An acupoint acupuncture manipulation assisted training system dedicated to bone injury rehabilitation

Abstract

The present invention relates to the technical field of medical teaching aids, and proposes an acupoint acupuncture technique auxiliary training system dedicated to bone injury rehabilitation, including: collecting the acupuncture depth and changing angle during several detection periods of multiple acupuncture; analyzing the change difference relationship of the acupuncture depth in adjacent detection periods, and dividing several segmentation periods; quantifying the force application imbalance degree of each acupuncture based on the change trend and change amplitude of the acupuncture depth within each segmentation period; analyzing the change relationship of the changing angle with the detection period during needle insertion and after stopping needle insertion during the acupuncture process, and determining the angle out-of-control degree of each acupuncture; combining the force application imbalance degree and the difference in acupuncture depth between the start and stop of needle insertion during the acupuncture process to obtain the mold deformation degree of each acupuncture; determining the recommended needle insertion depth for subsequent acupuncture and giving an auxiliary prompt. The present invention aims to solve the problem that the unevenness of the mold material affects the judgment of the uniformity of the force applied by students during needle insertion.

Description

Technical Field

[0001] The present invention relates to the technical field of medical teaching aids, and particularly relates to an acupoint acupuncture manipulation auxiliary training system dedicated to bone injury rehabilitation. Background Art

[0002] The surface of the acupuncture mold is soft, simulating the texture of human skin. The human acupoints are accurately marked on the mold, which can help practitioners become familiar with acupoint positioning. When the practitioner performs acupuncture, the elasticity of the silica gel can simulate the resistance of the skin and muscles to a certain extent, and is used to practice basic techniques such as lifting and thrusting, twirling, etc. By repeatedly operating at different acupoints, the practitioner can feel the depth and strength of needle insertion, experience the influence of the amplitude and frequency of lifting and thrusting on the needle sensation, and practice controlling the twirling angle and speed during the acupuncture process.

[0003] In the prior art during the acupuncture practice of students, a kind of acupuncture training needle is proposed in the reference patent CN118986732B, an acupuncture depth sensor, an acupuncture posture detection system and an acupuncture teaching aid. The angle detection module thereof includes a gyroscope sensor that can monitor the angle during the acupuncture process. In the traditional method, the accuracy of the student's acupuncture operation is judged based on the change of the gyroscope angle and the uniform change of the needle insertion depth. However, it does not consider that the non-uniformity of the mold material may cause problems in judging the uniformity of the student's force application, that is, the material of the mold changes with the change of the acupuncture depth, thereby affecting the judgment of the force magnitude during the student's acupuncture process. Summary of the Invention

[0004] The present invention provides an acupoint acupuncture manipulation auxiliary training system dedicated to bone injury rehabilitation to solve the problem that the non-uniformity of the existing mold material affects the judgment of the uniformity of the student's force application during acupuncture. The specific technical solution adopted is as follows:

[0005] The present invention proposes an acupoint acupuncture manipulation auxiliary training system dedicated to bone injury rehabilitation, and the system includes:

[0006] An acupuncture data acquisition module, which is used to acquire the acupuncture depth and the changing angle at several detection time periods during multiple acupuncture during the acupuncture training.

[0007] An acupuncture process analysis module, which is used to analyze the change difference relationship of the acupuncture depth in adjacent detection time periods, determine the mutation degree of the needle tip material density at each detection time period, and divide several segmentation time periods based on this; based on the change trend and change amplitude of the acupuncture depth within each segmentation time period, quantify the degree of force application imbalance of each acupuncture.

[0008] Analyze the variation relationship of the changing angle during needle insertion and after stopping needle insertion with the detection period during the acupuncture process, and determine the degree of angle out-of-control for each acupuncture; combine the degree of force imbalance and the difference in acupuncture depth changes between the start and stop of needle insertion during the acupuncture process to obtain the degree of die deformation for each acupuncture;

[0009] An acupuncture result feedback module, configured to determine the recommended needle insertion depth for subsequent acupuncture based on the degree of die deformation and the change in acupuncture depth, and give an auxiliary prompt.

[0010] Optionally, the method for analyzing the variation difference relationship of the acupuncture depth in adjacent detection periods and determining the mutation degree of the tip material density for each detection period specifically includes:

[0011] Construct a rectangular coordinate system with the detection period as the abscissa and the acupuncture depth as the ordinate, map the acupuncture depths of each detection period of each acupuncture, obtain a number of data points, and connect them to obtain the acupuncture depth change curve of each acupuncture;

[0012] Obtain the adjacent analysis range of any detection period, perform linear fitting on the data points of each detection period in the adjacent analysis range of this detection period, obtain the root mean square error and the fitting slope of the fitting line, use the root mean square error as the adjacent error of this detection period, and use the absolute value of the fitting slope as the adjacent change degree of this detection period;

[0013] Based on the adjacent error and the adjacent change degree, combined with the deviation of the acupuncture depth of this detection period from the average value of the acupuncture depths of all detection periods during the acupuncture, obtain the tip material mutation degree of this detection period, and the tip material mutation degree has a positive correlation with the deviation.

[0014] Optionally, the specific method for dividing into several segmentation periods includes:

[0015] For the th acupuncture, normalize the mutation degrees of the tip material density of all detection periods to obtain the tip material mutation factor of each detection period; if the tip material mutation factor is greater than the mutation threshold, use the corresponding detection period as a segmentation point of the th acupuncture, and obtain several segmentation points;

[0016] Divide the continuous detection periods of the th acupuncture into several segmentation periods through the segmentation points.

[0017] Optionally, the method for specifically obtaining the degree of force imbalance for each acupuncture is:

[0018] For the th acupuncture, obtain several extreme points by taking the derivative of the acupuncture depth change curve, and the The force imbalance factor of the th segmentation period of the first acupuncture is calculated as follows:

[0019]

[0020] where represents the number of detection periods in the th segmentation period of the first acupuncture, represents the number of extreme points in the th segmentation period of the first acupuncture, represents the absolute value of the difference between the acupuncture depths of the th extreme point and the th extreme point in the th segmentation period of the first acupuncture;

[0021] The mean value of the force imbalance factors of all segmentation periods of the th acupuncture is used as the force imbalance degree of the th acupuncture.

[0022] Optionally, the specific method for analyzing the change relationship between the change angle during needle insertion and after stopping needle insertion with the detection period during acupuncture to determine the angle out-of-control degree for each acupuncture includes:

[0023] Analyze the change trend and amplitude of the change angle after stopping needle insertion during acupuncture to determine the self-vibration situation of the acupuncture needle after stopping needle insertion for each acupuncture;

[0024] Based on the maximum value of the change angle during needle insertion during acupuncture and the time distance between its corresponding detection period and the time of stopping needle insertion, eliminate the interference of the self-vibration situation to obtain the angle out-of-control degree for each acupuncture.

[0025] Optionally, the specific method for determining the self-vibration situation of the acupuncture needle after stopping needle insertion for each acupuncture includes:

[0026] Construct a coordinate system with the detection period as the abscissa and the change angle as the ordinate, map the change angles of each detection period during needle insertion and after stopping needle insertion for the th acupuncture into the coordinate system to obtain a number of coordinate points, connect the number of coordinate points corresponding to needle insertion respectively, and connect the number of coordinate points after stopping needle insertion to obtain the angle change curves of needle insertion and after stopping needle insertion respectively;

[0027] Derive several extreme points from the angle change curve after stopping needle insertion. Based on the distribution of extreme points and the corresponding change angles in the angle change curve after stopping needle insertion, and according to the calculation process of the force imbalance factor in the segmented time period, obtain the self-vibration situation of the acupuncture needle after stopping needle insertion for the th acupuncture.

[0028] Optionally, the specific method for obtaining the degree of angle out of control for each acupuncture includes:

[0029] Obtain the maximum change angle during needle insertion for each previous acupuncture up to the th acupuncture, and the self-vibration situation of the acupuncture needle after stopping needle insertion for each acupuncture. Normalize all self-vibration situations, and the obtained result is used as the self-vibration degree of the acupuncture needle after stopping needle insertion for each acupuncture; and take the maximum value among the maximum change angles during needle insertion for all acupuncture times as the maximum needle insertion vibration angle up to the th acupuncture;

[0030] The th acupuncture degree of angle out of control is calculated as:

[0031]

[0032] where represents the maximum needle insertion vibration angle up to the th acupuncture, represents the maximum change angle during the th acupuncture needle insertion, represents the moment of stopping needle insertion for the th acupuncture, represents the start time of the detection period corresponding to the maximum change angle during the th acupuncture needle insertion, represents the th acupuncture self-vibration degree of the acupuncture needle after stopping needle insertion.

[0033] Optionally, the specific method for obtaining the mold deformation degree for each acupuncture includes:

[0034] For the th acupuncture, respectively obtain the average acupuncture depth of the detection periods within the previous comparison range during needle insertion, and the average acupuncture depth of the detection periods within the previous comparison range before stopping needle insertion, and record them as the starting depth change amount and the ending depth change amount of the th acupuncture;

[0035] Multiply the force imbalance degree and the angle out of control degree of the th acupuncture as the The operation unreasonableness coefficient of the second acupuncture; combining with the self-vibration degree of the acupuncture needle after stopping the needle insertion during the second acupuncture, obtaining the mold deformation degree of the second acupuncture.

[0036] Optionally, the method for obtaining the mold deformation degree of the second acupuncture specifically includes:

[0037] Based on the absolute value of the difference between the starting depth change amount and the ending depth change amount, combining with the product of the operation unreasonableness coefficient and the self-vibration degree of the acupuncture needle after stopping the needle insertion during the second acupuncture, obtaining the mold deformation degree of the second acupuncture, and the mold deformation degree has a positive correlation with both the absolute value of the difference and the product.

[0038] Optionally, the method for determining the recommended needle insertion depth for subsequent acupuncture based on the mold deformation degree and the acupuncture depth change and performing an auxiliary prompt specifically includes:

[0039] For the acupuncture process at the current moment, denoted as the current acupuncture, obtain the mold deformation degree of the current acupuncture, and normalize it to obtain the mold deformation parameter of the current acupuncture up to the current moment;

[0040] If the mold deformation parameter is less than the deformation threshold, the student continues to insert the needle for acupuncture training;

[0041] If the mold deformation parameter is greater than or equal to the deformation threshold, prompt the student to temporarily stop inserting the needle; obtain the average value of the needle insertion depths in all previous detection periods during the current acupuncture as the recommended depth reference value up to the current moment; multiply the difference obtained by subtracting the mold deformation parameter from 1 by the recommended depth reference value as the recommended depth at the current moment.

[0042] ​The beneficial effects of the present invention are as follows: Since the density of the mold material changes, the resistance encountered by the student during acupuncture training will change. Based on this, the detection period of the sudden change in the acupuncture depth is obtained through analysis, and several segmentation periods are divided. The change trend and amplitude of the acupuncture depth in the segmentation periods are analyzed. In the segmentation periods, the density of the mold material is similar. The more frequently the change trend of the acupuncture depth changes and the greater the change amplitude, it indicates that the change in the force applied by the student fluctuates more and the force application is more uneven. Based on this, the degree of force application imbalance is quantified. By analyzing the fluctuating changes in the change angle after stopping the needle insertion during the acupuncture process, the self-vibration of the acupuncture needle is quantified to avoid its interference with the analysis of the angle control judgment during the student's operation process. Based on the change angle during needle insertion, the degree of angle out-of-control during the student's needle insertion is obtained. Combining the degree of force application imbalance, the unreasonable situation of the student's operation is quantified, and based on this, the deformation degree of the mold is determined to avoid damage to the mold during the acupuncture training process. Through the visual display of the parameters during the student's acupuncture training process and the suggestion reminder during the operation process, the auxiliary training of the acupuncture technique is realized, while ensuring that the mold will not be damaged, and the accuracy and efficiency of the acupuncture training process are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0044] Figure 1 Structural block diagram of a special acupoint acupuncture technique auxiliary training system for bone injury rehabilitation provided by an embodiment of the present invention;

[0045] Figure 2 External structural schematic diagram of an acupuncture depth sensor;

[0046] Figure 3 Internal structural schematic diagram of an acupuncture depth sensor;

[0047] Figure 4 Structural schematic diagram of an electrode assembly;

[0048] Figure 5 Side view structural diagram of an electrode assembly;

[0049] Figure 6 Structural schematic diagram of an acupuncture training needle.

[0050] In the figure: 1 is the support of the acupuncture depth sensor, 2 is the electrode assembly inside the acupuncture depth sensor; 3 is the coding circuit board; 21 is the flexible conductive layer in the electrode assembly, 22 is the conductive frame layer clamped 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, 52 is the angle detection module at the top of the acupuncture training needle. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0052] Please refer to Figure 1 , which shows the structural block diagram of a special acupoint acupuncture manipulation auxiliary training system for bone injury rehabilitation provided by an embodiment of the present invention. The system includes:

[0053] Acupuncture data acquisition module 101: During the acupuncture training process, it acquires the acupuncture depth and the changing angle at several detection time periods under multiple acupuncture insertions.

[0054] The purpose of this embodiment is to, during the acupuncture training process of students, through the acupuncture depth sensor and the gyroscope sensor arranged on the acupuncture training needle, connect to the controller and the alarm system, and remind the students of the needle insertion state in real time and assist in giving corresponding recommended needle insertion depth prompts, so as to avoid the problem that the unevenness of the mold material leads to inaccurate force judgment by students, and realize the auxiliary training of students' acupuncture; then it is first necessary to continuously monitor the acupuncture depth and the changing angle during the acupuncture training process of students under multiple acupuncture insertions.

[0055] Specifically, as Figure 2 and Figure 3 shown, which shows the internal and external structural schematic diagrams of the acupuncture depth sensor. The acupuncture depth sensor includes a support 1 and a plurality of layered electrode assemblies 2 arranged in the support 1; the support 1 is generally cylindrical, with an accommodation space inside. The support 1 has an opening at one end for detecting the acupuncture depth for the acupuncture to penetrate; a plurality of electrode assemblies 2 are arranged at intervals in the accommodation space of the support 1. Each electrode assembly 2 is electrically connected to the coding circuit board 3, causing at least one electrical parameter of the coding circuit board 3 to change accordingly, and then being reflected through the detection end.

[0056] Furthermore, as Figure 4 and Figure 5As shown, it shows a schematic structural diagram of an electrode assembly. Each electrode assembly 2 includes a flexible conductive layer 21 and conductive frame layers 22 sandwiching both sides of the flexible conductive layer 21. The electrode assembly 2 is connected to a detection circuit. When a conductive needle, such as an acupuncture needle, pierces into the support 1 and makes electrical contact with the electrode assembly 2, the electrical connection state of the electrode assembly 2 within the acupuncture depth range will be changed. A new conductive path will be formed when the conductive needles are connected between the electrode assemblies 2. 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-stored data during actual acupuncture.

[0057] Further, as Figure 6 shown, it shows a schematic structural diagram of an acupuncture training needle. The acupuncture training needle 5 includes a needle body 51 and an angle detection module 52 provided at 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 powers 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. 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 for monitoring the acupuncture depth of the acupuncture training needle 5.

[0058] Further, the whole acupuncture training needle refers to the content of a patent CN118986732B, a kind of acupuncture depth sensor, an acupuncture posture detection system and an acupuncture teaching tool. By connecting the acupuncture training needle to a controller and an alarm system, the alarm system includes a display screen and a speaker, which are used to prompt the student's acupuncture operation situation. During an acupuncture training process, the student needs to perform multiple acupuncture operations, that is, multiple needle insertion and stop needle insertion operations. Based on the acupuncture depth sensor and the gyroscope sensor, with a sampling frequency of 1 ms, the acupuncture depth and the changing angle in the past 1 ms are respectively collected. Then each 1 ms is a detection period, and each detection period corresponds to an acupuncture depth and a changing angle, where the changing angle is the angular displacement of the acupuncture needle's angle relative to the needle insertion angle after each 1 ms.

[0059] Acupuncture process analysis module 102:

[0060] (1) Analyze the change difference relationship of the acupuncture depth in adjacent detection periods, determine the mutation degree of the tip material density in each detection period, and divide several segmentation periods based on this. Based on the change trend and change amplitude of the acupuncture depth within each segmentation period, quantify the force imbalance degree of each acupuncture.

[0061] It should be noted that needle insertion is the key initial step in acupuncture operation. During needle insertion, it is required that the doctor apply appropriate finger strength and evenly exert force through the fingers holding the needle to make the needle body quickly and smoothly penetrate the skin. If the force is uneven, the needle may deflect, which will not only increase the patient's pain but also affect the accuracy of acupuncture and the subsequent treatment effect. For example, when using the single-handed needle insertion method, the thumb and index finger hold the needle handle, and the pulp of the middle finger presses against the lower end of the needle body. It is necessary to apply force steadily and evenly to make the needle vertically penetrate the skin. Then, it is necessary to analyze the uniformity of the change in the depth of the acupuncture needle during the continuous detection period of a single needle insertion based on the change in the acupuncture depth monitored by the acupuncture depth sensor, and quantify the uniformity of the needle insertion force of the student.

[0062] Furthermore, it should be noted that the flexible conductive layer is an elastic foamed composite material layer, which includes a foamed material matrix and conductive inlays distributed in the foamed material matrix. And to simulate the actual human tissue, different material densities will be set at different positions of the flexible conductive layer, resulting in different resistance magnitudes when the needle tip penetrates different regions of the flexible conductive layer. Therefore, when the student inserts the needle tip into regions with different densities with the same force, due to different resistances, the displacement lengths will be different, which will interfere with the judgment of the student's force application situation based on the acupuncture depth. The student's grasp of the force during needle insertion will be within a small fluctuation range, and the change in force is likely to be an unconscious progressive change, manifested as a small fluctuation range in the depth change and a relatively progressive depth change. However, the regions of different density materials appear relatively suddenly, and there will be a relatively sudden change in the depth performance during needle insertion. Based on this, a continuous detection period during a single acupuncture process is segmented, and then the uniformity of the needle insertion force is quantified based on the segmented periods.

[0063] Preferably, in an embodiment of the present invention, the method for analyzing the change difference relationship of the acupuncture depth in adjacent detection periods, determining the mutation degree of the needle tip material density in each detection period, and thereby dividing several segmentation periods specifically includes:

[0064] For any single acupuncture, a rectangular coordinate system is constructed with the detection period as the abscissa and the acupuncture depth as the ordinate, and the acupuncture depths of each detection period are mapped into the coordinate system to obtain several data points, and the acupuncture depth change curve of this acupuncture is obtained by connecting them.

[0065] Further, a proximity range is preset. In this embodiment, the proximity range is described by 5. The proximity analysis range of any detection period is composed of the detection period itself and the 5 detection periods before and after it. Specifically, if the detection period is close to the start or stop of the acupuncture needle insertion during this acupuncture, resulting in the detection period being insufficient to form a proximity analysis range, the proximity analysis range is constructed with the actually existing detection periods. For the data points of each detection period in the proximity analysis range of the detection period, linear fitting is performed 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.

[0066] Further, taking the th acupuncture and the th detection period as an example, the calculation method of the mutation degree of the needle tip material density is as follows:

[0067]

[0068] Among them, represents the proximity error of the th detection period in the th acupuncture, represents the proximity change degree of the th detection period in the th acupuncture, represents the difference between the acupuncture depth of the th detection period in the th acupuncture and the mean value of the acupuncture depths of all detection periods in the th acupuncture, represents the absolute value function, represents the maximum value of the absolute value of the difference between the acupuncture depths of each detection period in the th acupuncture and the mean value of the acupuncture depths of all detection periods in the th acupuncture.

[0069] It should be noted that due to material mutation, the change in acupuncture depth will seriously deviate from the linear change relationship, resulting in a large fitting error within the proximity analysis range. At the same time, there will be a large trend in the change of acupuncture depth. Taking the absolute value of the fitting slope means a large increasing trend or a large decreasing trend. At the same time, the greater the deviation of the acupuncture depth of the corresponding detection period itself from the mean value of the acupuncture depths, the more likely it is that the uncontrolled change in acupuncture depth is caused by the resistance change due to material mutation. Therefore, the mutation degree of the needle tip material density is quantified in this way.

[0070] Further, for the The mutation degree of the needle tip material density at all detection time periods during the th acupuncture is linearly normalized to obtain the needle tip material mutation factor for each detection time period; a mutation threshold is preset. In this embodiment, the mutation threshold is described using 0.7. If the needle tip material mutation factor is greater than the mutation threshold, the corresponding detection time period is used as one

[0071] segmentation point of the th acupuncture, and several segmentation points are obtained.

[0072] Preferably, in an embodiment of the present invention, based on the change trend and change amplitude of the acupuncture depth within each segmented time period, the degree of force application imbalance for each acupuncture is quantified. The specific method includes:

[0073] It should be noted that within a segmented time period, the more extreme points presented by the change in acupuncture depth indicate that there are more different change trends in force application under similar material densities. At the same time, the greater the difference in acupuncture depth between the extreme points, the greater the change amplitude in the same change trend of force application; and the more change trends and the greater the change amplitude, the more uneven the force application is under the segmented time period, and the greater the degree of force application imbalance.

[0074] Specifically, taking the th acupuncture as an example, several extreme points are obtained by taking the derivative of its acupuncture depth change curve. Then, for the th segmented time period, the calculation method of the force application imbalance factor of this segmented time period is:

[0075]

[0076] Among them, represents the number of detection time periods in the th segmented time period of the th acupuncture, represents the number of extreme points in the th segmented time period of the th acupuncture, represents the absolute value of the difference between the acupuncture depth of the th extreme point and the acupuncture depth of the th extreme point in the th segmented time period of the th acupuncture.

[0077] It should be noted that the larger the proportion of the number of detection periods in the segmentation periods to the number of extreme value points, the more frequent the trend changes, and the more uneven the force application within the segmentation periods; and the process of change under the same change trend is between adjacent extreme value points. Then, the greater the difference in the acupuncture depth between adjacent extreme value points, the greater the change amplitude of this change process, the greater the degree of change in the force application, and the more fluctuating the force application.

[0078] Furthermore, take the mean value of the force imbalance factors of all segmentation periods of the -th acupuncture as the degree of force imbalance of the -th acupuncture.

[0079] So far, since the density of the mold material will change and the resistance encountered by the student during acupuncture training will change, the detection periods of sudden changes in acupuncture depth are obtained through this analysis, and several segmentation periods are divided; analyze the change trend and change amplitude of the acupuncture depth in the segmentation periods. In the segmentation periods, the density of the mold material is similar, and the more frequent the change trend of the acupuncture depth changes and the greater the change amplitude, it indicates that the change of the student's force application is more fluctuating and the force application is more uneven. Thus, the degree of force imbalance is quantified.

[0080] (2) Analyze the change relationship of the change angle with the detection period during needle insertion and after stopping needle insertion during the acupuncture process, and determine the degree of angle out-of-control for each acupuncture; combine the degree of force imbalance, and the difference in acupuncture depth change between the start and stop of needle insertion during the acupuncture process, to obtain the degree of mold deformation for each acupuncture.

[0081] It should be noted that the direction determined during needle insertion should be kept as stable as possible in subsequent operations. To train the student's stability of the needle insertion angle, it is necessary to evaluate the angle operation of the student during each needle insertion so that they can adjust and progress by themselves; however, considering that the inaccuracy of the student's needle insertion or the reaction of the mold on the acupuncture needle will cause the self-vibration of the acupuncture needle, resulting in an error in judging the student's control ability of the acupuncture needle during needle insertion; therefore, it is necessary to quantify the self-vibration of the acupuncture needle based on the change angle of the acupuncture needle after stopping needle insertion, so as to eliminate the interference of the angle change during the student's acupuncture process.

[0082] Preferably, in an embodiment of the present invention, analyzing the change relationship of the change angle with the detection period during needle insertion and after stopping needle insertion during the acupuncture process, and determining the degree of angle out-of-control for each acupuncture, includes the following specific steps:

[0083] Analyze the change trend and change amplitude of the change angle after stopping needle insertion during the acupuncture process, and determine the self-vibration situation of the acupuncture needle after stopping needle insertion for each acupuncture;

[0084] According to the maximum value of the change angle during the needle insertion process and the time distance between the corresponding detection period and the stop of needle insertion, the interference of the self-vibration situation is eliminated, and the degree of angle out-of-control for each acupuncture is obtained.

[0085] As an example, analyze the change trend and amplitude of the change angle after the stop of needle insertion during the acupuncture process, and determine the self-vibration situation of the acupuncture needle after the stop of needle insertion for each acupuncture. The specific method includes:

[0086] Specifically, taking the th acupuncture as an example, obtain the change angles at each detection period during the needle insertion of this acupuncture, and the change angles at each detection period after the stop of needle insertion; taking the detection period as the abscissa and the change angle as the ordinate to construct a coordinate system, map the change angles at each detection period during the needle insertion and after the stop of needle insertion into the coordinate system, obtain a number of coordinate points, connect the corresponding coordinate points during the needle insertion respectively, and connect the number of coordinate points after the stop of needle insertion, then the angle change curves during the needle insertion and after the stop of needle insertion are obtained respectively.

[0087] Furthermore, take the derivative of the angle change curve after the stop of needle insertion to obtain a number of extreme points, then the self-vibration situation of the acupuncture needle after the stop of needle insertion for the th acupuncture

[0088]

[0089] Among them, represents the number of extreme points in the angle change curve after the stop of needle insertion for the th acupuncture, represents the number of detection periods after the stop of needle insertion for the th acupuncture, represents the th acupuncture, the absolute value of the difference between the change angle of the th extreme point and the change angle of the th extreme point after the stop of needle insertion.

[0090] It should be noted that the deeper the acupuncture needle penetrates into the mold, the more serious its self-vibration will be, and the greater the interference to the judgment of the stability of the needle insertion angle; and the more frequently the change trend of the change angle, that is, the angular displacement, of the acupuncture needle changes after the stop of needle insertion, the more it reflects that there is vibration itself, and at the same time, the greater the change amplitude under the same change trend, the more serious the vibration situation. In this way, the self-vibration situation of the acupuncture needle is quantified.

[0091] It should be further noted that the maximum value of the changing angle during needle insertion in the acupuncture process reflects the student's ability to control the needle insertion angle. The larger the maximum value of the changing angle, and the closer its timing distribution is to the detection period of stopping needle insertion, the worse the student's ability to control the needle insertion angle after eliminating the self-vibration of the acupuncture needle. Thus, the degree of angle out-of-control during acupuncture is quantified.

[0092] As an example, based on the maximum value of the changing angle during needle insertion in the acupuncture process and the time distance between its corresponding detection period and the time of stopping needle insertion, the interference of the self-vibration situation is eliminated to obtain the degree of angle out-of-control for each acupuncture. The specific method includes:

[0093] Specifically, when obtaining up to the th acupuncture, the maximum value of the changing angle during needle insertion for each previous acupuncture and the self-vibration situation of the acupuncture needle after stopping needle insertion for each acupuncture are obtained. All self-vibration situations are linearly normalized, and the result is used as the self-vibration degree of the acupuncture needle after stopping needle insertion for each acupuncture. And the maximum value among the maximum values of the changing angles during needle insertion for all acupuncture times is used as the maximum value of the needle insertion vibration angle up to the th acupuncture. Then, the degree of angle out-of-control for the th acupuncture

[0094]

[0095] is calculated as follows: where represents the maximum value of the needle insertion vibration angle up to the th acupuncture, represents the maximum value of the changing angle during needle insertion for the th acupuncture, represents the moment of stopping needle insertion for the th acupuncture, represents the start moment of the detection period corresponding to the maximum value of the changing angle during needle insertion for the th acupuncture, represents the self-vibration degree of the acupuncture needle after stopping needle insertion for the

[0096] It should be noted that the larger the maximum value of the changing angle, and the closer its corresponding detection period is to the moment of stopping needle insertion, and under the influence of eliminating the self-vibration of the acupuncture needle, it indicates that the student's angle control ability during acupuncture is worse. Thus, the degree of angle out-of-control is obtained.

[0097] Preferably, in an embodiment of the present invention, by combining the degree of force imbalance and the difference in the acupuncture depth change from the start of needle insertion to the stop of needle insertion during the acupuncture process, the degree of die deformation for each acupuncture is obtained. The specific method includes:

[0098] It should be noted that the acupuncture practice mold is a reusable mold. To prevent excessive deformation of the acupuncture needle caused by operating errors and ultimately damage to the mold due to breakage, when the student inserts the needle improperly, they should be reminded in a timely manner to stop subsequent practice operations and remove the needle promptly. Then, it is necessary to judge the degree of deformation of the mold. The self-vibration degree of the acupuncture needle itself, as well as the unreasonable operations of the student during acupuncture, namely a large degree of force imbalance and angle out-of-control, can all be used as the basis for judging the degree of deformation, and operation prompts are made accordingly.

[0099] Specifically, a comparison range is preset. In this embodiment, the comparison range is described using 5. For the nth acupuncture, the average acupuncture depth of the first five detection time periods during needle insertion and the average acupuncture depth of the last five detection time periods before stopping needle insertion (i.e., the last during needle insertion) are respectively obtained and recorded as the starting depth change amount and ending depth change amount of the nth acupuncture; the product of the degree of force imbalance and the degree of angle out-of-control during the nth acupuncture is used as the operation unreasonableness coefficient of the nth acupuncture.

[0100] Furthermore, the calculation method of the mold deformation degree during the nth acupuncture is as follows:

[0101]

[0102] Wherein, represents the self-vibration degree of the acupuncture needle after stopping needle insertion during the nth acupuncture, represents the operation unreasonableness coefficient of the nth acupuncture, represents the nth acupuncture, and respectively represent the starting depth change amount and ending depth change amount of the nth acupuncture, and represents the absolute value function.

[0103] It should be noted that the greater the self-vibration degree and the greater the operation unreasonableness coefficient of the student, both may cause excessive deformation of the mold or damage to the needle tip, and accordingly the greater the mold deformation degree; at the same time, the greater the difference in acupuncture depth at the start and end during needle insertion, the acupuncture needle may be deformed or encounter resistance in the mold, and termination operation reminders should be made in a timely manner.

[0104] So far, by analyzing the fluctuating changes in the angle after stopping needle insertion during acupuncture, the self-vibration of the acupuncture needle is quantified to avoid its interference with the judgment and analysis of angle control during the operation of students. Based on the changing angle during needle insertion, the degree of angle out-of-control during students' needle insertion is obtained. Combining the degree of force application imbalance, the unreasonable situation of students' operation is quantified, and based on this, the deformation degree of the mold is determined to avoid damage to the mold during the acupuncture training process.

[0105] Acupuncture result feedback module 103: Based on the deformation degree of the mold and the change in acupuncture depth, determine the recommended acupuncture depth for subsequent acupuncture and give auxiliary prompts.

[0106] It should be noted that when acupuncture is performed on acupoints located in the thick muscles of the leg, first insert the needle shallowly to the subcutaneous layer, stay for a while to allow the patient to adapt to the acupuncture sensation, and then further insert the needle into the muscle layer. This can reduce the pain and discomfort of the patient, and at the same time can more accurately stimulate the corresponding nerve, blood vessel and other tissues to stimulate the meridian qi.

[0107] Specifically, for the acupuncture process at the current moment, that is, the current acupuncture, the deformation degree of the mold for the current acupuncture has been obtained, and the deformation parameter of the mold for the current acupuncture up to the current moment is obtained by normalization; a deformation threshold is preset. In this embodiment, the deformation threshold 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. To prevent the needle from being broken, the alarm system prompts the student to temporarily stop inserting the needle and gives a reminder through the display screen and the speaker; at the same time, the average value of the acupuncture depths in all previous detection periods during 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.

[0108] Furthermore, in this embodiment, the recommended depth is evenly divided into 5 segments, and the segmentation result is connected to the alarm system. When the student inserts the needle after the current moment, the student controls the needle insertion speed according to the prompt of the alarm system based on the segmentation result, so as to realize the auxiliary training of the acupuncture technique during the acupuncture training process.

[0109] Furthermore, in a complete acupuncture training process, it includes multiple acupuncture processes. For each acupuncture process, the corresponding degree of force application imbalance, degree of angle out-of-control and degree of mold deformation are obtained. The three characteristics of each acupuncture process in this acupuncture training process are linearly normalized and averaged respectively, and the obtained average values are used as the recorded values of the degree of force application imbalance, degree of angle out-of-control and degree of mold deformation of the student in this acupuncture training process; after the student completes a group (10 times) of complete acupuncture training, the recorded values of each acupuncture training process are visually displayed.

[0110] So far, through the visual display of the parameters in the acupuncture training process of students and the suggestion reminder during the operation process, the auxiliary training of acupuncture techniques is realized. At the same time, it is ensured that the mold will not be damaged, and the accuracy and efficiency of the acupuncture training process are improved.

[0111] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present invention shall 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; An 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; 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 of the acupuncture depths in all the 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; 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.

2. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 1 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.

3. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 1 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.

4. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 3 is 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.

5. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 4 is 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.

6. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 5, 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.

7. The acupuncture manipulation auxiliary training system for bone injury rehabilitation according to claim 6, 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.

8. 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 mold deformation degree 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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