Physiotherapy device for traditional Chinese medicine acupuncture and moxibustion and use method thereof

Abstract

The invention belongs to the technical field of medical equipment, and particularly discloses a traditional Chinese medicine acupuncture physiotherapy device which comprises an acupuncture needle driving module, a multi-degree-of-freedom angle adjusting module, a physiological signal monitoring module and an intelligent control system. The using method of the device comprises the steps of equipment inspection, acupuncture needle installation, patient body position adjustment, acupuncture needle positioning and angle adjustment, needle inserting operation, real-time monitoring and parameter adjustment, needle withdrawing operation, data recording and analysis and equipment cleaning and maintenance. Through a precise mechanical structure, an intelligent control system and multi-sensor real-time monitoring, precise control over needle inserting parameters of the acupuncture needle is achieved, the stability and reliability of the treatment effect are improved, and dynamic optimization of the treatment process is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a physiotherapy device for traditional Chinese medicine acupuncture and its usage method. Background Art

[0002] As a traditional treatment method, traditional Chinese medicine acupuncture is widely used clinically and has significant therapeutic effects on various diseases. However, current acupuncture treatments mainly rely on manual operations by doctors and still have many limitations, such as:

[0003] 1. Difficulty in ensuring accuracy: When a doctor inserts a needle manually, the control of the insertion depth, angle, and force depends entirely on experience and feel. There may be significant differences between different doctors and between different operations by the same doctor, which will affect the stability and consistency of the treatment effect. For example, when treating lumbar diseases, a deviation in the insertion angle may result in the inability to accurately stimulate the corresponding acupoints, thereby reducing the treatment effect.

[0004] 2. Lack of real-time monitoring: During traditional acupuncture, it is difficult to obtain physiological information at the patient's acupoints in real time, such as changes in the resistance and temperature of the acupoints. This information is very important for judging the state of the acupoints and the patient's real-time response to acupuncture treatment. The lack of this information makes it difficult for doctors to adjust the treatment plan in a timely manner.

[0005] 3. Complex operation and low efficiency: For the acupuncture operation of some complex acupoints, doctors need to have a high technical level and rich experience. The operation process is relatively complex and time-consuming. This not only increases the doctor's workload but also limits the popularization and application of acupuncture treatment.

[0006] In order to solve the problems in the prior art that it is difficult to ensure the accuracy and efficiency of needle insertion and the acupoint information cannot be detected in real time, it is necessary to improve the structure of the acupuncture physiotherapy device to solve the current technical problems. Summary of the Invention

[0007] The purpose of the present invention is to provide a physiotherapy device for traditional Chinese medicine acupuncture and its usage method, which can accurately control the insertion depth, angle, and speed of the needle, detect and feedback acupoint information in real time, and has a simple operation and convenient use.

[0008] To achieve the above purpose, the present invention adopts the following technical solutions: A physiotherapy device for traditional Chinese medicine acupuncture, including an operation table, a bracket is fixedly arranged on the top surface of the operation table, and an acupuncture needle driving module, a multi-degree-of-freedom angle adjustment module, a physiological signal monitoring module, and an intelligent control system are arranged on the bracket; the acupuncture needle driving module, the multi-degree-of-freedom angle adjustment module, and the physiological signal monitoring module are all electrically connected to the intelligent control system;

[0009] The bracket is fixedly connected with a servo motor, the servo motor is electrically connected to the multi-degree-of-freedom angle adjustment module, the output end of the servo motor is connected with a linkage mechanism, the linkage mechanism is connected with a stepping motor, the stepping motor is electrically connected to the acupuncture needle driving module, the output end of the stepping motor is connected with a ball screw pair through a coupling, the ball screw pair is movably connected with a needle holder, and the acupuncture needle is detachably connected to the needle holder.

[0010] By adopting the above technical solution, the multi-degree-of-freedom angle adjustment module controls the servo motor to drive the linkage mechanism to move, realizing the angle adjustment of the acupuncture needle in three degrees of freedom, including rotation in the horizontal direction, pitching in the vertical plane, and torsion around the axis of the acupuncture needle. It can flexibly adjust the angle of the acupuncture needle to adapt to the complex spatial positions of acupoints in different parts of the human body. By presetting the angle parameters through the intelligent control system, the servo motor accurately drives the corresponding rotary joints to move, realizing the rapid and accurate adjustment of the acupuncture needle angle. The adjustable angle range is: horizontal rotation ±180°, pitching ±90°, torsion ±360°. The stepping motor receives the pulse signal sent by the intelligent control system to accurately control the rotation angle and speed. Through the transmission of the ball screw pair, the rotary motion of the stepping motor is converted into a linear motion, thereby driving the acupuncture needle on the needle holder to achieve accurate needle insertion and withdrawal operations. The needle insertion depth can be accurately controlled, and the error can be controlled within ±0.1 mm. The physiological signal monitoring module measures the bioelectric response of the human body in real time, further analyzes the activity state of acupoints, and after amplifying, filtering and other processing of the collected signals, transmits them to the intelligent control system for doctors to read and diagnose.

[0011] To better implement the present invention, universal wheels are provided at the bottom of the operating table.

[0012] To better implement the present invention, the linkage structure is a quadrilateral linkage mechanism with multiple rotary joints.

[0013] To better implement the present invention, the physiological signal monitoring module includes a skin resistance sensor, a temperature sensor, a microcurrent stimulation electrode, a signal conditioning circuit and a data acquisition module. The skin resistance sensor, the temperature sensor and the microcurrent stimulation electrode are connected to the signal conditioning circuit and the data acquisition module through flexible wires.

[0014] To better implement the present invention, the intelligent control system includes a power supply module, a communication module, a storage module and a human-computer interaction interface. The power supply module controls the power supply of the acupuncture needle driving module, the multi-degree-of-freedom angle adjustment module and the physiological signal monitoring module; the communication module transmits the detection data of the physiological signal monitoring module to the human-computer interaction interface for the user to read, and at the same time transmits it to the storage module for storage for subsequent query and analysis.

[0015] To better implement the present invention, the human-computer interaction interface adopts a touch screen design.

[0016] To better implement the present invention, the usage method of the physiotherapy device for traditional Chinese medicine acupuncture is further disclosed, including the following steps:

[0017] S1: Equipment inspection: Connect the power supply of the physiotherapy device, and the device automatically performs self-check to check whether each module is working properly. Observe the prompt information on the human-computer interaction interface to ensure that the device is free of faults;

[0018] S2: Patient information entry: The doctor enters the basic information of the patient on the human-computer interaction interface, selects a suitable acupuncture treatment plan according to the patient's condition, and presets parameters such as the needle insertion depth, angle, speed, and stimulation frequency in the system;

[0019] S3: Acupuncture needle installation: Select an acupuncture needle of a suitable specification and install it on the needle holder to ensure firm installation;

[0020] S4: Patient position adjustment: Help the patient adjust to a suitable position, fully expose the acupuncture points to be treated, and ensure that the patient is comfortable and the position is stable;

[0021] S5: Acupuncture needle positioning and angle adjustment: The doctor operates the multi-degree-of-freedom angle adjustment module through the human-computer interaction interface to align the acupuncture needle with the patient's acupuncture point and adjust it to the preset angle.

[0022] S6: Needle insertion operation: Press the start button, and the acupuncture needle driving module starts to insert the needle according to the preset needle insertion speed and depth. During the needle insertion process, the physiological signal monitoring module continuously collects the physiological signals at the patient's acupuncture point and transmits them to the control system;

[0023] S7: Real-time monitoring and parameter adjustment: The control system analyzes the patient's response to acupuncture treatment based on the received physiological signals and adjusts the needle insertion parameters in a timely manner;

[0024] S8: Needle withdrawal operation: After the treatment is completed, the acupuncture needle driving module withdraws the acupuncture needle according to the preset needle withdrawal speed and path;

[0025] S9: Data recording and analysis: The system automatically stores all data of this treatment, including treatment parameters, changes in the patient's physiological signals, etc. in the storage module. The doctor views the detailed data report on the human-computer interaction interface and makes a preliminary evaluation of the treatment effect;

[0026] S10: Equipment cleaning and maintenance: Remove the acupuncture needle, clean and disinfect the equipment to prepare for the next use.

[0027] Beneficial effects:

[0028] 1. High-precision operation: The present invention adopts a precise mechatronic structure, with the needle insertion depth error controlled within ±0.1 mm and high angle adjustment precision, ensuring the accuracy and stability of acupuncture treatment and improving the treatment effect.

[0029] 2. Real-time physiological monitoring: The present invention integrates multiple sensors to collect acupoint physiological signals in real time, providing accurate patient body response information for doctors, facilitating timely adjustment of treatment plans, and realizing personalized treatment.

[0030] 3. Intelligent control: The intelligent control system of the present invention can automatically adjust treatment parameters according to preset plans and real-time monitoring data, reducing the operation burden of doctors and reducing human errors.

[0031] 4. Data storage and analysis: The present invention automatically stores treatment data, facilitating doctors to track the treatment process of patients, conduct efficacy evaluation and optimize treatment plans. It supports data export and remote transmission, facilitating medical information management and telemedicine.

[0032] 5. Flexible angle adjustment: The present invention can adjust the acupuncture needle at complex spatial angles through a multi-degree-of-freedom angle adjustment module, adapting to the acupuncture needs of acupoints in various parts of the human body and expanding the treatment range. Description of the Drawings

[0033] Figure 1 is a schematic structural diagram of the present invention.

[0034] In the figure: 1. Operating table; 2. Bracket; 3. Acupuncture needle driving module; 4. Multi-degree-of-freedom angle adjustment module; 5. Physiological signal monitoring module; 6. Intelligent control system; 7. Servo motor; 8. Linkage mechanism; 9. Rotary joint; 10. Stepper motor; 11. Ball screw pair; 12. Needle seat; 13. Acupuncture needle; 14. Universal wheel. Detailed Embodiment

[0035] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the following further elaborates on the present invention in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] Embodiment

[0037] As Figure 1 shown, a physiotherapy device for traditional Chinese medicine acupuncture includes an operating table 1. Universal wheels 14 are provided at the bottom of the operating table 1 to facilitate the movement of the device. A bracket 2 is fixedly provided on the top surface of the operating table 1. An acupuncture needle driving module 3, a multi-degree-of-freedom angle adjustment module 4, a physiological signal monitoring module 5 and an intelligent control system 6 are provided on the bracket 2; the acupuncture needle driving module 3, the multi-degree-of-freedom angle adjustment module 4 and the physiological signal monitoring module 5 are all electrically connected to the intelligent control system 6;

[0038] The bracket 2 is fixedly connected with a servo motor 7. The servo motor 7 is electrically connected to the multi-degree-of-freedom angle adjustment module 4. The output end of the servo motor 7 is connected with a linkage mechanism 8. The linkage structure is a quadrilateral linkage mechanism 8, which has a plurality of rotating joints 9. By controlling the servo motor 7 to drive the linkage mechanism 8 through the multi-degree-of-freedom angle adjustment module 4, the angle adjustment of the acupuncture needle 13 in three degrees of freedom is realized, including the rotation in the horizontal direction, the pitch in the vertical plane, and the torsion around the axis of the acupuncture needle 13. It can flexibly adjust the angle of the acupuncture needle 13 to adapt to the complex spatial positions of acupoints on different parts of the human body. By presetting the angle parameters through the intelligent control system 6, the servo motor 7 accurately drives the corresponding rotating joints 9 to move, realizing the rapid and accurate adjustment of the angle of the acupuncture needle 13. The adjustable angle range is: horizontal rotation ±180°, pitch ±90°, torsion ±360°.

[0039] The linkage mechanism 8 is connected with a stepping motor 10. The stepping motor 10 is electrically connected to the acupuncture needle driving module 3. The output end of the stepping motor 10 is connected with a ball screw pair 11 through a coupling. The ball screw pair 11 is movably connected with a needle seat 12. The acupuncture needle 13 is detachably connected to the needle seat 12. The stepping motor 10 receives the pulse signal sent by the intelligent control system 6 and accurately controls the rotation angle and speed. Through the transmission of the ball screw pair 11, the rotational motion of the stepping motor 10 is converted into a linear motion, thereby driving the acupuncture needle 13 on the needle seat 12 to realize accurate needle insertion and withdrawal operations. The needle insertion depth can be accurately controlled, and the error can be controlled within ±0.1 mm.

[0040] The physiological signal monitoring module 5 includes a skin resistance sensor, a temperature sensor, a micro-current stimulation electrode, a signal conditioning circuit, and a data acquisition module. The skin resistance sensor, the temperature sensor, and the micro-current stimulation electrode are connected to the signal conditioning circuit and the data acquisition module through flexible wires;

[0041] The skin resistance sensor measures the resistance value of the skin at the acupoint in real time, and the temperature sensor monitors the surface temperature of the acupoint. The micro-current stimulation electrode can apply a weak current, and by measuring the bioelectric response of the human body, the active state of the acupoint is further analyzed. The data acquisition module processes the signals collected by the sensor, such as amplification and filtering, and then transmits them to the control system.

[0042] The intelligent control system 6 includes a power supply module, a communication module, a storage module, and a human-machine interaction interface. The human-machine interaction interface is designed with a touch screen. The human-machine interaction interface controls the acupuncture needle driving module 3, the multi-degree-of-freedom angle adjustment module 4, the physiological signal monitoring module 5, etc. to work according to the set parameters. The power supply module controls the power supply of the acupuncture needle driving module 3, the multi-degree-of-freedom angle adjustment module 4, and the physiological signal monitoring module 5. The communication module uses wireless communication technology to transmit the detection data of the physiological signal monitoring module 5 to the human-machine interaction interface for the user to read, and at the same time transmits it to the storage module for storage for subsequent query and analysis. Through wireless communication technology, it can be connected to the hospital information system to achieve remote diagnosis and optimization of treatment plans.

[0043] The usage method of the physical therapy device for traditional Chinese medicine acupuncture includes the following steps:

[0044] S1: Equipment inspection: Turn on the power supply of the physical therapy device, and the device automatically performs self-check to check whether each module is working properly. Observe the prompt information on the human-machine interaction interface to ensure that the device is free of faults.

[0045] S2: Patient information entry: The doctor enters the basic information of the patient, such as name, age, condition, etc. on the human-machine interaction interface. According to the patient's condition, select a suitable acupuncture treatment plan, and preset parameters such as the insertion depth, angle, speed, and stimulation frequency in the system.

[0046] S3: Installation of acupuncture needle 13: Select a suitable specification of acupuncture needle 13 and install it on the needle holder 12 to ensure firm installation.

[0047] S4: Patient position adjustment: Help the patient adjust to a suitable position, fully expose the acupuncture points to be treated, and ensure that the patient is comfortable and the position is stable.

[0048] S5: Positioning and angle adjustment of acupuncture needle 13: The doctor operates the multi-degree-of-freedom angle adjustment module 4 through the human-machine interaction interface to control the servo motor 7 to drive the link mechanism 8, align the acupuncture needle 13 with the patient's acupuncture point, and adjust it to the preset angle. It is possible to ensure accurate angle adjustment by observing the angle display parameters on the device and real-time video monitoring (optional function, the device is equipped with a camera to monitor the treatment site).

[0049] S6: Insertion operation: Press the start button, and the acupuncture needle driving module 3 controls the stepper motor 10 according to the preset insertion speed and depth, and drives the needle holder 12 and the acupuncture needle 13 to start inserting through the ball screw pair 11. During the insertion process, the physiological signal monitoring module 5 continuously collects the physiological signals at the patient's acupuncture point and transmits them to the intelligent control system 6.

[0050] S7: Real-time Monitoring and Parameter Adjustment: The intelligent control system 6 analyzes the patient's response to acupuncture treatment based on the received physiological signals. If it is found that the patient's physiological state is abnormal or does not conform to the preset treatment plan, the intelligent control system 6 will automatically or prompt the doctor to adjust parameters such as the needle insertion depth, angle, and stimulation frequency. For example, if it is monitored that the skin resistance of the acupuncture point suddenly increases, it may indicate that the acupuncture point is in a state of over-stimulation, and the intelligent control system 6 can automatically reduce the stimulation intensity. The acupuncture treatment is continuously carried out according to the preset treatment time and stimulation mode. During the treatment process, the doctor can view the treatment data and the change curve of the patient's physiological signals at any time through the man-machine interaction interface.

[0051] S8: Needle Withdrawal Operation: After the treatment is completed, the acupuncture needle driving module 3 controls the stepping motor 10 according to the preset needle withdrawal speed and path, and drives the needle seat 12 through the ball screw pair 11 to withdraw the acupuncture needle 13.

[0052] S9: Data Recording and Analysis: The intelligent control system 6 automatically stores all the data of this treatment, including treatment parameters, changes in the patient's physiological signals, etc. in the storage module. The doctor can view the detailed data report on the man-machine interaction interface and conduct a preliminary evaluation of the treatment effect.

[0053] S10: Equipment Cleaning and Maintenance: Remove the acupuncture needle 13, clean and disinfect the equipment to prepare for the next use. Regularly maintain the equipment, check the working status of each component, and ensure the stable performance of the equipment.

[0054] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A physiotherapy device for traditional Chinese medicine acupuncture, characterized in that, It includes an operating table (1), on the top surface of the operating table (1), a bracket (2) is fixedly provided, and on the bracket (2), an acupuncture needle driving module (3), a multi-degree-of-freedom angle adjustment module (4), a physiological signal monitoring module (5) and an intelligent control system (6) are provided; the acupuncture needle driving module (3), the multi-degree-of-freedom angle adjustment module (4) and the physiological signal monitoring module (5) are all electrically connected to the intelligent control system (6); The bracket (2) is fixedly connected with a servo motor (7), the servo motor (7) is electrically connected to the multi-degree-of-freedom angle adjustment module (4), the output end of the servo motor (7) is connected with a link mechanism (8), the link mechanism (8) is connected with a stepping motor (10), the stepping motor (10) is electrically connected to the acupuncture needle driving module (3), the output end of the stepping motor (10) is connected with a ball screw pair (11) through a coupling, the ball screw pair (11) is movably connected with a needle seat (12), and an acupuncture needle (13) is detachably connected to the needle seat (12).

2. The physiotherapy device for traditional Chinese medicine acupuncture and its usage method according to claim 1, characterized in that, Universal wheels (14) are provided at the bottom of the operating table (1).

3. A physiotherapy device for traditional Chinese medicine acupuncture and its usage method according to claim 1, characterized in that, The link structure is a quadrilateral link mechanism (8) and has a plurality of rotating joints (9).

4. A physiotherapy device for traditional Chinese medicine acupuncture and its usage method according to claim 1, characterized in that, The physiological signal monitoring module (5) includes a skin resistance sensor, a temperature sensor, a microcurrent stimulation electrode, a signal conditioning circuit and a data acquisition module, and the skin resistance sensor, the temperature sensor and the microcurrent stimulation electrode are connected to the signal conditioning circuit and the data acquisition module through flexible wires.

5. A physiotherapy device for traditional Chinese medicine acupuncture and its usage method according to claim 4, characterized in that, The intelligent control system (6) includes a power supply module, a communication module, a storage module and a human-machine interaction interface. The power supply module controls the power supply of the acupuncture needle driving module (3), the multi-degree-of-freedom angle adjustment module (4) and the physiological signal monitoring module (5); the communication module transmits the detection data of the physiological signal monitoring module (5) to the human-machine interaction interface for the user to read, and at the same time transmits it to the storage module for storage for subsequent query and analysis.

6. The physiotherapy device for traditional Chinese medicine acupuncture and its usage method according to claim 5, characterized in that, The human-machine interaction interface adopts a touch screen design.

7. The usage method of a physiotherapy device for traditional Chinese medicine acupuncture according to any one of claims 1-6, characterized in that, It includes the following steps: S1: Equipment inspection: Turn on the power of the physiotherapy device, and the device automatically performs self-check to check whether each module is working properly. Observe the prompt information on the human-machine interaction interface to ensure that the device is fault-free; S2: Patient information entry: The doctor enters the basic information of the patient on the human-machine interaction interface, selects a suitable acupuncture treatment plan according to the patient's condition, and presets parameters such as the acupuncture depth, angle, speed and stimulation frequency in the system; S3: Installation of the acupuncture needle (13): Select a suitable specification of the acupuncture needle (13) and install it on the needle seat (12) to ensure firm installation; S4: Patient position adjustment: Help the patient adjust to a suitable position, fully expose the acupuncture points to be treated, and ensure that the patient is comfortable and the position is stable; S5: Positioning and angle adjustment of the acupuncture needle (13): The doctor operates the multi-degree-of-freedom angle adjustment module (4) through the human-machine interaction interface to align the acupuncture needle (13) with the patient's acupuncture point and adjust it to the preset angle. S6: Needling operation: Press the start button, and the acupuncture needle driving module (3) starts needling according to the preset needling speed and depth. During the needling process, the physiological signal monitoring module real-time collects the physiological signals at the patient's acupoints and transmits them to the control system; S7: Real-time monitoring and parameter adjustment: The control system analyzes the patient's response to acupuncture treatment based on the received physiological signals and adjusts the needling parameters in a timely manner; S8: Withdrawal operation: After the treatment is completed, the acupuncture needle driving module (3) withdraws the acupuncture needle (13) according to the preset withdrawal speed and path; S9: Data recording and analysis: The system automatically stores all the data of this treatment, including treatment parameters, changes in the patient's physiological signals, etc. in the storage module. The doctor views the detailed data report on the man-machine interaction interface and conducts a preliminary evaluation of the treatment effect; S10: Equipment cleaning and maintenance: Remove the acupuncture needle (13), clean and disinfect the equipment to prepare for the next use.

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