Acupuncture robot

Abstract

The invention discloses an acupuncture robot which comprises a robot body, a mechanical arm module, a visual recognition module, a pressure sensing module, a main control module and a database module. The acupuncture and moxibustion device has the advantages that acupuncture and moxibustion mechanization, automation and digitization are achieved; 2, the visual identification and external scanning technology is adopted, the error range is + / -0.5 mm, and intelligent acupuncture point positioning is realized; compared with the traditional precision, the precision is improved by more than 3 times; the six-dimensional force sensor is matched with a compliant algorithm, 0.1 mm-level needle inserting depth control is achieved, blood vessels or nerves are prevented from being punctured, and the acupuncture needle is safer than traditional acupuncture.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and particularly relates to an acupuncture robot. Background Art

[0002] Medical robots are the intersection of advanced robot technology and modern medical technology, covering multiple directions such as surgical robots, rehabilitation robots, and non-surgical diagnosis and treatment robots. Humanoid robots, bionic robots, micro-nano robots, etc. are becoming important fields at the forefront of medical robot technology. There are many types of medical robots, which are classified into the following according to their uses: Hospital delivery robots, which mainly undertake the work of delivering medicine, meals into isolation areas, and recycling bedding and medical waste in the hospital area. Mobile patient robots, which mainly help nurses move or transport paralyzed and immobile patients. Clinical medical robots, which include surgical robots and diagnostic and treatment robots, and can perform precise surgical operations or diagnoses, such as the WAPRU-4 chest tumor diagnostic robot in Japan; the Da Vinci system in the United States, a robot for serving the disabled, also called a rehabilitation robot, which can help the disabled restore their ability to live independently. Nursing robots, which can share the heavy and trivial nursing work of nursing staff. Medical teaching robots, which are ideal teaching aids. For example, the Noel teaching robot in the United States can simulate a pregnant woman about to give birth, and can even talk and scream. By simulating real childbirth, it helps to improve the surgical cooperation and on-site response of obstetrics and gynecology medical staff.

[0003] Existing medical robots lack a robot that can realize the automation, mechanization, and digitization of acupuncture, and a robot that can make acupuncture mechanization more accurate and safer. Summary of the Invention

[0004] The main technical problem to be solved by the present invention is to provide an acupuncture robot, which realizes the mechanization, automation, and digitization of acupuncture, realizes intelligent acupoint positioning for acupuncture, with an accuracy more than 3 times higher than that of the traditional method, and is safer than traditional acupuncture.

[0005] To solve the above problems, the present invention provides an acupuncture robot, including:

[0006] A robot main body;

[0007] A robotic arm module for performing acupuncture operations;

[0008] A visual recognition module for positioning human acupoints;

[0009] A pressure sensing module for detecting the contact pressure between the needle and the skin;

[0010] A main control module for controlling the movement trajectory and acupuncture depth of the robotic arm module;

[0011] The database module stores acupoint atlases and acupuncture treatment plans.

[0012] Furthermore, the robotic arm module, the visual recognition module, the pressure sensing module, the main control module, and the database module are integrated with the robot body; the robotic arm module, the visual recognition module, the pressure sensing module, and the database module are electrically connected to the main control module.

[0013] Furthermore, the pressure sensing module is linked with the main control module, and when the contact pressure exceeds the safety threshold, the needle insertion automatically stops.

[0014] Furthermore, the robotic arm module is a six-degree-of-freedom robotic arm; the six-degree-of-freedom robotic arm includes a gripper and a disinfection device; the disinfection device includes an end effector and an ultraviolet disinfection lamp tube.

[0015] Furthermore, the gripper and the disinfection device are arranged at the end of the six-degree-of-freedom robotic arm, and the gripper is used to hold the acupuncture needle; the disinfection device is used to perform ultraviolet sterilization on the needle and the contact part; the end effector includes a force feedback unit and an optical feedback unit.

[0016] Furthermore, the force feedback unit is used to monitor the interaction force between the needle body and the tissue in real time; the optical feedback unit is used to observe the deformation of the subcutaneous tissue; the feedback data of the force feedback unit and the optical feedback unit are synchronized to the main control module to achieve adaptive needle adjustment.

[0017] Furthermore, the database module supports traditional Chinese medicine doctors to customize acupuncture treatment plans and can update acupoint data through the cloud.

[0018] Furthermore, the visual recognition module includes an infrared camera and an image processing unit, which can identify the patient's body surface features in real time and match the preset acupoint coordinates.

[0019] Furthermore, the robot body also includes a voice interaction module and an electrical stimulation module; the voice interaction module is used to receive patient instructions and feedback treatment feelings; the electrical stimulation module is used to apply a pulsed current of 0.1 - 10 mA to simulate the deqi effect of traditional acupuncture.

[0020] On the other hand, the present invention also provides an operation method for the above acupuncture robot, and the operation method includes the steps:

[0021] Step 1: Scan the patient's body position through the visual recognition module and generate a three-dimensional acupoint mapping;

[0022] Step 2: Plan the path of the robotic arm module according to the treatment plan;

[0023] Step 3: Adjust the angle, depth, and manipulation of the needle in real time;

[0024] Step 4: Record treatment data and generate a report.

[0025] The beneficial effects of the present invention are as follows: First, it realizes the mechanization, automation, and digitization of acupuncture, transforming traditional Chinese medicine acupuncture experience into quantifiable and controllable engineering parameters. Second, it adopts visual recognition plus external scanning technology with an error range of ±0.5 mm, achieving intelligent acupuncture point positioning. The accuracy is more than three times higher than that of traditional acupuncture points. Third, the six-axis force sensor cooperates with a compliant algorithm to achieve a needle insertion depth control of 0.1 mm, avoiding piercing blood vessels or nerves, and being safer than traditional acupuncture. Fourth, the electrical stimulation module outputs adjustable pulses of 0.1 - 10 mA, dynamically adjusting the stimulation intensity through impedance feedback to effectively induce the needle sensations of soreness, numbness, distension, and heaviness. Fifth, it can support remote collaborative diagnosis and treatment, enabling experts to remotely correct needle insertion parameters in real time under 5G network, generating 26 intelligent treatment plans for basic acupuncture treatment. The cloud database can store more than 300 syndrome differentiation and acupoint combination schemes, improving the treatment planning efficiency by 80% compared to manual work. Sixth, the optical feedback plus force feedback constitutes a redundant system, enabling emergency braking within 50 ms in case of abnormalities. Seventh, the ultraviolet disinfection device realizes the full-process sterilization of needles with a sterilization rate of ≥99.9%. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0027] Figure 1 It is the product appearance diagram of Embodiment 1 of the present invention.

[0028] Figure 2 It is the connection schematic diagram of each component of the present invention.

[0029] Figure 3 It is the product appearance diagram of Embodiment 2 of the present invention.

[0030] The reference numerals are: 10, robot main body; 20, robotic arm module; 21, gripper; 22, disinfection device; 221, end effector; 30, visual recognition module; 40, pressure sensing module; 50, main control module; 60, database module.

[0031] The following will further illustrate the realization of the objectives, functional characteristics, and advantages of the present invention in conjunction with the embodiments and with reference to the drawings. Detailed Embodiments

[0032] In order to make the objectives, technical solutions and advantages of the invention more clear, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0033] Embodiment 1:

[0034] As Figure 1 、 Figure 2 shown, an acupuncture robot. In this embodiment, the robot body is in the form of a robotic arm, including:

[0035] The robot body 10; specifically, the robot body 10 is in the form of a robotic arm;

[0036] The robotic arm module 20, which is used to perform acupuncture operations; specifically, it is used to perform acupuncture operations; the robotic arm module 20 is a six-degree-of-freedom robotic arm; the six-degree-of-freedom robotic arm includes a gripper 21 and a disinfection device 22; the disinfection device 22 includes an end effector 221 and an ultraviolet disinfection lamp tube. The gripper 21 and the disinfection device 22 are provided at the end of the six-degree-of-freedom robotic arm, and the gripper 21 is used to grip the acupuncture needle, and the needle tool can be replaced; the disinfection device 22 is used to perform ultraviolet sterilization on the needle tool and the contact part; the end effector 221 includes a force sense feedback unit and an optical feedback unit. The force sense feedback unit is used to monitor the interaction force between the needle body and the tissue in real time; the optical feedback unit is used to observe the deformation of the subcutaneous tissue; the feedback data of the force sense feedback unit and the optical feedback unit are synchronized to the main control module to achieve adaptive needle adjustment; the six-degree-of-freedom robotic arm adopts a six-degree-of-freedom serial robotic arm, which includes a harmonic reducer servo motor; its linear sliding part adopts a ball screw and is driven by a servo motor with a C7-level precision; its twisting part adopts a stepping motor and also adopts a planetary gear reduction box with a step angle of 0.072°; its gripper 21 adopts an electromagnetic drive claw with a maximum clamping force of 5N; the gripper 21 also integrates a force sensor with a sensitivity of 0.01N to monitor the needle insertion force; the gripper 21 can quickly change the needle; the force sense feedback unit includes: a six-axis force sensor, a microendoscope, and a contact pressure sensor; the six-axis force sensor adopts YuLi Instruments Mini40 with a range of ±30N; the microendoscope adopts Omron VT-M12A with a resolution of 50μm; the contact pressure sensor adopts TE Connectivity MS5837. The ultraviolet disinfection lamp tube uses a wavelength of 265nm for sterilization; the gripper 21 supports the simulation of lifting and twisting techniques. The optical feedback unit observes the deformation of the subcutaneous tissue through a microendoscope.

[0037] The visual recognition module 30 is used to locate human acupoints; the visual recognition module 30 includes an infrared camera and an image processing unit, and can identify the surface features of the patient in real time and match the preset acupoint coordinates. The infrared camera uses FLIR A315 for temperature measurement with an accuracy of ±2°C, and its 3D structured light camera uses ZED 2i with a depth resolution of 0.1 mm; the image processing unit uses the NVIDIA Jetson Xavier NX module; the visual recognition module 30 is directly installed on the end effector 221.

[0038] The pressure sensing module 40 is used to detect the contact pressure between the needle and the skin; the pressure sensing module 40 is a pressure sensor array, using ZnO / Si-IC piezoelectric sensors to achieve dynamic force detection; the pressure sensing module 40 is installed in the end effector 221, and is also configured with a piezoelectric crystal film for high-frequency force signal acquisition, and the instantaneous pressure of the lifting and thrusting operation is detected through the piezoelectric effect.

[0039] The main control module 50 is used to control the movement trajectory and acupuncture depth of the robotic arm module 20; the main control module 50 includes: a motion controller, a safety PLC, and a compliance control algorithm; the motion controller uses Beckhoff CX2040 with a control frequency of 1 kHz; the safety PLC uses Siemens S7-1200 with a response time < 2 ms; the compliance control algorithm uses real-time adjustment based on an impedance model; the main control module 50 is installed in the control cabinet of the robot body 10.

[0040] The database module 60 stores acupoint atlases and acupuncture treatment plans; the database module 60 is installed in the control cabinet of the robot body 10.

[0041] As Figure 1 、 Figure 2 shown, the robotic arm module 20, the visual recognition module 30, the pressure sensing module 40, the main control module 50, and the database module 60 are combined with the robot body 10 into one; the robotic arm module 20, the visual recognition module 30, the pressure sensing module 40, and the database module 60 are electrically connected to the main control module 50; the control cabinet is arranged at the lower part of the robot body 10.

[0042] As Figure 1 、 Figure 2 shown, the pressure sensing module 40 is linked with the main control module 50, and when the contact pressure exceeds the safety threshold, the needle insertion is automatically stopped.

[0043] As Figure 1 、 Figure 2 shown, the force feedback unit is used to monitor the interaction force between the needle body and the tissue in real time; the optical feedback unit is used to observe the deformation of the subcutaneous tissue; the feedback data of the force feedback unit and the optical feedback unit are synchronized to the main control module 50 to realize adaptive needle adjustment.

[0044] As Figure 1 , Figure 2 shown, the database module 60 supports traditional Chinese medicine practitioners to customize acupuncture treatment plans and can update acupoint data through the cloud.

[0045] As Figure 1 , Figure 2 shown, the visual recognition module 30 includes an infrared camera and an image processing unit, which can identify the surface features of patients in real time and match the preset acupoint coordinates.

[0046] As Figure 1 , Figure 2 shown, the robot body 10 further includes a voice interaction module and an electrical stimulation module; the voice interaction module is used to receive patient instructions and feedback treatment feelings; the electrical stimulation module is used to apply a pulsed current of 0.1 - 10 mA to simulate the deqi effect of traditional acupuncture.

[0047] On the other hand, the present invention also provides an operation method for the above acupuncture robot, and the operation method includes the steps of:

[0048] Step 1: Scan the patient's body position through the visual recognition module 30 and generate a three-dimensional acupoint mapping;

[0049] Specifically: 1. Patient body position calibration: After the patient lies on the treatment bed, scan the whole body contour through the infrared camera (including a depth sensor), and correct the patient's body position deviation by combining the AI algorithm. Establish a human body coordinate system based on preset reference points such as the Dazhui acupoint and the Tanzhong acupoint. 2. Dynamic three-dimensional modeling: Reconstruct the 3D model of the patient's body surface through multi-view stereo vision (MVS), with a resolution of ±0.5 mm. Combine the standard acupoint atlas in the database (including 14 meridians and 361 regular acupoints), and map the atlas to the patient's personalized model through a non-rigid registration algorithm. 3. Acupoint dynamic calibration: Use thermal imaging technology to identify local temperature abnormal areas to assist in correcting acupoint coordinates such as Ashi acupoints. Detect the stress distribution on the patient's body surface through a pressure-sensitive pad to optimize the positioning of weight-bearing acupoints such as Chengshan and Yongquan.

[0050] Step 2: Plan the path of the robotic arm module according to the treatment plan;

[0051] Specifically: 1. Analysis of treatment plans: The main control module calls the acupuncture plans in the database, such as Quchi-Hegu-Zusanli acupoints, to analyze the order of needle insertion and the tonifying and draining techniques, i.e., lifting, inserting, or twisting frequency. Load the safety parameters preset by the Chinese medicine practitioner: the maximum needle insertion depth, such as 25mm for the Hegu acupoint, and the taboo areas, such as the fontanelle. 2. Motion path optimization: Based on the RRT*, i.e., the rapidly expanding random tree algorithm, the collision-free trajectory of the robotic arm is planned to avoid sensitive areas of the human body. For acupuncture techniques such as Xuanzhong through Sanyinjiao, a progressive spiral needle insertion path is generated. 3. Dynamic obstacle avoidance mechanism: The sensor monitors the patient's body position micro-movement in real time, and the model predictive control, i.e., MPC, is used to update the path online. A 10cm safety buffer is set to trigger the emergency stop protocol when the patient enters the dangerous area.

[0052] Step 3: Adjust the needle angle, depth and technique in real time;

[0053] Specifically: 1. Multimodal feedback control: Force feedback: The force on the needle body is monitored through the fiber Bragg grating, i.e., the resolution is 0.1N, and the insertion speed is automatically adjusted to prevent the needle from bending. 2. Optical feedback: The endoscope needle integrates an OCT imaging module, i.e., a resolution of 10μm, which displays the state of the subcutaneous fascia layer in real time and guides the adjustment of the depth of Qi. 3. Technique reproduction technology: Flat supplementation and flat drainage method: The mechanical wrist joint simulates 90°±5° twisting, with a frequency of 2Hz±0.5Hz. Burning mountain fire technique: The layered temperature control system, i.e., the needle handle element, realizes a gradient temperature increase of 36°C to 42°C. 4. Safety protection mechanism: When the pressure sensor detects a breakthrough feeling, i.e., a sudden drop in resistance by 20%, it automatically retreats 0.2mm to avoid puncturing the periosteum. The current impedance monitoring module, i.e., 10kHz sampling, provides real-time warning that the needle tip is approaching the neurovascular bundle.

[0054] Step 4: Record treatment data and generate reports;

[0055] Specifically: 1. Multi-dimensional data collection: structured storage of acupuncture parameters: needle insertion angle, such as 15° deviation of Yingsui Buxie, and needle retention time accurate to 0.1s. Synchronous recording of biofeedback data: local electromyographic changes, i.e. sEMG, and infrared thermal images, i.e. ΔT≥0.5℃. 2. Intelligent report generation: based on the platform to build an analysis process, automatically generate efficacy evaluation radar charts, i.e. pain index, activity and other dimensions. Abnormal event annotation system: automatic marking of needle stagnation, i.e. torque ≥0.3N·m, and needle dizziness, i.e. heart rate change rate >30% events. 3. Cloud-based collaborative expansion: encryption of treatment records through blockchain technology to support multi-center research data sharing. Develop a patient-side APP to push personalized medical advice, such as avoiding water within 4 hours after acupuncture at the Houxi acupoint.

[0056] Supplementary Note: The whole process complies with the standard of YY / T 1603-2018 General Technical Requirements for Traditional Chinese Medicine Acupuncture Robots. It supports the data exchange protocol formulated by ISO / TC 249 Traditional Chinese Medicine Technology Committee. Before each treatment, an asymmetric encryption verification code is generated by a quantum random number generator to ensure operation traceability. The above process deeply integrates traditional acupuncture theories such as the qi waiting principle in Huangdi Neijing and modern robot precise control technology, reducing the medical accident rate to <0.001% while ensuring the curative effect.

[0057] Functions of the acupuncture robot in this embodiment: I. Precise acupoint positioning function: 1. Infrared camera plus image processing unit, which can scan the surface features of the patient such as bones and muscle textures in real time, match the preset acupoint coordinates, with an error ≤0.2mm; three-dimensional acupoint mapping can automatically generate a 3D acupoint distribution map according to the patient's body position and dynamically adjust the needle insertion path. 2. Force sense assisted calibration, the pressure sensing module detects the contact pressure between the needle and the skin, with an accuracy of 0.1N level, to prevent accidental needling or excessive needle insertion; optical feedback unit: observes the deformation of subcutaneous tissues to assist in correcting the needle insertion angle. II. Intelligent acupuncture operation function: 1. Precise control of the robotic arm, the six-degree-of-freedom robotic arm can simulate 7 traditional acupuncture techniques such as lifting-thrusting, twirling, reinforcing-reducing, etc., with an angle error <0.5°; adaptive needle adjustment: adjusts the needle insertion depth and force in real time according to the force sense feedback at a sampling rate of 500Hz. 2. Electric stimulation simulates the deqi effect, the electric stimulation module is 0.1 - 10mA: applies pulsed current to simulate the "deqi" feeling of traditional acupuncture, with a frequency adjustable from 1 - 100Hz. III. Safety and disinfection function: 1. Dual safety protection, overpressure protection: when the contact pressure exceeds 0.3N and is adjustable from 0.1 - 1N, the needle insertion automatically stops. Dynamic monitoring: the optical feedback unit monitors the state of subcutaneous tissues in real time and automatically retracts the needle in case of abnormality. 2. Automatic disinfection system, ultraviolet plus ozone synergistic sterilization: automatically disinfects the needle and the contact part before and after treatment, with a sterilization rate of 99.9% and completed in 30 seconds. IV. Intelligent data management and interaction function: 1. Supported by a cloud database, storing acupoint atlases: including standard acupoints and personalized treatment plans. Chinese medicine practitioners can customize the plan: support cloud updates and can combine AI to recommend the optimal acupuncture plan. 2. Human-computer interaction: Voice interaction module: supports patients to feedback treatment feelings such as pain level and adjust treatment parameters. Automatically generate reports: record treatment data such as needle insertion depth, techniques, and patient responses, and generate a curative effect evaluation report.

[0058] Embodiment 2:

[0059] As Figure 3 shown, the difference between Embodiment 2 and Embodiment 1 is that the robot body 10 is changed to a humanoid robot, and the positions of the corresponding other components are also adjusted, but the components and functions are the same as those in Embodiment 1.

[0060] Based on the products of Embodiment 1 and Embodiment 2, the products of the present invention fully possess the beneficial effects described in the invention content.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting it; although the present invention has been disclosed through the above embodiments, the protection scope of the present invention is not limited thereto. Without departing from the concept of the present invention, the deformations, substitutions, etc. made to the above components will all fall within the scope of the claims of the present invention.

Claims

1. An acupuncture robot, characterized in that, Comprising: A robot body; A robotic arm module for performing acupuncture operations; A visual recognition module for locating human acupoints; A pressure sensing module for detecting the contact pressure between the needle and the skin; A main control module for controlling the movement trajectory and acupuncture depth of the robotic arm module; A database module for storing acupoint atlases and acupuncture treatment plans.

2. The acupuncture robot according to claim 1, wherein The robotic arm module, visual recognition module, pressure sensing module, main control module, and database module are integrated with the robot body; the robotic arm module, visual recognition module, pressure sensing module, database module, and main control module are electrically connected.

3. The acupuncture robot according to claim 2, wherein, The pressure sensing module is linked with the main control module, and the needle insertion automatically stops when the contact pressure exceeds the safety threshold.

4. The acupuncture robot according to claim 3, wherein, The robotic arm module is a six-degree-of-freedom robotic arm; the six-degree-of-freedom robotic arm includes a gripper and a disinfection device; the disinfection device includes an end effector and an ultraviolet disinfection lamp tube.

5. An acupuncture robot according to claim 4, characterized in that, The gripper and the disinfection device are arranged at the end of the six-degree-of-freedom robotic arm, and the gripper is used to hold the acupuncture needle; the disinfection device is used for ultraviolet sterilization of the needle and the contact area; the end effector includes a force sense feedback unit and an optical feedback unit.

6. An acupuncture robot according to claim 5, wherein, The force sense feedback unit is used to monitor the interaction force between the needle body and the tissue in real time; the optical feedback unit is used to observe the deformation of the subcutaneous tissue; the feedback data of the force sense feedback unit and the optical feedback unit are synchronized to the main control module to achieve adaptive needle adjustment.

7. The acupuncture robot according to claim 1, wherein, The database module supports Chinese medicine practitioners to customize acupuncture plans and can update acupoint data through the cloud.

8. An acupuncture robot according to claim 1, characterized in that, The visual recognition module includes an infrared camera and an image processing unit, which can identify the patient's body surface features in real time and match the preset acupoint coordinates.

9. The acupuncture robot according to claim 1, characterized in that, The robot body further includes a voice interaction module and an electrical stimulation module; the voice interaction module is used to receive patient instructions and feedback treatment feelings; the electrical stimulation module is used to apply a pulsed current of 0.1 - 10 mA to simulate the deqi effect of traditional acupuncture.

10. The operating method of an acupuncture robot according to claim 1, characterized in that, The operation method includes the steps: Step 1: Scan the patient's body position through the visual recognition module and generate a three-dimensional acupoint mapping; Step 2: Plan the path of the robotic arm module according to the treatment plan; Step 3: Adjust the needle angle, depth, and manipulation in real time; Step 4: Record the treatment data and generate a report.

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