Acupuncture robot with force feedback

Abstract

The invention provides an acupuncture robot with force feedback. The acupuncture robot comprises an acupuncture needle, a twisting module, a feeding module and a pose adjusting module. The twisting module is connected with the acupuncture needle and is used for driving the acupuncture needle to rotate; a force sensing device is connected between the feeding module and the twisting module, and the feeding module is used for driving the twisting module to perform feeding motion; the force sensing device is used for sensing the magnitude of force applied by the acupuncture needle; the posture adjusting module is connected with the feeding module and used for adjusting the posture of the feeding module. The force sensing device can control the puncturing force of the acupuncture needle, so that the treatment accuracy is improved, and the risk caused by improper manual operation is reduced; the multi-stage adjusting function of the pose adjusting module provides greater flexibility for acupuncture operation; the multi-degree-of-freedom robot can realize multi-degree-of-freedom actions by adjusting the inclination angle, the height and the transverse position regardless of shallow needling, deep needling or needle application at a special angle.

Description

Technical Field

[0001] The present application belongs to the technical field of acupuncture robots, and more specifically, relates to an acupuncture robot with force feedback. Background Art

[0002] Acupuncture has been used to treat a variety of specific conditions due to its wide range of indications, significant efficacy, low medical costs, and minimal side effects. Painful conditions and neurological disorders are the most common treatments for acupuncture. Currently, Traditional Chinese Medicine practitioners use handheld acupuncture needles to puncture acupoints. This method requires extensive clinical experience, and the effectiveness of acupuncture treatment varies depending on the practitioner's clinical experience.

[0003] Furthermore, manual acupuncture procedures can be difficult for doctors to precisely control force and angle, potentially leading to unstable treatment outcomes. This is especially true in scenarios requiring high force feedback, such as deep needling or stimulation of specific acupoints. Inexperienced doctors may be unable to accurately control the depth and twisting force of the needle, potentially affecting efficacy and even posing medical risks. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide an acupuncture robot with force feedback to solve the technical problem in the prior art that it is difficult to grasp the acupuncture treatment position and force.

[0005] To achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide an acupuncture robot with force feedback, including an acupuncture needle, a twisting module, a feeding module and a posture adjustment module; the twisting module is connected to the acupuncture needle, and the twisting module is used to drive the acupuncture needle to rotate; a force sensing device is connected between the feeding module and the twisting module, and the feeding module is used to drive the twisting module to feed movement; the force sensing device is used to sense the magnitude of the force applied by the acupuncture needle; the posture adjustment module is connected to the feeding module, and the posture adjustment module is used to adjust the posture of the feeding module.

[0006] Furthermore, the twisting module includes a fixed seat, a twisting drive and a clamping member; the fixed seat is connected to the force sensing device; the twisting drive is installed on the fixed seat; the clamping member is connected to the output shaft of the twisting drive, the twisting drive is used to drive the clamping member to rotate, and the acupuncture needle is installed on the clamping member.

[0007] Furthermore, the twisting module also includes a first bearing seat and a first bearing; the first bearing seat is connected to the fixed seat; the outer ring of the first bearing is installed on the first bearing seat, and the inner ring of the first bearing is connected to the clamping member.

[0008] Furthermore, the fixed seat includes a fixed upper seat and a fixed lower seat, and the twisting drive member is installed in a cavity enclosed by the fixed upper seat and the fixed lower seat; the first end of the fixed upper seat and the first end of the fixed lower seat are flush to form a first mounting surface; the second end of the fixed upper seat and the second end of the fixed lower seat are flush to form a second mounting surface; the force sensing device is installed on the first mounting surface, and the first bearing seat is installed on the second mounting surface.

[0009] Furthermore, the clamping member includes a clamping seat and a clamping head; the clamping seat is connected to the output shaft of the twisting drive member, and the clamping seat is provided with a clamping groove, and the first end of the acupuncture needle is inserted into the clamping groove; the clamping head passes through the second end of the acupuncture needle and is threadedly connected to the clamping seat to lock the clamping groove.

[0010] Furthermore, the feed module includes a housing, and a slider, a lead screw nut, a lead screw and a feed drive member arranged in the housing; the slider is connected to the force sensing device; the lead screw nut is fixed on the slider; the lead screw nut is threadedly connected to the lead screw; the feed drive member is threadedly connected to the lead screw, and the feed drive member is used to drive the lead screw to rotate.

[0011] Furthermore, the feed module also includes a synchronous pulley, a driven pulley and a synchronous belt; the synchronous pulley is fixedly connected to the output shaft of the feed drive; the driven pulley is fixedly connected to one end of the screw; and the synchronous belt is tensioned between the synchronous pulley and the driven pulley.

[0012] Furthermore, the posture adjustment module includes a first posture adjustment mechanism, a second posture adjustment mechanism and a third posture adjustment mechanism; the first posture adjustment mechanism is rotatably connected to the feed module, and the first posture adjustment mechanism is used to adjust the inclination angle of the feed module; the second posture adjustment mechanism is rotatably connected to the first posture adjustment mechanism; the third posture adjustment mechanism is rotatably connected to the second posture adjustment mechanism, and the second posture adjustment mechanism and the third posture adjustment mechanism work together to adjust the height and lateral position of the acupuncture needle.

[0013] Furthermore, the first posture adjustment mechanism includes a first base, a first driving member, a first active bevel gear, a first passive bevel gear and a first transmission shaft; the first driving member is installed in the first base; the first active bevel gear is connected to the output shaft of the first driving member; the first passive bevel gear is meshed with the first active bevel gear; the first transmission shaft is rotatably connected to the first base, one end of the first transmission shaft is connected to the first passive bevel gear, and the other end of the first transmission shaft is connected to the feed module.

[0014] Furthermore, the structure of the second posture adjustment mechanism is the same as that of the first posture adjustment mechanism, and the structure of the third posture adjustment mechanism is the same as that of the first posture adjustment mechanism.

[0015] The beneficial effects of the acupuncture robot with force feedback provided by the present application are: compared with the existing technology, the acupuncture robot of the present application realizes the precise perception of the force applied during the acupuncture process through the force sensing device, thereby being able to control the penetration force of the acupuncture needle. This design not only improves the accuracy of the treatment, but also significantly reduces the risks caused by improper human operation; the multi-level adjustment function of the posture adjustment module provides greater flexibility for acupuncture operations, which can meet the needs of different patients and different acupoints; whether it is shallow or deep puncture, or acupuncture at a special angle, the robot can achieve multi-degree-of-freedom movements by adjusting the inclination, height and lateral position; the coordinated work of the twisting module and the feeding module makes the rotation and feeding movement of the acupuncture needle smoother, further improving the safety and comfort of the treatment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A schematic diagram of the three-dimensional structure of an acupuncture robot with force feedback provided in an embodiment of the present application;

[0018] Figure 2 A schematic structural diagram of a twisting module in an acupuncture robot with force feedback provided in an embodiment of the present application;

[0019] Figure 3 A schematic structural diagram of a feeding module in an acupuncture robot with force feedback provided in an embodiment of the present application;

[0020] Figure 4 A schematic structural diagram of a posture adjustment module in an acupuncture robot with force feedback provided in an embodiment of the present application;

[0021] Figure 5 This is a structural diagram of the first posture adjustment mechanism of the acupuncture robot with force feedback provided in an embodiment of the present application;

[0022] Figure 6 A schematic structural diagram of the second posture adjustment mechanism of the acupuncture robot with force feedback provided in an embodiment of the present application;

[0023] Figure 7A schematic structural diagram of the third posture adjustment mechanism of the acupuncture robot with force feedback provided in an embodiment of the present application;

[0024] Figure 8 Schematic diagram of the installation of the acupuncture robot with force feedback provided in an embodiment of the present application.

[0025] Among them, the reference numerals in the figures are:

[0026] 10-Acupuncture robot; 20-Treatment bed; 30-Sliding suspension bracket;

[0027] 100-Acupuncture needles;

[0028] 200 - twisting module; 201 - twisting drive member; 202 - first bearing seat; 203 - first bearing; 204 - fixed upper seat; 205 - fixed lower seat; 206 - clamping seat; 207 - clamping head;

[0029] 300 - feed module; 301 - slider; 302 - lead screw nut; 303 - lead screw; 304 - feed drive; 305 - linear bearing; 306 - optical axis; 307 - synchronous pulley; 308 - driven pulley; 309 - synchronous belt; 310 - feed base plate; 311 - end flange of the robot arm; 312 - dust cover; 313 - translation motor end panel; 314 - hexagonal nut; 315 - rolling bearing;

[0030] 400-force sensing device;

[0031] 500 - first posture adjustment mechanism; 501 - first driving member; 502 - first active bevel gear; 503 - first passive bevel gear; 504 - first transmission shaft; 505 - first seat; 506 - second seat; 507 - first bearing flange; 508 - first sliding bearing;

[0032] 600 - second posture adjustment mechanism; 601 - second driving member; 602 - second active bevel gear; 603 - second passive bevel gear; 604 - second transmission shaft; 605 - third seat; 606 - fourth seat; 607 - second bearing flange; 608 - second sliding bearing; 609 - brake;

[0033] 700 - third posture adjustment mechanism; 701 - third driving member; 702 - third active bevel gear; 703 - third passive bevel gear; 704 - third transmission shaft; 705 - fifth seat; 706 - sixth seat; 707 - third bearing flange; 708 - third sliding bearing. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0035] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0038] This embodiment provides an acupuncture robot 10 with force feedback, see Figure 8 It is fixed on a slidable suspended bracket 30 equipped by the treatment bed 20 and is used for traditional Chinese medicine acupuncture treatment. It can realize acupuncture treatment with force control and precise insertion of acupuncture points of the human body at multiple angles.

[0039] See also Figure 1 The acupuncture robot 10 with force feedback provided in an embodiment of the present application will now be described. The acupuncture robot 10 with force feedback includes an acupuncture needle 100, a twisting module 200, a feeding module 300, and a posture adjustment module. The twisting module 200 is connected to the acupuncture needle 100 and is used to drive the acupuncture needle 100 to rotate. A force sensing device 400 is connected between the feeding module 300 and the twisting module 200 and is used to drive the twisting module 200 to feed. The force sensing device 400 is used to sense the force applied by the acupuncture needle 100. The posture adjustment module is connected to the feeding module 300 and is used to adjust the posture of the feeding module 300.

[0040] The acupuncture robot 10 with force feedback provided in the embodiment of the present application, compared with the prior art, realizes accurate perception of the force applied during the acupuncture process through the force sensing device 400, thereby being able to control the penetration force of the acupuncture needle. This design not only improves the accuracy of treatment, but also significantly reduces the risks caused by improper human operation; the multi-level adjustment function of the posture adjustment module provides greater flexibility for acupuncture operations, which can meet the needs of different patients and different acupoints; whether it is shallow or deep puncture, or acupuncture at a special angle, the robot can achieve multi-degree-of-freedom movements by adjusting the inclination, height and lateral position; the coordinated work of the twisting module 200 and the feeding module 300 makes the rotation and feeding movement of the acupuncture needle 100 more stable, further improving the safety and comfort of the treatment process.

[0041] It is understood that the acupuncture robot 10 also includes a control system. As the core component of the entire device, the control system is responsible for receiving data feedback from the force sensing device 400 and performing real-time analysis and processing. This control system can automatically adjust the rotation speed of the twisting module 200, the propulsion speed of the feed module 300, and the various angle parameters of the posture adjustment module based on preset treatment parameters and the patient's specific condition. Furthermore, the control system also has a learning function that records operational data from each treatment process, continuously improving the accuracy and adaptability of acupuncture through algorithm optimization.

[0042] In this embodiment, the force sensing device 400 can utilize a six-dimensional force sensor, which can accurately detect the forces acting on the acupuncture needle 100 in multiple directions, including axial force, lateral force, and torque. By collecting this data in real time, the control system can dynamically adjust to changes in force during acupuncture, ensuring the safety and effectiveness of treatment. Furthermore, the six-dimensional force sensor is highly sensitive and responsive, capable of completing data acquisition and transmission within milliseconds, providing a reliable guarantee for precise force feedback.

[0043] In another embodiment of the present application, the force sensing device 400 may also be a piezoelectric force sensor. The piezoelectric force sensor utilizes the characteristics of piezoelectric materials to quickly generate an electrical signal when the acupuncture needle 100 applies force, thereby achieving real-time force monitoring.

[0044] In one embodiment of the present application, see Figure 2 The twisting module 200 includes a fixed seat, a twisting driving member 201 and a clamping member; the fixed seat is connected to the force sensing device 400; the twisting driving member 201 is installed on the fixed seat; the clamping member is connected to the output shaft of the twisting driving member 201, the twisting driving member 201 is used to drive the clamping member to rotate, and the acupuncture needle 100 is installed on the clamping member.

[0045] In this embodiment, the design of the fixing base ensures the stability of the entire twisting module 200, allowing it to withstand large torques without deflection during operation. The twisting drive 201 utilizes a high-precision motor, ensuring precise control of the rotational speed and angle of the clamping member to meet the requirements of various acupuncture techniques. The clamping member, through its unique structural design, securely secures the acupuncture needle 100, preventing loosening during high-speed rotation or feeding.

[0046] In one embodiment of the present application, see Figure 2 The twisting module 200 further includes a first bearing seat 202 and a first bearing 203; the first bearing seat 202 is connected to the fixed seat; the outer ring of the first bearing 203 is mounted on the first bearing seat 202, and the inner ring of the first bearing 203 is connected to the clamping member.

[0047] In this embodiment, by providing the first bearing seat 202 and the first bearing 203, the friction resistance of the clamping member during rotation is effectively reduced, and the smoothness and precision of the rotation are improved. The connection between the first bearing seat 202 and the fixed seat is fixed with high-strength bolts, which ensures the stability of the overall structure and is convenient for disassembly and maintenance. The first bearing 203 is made of highly wear-resistant material and can maintain good performance during long-term operation, thereby extending the service life of the equipment. In addition, an interference fit can be used between the inner ring of the first bearing 203 and the clamping member to achieve a tight connection, further enhancing the coaxiality during rotation, thereby avoiding vibration or noise problems caused by eccentricity. This design not only improves the working efficiency of the twisting module 200, but also provides a more reliable guarantee for acupuncture operations.

[0048] Specifically, first bearing seat 202 comprises an upper bearing seat and a lower bearing seat, which together form an annular structure. The upper and lower bearing seats can be bolted together, clamping the outer ring of first bearing 203 within the inner wall of the annular structure. This annular design of first bearing seat 202 not only securely holds first bearing 203 but also effectively prevents movement during operation. The bolted connection between the upper and lower bearing seats simplifies installation and removal, significantly saving time during equipment maintenance or replacement of first bearing 203.

[0049] In one embodiment of the present application, see Figure 2The fixed seat includes a fixed upper seat 204 and a fixed lower seat 205, and the twisting drive member 201 is installed in the cavity enclosed by the fixed upper seat 204 and the fixed lower seat 205; the first end of the fixed upper seat 204 and the first end of the fixed lower seat 205 are flush to form a first mounting surface; the second end of the fixed upper seat 204 and the second end of the fixed lower seat 205 are flush to form a second mounting surface; the force sensing device 400 is installed on the first mounting surface, and the first bearing seat 202 is installed on the second mounting surface.

[0050] In this embodiment, the provision of a fixed upper seat 204 and a fixed lower seat 205 facilitates the installation of the twist drive 201, making the overall structure of the twist module 200 more compact and facilitating subsequent maintenance and repair. The fixed upper seat 204 and the fixed lower seat 205 are precision-machined to form flush first and second mounting surfaces, ensuring the precise installation of the force sensing device 400 and the first bearing seat 202, thereby improving the stability and reliability of the entire module. Specifically, the fixed upper seat 204 and the fixed lower seat 205 are secured together by screws, while the first bearing seat 202 is secured to the second mounting surface by screws.

[0051] In one embodiment of the present application, see Figure 2 The clamping member includes a clamping seat 206 and a clamping head 207; the clamping seat 206 is connected to the output shaft of the twisting driving member 201, and a clamping groove is provided on the clamping seat 206, and the first end of the acupuncture needle 100 is inserted into the clamping groove; the clamping head 207 passes through the second end of the acupuncture needle 100 and is threadedly connected to the clamping seat 206 to lock the clamping groove.

[0052] In this embodiment, the coordinated design of the clamping seat 206 and the clamping head 207 ensures a secure grip on the acupuncture needle 100, preventing loosening or shifting during twisting. The optimized structure of the clamping groove allows for a closer fit with the contact surface of the acupuncture needle 100, thereby enhancing the reliability and precision of the clamping. Furthermore, the threaded connection of the clamping head 207 facilitates quick installation and removal by the operator and allows for adjustment of the locking force according to actual needs, further enhancing operational flexibility.

[0053] In the acupuncture robot 10 with force feedback provided in this embodiment, the twisting module 200 operates as follows: When the twisting module 200 is in operation, the twisting driver 201 receives a control signal and starts to operate, and its output shaft drives the clamping member to rotate. Because the clamping member is firmly connected to the acupuncture needle 100, the acupuncture needle 100 rotates accordingly. During this process, the first bearing 203 can effectively reduce the friction during the rotation of the clamping member, ensuring the smoothness of the rotation. At the same time, the fixed seat provides stable support for the entire module, so that the acupuncture needle 100 will not shake or deflect due to force when rotating. When the rotation speed or angle of the acupuncture needle 100 needs to be adjusted, the control system will send a corresponding instruction to the twisting driver 201, and the high-precision motor will respond accurately according to the instruction, thereby achieving precise control of the rotation state of the acupuncture needle 100 to meet the specific requirements of twisting operations for different acupuncture techniques.

[0054] In one embodiment of the present application, see Figure 3 The feed module 300 includes a shell, and a slider 301, a lead screw nut 302, a lead screw 303 and a feed drive 304 arranged in the shell; the slider 301 is connected to the force sensing device 400; the lead screw nut 302 is fixed on the slider 301; the lead screw nut 302 is threadedly connected to the lead screw 303; the feed drive 304 is connected to the lead screw 303, and the feed drive 304 is used to drive the lead screw 303 to rotate.

[0055] In this embodiment, precise motion control of the feed module 300 is achieved through the coordinated work of the slider 301, the lead screw nut 302, the lead screw 303 and the feed drive 304. The connection design of the slider 301 and the force sensing device 400 ensures the real-time transmission of the force feedback signal, thereby improving the accuracy and safety of the acupuncture operation. The threaded transmission connection between the lead screw nut 302 and the lead screw 303 can convert the rotational motion of the feed drive 304 into linear motion, thereby achieving precise feed control of the twisting module 200. The reasonable layout of the feed drive 304 enables it to efficiently drive the lead screw 303 to rotate while maintaining the compactness of the overall structure, which provides the possibility for miniaturization and portability of the device.

[0056] In one embodiment of the present application, see Figure 3 The feed module 300 further includes a linear bearing 305 and an optical axis 306 . The linear bearing 305 is fixed on the slider 301 . The optical axis 306 is slidably connected to the linear bearing 305 and is arranged parallel to the lead screw 303 .

[0057] In this embodiment, the linear bearing 305 and optical axis 306 provide guidance for the movement of the slider 301, ensuring the linearity and stability of the slider 301 during the feeding process. The coordinated design of the linear bearing 305 and optical axis 306 effectively reduces the frictional resistance during the movement of the slider 301, improving the overall operating efficiency and accuracy of the feed module 300.

[0058] In one embodiment of the present application, see Figure 3 The feeding module 300 also includes a synchronous pulley 307, a driven pulley 308 and a synchronous belt 309; the synchronous pulley 307 is fixedly connected to the output shaft of the feed driving member 304; the driven pulley 308 is fixedly connected to one end of the lead screw 303; the synchronous belt 309 is tensioned between the synchronous pulley 307 and the driven pulley 308.

[0059] In this embodiment, a belt drive mechanism is formed by setting a synchronous pulley 307, a driven pulley 308 and a synchronous belt 309. The belt drive has the characteristics of smooth transmission and low noise, and can effectively transmit the power of the feed drive 304 to the screw 303, thereby ensuring the movement accuracy of the feed module 300.

[0060] In one embodiment of the present application, see Figure 3 The outer shell includes a feed base plate 310, a robot arm end flange 311 and a dust cover 312; the feed base plate 310 and the robot arm end flange 311 enclose a mounting cavity, and the slider 301, the screw nut 302, the screw 303, the feed drive 304 and the optical axis 306 are all arranged in the mounting cavity. A translation motor end panel 313 is also installed on one side of the robot arm end flange 311. The feed drive 304 is fixed on the feed base plate 310 and fixed to the translation motor end panel 313 by screws; the dust cover 312 is provided on the belt transmission mechanism; one end of the screw 303 is connected to the passive wheel 308 through a hexagonal nut 314, and the other end of the screw 303 is connected to the feed base plate 310 through a rolling bearing 315.

[0061] In the acupuncture robot 10 with force feedback provided in this embodiment, the operating principle of the feed module 300 is as follows: When the feed module 300 is in operation, the feed driver 304 begins to operate after receiving a control signal, and its output shaft drives the synchronous pulley 307 to rotate. The synchronous pulley 307 transmits power to the driven pulley 308 via the synchronous belt 309, which in turn drives the lead screw 303 to rotate. Due to the threaded connection between the lead screw 303 and the lead screw nut 302, the rotational motion of the lead screw 303 is converted into linear motion of the lead screw nut 302, thereby driving the slider 301 to move linearly along the optical axis 306. The movement direction and displacement of the slider 301 are precisely set by the control system according to the treatment requirements, ensuring that the twisting module 200 can feed according to the predetermined trajectory. Throughout the entire process, the coordinated design of the linear bearing 305 and the optical axis 306 effectively reduces the frictional resistance of the slider 301 during movement, ensuring the smoothness and precision of the feeding motion. At the same time, the provision of the dust cover 312 prevents external dust or impurities from entering the installation cavity, thereby extending the service life of the equipment and improving operational reliability.

[0062] In one embodiment of this application, please refer to Figure 1 and Figure 4 The posture adjustment module includes a first posture adjustment mechanism 500, a second posture adjustment mechanism 600 and a third posture adjustment mechanism 700; the first posture adjustment mechanism 500 is rotatably connected to the feeding module 300, and the first posture adjustment mechanism 500 is used to adjust the inclination angle of the feeding module 300; the second posture adjustment mechanism 600 is rotatably connected to the first posture adjustment mechanism 500; the third posture adjustment mechanism 700 is rotatably connected to the second posture adjustment mechanism 600, and the second posture adjustment mechanism 600 and the third posture adjustment mechanism 700 work together to adjust the height and lateral position of the acupuncture needle 100.

[0063] In this embodiment, through the synergistic effect of the first posture adjustment mechanism 500, the second posture adjustment mechanism 600 and the third posture adjustment mechanism 700, the flexible adjustment of the feed module 300 in multiple degrees of freedom can be achieved. This design not only improves the accuracy of the acupuncture robot 10 during operation, but also enhances its ability to adapt to different treatment needs. The first posture adjustment mechanism 500 enables the feed module 300 to operate at a specific angle through inclination adjustment to meet the requirements of complex treatment scenarios. The height adjustment function of the second posture adjustment mechanism 600 further optimizes the spatial adaptability of the equipment and ensures a wider operating range. The lateral position adjustment capability of the third posture adjustment mechanism 700 provides an important guarantee for the stability and controllability of the entire system, and also lays the foundation for the subsequent force feedback function.

[0064] In one embodiment of the present application, see Figure 5The first posture adjustment mechanism 500 includes a first base, a first driving member 501, a first active bevel gear 502, a first passive bevel gear 503 and a first transmission shaft 504; the first driving member 501 is installed in the first base; the first active bevel gear 502 is connected to the output shaft of the first driving member 501; the first passive bevel gear 503 is engaged with the first active bevel gear 502; the first transmission shaft 504 is rotatably connected to the first base, one end of the first transmission shaft 504 is connected to the first passive bevel gear 503, and the other end of the first transmission shaft 504 is connected to the feed module 300.

[0065] In this embodiment, the first driving member 501 transmits power to the first transmission shaft 504 through the meshing transmission of the first active bevel gear 502 and the first passive bevel gear 503, thereby driving the feed module 300 to achieve inclination adjustment. The design of the first base not only provides a stable support for the entire mechanism, but also ensures the stability and accuracy of the first transmission shaft 504 during rotation through the precise bearing structure. The meshing angle of the first active bevel gear 502 and the first passive bevel gear 503 has been optimized, which can effectively reduce energy loss during the transmission process, while improving transmission efficiency, and can also reduce the volume of the first posture adjustment mechanism 500, making the overall structure more compact.

[0066] In one embodiment of the present application, see Figure 5 The first base includes a first base body 505 and a second base body 506, and the first driving member 501 is arranged in a cavity enclosed by the first base body 505 and the second base body 506; the first posture adjustment mechanism 500 also includes a first bearing flange 507 and a first sliding bearing 508; the inner ring of the first sliding bearing 508 is connected to the first transmission shaft 504, and the outer ring of the first sliding bearing 508 is connected to the first bearing flange 507, and the first bearing flange 507 is installed on the first base body 505; the head of the first transmission shaft is fixed to the end flange 311 of the robot arm, so that the inclination angle of the feed mechanism can be adjusted.

[0067] In the acupuncture robot 10 with force feedback provided in this embodiment, the working principle of the first posture adjustment mechanism 500 is as follows: after the first driving member 501 is started, its output shaft drives the first active bevel gear 502 to rotate, and the first active bevel gear 502 engages with the first passive bevel gear 503, thereby transmitting power to the first transmission shaft 504. The first transmission shaft 504 rotates smoothly under the support of the first sliding bearing 508, ensuring the accuracy and stability during the inclination adjustment process. Due to the fixing effect of the first bearing flange 507, the outer ring of the first sliding bearing 508 remains stationary, while the inner ring rotates synchronously with the first transmission shaft 504. This design effectively reduces frictional resistance and improves transmission efficiency. By controlling the running direction and speed of the first driving member 501, the inclination angle of the feed module 300 can be flexibly adjusted to meet the operational requirements under different treatment needs.

[0068] In one embodiment of the present application, the structure of the second posture adjustment mechanism 600 is the same as that of the first posture adjustment mechanism 500 , and the structure of the third posture adjustment mechanism 700 is the same as that of the first posture adjustment mechanism 500 .

[0069] In this embodiment, the third posture adjustment mechanism 700 and the second posture adjustment mechanism 600 adopt the same design principle as the first posture adjustment mechanism 500 to ensure the coordination and consistency of the overall system. This design not only simplifies the manufacturing and assembly process, but also improves the interchangeability between modules.

[0070] In one embodiment of the present application, see Figure 6 The second posture adjustment mechanism 600 includes a second base, a second driving member 601, a second active bevel gear 602, a second passive bevel gear 603 and a second transmission shaft 604; the second driving member 601 is installed in the second base; the second active bevel gear 602 is connected to the output shaft of the second driving member 601; the second passive bevel gear 603 is engaged with the second active bevel gear 602; the second transmission shaft 604 is rotatably connected to the second base, one end of the second transmission shaft 604 is connected to the second passive bevel gear 603, and the other end of the second transmission shaft 604 is connected to the first posture adjustment mechanism 500.

[0071] In this embodiment, the second driving member 601 transmits power to the second transmission shaft 604 through the meshing transmission of the second active bevel gear 602 and the second passive bevel gear 603, thereby driving the first posture adjustment mechanism 500 to rotate. The design of the second base ensures the stability of the entire mechanism during operation and improves the rotation accuracy of the second transmission shaft 604 through the optimized bearing structure. The meshing angle of the second active bevel gear 602 and the second passive bevel gear 603 is accurately calculated, which not only reduces the energy loss during the transmission process, but also improves the overall transmission efficiency. In addition, the compact design of the second base further optimizes the space utilization of the equipment and provides support for the miniaturization of the acupuncture robot 10.

[0072] In one embodiment of the present application, see Figure 6 The second base includes a third base body 605 and a fourth base body 606, and the second driving member 601 is arranged in a cavity enclosed by the third base body 605 and the fourth base body 606; the second posture adjustment mechanism 600 also includes a second bearing flange 607 and a second sliding bearing 608; the inner ring of the second sliding bearing 608 is connected to the second transmission shaft 604, and the outer ring of the second sliding bearing 608 is connected to the second bearing flange 607, and the second bearing flange 607 is installed on the third base body 605; the head of the second transmission shaft 604 is fixed to the first posture adjustment mechanism 500, thereby driving the first posture adjustment mechanism 500 to rotate.

[0073] In this embodiment, a brake 609 is further installed on the second base, and the brake 609 is used to fix the position change of the third posture adjustment mechanism 700 relative to the second posture adjustment mechanism 600.

[0074] In the acupuncture robot 10 with force feedback provided in this embodiment, the working principle of the second posture adjustment mechanism 600 is as follows: after the second driving member 601 is started, its output shaft drives the second active bevel gear 602 to rotate, and the second active bevel gear 602 engages with the second passive bevel gear 603, thereby transmitting power to the second transmission shaft 604. The second transmission shaft 604 rotates smoothly under the support of the second sliding bearing 608, ensuring accuracy and stability during the height adjustment process. Due to the fixing effect of the second bearing flange 607, the outer ring of the second sliding bearing 608 remains stationary, while the inner ring rotates synchronously with the second transmission shaft 604. This design effectively reduces friction resistance and improves transmission efficiency. By controlling the running direction and speed of the second driving member 601, the height position of the first posture adjustment mechanism 500 can be flexibly adjusted to meet the operational requirements under different treatment needs.

[0075] In one embodiment of the present application, see Figure 7The third posture adjustment mechanism includes a third base, a third driving member 701, a third active bevel gear 702, a third passive bevel gear 703 and a third transmission shaft 704; the third driving member 701 is installed in the third base; the third active bevel gear 702 is connected to the output shaft of the third driving member 701; the third passive bevel gear 703 is engaged with the third active bevel gear 702; the third transmission shaft 704 is rotatably connected to the third base, one end of the third transmission shaft 704 is connected to the third passive bevel gear 703, and the other end of the third transmission shaft 704 is connected to the second posture adjustment mechanism 600.

[0076] In this embodiment, the third driving member 701 transmits power to the third transmission shaft 704 through the meshing transmission of the third active bevel gear 702 and the third passive bevel gear 703, thereby realizing the lateral position adjustment of the second posture adjustment mechanism 600. The design of the third base ensures the stability of the entire mechanism during operation and improves the rotation accuracy of the third transmission shaft 704 through the precise bearing structure. The meshing angle of the third active bevel gear 702 and the third passive bevel gear 703 is optimized, which not only reduces the energy loss during the transmission process, but also further improves the transmission efficiency. In addition, the compact layout of the third base effectively saves the space occupied by the equipment, and provides support for the overall miniaturization and portability of the acupuncture robot 10.

[0077] In one embodiment of the present application, see Figure 7 The third base includes a fifth base body 705 and a sixth base body 706, and the third driving member 701 is arranged in a cavity enclosed by the fifth base body 705 and the sixth base body 706; the third posture adjustment mechanism 700 also includes a third bearing flange 707 and a third sliding bearing 708; the inner ring of the third sliding bearing 708 is connected to the third transmission shaft 704, and the outer ring of the third sliding bearing 708 is connected to the third bearing flange 707, and the third bearing flange 707 is installed on the fifth base body 705; the sixth base body 706 is fixed on the slidable suspension bracket 30 equipped by the treatment bed 20; the head of the third transmission shaft 704 is fixed to the second posture adjustment mechanism 600, thereby driving the second posture adjustment mechanism 600 to rotate.

[0078] In the acupuncture robot 10 with force feedback provided in this embodiment, the working principle of the third posture adjustment mechanism 700 is as follows: after the third driving member 701 is started, its output shaft drives the third active bevel gear 702 to rotate, and the third active bevel gear 702 engages with the third passive bevel gear 703, thereby transmitting power to the third transmission shaft 704. The third transmission shaft 704 rotates smoothly under the support of the third sliding bearing 708, ensuring the accuracy and stability during the lateral position adjustment process. Due to the fixing effect of the third bearing flange 707, the outer ring of the third sliding bearing 708 remains stationary, while the inner ring rotates synchronously with the third transmission shaft 704. This design effectively reduces friction resistance and improves transmission efficiency. By controlling the running direction and speed of the third driving member 701, the lateral position of the second posture adjustment mechanism 600 can be flexibly adjusted to meet the operational requirements under different treatment needs.

[0079] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An acupuncture robot with force feedback, characterized in that: include: acupuncture needles; a twisting module, the twisting module being connected to the acupuncture needle and being used to drive the acupuncture needle to rotate; A feeding module, wherein a force sensing device is connected between the feeding module and the twisting module, the feeding module is used to drive the twisting module to feed; the force sensing device is used to sense the force applied by the acupuncture needle; A posture adjustment module is connected to the feeding module, and is used to adjust the posture of the feeding module.

2. The acupuncture robot with force feedback according to claim 1, characterized in that: The twisting module comprises: a fixing seat connected to the force sensing device; a twisting driving member, the twisting driving member being mounted on the fixing seat; A clamping member is connected to the output shaft of the twisting driving member, the twisting driving member is used to drive the clamping member to rotate, and the acupuncture needle is installed on the clamping member.

3. The acupuncture robot with force feedback according to claim 2, characterized in that: The twisting module further comprises: a first bearing seat connected to the fixing seat; A first bearing, wherein the outer ring of the first bearing is mounted on the first bearing seat, and the inner ring of the first bearing is connected to the clamping member.

4. The acupuncture robot with force feedback according to claim 3, characterized in that: The fixed seat includes a fixed upper seat and a fixed lower seat, and the twisting drive member is installed in a cavity enclosed by the fixed upper seat and the fixed lower seat; the first end of the fixed upper seat and the first end of the fixed lower seat are flush to form a first mounting surface; the second end of the fixed upper seat and the second end of the fixed lower seat are flush to form a second mounting surface; the force sensing device is installed on the first mounting surface, and the first bearing seat is installed on the second mounting surface.

5. The acupuncture robot with force feedback according to claim 2, characterized in that: The clamping member comprises: a clamping seat connected to the output shaft of the twisting drive member, the clamping seat being provided with a clamping groove, the first end of the acupuncture needle being inserted into the clamping groove; A clamping head passes through the second end of the acupuncture needle and is threadedly connected to the clamping seat to lock the clamping groove.

6. The acupuncture robot with force feedback according to claim 1, characterized in that: The feed module includes a housing, and disposed within the housing: a slider connected to the force sensing device; a lead screw nut, the lead screw nut being fixed on the slider; A lead screw, wherein the lead screw nut is threadably connected to the lead screw; A feed drive member is connected to the lead screw in a transmission manner and is used to drive the lead screw to rotate.

7. The acupuncture robot with force feedback according to claim 6, characterized in that: The feeding module further comprises: a synchronous pulley, the synchronous pulley being fixedly connected to the output shaft of the feed drive member; A passive wheel, the passive wheel being fixedly connected to one end of the lead screw; A synchronous belt is tensioned between the synchronous pulley and the driven pulley.

8. The acupuncture robot with force feedback according to any one of claims 1 to 7, characterized in that: The posture adjustment module includes: a first posture adjustment mechanism, the first posture adjustment mechanism being rotatably connected to the feeding module, and the first posture adjustment mechanism being used for adjusting the inclination angle of the feeding module; a second posture adjustment mechanism, the second posture adjustment mechanism being rotatably connected to the first posture adjustment mechanism; A third posture adjustment mechanism is rotatably connected to the second posture adjustment mechanism, and the second posture adjustment mechanism and the third posture adjustment mechanism cooperate to adjust the height and lateral position of the acupuncture needle.

9. The acupuncture robot with force feedback according to claim 8, characterized in that: The first posture adjustment mechanism includes: First Plinth; a first driving member, the first driving member being mounted in the first base; a first driving bevel gear connected to an output shaft of the first driving member; a first passive bevel gear, the first passive bevel gear being meshed with the first active bevel gear; A first transmission shaft is rotatably connected to the first base, one end of the first transmission shaft is connected to the first passive bevel gear, and the other end of the first transmission shaft is connected to the feed module.

10. The acupuncture robot with force feedback according to claim 9, characterized in that: The structure of the second posture adjustment mechanism is the same as that of the first posture adjustment mechanism, and the structure of the third posture adjustment mechanism is the same as that of the first posture adjustment mechanism.

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