Terminal device of acupuncture robot and acupuncture robot

Abstract

The invention discloses a terminal device of an acupuncture robot and the acupuncture robot, relates to the technical field of acupuncture robots, and aims to solve the problems that the terminal device of the acupuncture robot in the prior art is large in size, slow in high-speed response, large in inertia and large in user pain during skin breaking and needle inserting. The tail end device of the acupuncture robot comprises a first base, a needle moving driving module and a puncture module, and the first base is fixedly connected with the tail end of a mechanical arm; the puncture module comprises a needle clamping part and an energy storage mechanism, the needle clamping part is used for clamping an acupuncture needle, and the needle clamping part is installed on the energy storage mechanism; the needle moving driving module is arranged on the first base and comprises a first moving part, and the first moving part is used for driving the puncture module to do linear motion relative to the first base; after the first moving part moves by a first preset distance relative to the first base, the energy storage mechanism releases the elastic potential energy to enable the needle clamping part to do linear motion, and the moving direction of the needle clamping part is parallel to the moving direction of the acupuncture needle.

Description

Technical Field

[0001] The present application relates to the technical field of acupuncture robots, and in particular to an end device of an acupuncture robot and an acupuncture robot. Background Art

[0002] Acupuncture therapy is a unique treatment method based on traditional Chinese medicine theory, and its clinical application is very extensive. With the rapid development of artificial intelligence and robotics, acupuncture analgesia robots, also known as acupuncture robots, have begun to appear. In the future, acupuncture analgesia robots can not only accurately identify acupuncture points, but also perform expert-like needle manipulation, perform acupuncture treatment on the skin of the human body or other living things, assist doctors in completing acupuncture analgesia, and improve the accuracy and stability of acupuncture operations.

[0003] The hardware core of the acupuncture robot is the end device. The end device of the robot arm uses different needles to achieve acupuncture treatment in different positions and techniques. Acupuncture treatment operations mainly include three steps: needle insertion, needle movement, and needle removal. Needle insertion should be accurate and fast. The faster the speed of piercing the skin surface, the less pain. Needle movement stimulates acupuncture points through twisting, lifting and inserting techniques, and the lifting and inserting techniques can be fast or slow. Needle removal should be gentle to avoid bleeding or pain.

[0004] The terminal device of this acupuncture in the related art usually has at least two degrees of freedom, namely, rotation (twisting) around the needle and feeding (skin-breaking needle insertion, lifting and inserting, and needle removal). On the one hand, the feeding of skin-breaking needle insertion is mostly driven by a screw or a friction wheel, and the movement is smooth, but the high-speed movement has a slow response and a large inertia, which causes the user to feel greater pain when the skin is broken. For example, adding a skin-breaking needle insertion mechanism will increase the complexity of the terminal device. On the other hand, although some terminal devices have realized the three links of needle insertion, needle movement, and needle removal, the structure of the terminal device is relatively complex, with many degrees of freedom of movement, and it is even larger than the flange at the end of the robotic arm, which is not proportional to the volume of the clamped needle body, and patients are prone to fear. Summary of the invention

[0005] The embodiments of the present application provide an end device of an acupuncture robot and an acupuncture robot, which are used to solve the problems in the related art that the end device of the acupuncture robot is large in size, has slow high-speed response when breaking the skin and inserting the needle, has large inertia, and causes great pain to the user.

[0006] In the first aspect, an embodiment of the present application provides an end device of an acupuncture robot, the acupuncture robot includes a robotic arm, the robotic arm can drive the end device to rotate, the end device includes a first base, a needle driving module and a puncture module, the first base is fixedly connected to the end of the robotic arm; the puncture module includes a needle clamping part and an energy storage mechanism, the needle clamping part is used to clamp the acupuncture needle, and the needle clamping part is installed on the energy storage mechanism; the needle driving module is arranged on the first base, the needle driving module includes a first moving part, the first moving part is used to drive the puncture module to make a linear motion relative to the first base; wherein, when the first moving part moves a first preset distance relative to the first base, the energy storage mechanism releases elastic potential energy to make the needle clamping part make a linear motion relative to the first base, and the movement direction of the needle clamping part is parallel to the movement direction of the acupuncture needle.

[0007] In some embodiments, the needle clamping part includes a accommodating tube and a needle clamping assembly for clamping the acupuncture needle, and the needle clamping assembly is installed on the accommodating tube; the energy storage mechanism includes a sliding seat, a second movable part and a first elastic member, and the sliding seat is relatively fixed to the first movable part; the first elastic member is located in the accommodating tube, one end of the first elastic member away from the needle clamping assembly is abutted against the sliding seat, and the other end of the first elastic member close to the needle clamping assembly is relatively fixed to the accommodating tube through the needle clamping assembly; the second movable part can move relative to the sliding seat, so that the second movable part can be in a clamping state with the accommodating tube, or, so that the second movable part is in a separated state with the accommodating tube; when the accommodating tube and the second movable part switch from the clamping state to the separated state, the first elastic member releases elastic potential energy, so that the accommodating tube drives the needle clamping assembly to move in a straight line.

[0008] In some embodiments, the second movable part includes a push rod and a locking tongue, the push rod has a center hole, the locking tongue is connected to the center hole, the accommodating tube is passed through the center hole, and the outer wall of the accommodating tube is provided with a recess that is engaged with the locking tongue; the push rod can move relative to the sliding seat to make the locking tongue approach and move away from the recess.

[0009] In some embodiments, a second elastic member is disposed on the sliding seat, and the second elastic member is used to apply an elastic force to the second movable portion so as to move the second movable portion closer to the accommodating tube.

[0010] In some embodiments, the accommodating cylinder includes a connecting end and a clamping end; a connecting piece is provided on one side of the sliding seat close to the connecting end, and one end of the connecting piece close to the connecting end extends into the interior of the connecting end to stop the first elastic piece from moving along the movement direction of the first moving part.

[0011] In some embodiments, the connecting member includes a stud, and a first stopper and a second stopper connected to both ends of the stud; the stud is threadedly connected to the sliding seat, and in the movement direction of the needle clamping part, the first stopper is located outside the sliding seat, and the second stopper is located in the accommodating tube and in contact with the first elastic member.

[0012] In some embodiments, the outer wall of the accommodating tube is connected to a flange, and the flange is located between the connecting end and the clamping end; the sliding seat has a stop portion, and when the accommodating tube moves a second preset distance relative to the sliding seat along the movement direction of the first moving portion, the flange stops at the stop portion.

[0013] In some embodiments, the sliding seat has a cavity in which a linear bearing is disposed. The linear bearing is sleeved on the accommodating tube. The accommodating tube can move relative to the linear bearing. An end surface of the linear bearing away from the needle clamping assembly forms the stop portion.

[0014] In some embodiments, a guide rod is provided in the cavity, and the guide rod extends along the movement direction of the clamping needle part; a through hole for the guide rod to pass through is opened on the flange, so that the clamping needle part can make a linear motion relative to the guide rod.

[0015] In some embodiments, one end of the guide rod is fixed relative to the sliding seat, and the other end is free, and the free end of the guide rod is close to the stop portion; in the movement direction of the first moving part, the maximum distance between the free end of the guide rod and the stop portion is less than the thickness of the flange.

[0016] In some embodiments, the flange is in a circular ring shape, and the flange is provided with a plurality of the through holes along the circumference of the accommodating tube; the number of the guide rods is multiple, and the multiple guide rods correspond to the multiple through holes one by one.

[0017] In some embodiments, the accommodating tube and the flange are an integral structure.

[0018] In some embodiments, the cavity passes through the sliding seat along the movement direction of the first moving part, and the cavity includes a first opening and a second opening relative to each other. The first opening is detachably connected to a first baffle plate, and the first baffle plate is provided with a first avoidance opening for the clamping needle part to pass through; the second opening is detachably connected to a second baffle plate, and the second baffle plate is provided with a second avoidance opening for the clamping needle part to pass through, and the linear bearing is stopped inside the second avoidance opening.

[0019] In some embodiments, the puncture module also includes a trigger mechanism, which includes a roller and an unlocking track; the roller is rotatably connected to the second movable part, and the roller can move along the unlocking track; the unlocking track has an unlocking part, and the unlocking track is arranged on the needle driving module. When the first movable part moves the first preset distance, the unlocking part is used to apply a driving force to the second movable part through the roller to make the second movable part move linearly relative to the sliding seat.

[0020] In some embodiments, the unlocking track includes a first section, a raised section, and a second section connected in sequence in the movement direction of the first movable part, the first section is close to the end of the robotic arm, and the raised section protrudes toward the accommodating cylinder relative to the first section in the movement direction of the needle clamping part, and the connection between the first section and the raised section and the raised section form the unlocking part; the movement directions of the first section, the second section, and the needle clamping part are parallel to each other.

[0021] In a second aspect, an embodiment of the present application further provides an acupuncture robot, comprising an end device and a robotic arm of the acupuncture robot as described in the first aspect, wherein the robotic arm can drive the end device to rotate.

[0022] In a third aspect, an embodiment of the present application further provides an acupuncture robot, comprising an end device, a robotic arm and an acupuncture needle of the acupuncture robot as described in the first aspect, wherein the robotic arm can drive the end device to rotate; and the acupuncture needle is connected to the needle clamping part of the end device.

[0023] The end device of the acupuncture robot provided in the embodiment of the present application, by fixedly connecting the first base of the end device with the end of the mechanical arm, can reasonably utilize one degree of freedom of rotation of the mechanical arm, indirectly reduce the number of components of the end device, simplify the structure of the end device, and help reduce the design difficulty and volume of the end device. At the same time, the puncture module can not only make a linear motion relative to the first base under the drive of the first moving part, but also when the acupuncture needle is set in the needle clamping part of the puncture module, the acupuncture needle can complete continuous needle insertion and removal. Moreover, when the moving part moves a first preset distance relative to the first base, the energy storage mechanism releases elastic potential energy to make the needle clamping part drive the acupuncture needle to make a linear motion, so that the acupuncture needle completes rapid skin breaking. At this time, the speed of the acupuncture needle moving relative to the first base is much greater than the moving feed speed of the first moving part. That is to say, a puncture effect similar to that of a "flying needle" is achieved, the pain is reduced, and the user experience is improved, so that the end device achieves the purpose of simplifying the structure, reducing the difficulty, reducing the volume and reducing the pain of skin breaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the structure of the end device of the acupuncture robot in some embodiments of the present application;

[0026] Figure 2 for Figure 1 A partial exploded view of the end device of the acupuncture robot;

[0027] Figure 3 for Figure 1 A schematic diagram of a portion of the structure of the needle drive module in the end device;

[0028] Figure 4 for Figure 1 A side view of the end device in FIG.

[0029] Figure 5 for Figure 4 AA cross section in;

[0030] Figure 6 for Figure 1 Partial structural exploded diagram of the puncture module;

[0031] Figure 7 for Figure 1 A front view of the end device in FIG.

[0032] Figure 8 for Figure 6 An exploded view of the needle clamping part;

[0033] Fig. 9 The first movable part drives the puncture module, and the second movable part and the accommodating tube are switched from a clamping state to a separation state;

[0034] Fig.10 for Figure 1 A cross-sectional view of the position of the puncture module after the first moving part drives the puncture module to complete the needle feeding.

[0035] Description of reference numerals:

[0036] 10. First base; 11. First mounting plate; 12. Second mounting plate;

[0037] 20. needle drive module; 201. first moving part; 21. second base; 211. bottom plate; 212. support base; 213. cover; 22. motor; 23. reduction transmission mechanism; 231. driving pulley; 232. driven pulley; 233. synchronous belt; 234. lead screw; 235. lead screw nut; 236. guide shaft; 237. first bearing;

[0038] 30. Puncture module;

[0039] 40. Sliding seat; 401. First opening; 402. Second opening; 403. Stopper; 410. Cavity; 411. Seat body; 412. Upper cover; 42. First baffle plate; 43. Second baffle plate; 441. First avoidance opening; 442. Second avoidance opening; 45. Linear bearing; 46. Guide rod; 47. Unlocking track; 470. Unlocking portion; 471. First section; 472. Raised section; 473. Second section; 48. Connector; 481. Stud; 482. First stopper; 483. Second stopper;

[0040] 50, second moving part; 51, push rod; 510, center hole; 52, lock tongue; 53, trigger mechanism; 54, roller; 55, connecting shaft;

[0041] 60, needle clamping part; 601, notch; 61, accommodating tube; 611, connecting end; 612, clamping end; 62, needle clamping assembly; 621, clamping seat; 622, clamping head; 64, flange; 65, through hole;

[0042] 71. a first elastic member; 72. a second elastic member;

[0043] 80. Acupuncture needle. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0046] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0048] Acupuncture therapy is a unique treatment method based on traditional Chinese medicine theory, and its clinical application is very extensive. With the rapid development of artificial intelligence and robotics, acupuncture analgesia robots, also known as acupuncture robots, have begun to appear. In the future, acupuncture analgesia robots can not only accurately identify acupuncture points, but also perform expert-like needle manipulation, perform acupuncture treatment on the skin of the human body or other living things, assist doctors in completing acupuncture analgesia, and improve the accuracy and stability of acupuncture operations.

[0049] The hardware core of the acupuncture robot is the end device. The end device of the robot arm uses different needles to achieve acupuncture treatment in different positions and techniques. Acupuncture treatment operations mainly include three steps: needle insertion, needle movement, and needle removal. Needle insertion should be accurate and fast. The faster the speed of piercing the skin surface, the less pain. Needle movement stimulates acupuncture points through twisting, lifting and inserting techniques, and the lifting and inserting techniques can be fast or slow. Needle removal should be gentle to avoid bleeding or pain.

[0050] The terminal device of this acupuncture in the related art usually has at least two degrees of freedom, namely, rotation (twisting) around the needle and feeding (skin-breaking needle insertion, lifting and inserting, and needle removal). On the one hand, the feeding of skin-breaking needle insertion is mostly driven by a screw or a friction wheel, and the movement is smooth, but the high-speed movement has a slow response and a large inertia, which causes the user to feel greater pain when the skin is broken. For example, adding a skin-breaking needle insertion mechanism will increase the complexity of the terminal device. On the other hand, although some terminal devices have realized the three links of needle insertion, needle movement, and needle removal, the structure of the terminal device is relatively complex, with many degrees of freedom of movement, and it is even larger than the flange at the end of the robotic arm, which is not proportional to the volume of the clamped needle body, and patients are prone to fear.

[0051] In order to solve the above problems, an embodiment of the present application improves an acupuncture robot, which includes a robotic arm and an end device. The end device is fixedly connected to the end of the robotic arm. The end of the robotic arm can rotate and can drive the end device to rotate, that is, the end of the robotic arm has at least one degree of freedom of rotation.

[0052] The terminal device is the core of the acupuncture robot. After the acupuncture needle is installed and fixed on the terminal device, through a series of relative movements between the robotic arm and the terminal device, the three links of needle insertion, needle movement and needle removal can be completed to achieve acupuncture treatment.

[0053] Specifically, the above-mentioned end device is used to complete the insertion, lifting and removal of the needle after breaking the skin, and the end of the robotic arm drives the entire end device and the acupuncture needle to realize the twisting action during acupuncture.

[0054] The acupuncture robot may include acupuncture needles or may not include acupuncture needles. The following description will be made by taking the acupuncture robot including acupuncture needles as an example.

[0055] like Figure 1 , Figure 2 and Figure 5 As shown, the end device includes a first base 10, a needle driving module 20 and a puncture module 30, the first base 10 is fixedly connected to the end of the robotic arm; the puncture module 30 includes a needle clamping part 60 and an energy storage mechanism, the needle clamping part 60 is used to clamp the acupuncture needle 80, and the needle clamping part 60 is installed on the energy storage mechanism; the needle driving module 20 is arranged on the first base 10, and the needle driving module 20 includes a first moving part 201, and the first moving part 201 is used to drive the puncture module 30 to make a linear motion relative to the first base 10; wherein, when the first moving part 201 moves a first preset distance relative to the first base 10, the energy storage mechanism releases elastic potential energy to make the needle clamping part 60 make a linear motion.

[0056] The first base 10 is used to connect the end of the robot arm and set the needle driving module 20. Generally, the first base 10 includes a first mounting plate 11 and a second mounting plate 12, the first mounting plate 11 is fixedly connected to the end of the robot arm, and the second mounting plate 12 is used to fix the needle driving module 20. The first mounting plate 11 and the second mounting plate 12 are connected in an L shape. The first mounting plate 11 and the second mounting plate 12 can be, but are not limited to, an integrated structure, which improves the strength of the first base 10 and is conducive to improving the connection reliability.

[0057] The needle driving module 20 is a linear driving module.

[0058] The movement direction of the needle clamping part 60 is parallel to the movement direction of the acupuncture needle. For simplicity, the movement direction of the needle clamping part 60 is referred to as the first direction.

[0059] The energy storage mechanism can store elastic potential energy. When necessary, the energy storage mechanism releases the elastic potential energy of the first elastic member 71 to make the needle clamping part 60 move linearly, thereby completing rapid skin-breaking and needle insertion.

[0060] The puncture module 30 is mainly used to puncture the skin. The puncture module 30 includes a needle clamping part 60 and an energy storage mechanism. The movement direction of the puncture part refers to the direction of movement of the punctured skin. In the related art, the insertion, lifting, insertion and removal of the needle for breaking the skin are mainly completed by a linear drive module. However, the insertion of the needle must be accurate and fast. The faster the speed of piercing the skin surface, the less pain; the lifting and insertion techniques during needle movement are fast or slow; the needle must be removed gently to avoid bleeding or pain. That is to say, during acupuncture treatment, the requirements for the travel speed of the puncture module 30 are different, especially the instantaneous speed of the skin breaking when the needle is inserted and the needle feeding speed after the needle is inserted are quite different. In order to reduce the pain of the skin piercing at the moment of needle insertion, an energy storage mechanism is added to the puncture module 30. In this way, the puncture part can make a linear motion under the action of the elastic potential energy released by the energy storage mechanism, so that the acupuncture needle 80 can quickly break the skin. At this time, the speed of the acupuncture needle 80 moving relative to the first base 10 is much greater than the moving feeding speed of the first moving part 201, that is to say, a puncture effect similar to that of a "flying needle" is achieved, reducing the pain.

[0061] The needle driving module 20 is used to drive the puncture module 30 and the acupuncture needle 80 to move, so as to realize the needle feeding and needle removal. The needle feeding can not only be used for the needle feeding and needle removal after the needle is inserted, but also can cooperate with the puncture module 30 to realize automatic skin-breaking needle insertion.

[0062] The purpose of the first preset distance is to be used for preliminary positioning. The first preset distance needs to be determined according to actual conditions so that the needle tip of the acupuncture needle 80 is close to the skin surface. This reduces the probability of misoperation and improves the accuracy of acupuncture treatment.

[0063] The end device of the acupuncture robot provided in the embodiment of the present application is connected with the end of the mechanical arm by fixing the first base 10 of the end device, so that one degree of freedom of rotation of the mechanical arm can be reasonably utilized, which indirectly reduces the number of components of the end device, simplifies the structure of the end device, and is conducive to reducing the design difficulty and volume of the end device. At the same time, the puncture module 30 can not only make a linear motion relative to the first base 10 under the drive of the first moving part 201, but also when the acupuncture needle 80 is set in the needle clamping part 60 of the puncture module 30, the acupuncture needle 80 can complete continuous The needle is inserted and removed, and when the movable part moves a first preset distance relative to the first base 10, the energy storage mechanism releases elastic potential energy to enable the needle clamping part 60 to drive the acupuncture needle 80 to move in a straight line, so that the acupuncture needle 80 can quickly break the skin. At this time, the speed at which the acupuncture needle 80 moves relative to the first base 10 is much greater than the moving feed speed of the first movable part 201. In other words, a puncture effect similar to that of a "flying needle" is achieved, which reduces pain and improves user experience, so that the terminal device achieves the purpose of simplifying the structure, reducing difficulty, reducing volume and reducing the pain of skin breaking.

[0064] It should be noted that the end device does not include the acupuncture needle 80 .

[0065] like Figure 2 and Figure 3 As shown, the needle driving module 20 includes a second base 21, a motor 22, a reduction mechanism 23 and a first movable part 201. The second base 21 is fixedly connected to the second mounting plate 12. Specifically, the second base 21 can be, but is not limited to, fixedly connected by a clamping pin (also called a locker) to facilitate assembly; the first movable part 201 is connected to the motor 22 through the reduction mechanism, and the motor 22 drives the first movable part 201 to perform linear motion through the reduction mechanism 23.

[0066] The above-mentioned reduction transmission mechanism 23 includes a driving pulley 231, a driven pulley 232, a synchronous belt 233, and a screw 234. Both ends of the screw 234 are rotatably connected to the second base 21 through a first bearing 237. The screw is connected to the first movable part 201 through a screw nut 235. A guide shaft is also provided on the second base 21 to improve the guiding property of the first movable part 201.

[0067] The above-mentioned second base 21 includes a bottom plate 211, a support seat 212 and a cover 213. The first bottom plate 211 is fixedly connected to the second mounting plate 12. The reduction transmission mechanism 23 is arranged on the support seat 212. The support seat 212 is annular. A part of the reduction transmission mechanism 23 is located in the center hole of the support seat 212, and the other part is located outside the support seat 212. The cover 213 is used to cover the parts of the reduction transmission mechanism 23 outside the support seat 212.

[0068] like Figure 5 and Figure 6 As shown, the needle clamping part 60 includes a accommodating tube 61 and a needle clamping assembly 62 for clamping acupuncture needles, and the needle clamping assembly 62 is installed on the accommodating tube 61; the energy storage mechanism includes a sliding seat 40, a second movable part 50 and a first elastic member 71, and the sliding seat 40 is relatively fixed to the first movable part 201; the first elastic member 71 is located in the accommodating tube 61, and one end of the first elastic member 71 away from the needle clamping assembly 62 abuts against the sliding seat 40, and the other end of the first elastic member 71 close to the needle clamping assembly 62 is relatively fixed to the accommodating tube 61 through the needle clamping assembly 62; the second movable part 50 can move relative to the sliding seat 40, so that the second movable part 50 can be in a clamping state with the accommodating tube 61, or, so that the second movable part 50 and the accommodating tube 61 are in a separated state; when the accommodating tube 61 and the second movable part 50 switch from the clamping state to the separated state, which can also be called unlocking, the first elastic member 71 releases elastic potential energy, so that the accommodating tube 61 drives the needle clamping assembly 62 to make a linear motion.

[0069] One end of the first elastic member 71 is fixed relative to the sliding seat 40 , and the other end is fixed relative to the accommodating tube 61 via the clamping needle assembly 62 , thus providing a structural basis for the subsequent release of the elastic potential energy of the first elastic member 71 .

[0070] The movement direction of the second moving part 50 ( Figure 5 The horizontal direction) can be aligned with the moving direction of the clamping needle portion 60 ( Figure 5 The vertical direction of Figure 5 Of course, the movement direction of the second moving part 50 may also intersect with the movement direction of the clamping needle part 60 but not be perpendicular to it, so as to realize that the accommodating cylinder 61 and the second moving part 50 are switched from the clamping state to the separation state.

[0071] Through the above arrangement, when the second movable part 50 moves to be engaged with the accommodating tube 61, that is, the two are in an engaged state, the first elastic member 71 is in a compressed state. At this time, the energy storage mechanism stores the elastic potential energy of the first elastic member 71; by moving the second movable part 50, so that the accommodating tube 61 and the second movable part 50 are switched from the engaged state to the separated state, the energy storage mechanism releases the elastic potential energy of the first elastic member 71, that is, the needle clamping part 60 accelerates under the elastic force of the first elastic member 71, and the elastic potential energy released instantly by the first elastic member 71 is relatively large, which is enough to make the needle clamping part 60 obtain a relatively large acceleration, providing huge energy support for the rapid skin penetration of the acupuncture needle 80, thereby reducing the pain.

[0072] The first elastic member 71 may be, but is not limited to, a compression spring. The elastic potential energy of the first elastic member 71 needs to be determined based on the skin-breaking feeding distance of the acupuncture needle 80 and the parameters of the spring.

[0073] The second movable part 50 can be manually connected and separated from the accommodating cylinder 61, or driven or driven by a certain component to provide a driving force to separate the second movable part 50 from the accommodating cylinder 61. When the driving force applied to the second movable part 50 is large enough, the second movable part 50 and the accommodating cylinder 61 can be unlocked, so that the energy storage mechanism releases the elastic potential energy of the first elastic member 71. The specific structure of the second movable part 50 is not specifically limited.

[0074] like Figure 5 and Figure 6As shown, in some embodiments, the puncture module 30 also includes a trigger mechanism 53, which includes a roller 54 and an unlocking track 47; the roller 54 is rotatably connected to the second movable part 50, and the roller 54 can move along the unlocking track 47; the unlocking track 47 has an unlocking part 470, and the unlocking track is arranged on the needle driving module 20. When the first movable part 201 moves a first preset distance, the unlocking part 470 is used to apply a driving force to the second movable part 50 through the roller 54 to move the second movable part 50.

[0075] The roller 54 is rotatably connected to the second moving part 50 via the connecting shaft 55 , so that the roller 54 and the unlocking track 47 are rollingly matched, reducing the friction during the movement of the roller 54 , so that the roller 54 moves smoothly on the unlocking track 47 .

[0076] Through the above-mentioned arrangement, the first movable part 201 makes a linear motion relative to the first base 10 driven by the motor, and rolls to cooperate with the unlocking track 47. When rolling to the unlocking part 470, the unlocking part 470 can apply a driving force to the second movable part 50 through the roller 54, so that the second movable part 50 drives the needle clamping part 60 to move automatically, thereby realizing the linkage between skin breaking needle insertion and needle feeding, improving the continuity of the movement of the acupuncture needle 80, further reducing the pain, and being beneficial to improving the user experience.

[0077] like Figure 5 and Figure 6 As shown, the unlocking track 47 includes a first section 471, a raised section 472 and a second section 473 connected in sequence in a first direction, the first section 471 is close to the end of the robot arm, and the raised section 472 is raised in the direction of movement of the needle clamping part 60 relative to the first section 471 toward the direction close to the accommodating cylinder 61, and the connection between the first section 471 and the raised section 472 and the raised section 472 form an unlocking portion 470; the first section 471, the second section 473 and the first direction are parallel to each other.

[0078] The distance of the first section 471 is the same as the first preset distance. When the roller 54 moves from the connection between the first section 471 and the second section 473 to the second section 473, the driving force gradually increases until it transitions to the second section 473. When it reaches a size that enables the second movable part 50 to move, the driving force is released instantly, thereby instantly completing the automatic release of the elastic potential energy of the energy storage mechanism.

[0079] The first section 471 and the second section 473 may have a right angle transition or a rounded angle transition, which is not specifically limited here.

[0080] like Figure 5 and Figure 6As shown, in some embodiments, the second movable portion 50 includes a push rod 51 and a locking tongue 52, the push rod 51 has a center hole 510, the locking tongue 52 is connected to the center hole 510, the accommodating tube 61 is passed through the center hole 510, and the outer wall of the accommodating tube 61 is provided with a recess 601 that is engaged with the locking tongue 52; the push rod 51 can move relative to the sliding seat 40 to make the locking tongue 52 approach and move away from the recess 601.

[0081] By connecting the locking tongue 52 to the central hole 510 of the push rod 51 and the accommodating tube 61 passing through the central hole 510, it is not only convenient to drive the locking tongue 52 to move through the push rod 51 so that the locking tongue 52 is separated or engaged with the recess 601 of the accommodating tube 61, but also the space of the second movable part 50 can be fully utilized, thereby facilitating reducing the overall volume of the puncture module 30.

[0082] like Figure 5 and Figure 6 As shown, the push rod 51 includes a rod body and a rod handle, the rod body is in a circular ring shape, the locking tongue 52 is connected to the center hole 510 of the rod body, the accommodating tube 61 is passed through the center hole 510 of the rod body, the rod handle is connected to the outer side wall of the rod body, and the rod handle and the locking tongue 52 are located in the same diameter direction of the rod body.

[0083] like Figure 5 , Figure 6 and Figure 8 As shown, the accommodating tube 61 includes a connecting end 611 and a clamping end 612, and the clamping needle assembly 62 is fixedly arranged at the clamping end 612; the notch 601 is close to the connecting end 611. In this way, the length of the accommodating tube 61 itself can be used to the maximum extent, and the first elastic member 71 can be placed in the accommodating tube 61, thereby optimizing the structure of the clamping needle portion 60.

[0084] In order to further improve the space utilization and enhance the firmness of the connection between the clamping assembly and the accommodating tube 61, the clamping seat 621 of the clamping assembly is stopped inside the clamping end 612 of the accommodating tube 61, and only the clamping head 622 is exposed outside the clamping end 612. In this way, the purpose of improving the space utilization of the needle clamping part 60, reducing the overall volume of the needle clamping part 60, improving the reliability of the needle clamping part 60 and facilitating the replacement and installation of the acupuncture needle 80 can be achieved.

[0085] The acupuncture needle 80 comprises a needle handle and a needle tip, and the needle clamping assembly 62 is used to clamp the needle handle.

[0086] like Figure 8As shown, the needle clamping assembly 62 comprises a clamping seat 621 and a clamping head 622. The front end of the clamping seat 621 is divided into four parts. The central axis of the clamping seat 621 is provided with a mounting hole for the acupuncture needle 80 to pass through. The diameter of the mounting hole is slightly larger than the diameter of the handle of the acupuncture needle 80. The outer periphery of the front end of the clamping seat 621 is provided with an external thread. When the external thread of the front end of the clamping seat 621 is connected with the internal thread of the clamping head 622, the clamping head 622 squeezes the front end of the clamping seat 621, thereby making the clamping seat 621 clamp the handle of the acupuncture needle 80.

[0087] like Figure 5 and Figure 8 As shown, in some embodiments, the outer wall of the accommodating cylinder 61 is connected to a flange 64, and the flange 64 is located between the connecting end 611 and the clamping end 612; the sliding seat 40 has a stop portion 403, and when the accommodating cylinder 61 moves a second preset distance relative to the sliding seat 40 along the first direction, the flange 64 stops at the stop portion 403.

[0088] The second preset distance is determined according to the distance that the acupuncture needle 80 breaks through the skin and enters the needle. Usually, the distance that the acupuncture needle 80 breaks through the skin and enters the needle is 3 mm to 5 mm.

[0089] In addition, the second preset distance needs to be smaller than the movement deformation of the first elastic member 71 to restore the deformation, that is, after the accommodating tube 61 moves the second preset distance, the first elastic member 71 is still in a compressed state. In this way, no matter whether the accommodating tube 61 and the second movable part 50 are in a clamped state or the accommodating tube 61 and the second movable part 50 are in a separated state, after the accommodating tube 61 moves the second preset distance, the clamping assembly and the acupuncture needle 80 can be supported by the elastic force of the second elastic member 72. On the one hand, in the above two cases, the clamping assembly and the acupuncture needle 80 are fixed relative to the sliding seat 40; on the other hand, especially when the accommodating tube 61 and the second movable part 50 are in a separated state, after the accommodating tube 61 moves the second preset distance, the clamping assembly and the acupuncture needle 80 can be supported by the elastic force of the second elastic member 72. In the process of continuous feeding of the acupuncture needle 80 after breaking the skin and inserting the needle, this elastic force can overcome part of the resistance, reduce the risk of retraction of the acupuncture needle 80, and reduce harm to humans or other living things.

[0090] By providing a flange 64 on the outer wall of the accommodating tube 61, the sliding seat 40 has a stop portion 403, so that the accommodating tube 61 can be forced to stop after moving a second preset distance, thereby preventing the needle clamping portion 60 from moving too long and causing unnecessary harm to the human body.

[0091] In order to improve the strength of the accommodating tube 61, in one embodiment, the accommodating tube 61 and the flange 64 are an integral structure. In this way, not only the number of components and the assembly process are reduced, but also the strength of the accommodating tube 61 is improved.

[0092] like Figure 5 and Figure 6 As shown, the sliding seat 40 is provided with a second elastic member 72, and the second elastic member 72 is used to apply an elastic force to the second movable portion 50 so that the second movable portion 50 moves close to the accommodating tube 61. That is, when the locking tongue 52 is engaged with the notch 601, the second elastic member 72 is compressed; when the locking tongue 52 is separated from the notch 601, the second movable portion 50 can apply an elastic force to the second movable portion 50 so that the second movable portion 50 moves close to the accommodating tube 61 under the action of the elastic force of the second elastic member 72.

[0093] The second elastic member 72 may be, but is not limited to, a spring. During the movement of the second moving portion 50 relative to the sliding seat 40, the second elastic member 72 is always kept in a compressed state. Specifically, when the locking tongue 52 is engaged with the notch 601, the second elastic member 72 is compressed. When the locking tongue 52 is separated from the notch 601, during the rebound of the second elastic member 72, the second moving portion 50 can move to the position as shown in FIG. Figure 5 As shown in FIG. 1 , the second elastic member 72 moves relative to the sliding seat 40. At this time, the second elastic member 72 is still in a compressed state and can continuously apply force to the second moving portion 50 so that the second moving portion 50 moves to the right side. Figure 5 The elastic force of the right relative sliding seat 40 shown in the figure is for the subsequent manual movement of the accommodating cylinder 61 to Figure 5 The upper movement shown is to make the accommodating cylinder 61 and the second movable part 50 in the clamping state again. In other words, the second movable part 50 is prepared to be in the clamping state again by manual operation under the elastic force of the second elastic member 72, so as to prepare for the next skin-breaking needle insertion and energy storage.

[0094] By arranging the second elastic member 72 on the sliding seat 40, the second movable part 50 can make a linear motion under the elastic force of the second elastic member 72, so that the accommodating cylinder 61 and the second movable part 50 can be in a locked state again. In other words, the accommodating cylinder 61 and the second movable part 50 can be locked again by manual operation to prepare for the next skin penetration and needle insertion to store energy.

[0095] like Figure 5 and Figure 6 As shown, the sliding seat 40 includes a seat body 411 and an upper cover 412, and the second elastic member 72 and the second moving part 50 are arranged on the upper cover 412. Specifically, the second elastic member 72 is arranged on the inner wall of the upper cover 412, and the handle of the push rod 51 can pass through the side wall of the upper cover 412 and extend out of the upper cover 412, which is convenient for operation or connection.

[0096] like Figure 5 and Figure 6As shown, the sliding seat 40 has a cavity 410, the second elastic member 72 is arranged on the side wall of the upper cover 412, the rod body of the push rod 51 is located in the upper cover 412, and the end of the second elastic member 72 away from the side wall of the cavity 410 is fixed relative to the rod body, and the end of the rod handle away from the rod body extends out of the upper cover 412. In this way, it is not only convenient to manually drive the push rod 51 to move, but also convenient to connect the push rod 51 with the trigger mechanism 53 to realize automatic trigger unlocking.

[0097] like Figure 5 and Figure 6 As shown, a connecting member 48 is provided on one side of the sliding seat 40 close to the connecting end 611, and one end of the connecting member 48 close to the connecting end 611 extends into the interior of the connecting end 611, and is used to stop the first elastic member 71 from moving along the first direction. In other words, the side of the connecting member 48 away from the connecting end 611 of the accommodating cylinder 61 is connected to the sliding seat 40, and the end close to the connecting end 611 is extended to the interior of the connecting end 611, and plays a role in stopping the first elastic member 71. Specifically, one end of the first elastic member 71 close to the connecting end 611 is fixed to the connecting member 48, so that one end of the first elastic member 71 close to the connecting end 611 is fixed relative to the sliding seat 40, and the other end is fixed relative to the clamping end 612 of the accommodating tube 61. In this way, when the recess 601 of the accommodating tube 61 and the locking tongue 52 of the second movable part 50 are separated from each other under the action of the driving force, the first elastic member 71 applies a force to the accommodating tube 61 on the side close to the clamping end 612 to push the accommodating tube 61 downward, thereby driving the clamping assembly and the acupuncture needle 80 to move.

[0098] The connecting member 48 can be fixedly connected to the sliding seat 40, so that the side of the first elastic member 71 close to the connecting end 611 can be continuously fixed relative to the sliding seat 40. Specifically, the first connecting member 48 and the sliding seat 40 can be, but are not limited to, threaded.

[0099] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, the connecting member 48 includes a stud 481, and a first stop block 482 and a second stop block 483 connected to both ends of the stud 481; the stud 481 is threadedly connected to the sliding seat 40, and in the first direction, the first stop block 482 is located outside the sliding seat 40, and the second stop block 483 is located in the accommodating tube 61 and in contact with the first elastic member 71.

[0100] Through the above arrangement, the connecting member 48 can not only ensure a fixed connection with the sliding seat 40, but also can adjust the depth of the second stop block 483 extending into the interior of the connecting end 611 of the accommodating cylinder 61 by rotating the stud 481, thereby adjusting the elastic potential energy of the first elastic member 71, so that the needle clamping part 60 can achieve needle insertion at different movement speeds, and has a wide range of applications.

[0101] like Figure 5 As shown, the stud 481 of the connecting member 48 passes through the upper cover 412 and is screwed to the upper cover 412 .

[0102] The stud 481 , the first stopper 482 and the second stopper 483 may be an integral structure or a separate structure, which is not specifically limited here.

[0103] It should be noted that the first stopper 482 and the stud 481 together can be referred to as an adjusting screw or an adjusting bolt, and can be made by adjusting on the basis of conventional fasteners such as studs 481 and screws.

[0104] In order to facilitate the installation and rotation of the connecting member 48 , in one embodiment, the first stopper 482 may be made into an outer hexagonal shape, so that corresponding tools may be used for installation and adjustment, thereby improving the installation efficiency of the connecting member 48 .

[0105] In another embodiment, the first stopper 482 may be made into a circle or an ellipse or other similar shape, and then the side wall of the first stopper 482 may be anti-slip treated to facilitate manual adjustment.

[0106] like Figure 5 and Figure 6 As shown, in some embodiments, the sliding seat 40 has a cavity 410, in which a linear bearing 45 is provided. The linear bearing 45 is sleeved on the accommodating cylinder 61. The accommodating cylinder 61 can move relative to the linear bearing 45. An end surface of the linear bearing 45 away from the clamping needle assembly 62 forms a stop portion 403.

[0107] like Figure 5 and Figure 6 As shown, in some embodiments, a guide rod 46 is provided in the cavity 410 , and the guide rod 46 extends along the first direction; a through hole 65 for the guide rod 46 to pass through is opened on the flange 64 , so that the needle clamping part 60 can move relative to the guide rod 46 .

[0108] By arranging the guide rod 46 in the cavity 410, it can play a guiding role during the movement of the accommodating tube 61, and can effectively prevent the accommodating tube 61 from rotating relative to the cavity 410 during the movement, thereby facilitating improving the accuracy of needle insertion.

[0109] like Figure 4 and Figure 5 As shown, one end of the guide rod 46 is fixed relative to the sliding seat 40, and the other end is free, and the free end of the guide rod 46 is close to the stopper 403; Figure 4 In the vertical direction), the maximum distance between the free end of the guide rod 46 and the stop portion 403 is less than the thickness of the flange 64.

[0110] Such an arrangement can effectively reduce the probability that the flange 64 slides out from between the guide rod 46 and the stopper 403 and thus detaches from the guide rod 46 , thereby improving the reliability of the connection of the needle clamping part 60 .

[0111] like Figure 8 As shown, in some embodiments, the flange 64 is annular, and the flange 64 has two through holes 65 along the circumference of the accommodating tube 61 ; there are two guide rods 46 , and the two guide rods 46 correspond to the two through holes 65 one by one.

[0112] The provision of the two through holes 65 and the two guide rods 46 further reduces the probability of the accommodating tube 61 rotating relative to the cavity 410 during movement, thereby facilitating improved accuracy of needle insertion.

[0113] It should be noted that the number of through holes 65 is determined according to the number of guide rods 46. In addition to being two, the number of guide rods 46 can also be three, four, etc., which is not specifically limited here.

[0114] like Figure 6 As shown, in some embodiments, the cavity 410 penetrates the sliding seat 40 along the first direction, and the cavity 410 includes a first opening 401 and a second opening 402 relative to each other in the first direction. The first opening 401 is detachably connected to a first baffle 42, and the first baffle 42 is provided with a first avoidance opening 441 for the clamping needle part 60 to pass through; the second opening 402 is detachably connected to a second baffle 43, and the second baffle 43 is provided with a second avoidance opening 442 for the clamping needle part 60 to pass through, and the linear bearing 45 is stopped inside the second avoidance opening 442.

[0115] The first opening 401 and the second opening 402 are two openings of the base body 411 .

[0116] The above arrangement facilitates the assembly and maintenance of the needle clamping part 60 and the acupuncture needle 80.

[0117] The above-mentioned detachable connection can be one or both of screw connection and clamp connection.

[0118] like Figure 5 and Figure 6 As shown, the first baffle 42 is connected to the guide rod 46, the linear bearing 45 is connected to the second baffle 43, and the first baffle 42 is screwed to the fastener sliding seat 40. The first baffle 42 and the guide rod 46 can be assembled first, and the second baffle 43 and the linear bearing 45 can be assembled first, and then assembled with the accommodating cylinder 61, the first elastic member 71, the connecting member 48, etc., which further speeds up the assembly process of the needle clamping part 60.

[0119] Combination Figure 5 , Fig. 9 and Fig.10, the movement process of acupuncture needle 80 is as follows:

[0120] In the initial state, the roller 54 is located at the beginning of the first section 471 of the unlocking track 47. Figure 5 As shown;

[0121] After the first moving part 201 drives the puncture module 30 to move a preset distance, the roller 54 moves to the unlocking part 470, and the roller 54 drives the second moving part 50 to move leftward, and the second elastic member 72 is compressed until the second moving part 50 and the accommodating tube 61 are switched from the engaged state to the separated state. Fig. 9 As shown;

[0122] When the second moving part 50 is separated from the accommodating tube 61, the skin is broken and the needle is inserted instantly. At this time, the position of the accommodating tube 61 and the sliding seat 40 can be referred to Fig.10 As shown;

[0123] When the first moving part 201 continues to move Fig.10 After the puncture module 30 completes the needle feeding, as shown in the following figure, Fig.10 As shown;

[0124] When the motor is reversed, the first moving part 201 is driven to move Fig.10 The upper feeding shown drives the puncture module 30 to complete the needle removal.

[0125] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An end device of an acupuncture robot, the acupuncture robot comprising a mechanical arm, the mechanical arm being capable of driving the end device to rotate, characterized in that: The terminal device comprises: A first base (10) fixedly connected to the end of the mechanical arm; The puncture module (30) comprises a needle clamping part (60) and an energy storage mechanism, wherein the needle clamping part (60) is used to clamp an acupuncture needle (80), and the needle clamping part (60) is mounted on the energy storage mechanism; A needle driving module (20) is disposed on the first base (10), and the needle driving module (20) comprises a first moving part (201), and the first moving part (201) is used to drive the puncture module (30) to perform linear motion relative to the first base (10); When the first moving part (201) moves a first preset distance relative to the first base (10), the energy storage mechanism releases elastic potential energy to make the needle clamping part (60) move in a straight line, and the movement direction of the needle clamping part (60) is parallel to the movement direction of the acupuncture needle (80).

2. The end device according to claim 1, characterized in that: The needle clamping part (60) comprises a housing tube (61) and a needle clamping assembly (62) for clamping the acupuncture needle (80), and the needle clamping assembly (62) is installed on the housing tube (61); The energy storage mechanism comprises a sliding seat (40), a second moving part (50) and a first elastic member (71), wherein the sliding seat (40) and the first moving part (201) are relatively fixed; the first elastic member (71) is located in the accommodating tube (61), one end of the first elastic member (71) away from the clamping needle assembly (62) is in contact with the sliding seat (40), and the other end of the first elastic member (71) close to the clamping needle assembly (62) is relatively fixed to the accommodating tube (61) through the clamping needle assembly (62); The second movable part (50) can move relative to the sliding seat (40) so that the second movable part (50) can be in a snap-fit ​​state with the accommodating tube (61), or so that the second movable part (50) and the accommodating tube (61) are in a separated state; when the accommodating tube (61) and the second movable part (50) are switched from the snap-fit ​​state to the separated state, the first elastic member (71) releases elastic potential energy so that the accommodating tube (61) drives the clamping needle assembly (62) to move in a straight line.

3. The end device according to claim 2, characterized in that: The second moving part (50) comprises a push rod (51) and a locking tongue (52), the push rod (51) having a central hole (510), the locking tongue (52) being connected to the central hole (510), the accommodating tube (61) passing through the central hole (510), and a notch (601) for engaging with the locking tongue (52) being provided on the outer wall of the accommodating tube (61); The push rod (51) can move relative to the sliding seat (40) so as to move the locking tongue (52) closer to and away from the recess (601).

4. The end device according to claim 3, characterized in that: The sliding seat (40) is provided with a second elastic member (72), and the second elastic member (72) is used to apply an elastic force to the second movable part (50) so as to move the second movable part (50) closer to the accommodating cylinder (61).

5. The end device according to claim 2, characterized in that: The accommodating tube (61) comprises a connecting end (611) and a clamping end (612); A connecting piece (48) is provided on one side of the sliding seat (40) close to the connecting end (611), and one end of the connecting piece (48) close to the connecting end (611) extends into the interior of the connecting end (611) to stop the first elastic piece (71) from moving along the movement direction of the first moving part (201).

6. The end device according to claim 5, characterized in that: The connecting member (48) includes a stud (481), and a first stopper (482) and a second stopper (483) connected to both ends of the stud (481); the stud (481) is threadedly connected to the sliding seat (40), and in the movement direction of the needle clamping part (60), the first stopper (482) is located outside the sliding seat (40), and the second stopper (483) is located in the accommodating tube (61) and is in contact with the first elastic member (71).

7. The end device according to any one of claims 2 to 6, characterized in that: The outer wall of the accommodating cylinder (61) is connected with a flange (64), and the flange (64) is located between the connecting end (611) and the clamping end (612); The sliding seat (40) has a stop portion (403), and when the accommodating tube (61) moves a second preset distance relative to the sliding seat (40) along the movement direction of the first moving portion (201), the flange (64) stops at the stop portion (403).

8. The end device according to claim 7, characterized in that: The sliding seat (40) has a cavity (410), and a linear bearing (45) is provided in the cavity (410). The linear bearing (45) is sleeved on the accommodating cylinder (61). The accommodating cylinder (61) can move relative to the linear bearing (45), and an end surface of the linear bearing (45) away from the clamping needle assembly (62) forms the stopper (403).

9. The end device according to claim 8, characterized in that: A guide rod (46) is provided in the cavity (410), and the guide rod (46) extends along the movement direction of the clamping needle part (60); a through hole (65) is provided on the flange (64) for the guide rod (46) to pass through, so that the clamping needle part (60) can move relative to the guide rod (46).

10. The end device according to claim 8, characterized in that: The cavity (410) passes through the sliding seat (40) along the movement direction of the first movable part (201), and the cavity (410) includes a first opening (401) and a second opening (402) relative to each other in the movement direction of the first movable part (201). The first opening (401) is detachably connected with a first baffle plate (42), and the first baffle plate (42) is provided with a first avoidance opening (441) for the clamping needle part (60) to pass through; the second opening (402) is detachably connected with a second baffle plate (43), and the second baffle plate (43) is provided with a second avoidance opening (442) for the clamping needle part (60) to pass through, and the linear bearing (45) is stopped inside the second avoidance opening (442).

11. The end device according to any one of claims 2 to 6 and 8 to 10, characterized in that: The puncture module (30) further comprises a trigger mechanism (53), wherein the trigger mechanism (53) comprises a roller (54) and an unlocking track (47); The roller (54) is rotatably connected to the second moving part (50), and the roller (54) can move along the unlocking track (47); The unlocking track (47) has an unlocking portion (470), and the unlocking track (47) is arranged on the needle driving module (20). When the first movable part (201) moves the first preset distance, the unlocking portion (470) is used to apply a driving force to the second movable part (50) through the roller (54) to move the second movable part (50).

12. The end device according to claim 11, characterized in that: The unlocking track (47) includes a first section (471), a raised section (472) and a second section (473) which are connected in sequence in the moving direction of the first movable part (201), the first section (471) is close to the end of the robotic arm, and the raised section (472) is raised relative to the first section (471) in the moving direction of the second movable part (50) toward the accommodating cylinder (61), and the connection between the first section (471) and the raised section (472) and the raised section (472) form the unlocking part (470); the moving directions of the first section (471), the second section (473) and the clamping needle part (60) are parallel to each other.

13. An acupuncture robot, characterized in that: include: The terminal device according to any one of claims 1 to 12; A mechanical arm, wherein the mechanical arm can drive the end device to rotate.

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