and sweeping treatment device as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to the fully automatic floating needle insertion and sweeping treatment device, and can also be applied to the production and use of other similar workpieces.

[0105] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0106] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A fully automatic floating needle insertion and sweeping treatment device, characterized in that: include: A base, wherein a first slide rail is arranged on the base; A connecting bracket, slidably disposed on the first slide rail; A movable seat is rotatably arranged on the connecting bracket; a slide groove is arranged on the movable seat; A floating needle assembly, slidably disposed on the slide groove; An elastic member is located at the rear end of the slide groove; one end of the elastic member is connected to the movable seat, and the other end is abutted against the floating needle assembly; A limiting member is connected to the movable seat and is disposed at the front end of the slide groove; the elastic member is used to push the floating needle assembly to move toward the limiting member; A first driver connected to the base; The first driver can be moved to the top of the movable seat and arranged opposite to the movable seat; and a clamping part is rotatably provided on the first driver, and the clamping part extends to the side of the movable seat for clamping the movable seat and driving the movable seat to swing.

2. The fully automatic floating needle insertion and sweeping treatment device according to claim 1 is characterized in that: A plurality of limiting holes are provided on the side wall of the movable seat; the floating needle assembly includes a first movable seat, which is slidably arranged on the slide groove; a groove is provided at one end of the first movable seat; the limiting member is plugged into the limiting hole and abuts against the groove wall of the groove to constrain the movement stroke of the floating needle assembly.

3. The fully automatic floating needle insertion and sweeping treatment device according to claim 2 is characterized in that: The first movable seat is provided with a first protrusion at one end away from the groove; the fully automatic floating needle insertion and sweeping treatment device also includes: A firing button is movably arranged on the movable seat; a second protrusion is arranged at one end of the firing button close to the first protrusion; the first protrusion and the second protrusion abut against each other.

4. The fully automatic floating needle insertion and sweeping treatment device according to claim 2 is characterized in that: The front end of the first movable seat extends out of the slide slot and is provided with a connecting portion; the floating needle assembly also includes: A fixer is rotatably arranged on the connecting portion; the inside of the fixer is hollow to form a mounting cavity; The needle body has one end disposed in the installation cavity and connected to the fixer; and the other end extending out of the installation cavity.

5. The fully automatic floating needle insertion and sweeping treatment device according to claim 4 is characterized in that: One end of the fixer close to the connecting portion is provided with a connecting track and a positioning groove; The floating needle assembly also includes a buckle, one end of which is nested on the needle body, and the other end is inserted on the connecting track and can rotate along the connecting track; a positioning hole is provided on the buckle at a position opposite to the positioning groove; the two ends of a connecting piece are inserted into the positioning groove and the positioning hole to constrain the rotation of the buckle.

6. The fully automatic floating needle insertion and sweeping treatment device according to claim 1 is characterized in that: The fully automatic floating needle insertion and sweeping treatment device also includes: A slider, slidably disposed on the base; A needle insertion assistant, one end of which is hinged to the slider and is provided with a third protrusion; a positioning portion is provided at the end of the needle insertion assistant away from the slider; the positioning portion is used to fit the floating needle assembly; The third protrusion is inserted into the guide groove and can slide along the guide groove.

7. The fully automatic floating needle insertion and sweeping treatment device according to claim 1 is characterized in that: The front end of the connecting bracket extends out of the first slide rail to form a connecting platform; the movable seat is rotatably arranged on the connecting platform; The fully automatic floating needle insertion and sweeping treatment device also includes a second driver; the second driver is arranged in the base and is arranged parallel to the connecting bracket; a connecting rod is provided at the front end of the second driver; the connecting rod is transmission-connected to the connecting bracket; the connecting rod is retractable.

8. A control method for a fully automatic floating needle insertion and sweeping treatment device, used for the fully automatic floating needle insertion and sweeping treatment device according to any one of claims 1 to 7; characterized in that: The control method comprises: Determine the preset pin insertion depth and preset sweep time, frequency, and angle; Move the base to the target position to be swept; activate the elastic member to push the front end of the floating needle assembly into the subcutaneous tissue; Move the connecting bracket to push the floating needle assembly to continue inserting the needle toward the target position, and stop moving the connecting bracket when the insertion depth is equal to the preset needle insertion depth; Starting the first driver to drive the floating needle assembly to sweep based on a preset sweeping frequency and angle, and recording the operation time; When the operation time reaches the preset sweeping time, the first driver is turned off, the connecting bracket is moved in the reverse direction, and the needle withdrawal distance is recorded; When the needle withdrawal distance is greater than the preset needle insertion depth, the movement of the connecting bracket is stopped to end the sweeping.

9. The control method of the fully automatic floating needle insertion and sweeping treatment device according to claim 8 is characterized in that: The control method of the fully automatic floating needle insertion and sweeping treatment device also includes: Preset the sweeping time and the sweeping frequency through a sweeping controller, and record the operation time and needle withdrawal distance through the sweeping controller; The sweeping controller records the torque generated when the floating needle assembly is inserted, and the sweeping force is preset according to the torque.

10. The control method of the fully automatic floating needle insertion and sweeping treatment device according to claim 9 is characterized in that: The moving connecting bracket pushes the floating needle assembly to continue to move the needle toward the target position, specifically comprising: The sweep controller collects the angle between the floating needle assembly and the epidermis; When the angle is greater than or equal to 10 degrees and less than or equal to 35 degrees, the floating needle assembly is pushed to continue to advance the needle toward the target position.

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