Automatic acupuncture robot

Abstract

A medical device for performing electroacupuncture to treat traumatic brain injury and cerebral thrombosis is disclosed. The device comprises a 6-DOF (degree of freedom) mechanical arm, a multifunctional tool tip, an MRI helmet suitable for acupuncture and moxibustion and magnetic resonance imaging (MRI). The acupuncture robot is capable of automatically manipulating some needles by inserting the needles, rotating or shaking within a specific frequency range, and applying electrical stimulation to enhance the effect.

Description

Technical Field

[0001] The present invention generally relates to the field of medical devices, and in particular to an automatic acupuncture device. Background Art

[0002] Acupuncture originated in China about 2,000 years ago and is one of the oldest medical practices in the world. The ancient technique of acupuncture has been used for hundreds of years in Asia to treat a variety of ailments and relieve pain. It is currently used in the United States and other countries to treat ailments ranging from low back pain to neuralgia and headaches, fibromyalgia, dysmenorrhea, and more. Traditional Chinese medicine involves inserting very fine needles into the skin. Inserted into the skin at specific "meridian points." This type of acupuncture can relieve pain by producing endorphins, the body's natural pain-relieving chemicals, and by affecting the part of the brain that controls serotonin, the brain chemical involved in Chinese acupuncture. The acupuncturist can enhance the effect by gently turning or rotating the needles or applying electrical stimulation.

[0003] Acupuncture works by increasing blood circulation, relaxing muscles, and stimulating the production of neurotransmitters such as endorphins and serotonin, which lead to relaxation and pain relief. Acupuncture can induce a variety of biological responses, including circulatory and biochemical effects. These responses may occur locally, either close to the site of application, or at a distance. They are primarily mediated by sensory neurons to many structures within the central nervous system. This results in the activation of pathways that affect various physiological systems in the brain and periphery.

[0004] Recent studies have shown that acupuncture points may be excitatory muscle / skin-nerve complexes containing a high density of nerve endings. Needles can produce widespread neurological effects on the spinal cord, brainstem, limbic system, hypothalamus, and cortex. Needles can alter perception, autonomic nervous activity, and immune responses.

[0005] Electroacupuncture is one of the modern acupuncture. It stimulates the patient's body by applying micro-electricity, causing more therapeutic effects. Electroacupuncture is similar to traditional Chinese acupuncture. Needles are placed at the same sites in the meridians, with small electrodes attached to the needles. During the treatment, micro-electricity (current of 1mA-3Am) passes through the electrodes, accompanied by slight vibrations (1-50 Hz) or soft humming sounds. The treatment time is also shorter because the electrodes can activate the acupuncture points faster, and in addition, the electrode needles with conductive micro-electricity in the body will provide the body with repair capabilities. Summary of the invention

[0006] The present invention is an electroacupuncture device, including a 6-DOF (degree of freedom) robotic arm, a multifunctional tool tip, and magnetic resonance imaging (MRI). The tool tip has a needle with a vibrating mechanism. The acupuncture robot is able to use a specific needle, automatically perform acupuncture by inserting the needle, rotating or shaking it within a specific frequency range, and apply electrical stimulation to enhance the effect. Traditional Chinese acupuncture and electroacupuncture have been shown to have the effects of relieving pain and improving balance function, reducing spasticity and increasing muscle strength and improving overall health after stroke.

[0007] In one embodiment described in the present application, the robot module is primarily designed for treating traumatic brain injury and cerebral thrombosis, but it can also be used for other medical applications. In the present application, the electroacupuncture device has an acupuncture MRI helmet, which has the coils required for MRI. When the radio frequency is transmitted into the patient's body, the coil acts as an antenna, receives the radio frequency signal emitted from the body, and transmits the data to a computer, which then generates an image. The helmet can display most of the acupuncture points for the acupuncture robot.

[0008] The device's MRI produces detailed images of the brain and other skull structures that are clearer and more detailed than other imaging methods. This allows acupuncturists to find the location and shape of cerebral blood clots and prescribe acupuncture. The robot also needs these MRI images to locate acupuncture points.

[0009] The robot can be driven by servo motors to move to different positions along two curved rails. A linear motor is added to drive the needle holder up and down. With this linear motor, the needle can be inserted in and out of the body quickly and smoothly at an accurate depth.

[0010] The device also has a heating or cooling module. A Peltier cooler / heater or thermoelectric heat pump is a solid-state active heat pump that transfers heat from one side of the device to the other while consuming electrical energy, depending on the direction of the current. This can be used for heating or for cooling.

[0011] For accuracy and safety reasons, an ultrasonic distance sensor is used to determine the distance of the needle from the target point. The ultrasonic sensor transmits high frequency sound waves to the target object. The target object reflects the sound waves back to the sensor. The receiver receives the reflected wave and stops the timer. The time it takes for the wave to return is calculated based on the speed of sound to determine the distance traveled. The measurement range of this sensor is 1cm-400cm.

[0012] The device also features a force sensor to precisely control the operation and measure the needle insertion force. If the needle encounters resistance greater than a set limit, the linear motor will quickly stop.

[0013] During the operation, the patient lies on the treatment table with his head placed in an MRI helmet. The MRI will scan the patient's head. After the scan, the MRI will obtain three-dimensional information of the head and detect cerebral thrombosis (or pathological changes such as cerebral edema). The acupuncturist or artificial intelligence software will give an acupuncture prescription based on certain information provided by the MRI scan test image. The robot then locates the acupuncture points and performs treatment according to the acupuncture prescription.

[0014] Therefore, an object of the present invention is to provide an electroacupuncture device that can improve and enhance the therapeutic effect of traditional acupuncture.

[0015] Another object of the present invention is to increase the physiological capabilities of acupuncture and make it more fitting by controlling various electrical stimulations with ultra-high precision.

[0016] Another object of the present invention is to be able to implement most human acupuncture techniques on the human brain and body; with greater efficiency and less human error.

[0017] Another object of the present invention is to be used in acupuncture prescriptions, especially acupuncture prescriptions for traumatic brain injury and cerebral thrombosis.

[0018] Another object of the present invention is to be able to automatically identify the locations of all 361 acupuncture points. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Embodiments of the present invention will be described below in conjunction with the accompanying drawings, which are provided for illustration and not to limit the scope of the claims, wherein like numerals denote like elements, wherein: Figure 1A is a perspective view of an electroacupuncture device according to an embodiment of the present invention; Figure 1B is a perspective view of an electroacupuncture device according to another embodiment of the present invention; Figure 2 is a side view of an electroacupuncture device according to an embodiment of the present invention; Figure 3 is an enlarged view of the mechanical arm of the present invention; Figure 4 is a front view showing a robotic tool tip assembly according to the present invention; Figure 5 is a perspective top view showing a robotic tool tip assembly according to the present invention; Figure 6 is a cross-sectional view of a robotic tool tip according to the present invention showing the gripper in an open position; Figure 7 is a cross-sectional view of a robotic tool tip according to the present invention showing the gripper in a closed position; Figure 8 is a schematic diagram of a long pin of a clamp of the present invention; Fig.9A is a perspective front view of the robotic tool tip showing the tip in a clamped position; Fig. 9B is a perspective front view of the robotic tool tip showing the tip in a released position; Fig. 10A is a perspective front view of a holder according to the present invention; Fig. 10B is a perspective front view of a holder according to the present invention; Fig.11A is a perspective view of a needle heating and cooling system of the present invention; Fig. 11B is a perspective side view of the needle heating and cooling system of the present invention; Fig.12 is a perspective view of an electroacupuncture device according to the present invention, showing the relationship between the various components; Fig.13 is a perspective view of an acupuncture helmet according to the present invention; Fig.14A is a perspective front view of a robotic tool tip of the present invention; Fig. 14B is a perspective rear view of the robotic tool tip of the present invention, and Fig.15 is a perspective bottom view of the robotic tool tip of the present invention. DETAILED DESCRIPTION

[0020] Figures 1A to 4 An acupuncture device 100 of the present invention is shown. The device includes a robotic arm 200 that is movable in one or more dimensions, a magnetic resonance imaging (MRI) 500, and an acupuncture MRI helmet 400. The robotic arm 200 is a 6-DOF robotic arm that can perform most human acupuncture techniques on the human brain and body more efficiently and reduce human error. Acupuncture needles 210 are coupled to the robotic arm. The robotic arm is movable so that the needles are positioned relative to the target area. The MRI 500 can be detached from the bed 101. When the robot 200 is moved to the bedside, the MRI 500 can automatically move out of the way.

[0021] The robotic arm 200 is capable of automatically operating an acupuncture procedure using certain needles. It operates by inserting the needles 210, rotating or shaking the needles within a specific frequency range, and applying electrical stimulation to enhance the effect. The acupuncture device 100 includes a bed 101 on which an acupuncture helmet 400 is mounted, and the patient lies on the bed during the procedure.

[0022] The robot arm 200 is a 6-degree-of-freedom (DOF) arm having a multifunctional tool tip 202. The robot arm 200 is driven to various positions by a servo motor 212. Figure 3 As shown, the robot arm 200 moves along two curved guide rails 203 .

[0023] according to Figure 4 , Figure 5 and Figure 6 , the tool tip 202 has an upper portion 204 and a lower portion 205. The lower portion 205 of the tool tip includes a needle 210 with a holder 211, which includes a translation and rotation mechanism that is operably coupled to the robotic arm 200 and is arranged to move the needle and insert it into the tissue. The holder 211 holds and clamps the needle 210. The tool tip has a mechanism that can rotate or twist the needle. A linear motor 212 is added to drive the holder 211 to move up and down. Through the linear motor 212, the needle 210 can quickly and smoothly penetrate and pierce the human body at an accurate depth. A hollow shaft motor 213 is provided to rotate the holder 211 by ±180 degrees. The solenoid 214 can be turned on / off to open / close the holder fingers 211a and 211b. This translation and rotation mechanism includes a pivoting structure and a rotating structure of the robotic arm 200. The pivoting structure is configured to move the needle 210 along the axis of the device. The insertion of the needle 210 is nearly linear and is guided by the linear motor 212. A parallel motion mechanism is provided to maintain the orientation of the needle during insertion. The robotic arm 200 includes a mechanism to rotate the needle 210 about the long axis of the needle.

[0024] The needle 210 also has a vibration mechanism. A vibration motor 224 causes the needle 210 to vibrate. When the vibration motor 224 is activated, the four rubber isolators 225 isolate the vibration wave to the left side of the tool tip 202; at the same time, the right side of the tool tip receives a stronger vibration.

[0025] refer to Figure 7 and Figure 8 , the device 100 has a clamping long pin 220 made of stainless steel. The top side of the pin 221 is threaded to connect with the solenoid pin 218; the bottom side of the pin 222 is a rack tooth to drive the clamp fingers 211a, 211b. The clamp 211 is fixed to the bottom of the shaft motor 217. When the solenoid 214 is closed, the solenoid spring pulls the clamp long pin 220 upward, and then the clamp fingers 211a, 211b are pulled to firmly clamp the needle 210. When the solenoid 214 is turned on, the solenoid plunger will push the clamp long pin 220 downward to release the needle 210. The connector 219 fixes the solenoid 214 to the top 215 of the motor shaft. One of the main differences between the present device and existing devices for acupuncture is that the drive is usually higher than the needle, which limits the application. The device 100 of the present invention is configured to achieve linear motion.

[0026] Reference now 9A to 10B , the lower portion 205 of the tool tip is shown in the closed and open positions. Fig.9A and Fig. 10AThe retainer 211 is shown in a closed position and an open position, respectively.The tool tip 202 includes a retainer 211 that provides a mechanism for quickly, automatically, and very smoothly releasing the needle 210 without moving or pushing the needle, while also securing the needle for insertion. Fig.9A Shown is the position of the gripper 211 when the solenoid 214 is closed. In this position, the solenoid spring 216 pulls the gripper long pin 220 upward, and then the gripper fingers 211a, 211b are pulled to firmly grip the needle 210.

[0027] Fig. 9B The position of the gripper 211 is shown when the solenoid 214 is turned on. When the solenoid 214 is turned on, the solenoid plunger pushes the gripper long pin 220 downward to release the needle 220. The connector 218 secures the solenoid 216 to the top 217 of the motor shaft.

[0028] The needle 210 is held in the holder 211 by the holder fingers 211a, 211b and against the skin. The needle 210 is configured to be operably coupled to the rotation and translation structure so that it can be rotated and inserted into the tissue when the holder 211 guides the direction of the needle 210. The rotational translation needle generated by the translational, rotational motion causes the needle 210 to spiral inward rather than deflect on one side. This allows the needle 210 to get closer to the target. This rotational translation needle motion also breaks the static friction between the tissue and the target, thereby reducing the force and further potentially reducing the insertion force.

[0029] The clamping mechanism of the present invention secures the needle by the needle head and provides additional support and guidance for the needle for the portion of the clamp located close to the skin entry point. This is similar to holding the needle with two hands, one hand holding from the needle head and one hand holding from the needle tube close to the skin, where one hand pushes the needle in and out, and the lower hand holds the guide to support the direction of the needle as close to the skin as possible. The mechanism is configured to release the needle 210 quickly, automatically and very smoothly without moving or pushing the needle. The process of installing the needle 210 is done manually.

[0030] like Fig. 10A As shown, the holder 211 can have an integral structure made of a material suitable for the intended use. In an exemplary embodiment, the holder is made of UPE material. The needle 210 is made of a material suitable for the intended use, for example, the needle is made of metal (stainless steel), and other functional parts are made of plastic.

[0031] according to Figure 4 , the device 100 provides a heating and cooling module 300 for heating or cooling acupuncture treatment. In one embodiment, as Fig.11A and Fig. 11BAs shown, a Peltier cooler / heater or a thermoelectric heat pump (solid-state active heat pump) is used to transfer heat from one side of the device to the other. Depending on the direction of the current, these devices can be used for heating or cooling. In this design, the Peltier can control the temperature of the working pad 301 from 1°C to 60°C for cold acupuncture or hot acupuncture treatment. The heating and cooling module 300 has a Peltier cooler / heater 302, a radiator 303, a fan 304, and an isolation box 305. The heating and cooling module 300 is placed on the holder 211 to heat or cool the acupuncture needles 210.

[0032] Refer again Fig. 10A and Fig.12 , in one embodiment, the device has a positive electrode 22 located on a metal needle 23 to contact the needle 210, and a negative electrode located on a finger clip 25. The voltage is 3V and the current can be adjusted in 0.1 mA increments within a 0-10 mA output range.

[0033] The device 100 is primarily designed for treating traumatic brain injury and cerebral thrombosis, but can also be used for other medical applications. In this application, the device has an MRI helmet 400. The MRI 500 uses a strong magnetic field, radio waves, and a computer to generate detailed images of the brain and other skull structures that are clearer and more detailed than other imaging methods. In this way, doctors can find the location and shape of cerebral thrombosis and then prescribe acupuncture. The robotic arm 200 also needs these MRI images to locate acupuncture points.

[0034] like Fig.12 and 13 As shown, the helmet 400 has a coil required for MRI inside. When radio frequency is transmitted into the patient's body, the coil acts as an antenna to receive the radio frequency signal emitted from the body and transmit the data to the computer, which then generates an image. The helmet 400 can display most of the acupuncture points for the acupuncture robot. There is an air bag 402 inside the helmet that can be inflated or deflated to fit heads of different sizes.

[0035] according to Fig.14A , Fig. 14B and Fig.15 , for reasons of accuracy and safety, an ultrasonic distance sensor 600 is used to determine the distance between the needle 210 and the acupuncture point on the human head. The ultrasonic sensor 600 transmits high-frequency sound waves to the target object and starts a timer. The target object reflects the sound waves back to the sensor 600. The receiver receives the reflected waves and stops the timer. The time required for the wave to return is calculated based on the speed of sound to determine the distance traveled. The measurement range of this sensor 600 is 1cm-400cm.

[0036] The device also has a force sensor 700 to precisely control the operation and measure the needle insertion force. If the resistance encountered by the needle 210 is greater than a set limit, the linear motor 212 will stop quickly.

[0037] Please refer to Figure 1 again. Figure 2 and Fig.12 During operation, after the patient lies down on the treatment table 101, his head is covered by the MRI helmet 400, and the MRI 500 scans the patient's head. After scanning, the MRI 500 will obtain 3D information of the head and find cerebral thrombosis (or pathological changes such as cerebral edema). The acupuncturist or artificial intelligence software will give an acupuncture prescription based on certain information provided by the MRI scan test image. Then the robot 200 locates the acupuncture points and performs treatment according to the acupuncture prescription.

[0038] The robotic arm 200 cleans the local skin around the acupuncture point using 75% alcohol as a disinfectant. The needle 210 is then placed at the desired skin entry point so that the orientation of the needle is adjusted toward the desired target by the robotic arm 200 on the stage before inserting the needle 210. The mechanism of the device 100 includes translating and rotating the needle so that the needle is inserted into the patient's tissue.

[0039] The needle 210 is then inserted into the tissue with rotation or shaking within a certain frequency range. Further physical treatment is performed by heating or cooling at 0-65°C for 0-60 seconds and up to 30 minutes. This increases the physiological power of acupuncture and achieves a good fit by controlling various electrical stimulations with ultra-high precision. The rotational translation needle generated by the translational and rotational movement of the device 100 of the present invention causes the needle 210 to spiral inward rather than deflect on one side, so that the end of the needle is closer to the target. This rotational translation needle movement should also break the static friction between the tissue and the target, thereby reducing the force and further possibly reducing the insertion force.

[0040] The gripper mechanism of the robotic arm holds the needle by the needle tip so that it can support the needle from the needle tip and provide additional needle support guides, with the gripper portion being located close to the skin entry point. This is similar to holding the needle with two hands, one hand holding from the needle tip and one hand holding from the needle tube close to the skin, where one hand pushes the needle in and out and the lower hand holds the guides to support the needle as close to the skin as possible. The mechanism is configured to release the needle 210 quickly, automatically, and very smoothly without moving or pushing the needle.

[0041] The distance sensor and force sensor measure the interaction force of the needle insertion with the patient and the force of the needle. Alternatively, the interaction of the needle with the skin entry point can be measured. The present invention also uses a distance sensor to calculate the distance between the needle and the target.

[0042] The mechanism of the present invention overcomes the problem of existing systems that there is no information available to determine the direction of the needle during insertion. In addition, there is no suitable imager to track it in real time, and the image is not real time. Since the holder holds and controls the needle, it can control the direction of the needle and measure the interaction of the needle with the tissue, which can be used to provide real-time information about the direction of needle deflection, which in turn can be used as feedback to make corrections by positioning and orienting the needle accordingly.

[0043] The operation of the device 100 in combination with other components such as the mechanical arm 200, the MRI 500 and the helmet 400 is achieved through a control system. The controller is any of a variety of devices known to those skilled in the art that can control the functions of the device and perform the control functions, monitor input parameters and provide the commands and signal processing required for output. The controller includes a microprocessor, a memory, and a storage memory for storing programs or applications for performing the functions of the controller. The device may include a display unit to display information in response to the signals output by the controller.

[0044] The foregoing is considered as an explanation of the principle of the present invention only. In addition, since many modifications and changes can be easily thought of by those skilled in the art, it is not desirable to limit the present invention to the exact construction and operation shown and described, and therefore, all suitable modifications and equivalents may be adopted, which all belong to the scope of the present invention.

[0045] In view of the above description, it should be recognized that the optimal relationship between the size, shape, form, material, function and operation, assembly and use of the various components of the present invention is considered to be obvious to those skilled in the art, and all equivalent relationships shown in the drawings and described in the specification are intended to be included in the present invention.

Claims

1. An electroacupuncture device for inserting a needle into an acupuncture point, the device comprising: a) Magnetic resonance imaging (MRI); b) a robotic arm movable in one or more dimensions, comprising: i. a tip portion comprising an acupuncture needle having a distal end and a proximal end, and ii. A clamp mechanism coupled to the robotic arm, wherein the robotic arm is movable to smoothly position the needle within or outside the acupuncture point relative to the target area; the clamp mechanism comprising: a set of gripper fingers, wherein the needle is gripped and released by the set of gripper fingers, and a gripper long pin; the gripper long pin includes a threaded distal end to connect with a solenoid pin to drive the set of gripper fingers; the solenoid is operably coupled to the gripper mechanism to drive the gripper long pin along a linear trajectory; wherein the holder mechanism holds the needle in close proximity to the acupuncture point from the distal end and the proximal end to direct the direction of the needle as close to the acupuncture point as possible, and releases the needle quickly, automatically and smoothly without moving or pushing the needle; c) a linear and rotational mechanism operably coupled to the tip portion, comprising: a linear motor configured to move the long gripper pin along an axis, and a rotational structure configured to rotate the long gripper pin about an axis, and wherein when the set of gripper fingers are opened, the needle is withdrawn, and the rotational translation of the needle causes the needle to spiral inward, rather than deflect on one side, so that the tip of the needle is closer to the acupuncture point and breaks static friction between the acupuncture point and the target, thereby reducing force and further potentially reducing insertion force, and d) a control system for controlling the functions of the device, This allows the device to more effectively perform most human acupuncture techniques and reduce human error.

2. The electroacupuncture device according to claim 1, wherein the robotic arm is a 6-DOF robotic arm.

3. The electroacupuncture device according to claim 1, wherein the device has an acupuncture MRI helmet for treating traumatic brain injury and cerebral thrombosis.

4. The electroacupuncture device according to claim 1, wherein the needle further has a vibration motor to vibrate the needle.

5. The electroacupuncture device according to claim 1, further comprising a heating and cooling mechanism mounted on the holder for heating or cooling the needle.

6. The electroacupuncture device according to claim 1, wherein the helmet has an air bag that can be inflated and deflated to fit the patient's head and a coil for MRI imaging to display most of the acupuncture points.

7. The electroacupuncture device according to claim 1, further comprising an ultrasonic distance sensor having a measuring range of 1 cm-400 cm for determining the distance between the needle and a target point.

8. The electroacupuncture device according to claim 1, further comprising a force sensor to control and measure the insertion force of the needle.

9. A method of electroacupuncture for treating traumatic brain injury and cerebral thrombosis, the method comprising the following steps: Have the patient lie flat on the treatment table with their head placed in the MRI helmet; Scanning the patient's head and receiving 3D images to locate acupuncture points and target areas for acupuncture prescription; Perform treatment according to the acupuncture prescription issued by an acupuncturist or AI software; positioning a mechanical arm of the electroacupuncture device on the acupuncture point and performing acupuncture treatment; The local skin around the acupuncture points is cleaned with 75% alcohol by the robotic arm and the needles of the electroacupuncture device are placed on the target area. wherein the robotic arm adjusts the direction of the needle above the stage to be toward the target area; translating, rotating and shaking the needle within a certain frequency range to insert the needle into the acupuncture point; determining a predefined distance between the needle and the acupuncture point and measuring the insertion force of the needle, and Provides heating or cooling from 0-65°C for 0-60 seconds and up to 30 minutes to increase the physiological capacity of the acupuncture.

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