Acupuncture point acupuncture manipulation auxiliary training system special for bone fracture rehabilitation

Abstract

The invention relates to the technical field of medical teaching aids, and provides an acupoint acupuncture manipulation auxiliary training system special for bone fracture rehabilitation, which comprises the following steps: acquiring acupuncture depths and change angles of a plurality of detection time periods under multiple acupuncture; analyzing the variation difference relationship of the acupuncture depths of adjacent detection time periods, and dividing a plurality of segmentation time periods; based on the variation trend and the variation amplitude of the acupuncture depth in each segmentation time period, quantifying the force application unbalance degree of each acupuncture; analyzing the change relation of the change angle along with the change of the detection time period when the needle is inserted and after the needle is stopped in the needling process, and determining the out-of-control degree of the angle of each needling; in combination with the force application unbalance degree and the needling depth change difference between needle insertion starting and needle insertion stopping in the needling process, the mold deformation degree of each time of needling is obtained; and the suggested needle application depth of subsequent needling is determined, and auxiliary prompting is carried out. The invention aims to solve the problem that the non-uniform mold material affects the judgment of the uniformity of needle applying force by students.

Description

Technical Field

[0001] The invention relates to the technical field of medical teaching tools, and in particular to an acupuncture manipulation auxiliary training system specially used for bone injury rehabilitation. Background Art

[0002] The surface of the acupuncture mold is soft, simulating the texture of human skin. The human acupuncture points are accurately marked on the mold, which can help practitioners become familiar with the location of acupuncture points. When practitioners are performing acupuncture, the elasticity of the silicone can simulate the resistance of the skin and muscles to a certain extent, and is used to practice basic techniques such as lifting, inserting, and twisting. By repeatedly operating on different acupuncture points, one can feel the depth and strength of the needle, experience the impact of the amplitude and frequency of lifting and inserting on the needle sensation, and practice controlling the twisting angle and speed during acupuncture.

[0003] In the prior art, during the acupuncture practice of students, an acupuncture training needle is proposed in reference to patent CN118986732B, an acupuncture depth sensor, an acupuncture posture detection system and an acupuncture teaching tool, wherein the angle detection module includes a gyroscope sensor capable of monitoring the angle during the acupuncture process; whereas the traditional method judges the accuracy of the student's acupuncture operation by the change in the gyroscope angle and the uniform change in the acupuncture depth, without taking into account that the unevenness of the mold material may cause problems in the judgment of the uniformity of the student's force application, that is, the material in the mold will change with the change in the acupuncture depth, thereby affecting the student's judgment of the force applied during the acupuncture process. Summary of the invention

[0004] The present invention provides an acupuncture manipulation auxiliary training system specifically for bone injury rehabilitation to solve the problem that the existing uneven mold material affects the judgment of students on the uniformity of acupuncture force. The technical solution adopted is as follows: The present invention proposes an acupuncture manipulation auxiliary training system specifically for bone injury rehabilitation, the system comprising: Acupuncture data collection module, used to collect acupuncture depth and change angle of several detection periods under multiple acupuncture treatments during acupuncture training; The acupuncture process analysis module is used to analyze the change difference relationship of the acupuncture depth in adjacent detection periods, determine the sudden change degree of the needle tip material density in each detection period, and divide it into several segmented periods based on this; based on the change trend and change amplitude of the acupuncture depth in each segmented period, quantify the degree of force imbalance of each acupuncture; Analyze the relationship between the change in angle during the needling process and after the needling stops and the change in the detection period to determine the degree of angle loss at each needling; combine the degree of force imbalance and the difference in the change in needling depth between the start and stop of needling during the needling process to obtain the degree of mold deformation at each needling; The acupuncture result feedback module is used to determine the recommended needling depth for subsequent acupuncture and provide auxiliary prompts based on the degree of mold deformation and the change in needling depth.

[0005] Optionally, the analysis of the relationship between the changes in the acupuncture depths of adjacent detection periods to determine the sudden change in the density of the needle tip material in each detection period includes the following specific methods: A rectangular coordinate system is constructed with the horizontal axis representing the detection period and the vertical axis representing the acupuncture depth, and the acupuncture depth of each detection period of each acupuncture is mapped to obtain a number of data points, which are then connected to obtain a curve of acupuncture depth variation of each acupuncture; Obtaining a neighboring analysis range of any detection period, performing straight line fitting on the data points of each detection period in the neighboring analysis range of the detection period, obtaining a root mean square error and a fitting slope of the fitting line, taking the root mean square error as the neighboring error of the detection period, and taking the absolute value of the fitting slope as the degree of neighboring change of the detection period; Based on the proximity error and the proximity change degree, combined with the deviation of the acupuncture depth in the detection period relative to the mean acupuncture depth of all detection periods in the acupuncture, the needle tip material mutation degree in the detection period is obtained, and the needle tip material mutation degree is positively correlated with the deviation.

[0006] Optionally, the dividing into a number of segmented time periods includes a specific method of: For The needle tip material density mutation degree of all detection periods in the first acupuncture is normalized to obtain the needle tip material mutation factor of each detection period; if the needle tip material mutation factor is greater than the mutation threshold, the corresponding detection period is taken as the first Acupuncture a segmentation point, and obtain several segmentation points; The split point The continuous detection period of acupuncture is divided into several segmented periods.

[0007] Optionally, the degree of force imbalance during each acupuncture session may be obtained by: For The acupuncture depth change curve of the first acupuncture was derived to obtain several extreme points. The first acupuncture Force imbalance factor for each segmentation period The calculation method is: in, Indicates The first acupuncture The number of detection periods in the split period, Indicates The first acupuncture The number of extreme points in the split period, Indicates The first acupuncture In the split period The acupuncture depth of the extreme point is The absolute value of the difference in acupuncture depth at the extreme points; The first The average of the force imbalance factors of all the segmented periods of acupuncture was taken as the The degree of force imbalance during acupuncture.

[0008] Optionally, the analysis of the relationship between the change in angle during acupuncture and after the needling stops and the change in the detection period to determine the degree of loss of control of the angle of each acupuncture includes the following specific methods: Analyze the changing trend and amplitude of the angle change after the needle insertion is stopped during acupuncture, and determine the vibration of the acupuncture needle after the needle insertion is stopped during each acupuncture. According to the maximum value of the change angle during the acupuncture process, and the time distance between the corresponding detection period and the stop of the acupuncture, the interference of the self-shaking situation is eliminated to obtain the degree of angle out of control of each acupuncture.

[0009] Optionally, the specific method of determining the vibration of the acupuncture needle after the needle insertion is stopped during each acupuncture session includes: Construct a coordinate system with the horizontal axis as the detection period and the vertical axis as the change angle. The angle changes of each detection period during the acupuncture insertion and after the needling is stopped are mapped to the coordinate system to obtain a number of coordinate points, and the corresponding coordinate points during the needling are connected, and the corresponding coordinate points after the needling is stopped are connected to obtain the angle change curves during the needling and after the needling is stopped; The angle change curve after the needle insertion is stopped is derived to obtain several extreme points. Based on the distribution of the extreme points in the angle change curve after the needle insertion is stopped and the corresponding change angles, the force imbalance factor of the segmented time period is calculated to obtain the first The vibration of the acupuncture needle after the insertion is stopped.

[0010] Optionally, the specific method of obtaining the degree of angle out of control of each acupuncture treatment includes: Get the deadline During the first acupuncture, the maximum value of the change angle during each previous acupuncture insertion and the self-jitter of the acupuncture needle after the acupuncture insertion was stopped were normalized, and the result was used as the self-jitter degree of the acupuncture needle after the acupuncture insertion was stopped each time; and the maximum value of the maximum value of the change angle during all the acupuncture insertions was used as the end point of the first acupuncture. The maximum value of the needle vibration angle during the first acupuncture; No. The degree of loss of control of the angle of acupuncture The calculation method is: in, Indicates that the end The maximum value of the needle vibration angle during the first acupuncture. Indicates The maximum change angle during the second needle insertion, Indicates When the needle is stopped after the first acupuncture, Indicates The maximum value of the change angle during the second needle insertion corresponds to the start time of the detection period. Indicates The degree of vibration of the acupuncture needle after the needle insertion is stopped.

[0011] Optionally, the method of obtaining the degree of mold deformation for each needling comprises: For The mean acupuncture depth of the comparison range number detection period before the needling and the mean acupuncture depth of the comparison range number detection period before the needling was stopped were obtained, and they were recorded as The change in the starting depth and the ending depth of each acupuncture session; The first The product of the force imbalance degree and the angle uncontrollable degree of the acupuncture is taken as the The unreasonable coefficient of the first acupuncture operation; combined with the degree of vibration of the acupuncture needle after the needle insertion is stopped, the first The degree of mold deformation during the first needling.

[0012] Optionally, the obtained The degree of mold deformation of the primary needling includes the following specific methods: Based on the absolute value of the difference between the starting depth change and the ending depth change, combined with the unreasonable operation coefficient and the The product of the vibration degree of the acupuncture needle after the needle insertion is stopped is obtained. The degree of mold deformation after acupuncture is positively correlated with the absolute value of the difference and the product.

[0013] Optionally, the method of determining the recommended needling depth for subsequent needling and providing auxiliary prompts based on the degree of mold deformation and the change in needling depth includes the following specific methods: For the acupuncture process at the current moment, record it as the current acupuncture, obtain the degree of mold deformation of the current acupuncture, and normalize it to obtain the mold deformation parameters of the current acupuncture up to the current moment; If the mold deformation parameter is less than the deformation threshold, the student continues to insert the needle for acupuncture training; If the mold deformation parameter is greater than or equal to the deformation threshold, the student is prompted to temporarily stop inserting the needle; the average of the acupuncture depths of all detection periods before the current acupuncture is obtained as the recommended depth reference value as of the current moment; the difference obtained by subtracting the mold deformation parameter from 1 is multiplied by the recommended depth reference value as the recommended depth at the current moment.

[0014] The beneficial effects of the present invention are as follows: since the density of the mold material will change, the resistance encountered by students during acupuncture training will change, and the detection period of sudden change in acupuncture depth is obtained by analysis, and a number of segmented periods are obtained; the change trend and change amplitude of the acupuncture depth in the segmented period are analyzed, and the mold material density in the segmented period is similar, while the more frequent the change trend of the acupuncture depth is modified and the larger the change amplitude is, the greater the fluctuation of the student's force change and the more uneven the force is, so as to quantify the degree of force imbalance; by analyzing the fluctuation of the change angle after the needle is stopped during the acupuncture process, the self-jitter of the acupuncture needle is quantified to avoid its interference with the angle control judgment analysis during the student's operation, and based on the change angle during the needle insertion, the degree of angle loss of the student's needle insertion is obtained, and the unreasonable situation of the student's operation is quantified in combination with the degree of force imbalance, and the deformation degree of the mold is determined to avoid damage to the mold during the acupuncture training process; by visually displaying the parameters of the student's acupuncture training process and providing suggestions and reminders during the operation, auxiliary training of acupuncture techniques is achieved, while ensuring that the mold will not be damaged, thereby improving the accuracy and efficiency of the acupuncture training process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 A structural block diagram of an acupuncture manipulation auxiliary training system specifically used for bone injury rehabilitation provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the external structure of the acupuncture depth sensor; Figure 3 This is a schematic diagram of the internal structure of the acupuncture depth sensor; Figure 4is a schematic diagram of the electrode assembly structure; Figure 5 is a side view of the electrode assembly; Figure 6 This is a schematic diagram of the needle structure for acupuncture training.

[0017] In the figure: 1 is the support body of the acupuncture depth sensor, 2 is the electrode assembly inside the acupuncture depth sensor; 3 is the encoding circuit board; 21 is the flexible conductive layer in the electrode assembly, 22 is the conductive frame layer sandwiched on both sides of the flexible conductive layer 21; 5 is the acupuncture training needle, 51 is the needle body of the acupuncture training needle, and 52 is the angle detection module on the top of the acupuncture training needle. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1 , which shows a structural block diagram of an acupuncture manipulation auxiliary training system dedicated to bone injury rehabilitation provided by an embodiment of the present invention, the system comprising: Acupuncture data collection module 101: collects acupuncture depth and change angle of acupuncture in several detection periods during acupuncture training.

[0020] The purpose of this embodiment is to connect the controller and the alarm system through the acupuncture depth sensor and the gyroscope sensor arranged on the acupuncture training needle during the students' acupuncture training, so as to remind the students of the needle insertion status in real time and give corresponding auxiliary prompts for the needle insertion depth, so as to avoid the problem of inaccurate force judgment of students caused by uneven mold materials, and realize auxiliary training of students' acupuncture. First, it is necessary to continuously monitor the acupuncture depth and change angle under multiple acupuncture during the students' acupuncture training.

[0021] Specifically, Figure 2 and Figure 3 As shown, it shows a schematic diagram of the internal and external structure of the acupuncture depth sensor, which includes a support body 1 and a plurality of layered electrode assemblies 2 arranged in the support body 1; the support body 1 is generally cylindrical, with a receiving space inside, and the support body 1 has an opening at one end for detecting the acupuncture depth, for the needle to enter; a plurality of electrode assemblies 2 are arranged at intervals in the receiving space of the support body 1. Each electrode assembly 2 is electrically connected to the encoding circuit board 3, causing at least one electrical parameter of the encoding circuit board 3 to change accordingly, which is then reflected by the detection end.

[0022] Further, such as Figure 4 and Figure 5 As shown, it shows a schematic diagram of the structure of the electrode assembly, each electrode assembly 2 includes a flexible conductive layer 21 and a conductive frame layer 22 sandwiched on both sides of the flexible conductive layer 21; the electrode assembly 2 is connected to the detection circuit, when a conductive needle, such as an acupuncture needle, is inserted into the support body 1 and electrically contacts the electrode assembly 2, the electrical connection state of the electrode assembly 2 within the acupuncture depth range will be changed, and the conductive needles connected between the electrode assemblies 2 will form a new conductive path; by using the change in the detection circuit as a reference for depth judgment, the acupuncture depth can be judged by comparing with the pre-data during actual acupuncture.

[0023] Further, such as Figure 6 As shown, it shows a schematic diagram of the structure of an acupuncture training needle. The acupuncture training needle 5 includes a needle body 51 and an angle detection module 52 arranged on the top of the needle body 51. The angle detection module 52 includes a gyroscope sensor, a power supply, a wireless charging receiving unit and a wireless transmission unit; the gyroscope sensor monitors the orientation angle data, the power supply supplies power to the gyroscope sensor and the wireless transmission unit, the wireless charging receiving unit receives energy from an external wireless charging transmitting unit to charge the power supply, and the wireless transmission unit outputs the orientation angle data monitored by the gyroscope sensor; at the same time, the embedded part of the needle body is the acupuncture depth sensor, which is used to monitor the acupuncture depth of the acupuncture training needle 5.

[0024] Furthermore, the acupuncture training needle as a whole refers to the contents of acupuncture depth sensor, acupuncture posture detection system and acupuncture teaching aids in patent CN118986732B. The controller and the alarm system are connected through the acupuncture training needle. The alarm system includes a display screen and a sound system for prompting students' acupuncture operation status. During an acupuncture training process, students need to perform multiple acupunctures, that is, multiple needle insertion and stop operations. Based on the acupuncture depth sensor and the gyroscope sensor, with a collection frequency of 1ms, the acupuncture depth and the change angle that have changed in the past 1ms are collected respectively, then each 1ms is a detection period, and each detection period corresponds to an acupuncture depth and a change angle, wherein the change angle is the angular displacement of the angle of the acupuncture needle relative to the needle insertion angle after every 1ms.

[0025] Acupuncture process analysis module 102: (1) Analyze the relationship between the changes in acupuncture depth in adjacent detection periods, determine the sudden change in needle tip material density in each detection period, and divide the period into several segments based on this; quantify the degree of force imbalance during each acupuncture session based on the change trend and amplitude of the acupuncture depth in each segment.

[0026] It should be noted that needle insertion is the key starting step of acupuncture operation. When inserting the needle, the doctor is required to use appropriate finger force and apply force evenly through the needle-holding fingers to make the needle penetrate the skin quickly and smoothly. If the force is not applied evenly, the needle may deflect, which will not only increase the patient's pain, but also may affect the accuracy of acupuncture and subsequent treatment effects. For example, when using the one-handed needle insertion method, the thumb and index finger hold the needle handle, and the middle finger presses against the lower end of the needle body. Apply force steadily and evenly to make the needle penetrate the skin vertically. It is necessary to monitor the changes in the acupuncture depth through the acupuncture depth sensor, analyze the uniformity of the changes in the depth of the acupuncture needle during the continuous detection period during a single needle insertion, and quantify the uniformity of the students' acupuncture force.

[0027] It should be further explained that the flexible conductive layer is an elastic foamed composite material layer, including a foamed material matrix and a conductive embedding body distributed in the foamed material matrix, and in order to simulate actual human tissue, different material densities are set at different positions of the flexible conductive layer, resulting in different resistances on the needle tip when passing through different areas of the flexible conductive layer; therefore, when students insert the needle tip into areas of different densities with the same force, the different resistances will lead to different displacement lengths, which will interfere with the judgment of the students' force application based on the depth of acupuncture; students' grasp of the force when applying acupuncture will be within a smaller fluctuation range, and the change in force may be an unconscious progressive change, which is manifested as a smaller fluctuation range in depth change, and the depth change is more progressive; and the material areas of different densities appear more suddenly, and the depth performance will show a more sudden change during acupuncture, so that the continuous detection period during acupuncture is segmented, and then the uniformity of the acupuncture force is quantified based on the divided time periods.

[0028] Preferably, in one embodiment of the present invention, the relationship between the changes in the acupuncture depths of adjacent detection periods is analyzed to determine the sudden change in the density of the needle tip material in each detection period, and the acupuncture period is divided into several segmentation periods based on the sudden change. The specific method includes: For any acupuncture, a rectangular coordinate system is constructed with the detection period as the horizontal coordinate and the acupuncture depth as the vertical coordinate, and the acupuncture depth of each detection period is mapped to the coordinate system to obtain several data points, which are connected to obtain the acupuncture depth change curve of the acupuncture.

[0029] Furthermore, a proximity range is preset. In this embodiment, the proximity range is described by 5. Any detection period and the 5 detection periods before and after it constitute the proximity analysis range of the detection period. It is particularly noted that if the detection period is insufficient to constitute the proximity analysis range because the detection period is close to the start or stop of the acupuncture, the proximity analysis range is constructed with the actual existing detection period; for the data points of each detection period in the proximity analysis range of the detection period, a straight line is fitted by the least squares method to obtain the root mean square error and the fitting slope of the fitting line, the root mean square error is used as the proximity error of the detection period, and the absolute value of the fitting slope is used as the proximity change degree of the detection period.

[0030] Further, the Acupuncture No. For example, the density mutation of the needle tip material is The calculation method is: in, Indicates Acupuncture No. The neighboring error of the detection period is Indicates Acupuncture No. The degree of adjacent changes in the detection period, Indicates Acupuncture No. The acupuncture depth of the first test period is The difference between the mean values ​​of the acupuncture depths of all detection periods in acupuncture, represents the absolute value function, Indicates The acupuncture depth at each testing period during the first acupuncture The maximum absolute value of the difference between the mean values ​​of the acupuncture depths of all detection periods in a single acupuncture.

[0031] It should be noted that due to material mutation, the change in needle penetration depth will seriously fail to conform to the linear change relationship, resulting in a large fitting error in the adjacent analysis range. At the same time, a large trend of needle penetration depth change will appear, and the absolute value of the fitting slope is a large increasing trend and a large decreasing trend. At the same time, the greater the deviation of the needle penetration depth in the corresponding detection period itself compared to the mean needle penetration depth, the more likely it is that the needle penetration depth change is uncontrolled due to the resistance change caused by material mutation, and this is used to quantify the mutation degree of the needle tip material density.

[0032] Furthermore, for The needle tip material density mutation degree of all detection periods in the first acupuncture is linearly normalized to obtain the needle tip material mutation factor of each detection period; a mutation threshold is preset, and the mutation threshold in this embodiment is described as 0.7. If the needle tip material mutation factor is greater than the mutation threshold, the corresponding detection period is taken as the first detection period. Acupuncture is performed on one segmentation point to obtain several segmentation points.

[0033] Further, the segmentation point is divided into The continuous detection period of acupuncture is divided into several segmentation periods, and the segmentation period does not contain any segmentation point.

[0034] Preferably, in one embodiment of the present invention, based on the change trend and change amplitude of the acupuncture depth in each segmented time period, the degree of force imbalance of each acupuncture is quantified, including the specific method of: It should be noted that within a segmentation period, the more extreme points the change in the acupuncture depth presents, it indicates that the force presents more different changing trends under similar material density. At the same time, the greater the difference in acupuncture depth between the extreme points, the greater the force change amplitude in the same force change trend; the more changing trends and the greater the change amplitude, the more uneven the force is during the segmentation period, and the greater the degree of force imbalance.

[0035] Specifically, For example, the acupuncture depth variation curve is derived to obtain several extreme points. The force imbalance factor of the split period The calculation method is: in, Indicates The first acupuncture The number of detection periods in the split period, Indicates The first acupuncture The number of extreme points in the split period, Indicates The first acupuncture In the split period The acupuncture depth of the extreme point is The absolute value of the difference in acupuncture depth at the extreme points.

[0036] It should be noted that the greater the proportion of extreme points in the number of detection periods in the divided period, the more frequent the trend changes, and the more uneven the force is within the divided period; and the adjacent extreme points are a changing process under the same changing trend. The greater the difference in acupuncture depth between adjacent extreme points, the greater the amplitude of the change process, the greater the degree of change in the force, and the more fluctuating the force.

[0037] Furthermore, The average of the force imbalance factors of all the segmented periods of acupuncture was taken as the The degree of force imbalance during acupuncture.

[0038] At this point, since the density of the mold material will change, the resistance encountered by students during acupuncture training will change. This analysis is used to obtain the detection period of sudden change in acupuncture depth, and divided into several segmented periods; the change trend and amplitude of acupuncture depth in the segmented periods are analyzed. The density of the mold material in the segmented periods is similar, and the more frequent the modification of the acupuncture depth change trend and the larger the amplitude of the change, the greater the fluctuation of the student's force application and the more uneven the force application, so as to quantify the degree of force imbalance.

[0039] (2) Analyze the relationship between the change in angle during the needling process and after the needling stops and the change in the detection period to determine the degree of angle loss during each needling; combine the degree of force imbalance and the difference in the change in needling depth between the start and stop of needling during the needling process to obtain the degree of mold deformation during each needling.

[0040] It should be noted that the direction determined when inserting the needle should be kept as stable as possible in subsequent operations. In order to train students to have a stable needle insertion angle, it is necessary to evaluate the angle operation of students each time they insert the needle so that they can make their own adjustments and improvements. However, considering that students' inaccurate acupuncture or the reaction of the mold to the acupuncture needle will cause the acupuncture needle's own vibration, errors will occur in the judgment of students' control ability when inserting the acupuncture needle. Therefore, it is necessary to quantify the jitter of the acupuncture needle itself based on the change in angle of the acupuncture needle after the insertion of the needle is stopped, so as to eliminate the interference with the angle change during the students' acupuncture process.

[0041] Preferably, in one embodiment of the present invention, the relationship between the change in angle during acupuncture and after the needling stops and the change in the detection period is analyzed to determine the degree of the angle out of control for each acupuncture, including the specific steps of: Analyze the changing trend and amplitude of the angle change after the needle insertion is stopped during acupuncture, and determine the vibration of the acupuncture needle after the needle insertion is stopped during each acupuncture. According to the maximum value of the change angle during the acupuncture process, and the time distance between the corresponding detection period and the stop of the acupuncture, the interference of the self-shaking situation is eliminated to obtain the degree of angle out of control of each acupuncture.

[0042] As an example, the changing trend and amplitude of the angle change after the needle insertion is stopped during acupuncture are analyzed to determine the vibration of the acupuncture needle after the needle insertion is stopped during each acupuncture. The specific methods include: Specifically, Taking the acupuncture as an example, the change angle of each detection period when the needle is inserted in this acupuncture, as well as the change angle of each detection period after the needle is stopped, are obtained; a coordinate system is constructed with the detection period as the horizontal coordinate and the change angle as the vertical coordinate, and the change angle of each detection period when the needle is inserted and after the needle is stopped is mapped to the coordinate system to obtain a number of coordinate points, and the corresponding coordinate points when the needle is inserted and the corresponding coordinate points after the needle is stopped are connected respectively, so that the angle change curves when the needle is inserted and after the needle is stopped are obtained.

[0043] Furthermore, the angle change curve after the needle is stopped is derived to obtain several extreme points, then The vibration of the acupuncture needle after the needle insertion is stopped The calculation method is: in, Indicates The number of extreme points in the angle change curve after stopping the needling under acupuncture. Indicates The number of detection periods after stopping the needling under acupuncture, Indicates After the first acupuncture, stop inserting the needle The change angle of the extreme point is The absolute value of the difference in the change angle of the extreme points.

[0044] It should be noted that the deeper the acupuncture needle penetrates into the mold, the more severe its own vibration will be, and the greater the interference with the judgment of the stability of the acupuncture angle; and after the needle is stopped, the more frequently the changing trend of the angle of the acupuncture needle, that is, the angular displacement, changes, which reflects the existence of vibration itself. At the same time, the greater the amplitude of the change under the same changing trend, the more severe the vibration, so as to quantify the vibration of the acupuncture needle itself.

[0045] It should be further explained that the maximum value of the change in the angle of needle insertion during acupuncture reflects the student's ability to control the angle of needle insertion. The larger the maximum value of the change in the angle and the closer it is to the detection period for stopping needle insertion in the time series distribution, the worse the student's ability to control the angle of needle insertion will be after eliminating the shaking of the acupuncture needle itself, thereby quantifying the degree of loss of control of the acupuncture angle.

[0046] As an example, according to the maximum value of the change angle during the acupuncture process, and the time distance between the corresponding detection period and the stop of the acupuncture, the interference of the self-shaking condition is eliminated to obtain the degree of the angle out of control of each acupuncture, including the specific method: Specifically, obtain the end of During the first acupuncture, the maximum value of the change angle during each previous acupuncture insertion and the self-jitter of the acupuncture needle after stopping the acupuncture insertion were linearly normalized, and the result was taken as the self-jitter degree of the acupuncture needle after stopping the acupuncture insertion. The maximum value of the maximum value of the change angle during all the acupuncture insertions was taken as the end point of the first acupuncture. The maximum value of the needle vibration angle during the first acupuncture is The degree of loss of control of the angle of acupuncture The calculation method is: in, Indicates that the end The maximum value of the needle vibration angle during the first acupuncture. Indicates The maximum change angle during the second needle insertion, Indicates When the needle is stopped after the first acupuncture, Indicates The maximum value of the change angle during the second needle insertion corresponds to the start time of the detection period. Indicates The degree of vibration of the acupuncture needle after the needle insertion is stopped.

[0047] It should be noted that the larger the maximum value of the changing angle and the closer the corresponding detection period is to the moment of stopping the needle insertion, and after eliminating the influence of the acupuncture needle's own shaking, the worse the students' angle control ability during acupuncture is, thereby obtaining the degree of angle out of control.

[0048] Preferably, in one embodiment of the present invention, the degree of mold deformation for each needling is obtained by combining the degree of force imbalance and the difference in the change of needling depth between the start and stop of needling during needling, and the specific method includes: It should be noted that the acupuncture practice mold is a reusable mold. In order to prevent the acupuncture needle from being excessively deformed due to operational errors and eventually breaking and damaging the mold, when students insert the needle improperly, they should be reminded in time to stop them from performing subsequent practice operations and remove the needle in time. It is necessary to judge the degree of deformation of the mold, and the degree of shaking of the acupuncture needle itself, as well as the unreasonable operation of the students during the acupuncture process, that is, a large degree of force imbalance and angle loss of control, can all be used as the basis for judging the degree of deformation, so as to provide operational prompts.

[0049] Specifically, a comparison range is preset. In this embodiment, the comparison range is described as 5. The mean acupuncture depth of the first five detection periods before the needling and the mean acupuncture depth of the last five detection periods before the needling was stopped (i.e., the last acupuncture period) were obtained and recorded as the first The starting depth change and ending depth change of acupuncture The product of the force imbalance degree and the angle uncontrollable degree of the acupuncture is taken as the The coefficient of unreasonable operation of acupuncture.

[0050] Further, Degree of mold deformation during primary needling The calculation method is: in, Indicates The degree of vibration of the acupuncture needle after the needle insertion is stopped. Indicates The unreasonable coefficient of acupuncture operation, and Respectively represent The change in the starting depth and the ending depth of each acupuncture. represents the absolute value function.

[0051] It should be noted that the greater the degree of vibration and the greater the unreasonable coefficient of the student's operation, the more likely it is that the mold will be over-deformed or the needle tip will be damaged, and the greater the corresponding degree of mold deformation; at the same time, the greater the difference between the starting and ending acupuncture depths when inserting the needle, the acupuncture needle may be deformed or encounter resistance in the mold, and a prompt termination reminder should be given.

[0052] At this point, by analyzing the fluctuation of the angle change after the needle insertion is stopped during the acupuncture process, the self-jitter of the acupuncture needle is quantified to avoid its interference with the angle control judgment analysis during the student's operation. Based on the changing angle during needle insertion, the degree of angle loss during the student's needle insertion is obtained. Combined with the degree of force imbalance, the unreasonable situation of the student's operation is quantified, and the degree of deformation of the mold is determined to avoid damage to the mold during acupuncture training.

[0053] Acupuncture result feedback module 103: based on the degree of mold deformation and the change in acupuncture depth, determine the recommended acupuncture depth for subsequent acupuncture and provide auxiliary prompts.

[0054] It should be noted that when acupuncture is performed on the acupoints located in the thick leg muscles, first insert the needle shallowly under the skin and stay for a while to allow the patient to adapt to the acupuncture sensation. Then insert the needle further into the muscle layer. This can reduce the patient's pain and discomfort, and at the same time more accurately stimulate the corresponding levels of nerves, blood vessels and other tissues to stimulate the meridian qi.

[0055] Specifically, for the acupuncture process at the current moment, that is, the current acupuncture, the degree of mold deformation of the current acupuncture has been obtained, and the mold deformation parameter of the current acupuncture as of the current moment is normalized; a deformation threshold is preset, and the deformation threshold in this embodiment is described as 0.6. If the mold deformation parameter is less than the deformation threshold, the student continues to insert the needle for acupuncture training; if the mold deformation parameter is greater than or equal to the deformation threshold, the mold deformation is serious. In order to prevent the needle from being broken, the alarm system prompts the student to temporarily stop inserting the needle, and reminds the student through the display screen and the sound; at the same time, the average acupuncture depth of all previous detection time periods in the current acupuncture is obtained as the recommended depth reference value as of the current moment; the difference obtained by subtracting the mold deformation parameter from 1 is multiplied by the recommended depth reference value as the recommended depth at the current moment.

[0056] Furthermore, this embodiment divides the recommended depth into 5 segments, and connects the segmentation results with the alarm system. When students insert the needle after the current moment, they control the speed of needle insertion according to the prompts of the alarm system based on the segmentation results, thereby realizing auxiliary training of acupuncture techniques during acupuncture training.

[0057] Furthermore, a complete acupuncture training process includes multiple acupuncture processes, and each acupuncture process obtains the corresponding force imbalance degree, angle loss of control degree and mold deformation degree. The three characteristics of each acupuncture process in the acupuncture training process are linearly normalized and averaged, and the average value obtained is used as the record value of the force imbalance degree, angle loss of control degree and mold deformation degree of the students' acupuncture training process; after the students complete a set (10 times) of complete acupuncture training, the record values ​​of each acupuncture training process are visualized.

[0058] At this point, by visually displaying the parameters of the students' acupuncture training process and providing suggestions and reminders during the operation, auxiliary training of acupuncture techniques can be achieved, while ensuring that the mold will not be damaged, thereby improving the accuracy and efficiency of the acupuncture training process.

[0059] 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 principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A point acupuncture manipulation auxiliary training system specifically used for bone injury rehabilitation, characterized in that: The system includes: Acupuncture data collection module, used to collect acupuncture depth and change angle of several detection periods under multiple acupuncture treatments during acupuncture training; The acupuncture process analysis module is used to analyze the change difference relationship of the acupuncture depth in adjacent detection periods, determine the sudden change degree of the needle tip material density in each detection period, and divide it into several segmented periods based on this; based on the change trend and change amplitude of the acupuncture depth in each segmented period, quantify the degree of force imbalance of each acupuncture; Analyze the relationship between the change in angle during the needling process and after the needling stops and the change in the detection period to determine the degree of angle loss at each needling; combine the degree of force imbalance and the difference in the change in needling depth between the start and stop of needling during the needling process to obtain the degree of mold deformation at each needling; The acupuncture result feedback module is used to determine the recommended needling depth for subsequent acupuncture and provide auxiliary prompts based on the degree of mold deformation and the change in needling depth.

2. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 1 is characterized in that: The specific method of analyzing the difference relationship between the changes in the acupuncture depths of adjacent detection periods and determining the sudden change in the density of the needle tip material in each detection period includes: A rectangular coordinate system is constructed with the horizontal axis representing the detection period and the vertical axis representing the acupuncture depth, and the acupuncture depth of each detection period of each acupuncture is mapped to obtain a number of data points, which are then connected to obtain a curve of acupuncture depth variation of each acupuncture; Obtaining a neighboring analysis range of any detection period, performing straight line fitting on the data points of each detection period in the neighboring analysis range of the detection period, obtaining a root mean square error and a fitting slope of the fitting line, taking the root mean square error as the neighboring error of the detection period, and taking the absolute value of the fitting slope as the degree of neighboring change of the detection period; Based on the proximity error and the proximity change degree, combined with the deviation of the acupuncture depth in the detection period relative to the mean acupuncture depth of all detection periods in the acupuncture, the needle tip material mutation degree in the detection period is obtained, and the needle tip material mutation degree is positively correlated with the deviation.

3. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 2 is characterized in that: The specific method of dividing into several split time periods includes: For The needle tip material density mutation degree of all detection periods in the first acupuncture is normalized to obtain the needle tip material mutation factor of each detection period; if the needle tip material mutation factor is greater than the mutation threshold, the corresponding detection period is taken as the first Acupuncture a segmentation point, and obtain several segmentation points; The split point The continuous detection period of acupuncture is divided into several segmented periods.

4. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 2 is characterized in that: The specific method for obtaining the degree of force imbalance of each acupuncture is as follows: For The acupuncture depth change curve of the first acupuncture was derived to obtain several extreme points. The first acupuncture Force imbalance factor for each segmentation period The calculation method is: in, Indicates The first acupuncture The number of detection periods in the split period, Indicates The first acupuncture The number of extreme points in the split period, Indicates The first acupuncture In the split period The acupuncture depth of the extreme point is The absolute value of the difference in acupuncture depth at the extreme points; The first The average of the force imbalance factors of all the segmented periods of acupuncture was taken as the The degree of force imbalance during acupuncture.

5. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 4 is characterized in that: The specific method of analyzing the relationship between the change in angle during acupuncture and after the needling stops and the change in the detection period to determine the degree of the angle out of control for each acupuncture is as follows: Analyze the changing trend and amplitude of the angle change after the needle insertion is stopped during acupuncture, and determine the vibration of the acupuncture needle after the needle insertion is stopped during each acupuncture. According to the maximum value of the change angle during the acupuncture process, and the time distance between the corresponding detection period and the stop of the acupuncture, the interference of the self-shaking situation is eliminated to obtain the degree of angle out of control of each acupuncture.

6. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 5, characterized in that: The specific method of determining the vibration of the acupuncture needle after the needle insertion is stopped during each acupuncture treatment includes: Construct a coordinate system with the horizontal axis as the detection period and the vertical axis as the change angle. The angle changes of each detection period during the acupuncture insertion and after the needling is stopped are mapped to the coordinate system to obtain a number of coordinate points, and the corresponding coordinate points during the needling are connected, and the corresponding coordinate points after the needling is stopped are connected to obtain the angle change curves during the needling and after the needling is stopped; The angle change curve after the needle insertion is stopped is derived to obtain several extreme points. Based on the distribution of the extreme points in the angle change curve after the needle insertion is stopped and the corresponding change angles, the force imbalance factor of the segmented time period is calculated to obtain the first The vibration of the acupuncture needle after the insertion is stopped.

7. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 6, characterized in that: The specific method for obtaining the degree of loss of control of the angle of each acupuncture is as follows: Get the deadline During the first acupuncture, the maximum value of the change angle during each acupuncture insertion and the self-jitter of the acupuncture needle after the acupuncture insertion was stopped were normalized, and the result was used as the self-jitter degree of the acupuncture needle after the acupuncture insertion was stopped. The maximum value of the maximum value of the change angle during all needle insertions was taken as the cutoff The maximum value of the needle vibration angle during the first acupuncture; No. The degree of loss of control of the angle of acupuncture The calculation method is: in, Indicates that the end The maximum value of the needle vibration angle during the first acupuncture. Indicates The maximum change angle during the second needle insertion, Indicates When the needle is stopped after the first acupuncture, Indicates The maximum value of the change angle during the second needle insertion corresponds to the start time of the detection period. Indicates The degree of vibration of the acupuncture needle after the needle insertion is stopped.

8. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 7, characterized in that: The specific method of obtaining the degree of mold deformation for each needling includes: For The mean acupuncture depth of the comparison range number detection period before the needling and the mean acupuncture depth of the comparison range number detection period before the needling was stopped were obtained, and they were recorded as The change in the starting depth and the ending depth of each acupuncture session; The first The product of the force imbalance degree and the angle uncontrollable degree of the acupuncture is taken as the The unreasonable coefficient of the first acupuncture operation; combined with the degree of vibration of the acupuncture needle after the needle insertion is stopped, the first The degree of mold deformation during the first needling.

9. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 8, characterized in that: The obtained The degree of mold deformation of the primary needling includes the following specific methods: Based on the absolute value of the difference between the starting depth change and the ending depth change, combined with the unreasonable operation coefficient and the The product of the vibration degree of the acupuncture needle after the needle insertion is stopped is obtained. The degree of mold deformation after acupuncture is positively correlated with the absolute value of the difference and the product.

10. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 1, characterized in that: The method of determining the recommended needling depth for subsequent needling based on the degree of mold deformation and the change in needling depth and providing auxiliary prompts includes: For the acupuncture process at the current moment, record it as the current acupuncture, obtain the degree of mold deformation of the current acupuncture, and normalize it to obtain the mold deformation parameters of the current acupuncture up to the current moment; If the mold deformation parameter is less than the deformation threshold, the student continues to insert the needle for acupuncture training; If the mold deformation parameter is greater than or equal to the deformation threshold, the student is prompted to temporarily stop inserting the needle; the average of the acupuncture depths of all the detection periods before the current acupuncture is obtained as the recommended depth reference value up to the current moment; The product of the difference obtained by subtracting the mold deformation parameter from 1 and the recommended depth reference value is used as the recommended depth at the current moment.

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