Multifunctional acupuncture point training simulation system and application method thereof

Abstract

The invention relates to the field of medical informatization, in particular to a multifunctional acupuncture point training simulation system and an application method thereof. Simulation tissue, force feedback, an acupoint simulation database and an intelligent evaluation technology are fused, and a vivid acupuncture training environment is created. The system simulates human tissues layer by layer, accurately collects acupuncture pressure and resistance, feeds back force feeling in real time, intelligently evaluates acupuncture performance in combination with acupuncture point characteristic data, and generates a detailed evaluation report. The virtual reality display module visually displays the acupuncture process and provides all-around feedback information. According to the innovative design, the acupuncture training effect and efficiency are remarkably improved, a safe and efficient learning platform is created for students, the modernization and standardization process of acupuncture education is promoted, and new power is injected for traditional medical inheritance and development.

Description

Technical Field

[0001] The present invention relates to the field of medical informationization, and in particular to a multifunctional acupuncture point training simulation system and an application method thereof. Background Art

[0002] As an important part of traditional Chinese medicine, acupuncture has been widely recognized for its unique treatment methods and significant clinical effects. However, the cultivation of acupuncture skills has always been a challenge in medical education. Traditional acupuncture training methods mainly rely on the combination of theoretical learning and practical operation. Although this method is effective, it also has many limitations.

[0003] First, traditional acupuncture training usually requires a large number of human models or volunteers, which not only increases training costs but also brings potential safety risks. Especially for beginners, operating directly on real people may cause unnecessary injuries due to unskilled techniques. Secondly, traditional training methods are difficult to simulate various complex clinical situations, such as acupoint characteristics under different body shapes, ages or special pathological conditions, which limits the ability of trainees to fully master acupuncture skills.

[0004] In recent years, with the development of computer technology and virtual reality technology, some acupuncture training simulation systems have begun to appear. These systems have improved the limitations of traditional training to a certain extent and provided a safer and repeatable practice environment. However, the existing simulation systems still have some significant shortcomings.

[0005] The closest existing technologies usually use simple force feedback devices and basic visual displays, which cannot truly simulate the complex characteristics of human tissue. For example, these systems often cannot accurately reproduce the special touch of different depths and different acupoints, and it is difficult to simulate the unique feeling of "getting qi" such as acupuncture. In addition, the evaluation function of existing systems is often too simplistic, only providing basic angle and depth data, lacking comprehensive evaluation and personalized guidance of operation skills.

[0006] Another common problem is that existing systems usually separate functions such as vision, touch and force feedback, and cannot provide a truly integrated, multi-sensory training experience. This separation not only affects the realism of training, but also limits the cultivation of trainees' comprehensive abilities. At the same time, most existing systems lack sufficient flexibility to simulate different cases and clinical scenarios, making it difficult to meet the different training needs from beginners to experts.

[0007] In view of the above problems, there is an urgent need for an innovative system that can comprehensively improve the effect of acupuncture training. The ideal system should be able to highly simulate the characteristics of human tissue, provide multi-dimensional sensory feedback, realize intelligent evaluation and guidance, and have sufficient flexibility to adapt to different levels of training needs. Summary of the invention

[0008] The multifunctional acupuncture point training simulation system of the present invention is designed to solve these technical problems. The system aims to create a highly simulated, intelligent, multi-sensory integrated acupuncture training environment, thereby significantly improving the learning efficiency and quality of acupuncture skills.

[0009] The present invention proposes a multifunctional acupuncture point training simulation system and an application method thereof, comprising:

[0010] Simulation organization module for:

[0011] A stretchable outer layer that simulates human subcutaneous fat and fascia;

[0012] The middle layer simulates the acupuncture response of the acupuncture point area;

[0013] A controllable lifting lining that simulates the hard tissue in the human body;

[0014] A force feedback module is electrically connected to the simulated tissue module and is used to:

[0015] Collecting pressure and resistance data of the simulated tissue module during acupuncture;

[0016] generating a real-time force feedback signal based on the pressure and resistance data;

[0017] The acupoint simulation database module is connected to the force feedback module data and is used for:

[0018] Store the data on the relationship between acupoint location coordinates, needle insertion depth and resistance changes;

[0019] Providing corresponding acupoint characteristic data according to the real-time force feedback signal sent by the force feedback module;

[0020] The intelligent evaluation module is data-connected with the force feedback module and the acupoint simulation database module, and is used for:

[0021] Receiving a real-time force feedback signal sent by the force feedback module;

[0022] Analyzing the operator's acupuncture performance based on the acupoint characteristic data provided by the acupoint simulation database module;

[0023] Generate evaluation results including needle insertion angle, depth and evaluation indicators;

[0024] A virtual reality display module is connected to the intelligent evaluation module for:

[0025] Receiving the evaluation result sent by the intelligent evaluation module;

[0026] Based on the evaluation results, the acupuncture process and feedback information are displayed in a virtual environment.

[0027] Preferably, the simulation organization module comprises:

[0028] The outer layer simulation unit is used to simulate the subcutaneous fat and fascia of the human body, including:

[0029] The outer layer simulation unit is made of polyurethane material;

[0030] The thickness of the outer layer simulation unit is 0.5 to 2 cm;

[0031] The outer layer simulation unit is scalable and is used to simulate the tension changes of different human skin tissues;

[0032] The middle simulation unit is connected to the outer simulation unit and is used to simulate the acupuncture reaction of the acupoint area, wherein:

[0033] The intermediate simulation unit is made of a flexible material that is retractable and resilient;

[0034] The intermediate simulation unit can simulate the hardening and rebound mechanical properties of the acupuncture point area under acupuncture;

[0035] The inner layer simulation unit is connected to the middle simulation unit and is used to simulate the hard tissue in the human body, wherein:

[0036] The inner layer simulation unit is made of rigid material;

[0037] The inner layer simulation unit can be raised and lowered in a controlled manner through electromagnetic control;

[0038] The lifting and lowering of the inner layer simulation unit is used to simulate the difference in tissue depth of different body shapes and parts.

[0039] Preferably, the force feedback module comprises:

[0040] 3D force sensor unit for:

[0041] Collect three-dimensional pressure and resistance data during acupuncture;

[0042] converting the three-dimensional pressure and resistance data into electrical signals;

[0043] A signal processing unit is electrically connected to the three-dimensional force sensor unit and is used to:

[0044] receiving an electrical signal sent by the three-dimensional force sensor unit;

[0045] filtering and amplifying the electrical signal;

[0046] A force feedback algorithm unit is data-connected to the signal processing unit and is used to:

[0047] receiving a processed signal sent by the signal processing unit;

[0048] Analyzing the processed signal based on a deep learning algorithm;

[0049] Generate real-time force feedback data for different acupoints, different needle insertion angles and depths;

[0050] A tactile feedback unit is data-connected to the force feedback algorithm unit and is used to:

[0051] Receiving real-time force feedback data sent by the force feedback algorithm unit;

[0052] Based on the real-time force feedback data, tactile feedback simulating real acupuncture is generated.

[0053] Preferably, the acupoint simulation database module comprises:

[0054] Acupoint coordinate storage unit, used for:

[0055] Store accurate three-dimensional coordinate data of each acupuncture point in the human body;

[0056] Provide location information of specific acupuncture points upon request;

[0057] Depth-resistance relationship storage unit for:

[0058] Store the resistance change data of different acupoints at different needle insertion depths;

[0059] Using a mathematical model to describe the relationship between depth and resistance, wherein the mathematical model includes trigonometric functions;

[0060] Acupoint attribute storage unit, used for:

[0061] Store characteristic data of different acupoints, including recommended needle insertion angle and depth;

[0062] Provides information on the properties of specific acupuncture points upon request;

[0063] A data retrieval unit is data-connected to the acupoint coordinate storage unit, the depth-resistance relationship storage unit and the acupoint attribute storage unit, and is used to:

[0064] Receive data requests from other modules;

[0065] Retrieving the requested data from the corresponding storage unit;

[0066] Return the search results to the request module.

[0067] Preferably, the intelligent evaluation module comprises:

[0068] Data acquisition unit for:

[0069] Receive the force feedback signal sent by the force feedback module in real time;

[0070] Collect the operator's acupuncture angle and depth data;

[0071] The parameter calculation unit is data-connected to the data acquisition unit and is used for:

[0072] Based on the force feedback signal and acupuncture data, the evaluation indicators such as the moving distance of the needle insertion point, the average value of the needle insertion depth and angle are calculated;

[0073] The performance analysis unit is data-connected with the parameter calculation unit and the acupoint simulation database module, and is used for:

[0074] comparing the evaluation index with standard data in an acupoint simulation database;

[0075] Analyze the accuracy, stability, and consistency of the operator's acupuncture skills;

[0076] An evaluation result generating unit, connected to the performance analysis unit, is used to:

[0077] Based on the performance analysis results, generate a comprehensive evaluation report;

[0078] Provide targeted skill improvement suggestions.

[0079] Preferably, the virtual reality display module comprises:

[0080] Scene rendering unit, used for:

[0081] Generate a three-dimensional virtual human model;

[0082] marking acupuncture point locations on the virtual human body model;

[0083] Virtual scenarios simulating different clinical environments;

[0084] An operation visualization unit is connected to the intelligent evaluation module for:

[0085] Receiving real-time evaluation data sent by the intelligent evaluation module;

[0086] Real-time display of the needling process in a virtual environment, including visual representation of the needle insertion angle and depth;

[0087] Interactive interface unit, for:

[0088] Provides a display interface for operation guidance and real-time feedback information;

[0089] Allows users to select different training modes and difficulty levels;

[0090] A data synchronization unit is data-connected to the scene rendering unit, the operation visualization unit and the interactive interface unit, and is used to:

[0091] Ensure real-time synchronization between virtual display and actual operation;

[0092] Coordinate data exchange and updates between units.

[0093] As a preference, it also includes:

[0094] The adjustable simulation environment module is data-connected with the simulation tissue module and the acupoint simulation database module, and is used for:

[0095] Providing an adjustable shell structure to allow simulation of different human tissue properties;

[0096] Based on the data of the acupoint simulation database module, a variety of case scenarios are generated, including virtual patient models of different genders, ages and body types;

[0097] The parameters of the simulated tissue module are adjusted to achieve pressure feedback simulation at different depths.

[0098] As a preference, it also includes:

[0099] The multi-dimensional perception feedback module is data-connected with the force feedback module, the virtual reality display module and the intelligent evaluation module, and is used to:

[0100] Integrate visual, tactile and auditory feedback information;

[0101] generating tactile feedback based on the data of the force feedback module;

[0102] Synchronizing visual feedback according to the display content of the virtual reality display module;

[0103] Simulate the sound effects during acupuncture and provide auditory feedback;

[0104] The data and evaluation indicators generated by the intelligent evaluation module are displayed in real time.

[0105] As a preference, it also includes:

[0106] The system control module is data-connected with the simulation tissue module, the force feedback module, the acupoint simulation database module, the intelligent evaluation module and the virtual reality display module, and is used to:

[0107] Coordinate data exchange and workflow between functional modules;

[0108] Manage the operating status and mode switching of the system;

[0109] Provide a user interface to allow the operator to set training parameters and select training modes;

[0110] Record and store training data to support training progress tracking and long-term effect evaluation.

[0111] The method of applying the multifunctional acupuncture point training simulation system comprises the following steps:

[0112] S1. Initialize the system and load the acupoint simulation database;

[0113] S2. Receive user input, select training mode and target acupoints;

[0114] S3. According to the selected acupuncture points, adjust the parameters of the simulation tissue module to simulate the corresponding tissue characteristics;

[0115] S4. Start the virtual reality display module to present the virtual human body and the selected acupuncture points;

[0116] S5. Real-time collection of user's acupuncture operation data, including needle insertion angle, depth and force;

[0117] S6. The force feedback module generates real-time force feedback based on the collected data and the information of the acupoint simulation database;

[0118] S7. The intelligent evaluation module analyzes the user's operation data, compares it with the standard data, and generates an evaluation result;

[0119] S8. The virtual reality display module updates the display content in real time to reflect the user's operation effect and evaluation results;

[0120] S9. The multi-dimensional sensory feedback module provides comprehensive visual, tactile and auditory feedback;

[0121] S10. Repeat steps S5 to S9 until the training is completed or the user chooses to end;

[0122] S11. Generate training reports, including operation accuracy, stability assessment and improvement suggestions;

[0123] S12. Store the training data in the system database for long-term effect tracking and formulation of personalized training programs.

[0124] The present invention has achieved breakthrough progress in many aspects through innovative technical solutions, bringing significant beneficial effects to acupuncture training. First, in terms of simulation, the system of the present invention accurately simulates the tissue characteristics of different parts and depths of the human body through a multi-level simulated tissue structure. In particular, the design of the intermediate reaction layer successfully reproduces the unique "qi" feeling of acupuncture, which is difficult to achieve with previous simulation systems. This high degree of simulation not only improves the realism of training, but also enables trainees to better understand and master the core skills of acupuncture.

[0125] Secondly, the force feedback system of the present invention uses an advanced deep learning algorithm, which can dynamically adjust the feedback parameters according to different acupoints and needle insertion depths. This intelligent force feedback greatly enhances the system's ability to simulate various complex clinical situations, making the training closer to actual operations. For example, the system can simulate the tissue characteristics of patients of different ages and body shapes, and even simulate special situations under some pathological conditions, which is crucial for cultivating trainees' clinical adaptability.

[0126] In terms of evaluation and guidance, the intelligent evaluation module of the present invention provides a comprehensive and in-depth skill evaluation by comprehensively analyzing various parameters of the operator. In particular, the "comprehensive skill index" introduced takes into account multiple dimensions such as accuracy, stability and fluency, providing students with a more objective and comprehensive evaluation. Based on these evaluation results, the system can generate personalized improvement suggestions. This targeted guidance greatly improves the efficiency of learning.

[0127] The multi-dimensional sensory feedback module of the present invention is another important innovation. By integrating visual, tactile and auditory feedback, the system creates a truly immersive learning environment. For example, the addition of temperature feedback function enables the system to simulate moxibustion, greatly expanding the scope of training. The microscopic view function allows trainees to intuitively understand the impact of acupuncture on local tissues, which is of great significance for deepening the understanding of the principles of acupuncture.

[0128] In addition, the system of the present invention has extremely high flexibility and scalability. Through the adjustable simulation environment module, the system can simulate a variety of different case scenarios to meet the different needs of beginners to experts. This flexibility not only increases the scope of application of the system, but also provides the possibility for the personalization and sustainable development of acupuncture education.

[0129] From the perspective of the overall architecture, the various modules of the present invention achieve a high degree of synergy and integration. For example, the close cooperation of the simulation organization module, the force feedback module and the virtual reality display module creates a highly realistic operating environment. The collaboration of the intelligent evaluation module and the system control module realizes real-time monitoring and dynamic adjustment of the training process. This system-level synergy not only improves the overall performance, but also produces many unexpected synergistic effects, such as better knowledge integration and skill transfer.

[0130] The present invention also performs well in resolving technical contradictions. For example, the contradiction between high simulation and system response speed is effectively resolved through innovative algorithm design and hardware optimization. Another example is the balance between personalized training and standardized evaluation, which is well balanced through the design of intelligent evaluation module.

[0131] In general, the multifunctional acupuncture point training simulation system of the present invention greatly improves the effect and efficiency of acupuncture training through its innovative design and advanced technology. It not only provides a safe, efficient and comprehensive learning platform for trainees, but also provides new possibilities for the modernization and standardization of acupuncture education. This system is expected to become an important tool to promote the inheritance and development of acupuncture skills and make important contributions to the cultivation of high-quality acupuncture talents. BRIEF DESCRIPTION OF THE DRAWINGS

[0132] Figure 1 It is the overall structure diagram of the system of the present invention;

[0133] Figure 2 It is a simulation organization module diagram of the present invention;

[0134] Figure 3 It is a force feedback module diagram of the present invention;

[0135] Figure 4 It is a module diagram of the acupoint simulation database of the present invention;

[0136] Figure 5 This is a diagram of the intelligent evaluation module of the present invention.

[0137] Figure 6 The virtual reality display module diagram of the present invention DETAILED DESCRIPTION

[0138] Please refer to the attached Figure 1-6 The present invention provides a multifunctional acupuncture point training simulation system and its application method, which provides a highly realistic and interactive learning environment for acupuncture training through advanced simulation technology and intelligent algorithms. The technical solution of the present invention will be described in detail below.

[0139] The multifunctional acupuncture point training simulation system of the present invention comprises a simulation tissue module 1, a force feedback module 2, an acupuncture point simulation database module 3, an intelligent evaluation module 4 and a virtual reality display module 5. These modules work together to construct a comprehensive acupuncture training platform.

[0140] The simulated tissue module 1 is the core component of the system, which is used to simulate the reaction of human tissue during acupuncture. The module consists of three levels: a retractable outer layer, an intermediate reaction layer, and a controllable lifting inner layer. The retractable outer layer simulates the subcutaneous fat and fascia of the human body, is made of polyurethane material, and has a touch similar to human skin. Preferably, the thickness of this layer is 0.5 to 2 cm, which can be adjusted according to different body shapes. The intermediate reaction layer simulates the hardening and rebound characteristics of the acupuncture point area during acupuncture, and is made of special flexible materials. The controllable lifting inner layer simulates the hard tissue inside the human body, such as bones, and is highly adjustable through electromagnetic control.

[0141] The force feedback module 2 works closely with the simulated tissue module 1 to collect pressure and resistance data during acupuncture and generate real-time force feedback signals. The module uses a high-precision three-dimensional force sensor that can capture tiny force changes. In one embodiment of the present invention, the force feedback module 2 also includes an algorithm unit based on deep learning, which can dynamically adjust the force feedback parameters according to different acupoints and needle insertion depths. For example, for the bladder meridian acupoints on the back, the system will simulate different resistance levels of skin, muscle and bone; while for abdominal acupoints, softer tissue feedback will be presented.

[0142] The acupoint simulation database module 3 is the knowledge base of the system, storing a large amount of data related to acupoints. These data include the precise three-dimensional coordinates of the acupoints, the relationship between the resistance changes at different depths, and various acupoint characteristics. The present invention innovatively uses a mathematical model to describe the relationship between depth and resistance. For example, for some acupoints, the relationship between its depth z and resistance R may follow the following trigonometric function model:

[0143]

[0144] Among them, A is the resistance amplitude parameter, B is the basic resistance value, and D is the standard needle insertion depth. This model can well simulate the change in resistance when the needle tip passes through different tissue layers. Preferably, for superficial acupoints, A may be smaller (such as 0.5-1.0N), while for deep acupoints, A may be larger (such as 1.5-2.5N). B is determined according to the basic tissue hardness of the acupoint, usually between 0.2-1.0N.

[0145] The intelligent evaluation module 4 is the brain of the system, responsible for analyzing the operator's acupuncture performance and giving the evaluation results. This module receives real-time data from the force feedback module 2 and compares and analyzes it with the standard data from the acupoint simulation database module 3. The present invention adopts an innovative scoring algorithm that comprehensively considers the accuracy of the insertion angle, depth and force. For example, the scoring of the insertion angle may adopt the following formula:

[0146]

[0147] S θ is the angle score, θ is the actual needle insertion angle, and θ s is the standard angle, θ max is the maximum allowable deviation angle (usually 30°). Similarly, depth and strength also have corresponding scoring formulas. The final comprehensive score is the weighted average of these individual scores.

[0148] The virtual reality display module 5 provides intuitive visual feedback to the user. The module can not only display the three-dimensional human body model and acupoint locations, but also display the tissue deformation and force conduction during acupuncture in real time. In a preferred embodiment of the present invention, the module also integrates augmented reality (AR) technology, which can superimpose virtual information on the real human body model to provide a more realistic training experience.

[0149] The system of the present invention realizes highly simulated acupuncture training through the close cooperation of these modules. For example, when the operator performs acupuncture on the Zusanli acupoint, the system adjusts the parameters of the simulated tissue module 1 according to the characteristic data of the acupoint. The force feedback module 2 captures the operator's movements in real time, and the intelligent evaluation module 4 scores according to the standard technique. At the same time, the virtual reality display module 5 displays the reaction of the tissue around the needle tip, such as the soreness and swelling when getting qi. This all-round simulation greatly improves the authenticity and effectiveness of the training.

[0150] Next, we will introduce in detail the specific composition of the simulated tissue module 1 of the present invention. The module includes an outer layer simulation unit 11, a middle layer simulation unit 12 and an inner layer simulation unit 13, and these three units together construct a highly realistic human tissue model.

[0151] The outer layer simulation unit 11 is mainly used to simulate the subcutaneous fat and fascia of the human body. The unit is made of a specially formulated polyurethane material, which has a touch and elasticity similar to that of human skin. Preferably, the Shore A hardness of the material is between 20-30, and this range can well simulate the softness of human skin. The thickness of the outer layer simulation unit 11 can be adjusted between 0.5 and 2 cm to adapt to the subcutaneous tissue characteristics of different body shapes and different parts. For example, when simulating abdominal acupuncture points, the thickness can be adjusted to nearly 2 cm; when simulating hand acupuncture points, the thickness can be reduced to about 0.5 cm.

[0152] The intermediate simulation unit 12 is an important innovation of the present invention, which is specially used to simulate the special reaction of the acupuncture point area under acupuncture. The unit adopts a new type of intelligent material, which can produce local hardening when subjected to pressure, simulating the tissue reaction when "getting qi". The hardness of this material can change dynamically according to the applied pressure, and its stress-strain curve approximately follows the following equation:

[0153] σ=E 0 ε+kε 2 ,

[0154] Where σ is stress, ε is strain, and E 0 is the initial Young's modulus, and k is the nonlinear coefficient. By adjusting E 0 The values ​​of E and k can simulate the characteristics of different acupoints. For example, for harder acupoints (such as Zusanli), E 0 It may be in the range of 5-7MPa, while k may be between 20-30MPa.

[0155] The inner layer simulation unit 13 simulates the hard tissue inside the human body, such as bones, ligaments, etc. The unit is made of high-strength engineering plastics and can be controlled to rise and fall through a precise electromagnetic control system. The accuracy of the rise and fall can reach 0.1 mm, which enables the system to accurately simulate tissue resistance at different depths. For example, when simulating the Zhongfu points on both sides of the sternum, the inner layer simulation unit 13 will be adjusted to a position about 1.5-2 cm from the surface to simulate the position of the ribs.

[0156] The coordinated work of these three simulation units enables the system of the present invention to simulate the response of human tissue during acupuncture with high fidelity. For example, when the operator deeply punctures an acupuncture point, they will first feel the soft resistance of the outer simulation unit 11, then the "qi" feeling simulated by the middle simulation unit 12, and finally may touch the bone resistance simulated by the inner simulation unit 13. This clear-cut feedback is crucial to improving the accuracy of acupuncture techniques.

[0157] The force feedback module 2 of the present invention is the perception center of the whole system, which is responsible for collecting and processing various mechanical data during acupuncture. The module includes a three-dimensional force sensor unit 21, a signal processing unit 22, a force feedback algorithm unit 23 and a tactile feedback unit 24.

[0158] The three-dimensional force sensor unit 21 uses a high-precision piezoelectric force sensor array that can simultaneously measure forces in the X, Y, and Z directions. The sensitivity of each sensor can reach 0.01N, and the measurement range is 0-20N, which is sufficient to cover various forces that may be encountered in acupuncture operations. The sensor array is cleverly embedded in the simulated tissue module 1 to ensure that it does not affect the operator's real touch.

[0159] The signal processing unit 22 is responsible for preprocessing the original signal collected by the sensor. This unit uses an innovative adaptive filtering algorithm to effectively remove the interference caused by environmental noise and hand tremors. Its core algorithm is as follows:

[0160]

[0161] y[n] is the filtered signal, x[n] is the original signal, and w k [n] is the filter coefficient, and N is the filter order. The filter coefficient is updated in real time using the least mean square error (LMS) algorithm:

[0162] w k [n+1]=w k [n]+2μe[n]x[nk],

[0163] Here, μ is the step size parameter and e[n] is the estimated error. Through this method, the system can quickly adapt to the characteristics of different operators and provide more accurate force feedback.

[0164] The force feedback algorithm unit 23 is the core of this module. It is based on deep learning technology and can calculate the force feedback that should be provided in real time according to different acupoints, different needle insertion angles and depths. This unit uses an improved long short-term memory (LSTM) network, and its structure is as follows:

[0165] f t =σ(W f ·[h t-1 ,x t ]+b f ),

[0166] i t =σ(W i ·[h t-1 ,x t ]+b i ),

[0167]

[0168] o t =σ(W o ·[h t-1 ,x t ]+b o ),

[0169] h t =o t *tanh(C t ),

[0170] Among them, f t ,i t ,o t They are forget gate, input gate and output gate respectively, C t is the cell state, h t is the hidden state, x t is the input vector (including current force, position, etc.). This network has been trained with a large amount of real acupuncture data and can simulate extremely realistic force feedback.

[0171] The tactile feedback unit 24 converts the output of the force feedback algorithm into a tactile signal that the operator can feel. The unit uses a new type of tactile display technology, which can produce various complex tactile sensations within milliseconds through a precisely controlled micro airbag array. For example, it can simulate the sudden change in resistance when a needle tip passes through the skin, or the soreness and swelling when "getting qi".

[0172] Through the coordinated work of these units, the force feedback module 2 can provide the operator with a very realistic tactile experience. For example, when the operator acupunctures the Zusanli acupoint, they will first feel a slight resistance in the skin, then a clear resistance in the muscle layer, and finally a special "qi" feeling. This kind of fine force feedback is crucial to cultivating the operator's hand feel.

[0173] The present invention realizes a highly simulated and intelligent acupuncture training system through the above technical solution. The system can not only provide realistic tactile and visual feedback, but also evaluate the operator's performance in real time and give targeted guidance. This innovative training method is expected to significantly improve the effect of acupuncture teaching and accelerate students to master precise acupuncture skills.

[0174] The acupoint simulation database module 3 of the present invention is the knowledge base of the whole system, and it provides necessary reference data for other modules. The module includes an acupoint coordinate storage unit 31, a depth-resistance relationship storage unit 32, an acupoint attribute storage unit 33 and a data retrieval unit 34. These units together construct a comprehensive and accurate acupoint database, which provides a guarantee for the high simulation of the system.

[0175] The acupoint coordinate storage unit 31 stores the precise three-dimensional coordinate data of each acupoint of the human body. These data are obtained through precise measurement and statistical analysis of a large number of human body samples. Preferably, the present invention adopts an innovative acupoint positioning algorithm, which takes into account individual differences and changes in body shape. For example, for the same acupoint, its relative position may be slightly adjusted as the body shape changes. The algorithm can be expressed as follows:

[0176] P actual =P standard +ΔP(H,W,A),

[0177] Among them, P actual is the actual acupoint coordinate, P standard is the standard coordinate, ΔP is the correction function, H, W, A represent height, weight and age respectively. Through this method, the system can provide more accurate acupoint positioning for virtual patients of different body shapes.

[0178] The depth-resistance relationship storage unit 32 is an important innovation of the present invention. The unit stores the resistance change data of different acupoints at different needle insertion depths. These data are obtained through a large number of clinical experiments and data analysis. The present invention uses a new mathematical model to describe this relationship, which can more accurately simulate the resistance change when the needle tip passes through different tissue layers. The following is the general form of the model:

[0179]

[0180] Here, R(z) is the resistance at depth z, and A, B, C, D, and k are model parameters. This model can well describe the "floating and sinking" feeling commonly seen during acupuncture. For example, for the Zusanli point located in a thick muscle area, A may take a large value (such as 1.5-2.0N), indicating obvious periodic changes; while for the Dazhui point located near the bone, B may be large (such as 2.0-2.5N) and k is small (such as 0.5-1.0cm^-1), indicating a resistance that rises rapidly with increasing depth.

[0181] The acupoint attribute storage unit 33 stores the characteristic data of each acupoint, including the recommended needle insertion angle, depth, qi characteristics, etc. These data are derived from the combination of traditional acupuncture theory and modern research results. For example, for the bladder meridian acupoints on the back, the commonly recommended needle insertion angle is 45°-60° and the depth is 0.5-1.0 inch (about 1.5-3.0 cm). In addition, the unit also stores the functional attributes and main symptoms of each acupoint, providing important reference information for the intelligent evaluation module 4.

[0182] The data retrieval unit 34 is a bridge connecting the other three storage units with other modules of the system. It uses an efficient multi-dimensional indexing algorithm and can quickly respond to data requests from other modules. For example, when the force feedback module 2 needs the depth-resistance relationship data of a certain acupoint, the data retrieval unit 34 can retrieve the relevant data from the depth-resistance relationship storage unit 32 within milliseconds. This efficient data access mechanism ensures the real-time performance of the entire system.

[0183] The intelligent evaluation module 4 of the present invention is the "brain" of the system, responsible for analyzing the operator's acupuncture performance and providing evaluation results. The module includes a data acquisition unit 41, a parameter calculation unit 42, a performance analysis unit 43 and an evaluation result generation unit 44. These units work together to provide timely and accurate feedback to the operator.

[0184] The data acquisition unit 41 receives the force feedback signal from the force feedback module 2 in real time, and collects the operator's acupuncture angle and depth data at the same time. This unit adopts an innovative data fusion algorithm that can synchronize and calibrate data from different sensors. The core idea of ​​this algorithm is to use the Kalman filter to optimally estimate multi-source data:

[0185]

[0186] in, is the optimal estimate of the current state, F k is the state transfer matrix, K k is the Kalman gain, z k is the observed value, H k is the observation matrix. Through this method, the system can obtain more accurate and stable operation data.

[0187] The parameter calculation unit 42 calculates a series of evaluation indicators based on the collected data. These indicators include but are not limited to: the moving distance of the needle insertion point, the average and standard deviation of the needle insertion depth and angle, the stability of the force control, etc. The present invention innovatively introduces a "Comprehensive Skill Index" (CSI), which comprehensively considers the three aspects of accuracy, stability and fluency:

[0188] CSI=w 1 ·A+w 2 ·S+w 3 F,

[0189] Among them, A, S, and F represent the normalized scores of accuracy, stability, and fluency, respectively, and w 1 、w 2 、w 3In a preferred embodiment of the present invention, these weights can be dynamically adjusted according to the training stage and the target acupoints to provide a more targeted evaluation.

[0190] The performance analysis unit 43 compares the calculated parameters with the standard data in the acupoint simulation database module 3 to analyze various aspects of the operator's acupuncture skills. This unit adopts an evaluation method based on fuzzy logic, which can better handle the uncertainty and ambiguity in acupuncture operations. For example, for the evaluation of the needle insertion angle, the following fuzzy rules may be set:

[0191] If the angle deviation is less than 5°, it is rated as "excellent";

[0192] If the angle deviation is between 5° and 10°, it is rated as "good";

[0193] If the angle deviation is between 10° and 15°, it is rated as "fair";

[0194] If the angle deviation is greater than 15°, it is evaluated as "needs improvement";

[0195] This fuzzy evaluation method is more flexible and humane than simple threshold judgment, and can better simulate the expert's judgment process.

[0196] The evaluation result generation unit 44 generates a comprehensive evaluation report based on the results of the performance analysis and provides targeted skill improvement suggestions. This unit uses an intelligent reasoning system based on a knowledge graph, which can retrieve the most relevant improvement suggestions from the database based on the operator's specific performance. For example, if the system detects that the operator's acupuncture angle is too large and the depth is insufficient when acupuncturing the Zusanli acupoint, it may give the following suggestions:

[0197] "Suggestions: 1) When inserting the needle, try to lower the angle slightly by 5-10 degrees to better aim at the deep acupuncture point. 2) The depth of the needle can be appropriately increased by about 0.5 cm to achieve the best therapeutic effect. 3) In the next practice, please pay special attention to the special touch when feeling the "qi", which usually occurs when the needle is inserted at a depth of about 1.5-2 cm."

[0198] Through this personalized feedback, the system of the present invention can effectively guide the operator to improve his or her acupuncture skills.

[0199] The virtual reality display module 5 of the present invention provides an intuitive and immersive visual experience for the operator. The module includes a scene rendering unit 51, an operation visualization unit 52, an interactive interface unit 53 and a data synchronization unit 54. These units together construct a highly realistic virtual acupuncture environment.

[0200] The scene rendering unit 51 is responsible for generating a three-dimensional virtual human model and clinical environment. This unit uses advanced graphics rendering technology to present highly realistic human surface textures and light and shadow effects. In particular, the present invention introduces a new skin deformation algorithm that can accurately simulate local tissue deformation during acupuncture:

[0201]

[0202] Among them, d(x,y) represents the deformation at the point (x,y), (x 0 ,y 0 ) is the needle tip position, A is the maximum deformation, and σ controls the deformation range. Through this algorithm, the system can present extremely realistic acupuncture effects, including depressions in the skin and tiny bulges in the surrounding tissue.

[0203] The operation visualization unit 52 displays the acupuncture process and feedback information in real time. The unit innovatively uses augmented reality (AR) technology to superimpose virtual information on a real human body model. For example, it can display the precise location of acupuncture points on the skin surface, use halos of different colors to indicate the accuracy of needle insertion, or use dynamic arrows to indicate the recommended needle insertion direction. This intuitive visual feedback greatly improves the effect of training.

[0204] The interactive interface unit 53 provides a user-friendly operation interface, allowing the operator to select different training modes and difficulty levels. A feature of the present invention is the introduction of a "progressive learning mode" that dynamically adjusts the difficulty according to the skill level of the operator. For example, for beginners, the system may relax the scoring criteria and provide more visual aids; while for advanced trainees, the system may increase the difficulty, simulate more complex cases, and even introduce some rare cases.

[0205] The data synchronization unit 54 ensures real-time synchronization between the virtual display and the actual operation. The unit adopts a low-latency data transmission protocol to control the delay within 10 milliseconds, which is essential for maintaining the smoothness and realism of the operation. In addition, the unit also implements a "predictive rendering" technology that can predict the possible state of the next step based on the current operation trend, thereby further reducing the perceived delay.

[0206] Through these advanced technologies, the virtual reality display module 5 of the present invention creates a highly realistic and interactive learning environment for the operator. For example, when the operator is practicing acupuncture at the Jianjing acupoint, they can not only see the accurately located acupoints, but also observe the tiny twitches of the muscles during the acupuncture process, and even the reactions of the deep tissues. This multi-dimensional visual feedback, combined with the tactile experience provided by the force feedback module 2, makes the training process closer to real clinical operations.

[0207] The adjustable simulation environment module 6 of the present invention further improves the flexibility and applicability of the system. This module works closely with the simulated tissue module 1 and the acupoint simulation database module 3 to simulate various case scenarios. In particular, this module can dynamically adjust the parameters of the simulated tissue and the relative positions of the acupoints according to different genders, ages, body shapes and other factors.

[0208] For example, when simulating elderly patients, the system will appropriately increase the looseness of the skin and the fragility of the bones. This can be achieved by adjusting the elastic coefficient of the outer layer simulation unit 11 and the hardness of the inner layer simulation unit 13 in the simulated tissue module 1. At the same time, the positioning of the acupoints will also be fine-tuned according to the age factor, which is achieved through real-time interaction with the acupoint simulation database module 3.

[0209] In addition, this module introduces a "random variation" mechanism to simulate individual differences in real patients. At the beginning of each training session, the system adds a certain range of random perturbations to the standard parameters, making each exercise slightly different. This mechanism greatly increases the challenge and authenticity of the training, and helps to cultivate the operator's ability to adapt to different situations.

[0210] The multi-dimensional sensory feedback module 7 of the present invention is a highlight of the entire system. It integrates multiple sensory feedbacks such as vision, touch and hearing, providing the operator with a full range of immersive experience. This module works in conjunction with the force feedback module 2, the virtual reality display module 5 and the intelligent evaluation module 4 to create a highly simulated acupuncture training environment.

[0211] In terms of tactile feedback, in addition to the aforementioned force feedback, this module also introduces a temperature feedback function. By embedding micro thermoelectric elements in the force feedback sleeve, the system can simulate the temperature characteristics of different acupuncture points, and even simulate the warm feeling in "moxibustion". The control algorithm of this temperature feedback can be expressed as:

[0212] T(t)=T 0 +ΔT·(1-e -t / τ ),

[0213] Where T(t) is the temperature at time t, T 0 is the initial temperature, ΔT is the maximum temperature change, and τ is the time constant. By adjusting these parameters, the system can simulate the temperature change characteristics of different acupoints and different moxibustion methods.

[0214] In terms of auditory feedback, the present invention innovatively introduces a sound simulation function. The system can generate realistic tissue response sounds in real time according to the depth, speed and angle of acupuncture. For example, when the needle tip passes through the skin, a slight "pop" sound is produced; when it reaches the deeper muscle layer, there may be a slight "rustling" sound. These sound effects are achieved through a complex sound synthesis algorithm that takes into account multiple factors such as tissue type, acupuncture parameters and individual differences.

[0215] In terms of visual feedback, in addition to the basic functions provided by the virtual reality display module 5, this module also adds a microscopic view function. The operator can choose the "zoom in" view to observe the microscopic reactions of the tissues around the needle tip, such as the contraction and expansion of capillaries, the excitement of nerve endings, etc. This microscopic view is based on the latest research results in tissue physiology and is simulated through a complex mathematical model.

[0216] In addition, this module also integrates the real-time evaluation data from the intelligent evaluation module 4 and presents it to the operator in various forms. For example, the accuracy of needle insertion can be indicated by color changes, the accuracy of force control can be indicated by vibration intensity, or whether the "De Qi" state has been reached can be indicated by specific tone changes.

[0217] The system control module 8 of the present invention is the core of the whole system, responsible for coordinating the data exchange and workflow between the functional modules. The module adopts an innovative distributed control architecture, which can realize efficient communication and real-time response between the modules.

[0218] The system control module 8 includes a central controller and multiple distributed control units. The central controller is responsible for the formulation of the overall strategy and the allocation of tasks, while the distributed control units are responsible for the specific operations of their respective modules. This architecture greatly improves the parallel processing capability and fault tolerance of the system. For example, even if a module has a temporary failure, other modules can continue to work normally.

[0219] The module also implements an intelligent training progress management function. The system automatically adjusts the difficulty and content of training according to the operator's performance. For example, if the operator is found to have repeated problems locating a specific acupoint, the system will automatically increase the number of exercises for that acupoint and provide more detailed guidance. This adaptive learning strategy greatly improves the pertinence and efficiency of training.

[0220] In addition, the system control module 8 also includes a powerful data analysis engine. It is able to conduct in-depth mining of long-term accumulated training data to discover potential learning patterns and improvement opportunities. For example, by analyzing the learning curves of a large number of operators, the system may find that the practice sequence of certain acupoint combinations is more conducive to the rapid mastery of skills. These findings can be used to optimize training programs and further improve learning effects.

[0221] In general, the multifunctional acupuncture point training simulation system of the present invention provides an all-round, highly simulated acupuncture training platform for the operator through the close cooperation of the above modules. The system can not only accurately simulate the physical properties and physiological reactions of human tissues, but also provide intelligent evaluation and personalized guidance. Through this innovative training method, the operator can quickly improve acupuncture skills in a safe and controllable environment, laying a solid foundation for future clinical practice.

[0222] The multi-dimensional sensory feedback module 7 of the present invention further improves the simulation and immersion of the training system. The module works closely with the force feedback module 2, the virtual reality display module 5 and the intelligent evaluation module 4 to provide the operator with a full range of sensory experience.

[0223] In terms of tactile feedback, in addition to the force feedback mentioned above, this module also innovatively introduces the temperature sensing function. By cleverly embedding micro-thermoelectric elements in the force feedback sleeve, the system can accurately simulate the temperature characteristics of different acupuncture points, and even simulate the warm feeling in "moxibustion". The control algorithm for temperature changes can be expressed as:

[0224] T(t)=T 0 +ΔT·(1-e -t / τ ),

[0225] Where T(t) represents the temperature at time t, T 0 is the initial temperature, ΔT is the maximum temperature change, and τ is the time constant. By dynamically adjusting these parameters, the system can realistically simulate the temperature change characteristics of various acupoints and moxibustion methods. For example, when simulating moxibustion, the system can gradually increase the local temperature while simulating the diffusion process of heat in the tissue.

[0226] Auditory feedback is another innovative feature of the present invention. The system generates realistic tissue response sounds in real time according to the depth, speed and angle of acupuncture. For example, when the needle tip passes through the epidermis, a slight "pop" sound is produced; when entering the muscle layer, it may be accompanied by a slight "rustling" sound. These sound effects are achieved through a complex sound synthesis algorithm that takes into account multiple factors such as tissue type, acupuncture parameters and individual differences. Preferably, the system can also simulate the unique dull sound of "De Qi" to further enhance the realism of the training.

[0227] In terms of visual feedback, this module adds a microscopic view function based on the virtual reality display module 5. The operator can choose the "zoom in" view to observe the microscopic reactions of the tissues around the needle tip, such as the contraction and expansion of capillaries, the excitement of nerve endings, etc. This microscopic view is based on the latest research results in tissue physiology and is simulated by a complex mathematical model. For example, the contraction and expansion of capillaries can be described by the following equation:

[0228] D(t)=D 0 +ΔD·sin(ωt+φ)·e -λt ,

[0229] Where D(t) is the blood vessel diameter at time t, D 0 is the initial diameter, ΔD is the maximum change amplitude, ω is the oscillation frequency, φ is the phase, and λ is the attenuation coefficient. Through this sophisticated simulation, the operator can intuitively understand the effect of acupuncture on local tissues.

[0230] In addition, this module also cleverly integrates the real-time evaluation data from the intelligent evaluation module 4 and presents it to the operator in various forms. For example, the accuracy of needle insertion can be indicated by color changes, the accuracy of force control can be indicated by vibration intensity, or whether the "qi" state has been reached can be indicated by specific tone changes. This multi-modal feedback mechanism can fully activate the operator's various senses and greatly improve learning efficiency and the speed of skill acquisition.

[0231] The system control module 8 of the present invention is the "brain" of the entire training system, responsible for coordinating the data exchange and workflow between the functional modules. The module adopts an innovative distributed control architecture to achieve efficient inter-module communication and real-time response.

[0232] The system control module 8 includes a central controller and multiple distributed control units. The central controller is mainly responsible for the formulation of the overall strategy and the allocation of tasks, while the distributed control units are responsible for the specific operations of their respective modules. This architecture significantly improves the parallel processing capability and fault tolerance of the system. For example, even if a module fails temporarily, other modules can still maintain normal operation to ensure the continuity of training.

[0233] The module also implements an intelligent training progress management function. The system automatically adjusts the difficulty and content of training according to the operator's performance. For example, if the operator is found to have repeated problems locating a specific acupoint, the system will automatically increase the number of exercises for that acupoint and provide more detailed guidance. This adaptive learning strategy greatly improves the pertinence and efficiency of training.

[0234] Preferably, the system control module 8 also includes a powerful data analysis engine. It can deeply mine the long-term accumulated training data to find potential learning patterns and improvement opportunities. For example, by analyzing the learning curves of a large number of operators, the system may find that the practice sequence of certain acupoint combinations is more conducive to the rapid mastery of skills. These findings can be used to optimize the training program and further improve the learning effect.

[0235] The data analysis engine uses advanced machine learning algorithms, such as random forests and deep neural networks, to identify key factors that affect learning outcomes. Its core algorithm can be expressed as:

[0236]

[0237] Among them, F(X) is the final prediction model, f i (X) is a single decision tree model, w i is the weight of each model, and n is the total number of models. Through this ensemble learning method, the system is able to extract valuable patterns and rules from complex training data.

[0238] An innovative application method of the present invention is to use the multifunctional acupuncture point training simulation system for training and evaluating acupuncture skills. This method includes the following steps:

[0239] First, the system initializes and loads the acupoint simulation database. In this step, the system retrieves relevant acupoint information and parameter settings from the database according to the current training target. For example, if the training target is the bladder meridian acupoints on the back, the system will load the precise coordinates of these acupoints, the recommended needle insertion angle and depth, and the corresponding tissue characteristic data.

[0240] Next, the system receives user input to select a specific training mode and target acupoint. The user interface design here focuses on intuitiveness and ease of use, allowing the operator to quickly select the desired training content. For example, the operator can select "Zusanli Acupoint Exercise" under "Primary Mode".

[0241] Based on the user's selection, the system then adjusts the parameters of the simulated tissue module 1 to simulate the corresponding tissue characteristics. In this step, the outer layer simulation unit 11, the middle layer simulation unit 12, and the inner layer simulation unit 13 work together to accurately reproduce the tissue structure and physical characteristics around the target acupuncture point. For example, when simulating the Zusanli acupoint, the system adjusts the thickness and elasticity of the outer layer, the "qi" characteristics of the middle layer, and the hardness of the inner layer to reflect the special structure of the site.

[0242] Then, the virtual reality display module 5 is started, presenting a highly realistic virtual human body and selected acupuncture points. Through this virtual environment, the operator can clearly see the location of the acupuncture points, the surrounding anatomical structures, and can even choose different viewing angles to observe.

[0243] During the training process, the system collects the user's acupuncture operation data in real time, including the angle, depth and force of the needle insertion. These data are captured by the high-precision sensor of the force feedback module 2 and transmitted to the system control module 8 for processing in real time.

[0244] The force feedback module 2 generates real-time force feedback based on the collected data and the information from the acupoint simulation database module 3. This feedback includes not only the magnitude of the force, but also the changes in direction and texture, accurately simulating the feeling of the needle tip passing through different tissue layers.

[0245] At the same time, the intelligent evaluation module 4 starts to analyze the user's operation data, compares it with the standard data, and generates an evaluation result. In this process, the system will consider multiple factors, such as the accuracy, stability, and force control of the needle insertion, and give a comprehensive evaluation.

[0246] The virtual reality display module 5 updates the display content in real time to reflect the user's operation effect and evaluation results. For example, when the operator successfully reaches the "get qi" state, the system may display a special visual effect in the virtual environment, or indicate the accuracy of the needle insertion through color changes.

[0247] The multi-dimensional sensory feedback module 7 provides comprehensive visual, tactile and auditory feedback throughout the process, further enhancing the realism and immersion of the training. For example, the operator may hear the subtle sound of the needle piercing the skin, feel the subtle change in temperature, or observe the microscopic reaction of the local tissue.

[0248] The system will repeat the above steps until the preset training goal is achieved or the operator chooses to end. After the training is completed, the system will generate a detailed training report, including the accuracy of the operation, stability assessment and specific improvement suggestions. For example, the report may point out: "In the positioning of Zusanli acupoint, your accuracy rate reached 85%, which is 10% higher than the last time. However, there is still room for improvement in the control of needle insertion depth. It is recommended that you pay special attention to the 'qi' feeling at a depth of 1.5-2 cm during the next practice."

[0249] Finally, the system stores the training data in a database for long-term effect tracking and the development of personalized training plans. These accumulated data not only help evaluate individual progress, but also provide valuable information for the continuous optimization of the entire training system.

[0250] Through this systematic and intelligent training method, the multifunctional acupuncture point training simulation system of the present invention can significantly improve the efficiency and effect of acupuncture training. It not only provides a safe and controllable practice environment for beginners, but also provides a platform for experienced acupuncturists to improve their skills. This innovative training method is expected to promote the modernization of acupuncture education and make important contributions to the cultivation of high-quality acupuncture talents.

[0251] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Multifunctional acupuncture point training simulation system, characterized in that: include: Simulation organization module for: A stretchable outer layer that simulates human subcutaneous fat and fascia; The middle layer simulates the acupuncture response of the acupuncture point area; A controllable lifting lining that simulates the hard tissue in the human body; A force feedback module is electrically connected to the simulated tissue module and is used to: Collecting pressure and resistance data of the simulated tissue module during acupuncture; generating a real-time force feedback signal based on the pressure and resistance data; The acupoint simulation database module is connected to the force feedback module data and is used for: Store the data on the relationship between acupoint location coordinates, needle insertion depth and resistance changes; Providing corresponding acupoint characteristic data according to the real-time force feedback signal sent by the force feedback module; The intelligent evaluation module is data-connected with the force feedback module and the acupoint simulation database module, and is used for: Receiving a real-time force feedback signal sent by the force feedback module; Analyzing the operator's acupuncture performance based on the acupoint characteristic data provided by the acupoint simulation database module; Generate evaluation results including needle insertion angle, depth and evaluation indicators; A virtual reality display module is connected to the intelligent evaluation module for: Receiving the evaluation result sent by the intelligent evaluation module; Based on the evaluation results, the acupuncture process and feedback information are displayed in a virtual environment.

2. The multifunctional acupuncture point training simulation system according to claim 1, characterized in that: The simulation organization module comprises: The outer layer simulation unit is used to simulate the subcutaneous fat and fascia of the human body, including: The outer layer simulation unit is made of polyurethane material; The thickness of the outer layer simulation unit is 0.5 to 2 cm; The outer layer simulation unit is scalable and is used to simulate the tension changes of different human skin tissues; The middle simulation unit is connected to the outer simulation unit and is used to simulate the acupuncture reaction of the acupoint area, wherein: The intermediate simulation unit is made of a flexible material that is retractable and resilient; The intermediate simulation unit can simulate the hardening and rebound mechanical properties of the acupuncture point area under acupuncture; The inner layer simulation unit is connected to the middle simulation unit and is used to simulate the hard tissue in the human body, wherein: The inner layer simulation unit is made of rigid material; The inner layer simulation unit can be raised and lowered in a controlled manner through electromagnetic control; The lifting and lowering of the inner layer simulation unit is used to simulate the difference in tissue depth of different body shapes and parts.

3. The multifunctional acupuncture point training simulation system according to claim 1, characterized in that: The force feedback module comprises: 3D force sensor unit for: Collect three-dimensional pressure and resistance data during acupuncture; converting the three-dimensional pressure and resistance data into electrical signals; A signal processing unit is electrically connected to the three-dimensional force sensor unit and is used to: receiving an electrical signal sent by the three-dimensional force sensor unit; filtering and amplifying the electrical signal; A force feedback algorithm unit is data-connected to the signal processing unit and is used to: receiving a processed signal sent by the signal processing unit; Analyzing the processed signal based on a deep learning algorithm; Generate real-time force feedback data for different acupoints, different needle insertion angles and depths; A tactile feedback unit is data-connected to the force feedback algorithm unit and is used to: Receiving real-time force feedback data sent by the force feedback algorithm unit; Based on the real-time force feedback data, tactile feedback simulating real acupuncture is generated.

4. The multifunctional acupuncture point training simulation system according to claim 1, characterized in that: The acupoint simulation database module includes: Acupoint coordinate storage unit, used for: Store accurate three-dimensional coordinate data of each acupuncture point in the human body; Provide location information of specific acupuncture points upon request; Depth-resistance relationship storage unit for: Store the resistance change data of different acupoints at different needle insertion depths; Using a mathematical model to describe the relationship between depth and resistance, wherein the mathematical model includes trigonometric functions; Acupoint attribute storage unit, used for: Store characteristic data of different acupoints, including recommended needle insertion angle and depth; Provides information on the properties of specific acupuncture points upon request; A data retrieval unit is data-connected to the acupoint coordinate storage unit, the depth-resistance relationship storage unit and the acupoint attribute storage unit, and is used to: Receive data requests from other modules; Retrieving the requested data from the corresponding storage unit; Return the search results to the request module.

5. The multifunctional acupuncture point training simulation system according to claim 1, characterized in that: The intelligent evaluation module comprises: Data acquisition unit for: Receive the force feedback signal sent by the force feedback module in real time; Collect the operator's needling angle and depth data; The parameter calculation unit is data-connected to the data acquisition unit and is used for: Based on the force feedback signal and acupuncture data, the evaluation indicators such as the moving distance of the needle insertion point, the average value of the needle insertion depth and angle are calculated; The performance analysis unit is data-connected with the parameter calculation unit and the acupoint simulation database module, and is used for: comparing the evaluation index with standard data in an acupoint simulation database; Analyze the accuracy, stability, and consistency of the operator's acupuncture skills; An evaluation result generating unit, connected to the performance analysis unit, is used to: Based on the performance analysis results, generate a comprehensive evaluation report; Provide targeted skill improvement suggestions.

6. The multifunctional acupuncture point training simulation system according to claim 1, characterized in that: The virtual reality display module comprises: Scene rendering unit, used for: Generate a three-dimensional virtual human model; marking acupuncture point locations on the virtual human body model; Virtual scenarios simulating different clinical environments; An operation visualization unit is connected to the intelligent evaluation module for: Receiving real-time evaluation data sent by the intelligent evaluation module; Real-time display of the needling process in a virtual environment, including visual representation of the needle insertion angle and depth; Interactive interface unit, for: Provides a display interface for operation guidance and real-time feedback information; Allows users to select different training modes and difficulty levels; A data synchronization unit is data-connected to the scene rendering unit, the operation visualization unit and the interactive interface unit, and is used to: Ensure real-time synchronization between virtual display and actual operation; Coordinate data exchange and updates between units.

7. The multifunctional acupuncture point training simulation system according to claim 1, characterized in that: Also includes: The adjustable simulation environment module is data-connected with the simulation tissue module and the acupoint simulation database module, and is used for: Providing an adjustable shell structure to allow simulation of different human tissue properties; Based on the data of the acupoint simulation database module, a variety of case scenarios are generated, including virtual patient models of different genders, ages and body types; The parameters of the simulated tissue module are adjusted to achieve pressure feedback simulation at different depths.

8. The multifunctional acupuncture point training simulation system according to claim 1, characterized in that: Also includes: The multi-dimensional perception feedback module is data-connected with the force feedback module, the virtual reality display module and the intelligent evaluation module, and is used to: Integrate visual, tactile and auditory feedback information; generating tactile feedback based on the data of the force feedback module; Synchronizing visual feedback according to the display content of the virtual reality display module; Simulate the sound effects during acupuncture and provide auditory feedback; The data and evaluation indicators generated by the intelligent evaluation module are displayed in real time.

9. The multifunctional acupuncture point training simulation system according to claim 1, characterized in that: Also includes: The system control module is data-connected with the simulation tissue module, the force feedback module, the acupoint simulation database module, the intelligent evaluation module and the virtual reality display module, and is used to: Coordinate data exchange and workflow between functional modules; Manage the operating status and mode switching of the system; Provide a user interface to allow the operator to set training parameters and select training modes; Record and store training data to support training progress tracking and long-term effect evaluation.

10. A method for using the multifunctional acupuncture point training simulation system according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Initialize the system and load the acupoint simulation database; S2. Receive user input, select training mode and target acupoints; S3. According to the selected acupuncture points, adjust the parameters of the simulation tissue module to simulate the corresponding tissue characteristics; S4. Start the virtual reality display module to present the virtual human body and the selected acupuncture points; S5. Real-time collection of user's acupuncture operation data, including needle insertion angle, depth and force; S6. The force feedback module generates real-time force feedback based on the collected data and the information of the acupoint simulation database; S7. The intelligent evaluation module analyzes the user's operation data, compares it with the standard data, and generates an evaluation result; S8. The virtual reality display module updates the display content in real time to reflect the user's operation effect and evaluation results; S9. The multi-dimensional sensory feedback module provides comprehensive visual, tactile and auditory feedback; S10. Repeat steps S5 to S9 until the training is completed or the user chooses to end; S11. Generate training reports, including operation accuracy, stability assessment and improvement suggestions; S12. Store the training data in the system database for long-term effect tracking and formulation of personalized training programs.

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