Auxiliary needle inserting device for traditional Chinese medicine acupuncture and moxibustion and use method of auxiliary needle inserting device

Abstract

The invention discloses an auxiliary needle inserting device for traditional Chinese medicine acupuncture and a using method thereof. The auxiliary needle inserting device comprises a bottom plate, and a supporting frame is fixedly connected to the top face of the bottom plate; the plane displacement mechanism comprises a lifting assembly and a linear moving assembly, the lifting assembly is mounted on the supporting frame, a mounting frame is mounted on the lifting assembly, and the linear moving assembly is mounted on the lifting assembly; the fine adjustment mechanism is installed on the linear movement assembly through a rotary adjustment assembly, a telescopic arm is installed on the fine adjustment mechanism, and a hollow motor is installed at the end of the telescopic arm; the clamping mechanism is mounted on the hollow motor, and a heating piece is mounted on the clamping mechanism; the visual scanning module is mounted on the supporting frame; the force sensing system is mounted on the clamping mechanism; and a terminal system. According to the invention, subjectivity and fatigue of manual operation are reduced, normalization and convenience of needle application are improved, and standardized popularization of the acupuncture technology is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traditional Chinese medicine medical devices, in particular to an auxiliary needle insertion device for traditional Chinese medicine acupuncture and a use method thereof. BACKGROUND

[0002] In traditional Chinese medicine acupuncture treatment, the needle insertion operation highly depends on the clinical experience of the physician, and the precise control of the needle insertion angle, depth and needle application force is difficult, which not only leads to a long learning period for beginners and insufficient operation standardization, but also may affect the treatment effect due to operation differences, and even cause patient discomfort; the existing acupuncture auxiliary devices have problems such as limited positioning accuracy, poor adjustment flexibility, lack of real-time force feedback and targeted auxiliary functions, and are difficult to meet the needs of precise and standardized acupuncture treatment, therefore, an auxiliary needle insertion device integrating precise positioning, flexible adjustment, real-time feedback and auxiliary functions is urgently needed to improve the above-mentioned status quo. SUMMARY

[0003] The purpose of the present application is to provide an auxiliary needle insertion device for traditional Chinese medicine acupuncture and a use method thereof to solve the problems existing in the prior art.

[0004] To achieve the above-mentioned purpose, the present application provides the following scheme: the present application provides an auxiliary needle insertion device for traditional Chinese medicine acupuncture, comprising:

[0005] A bottom plate, the top surface of the bottom plate is fixedly connected with a support frame;

[0006] A planar displacement mechanism, the planar displacement mechanism comprises a lifting assembly and a linear movement assembly, the lifting assembly is installed on the support frame, a mounting bracket is installed on the lifting assembly, and the linear movement assembly is installed on the lifting assembly;

[0007] A fine adjustment mechanism, the fine adjustment mechanism is installed on the linear movement assembly through a rotating adjustment assembly, a telescopic arm is installed on the fine adjustment mechanism, and a hollow motor is installed at the end of the telescopic arm;

[0008] A clamping mechanism, the clamping mechanism is installed on the hollow motor, the clamping mechanism is used for clamping an acupuncture needle, and a heating element is installed on the clamping mechanism;

[0009] A visual scanning module, the visual scanning module is installed on the support frame;

[0010] A force sensing system, the force sensing system is installed on the clamping mechanism and is used for detecting the feedback force in the needle insertion process;

[0011] A terminal system, the terminal system is used for overall regulation and control of the device.

[0012] The utility model provides a kind of auxiliary needle insertion device for traditional Chinese medicine acupuncture, the lifting assembly includes:

[0013] Electric cylinder, the electric cylinder is fixed in the top center position of the support frame, the top of the support frame is provided with a through hole, the output end of the electric cylinder passes through the through hole and is fixedly connected with the mounting frame;

[0014] Guide rod, the guide rod is provided with two groups, two groups of the guide rod are symmetrically slidably connected on the support frame, and the bottom of the guide rod is fixed with the top of the mounting frame.

[0015] The utility model provides a kind of auxiliary needle insertion device for traditional Chinese medicine acupuncture, the linear movement assembly includes:

[0016] First linear motor, the first linear motor is horizontally fixed in the bottom of the mounting frame, and the first linear motor is vertically arranged between the guide rod.

[0017] The utility model provides a kind of auxiliary needle insertion device for traditional Chinese medicine acupuncture, the rotary adjustment assembly includes:

[0018] Mounting plate, the mounting plate is fixed on the sliding block of the first linear motor;

[0019] Rotary plate, the rotary plate is rotatably connected on the mounting plate, an angle adjusting motor is installed on the rotary plate, and the output shaft of the angle adjusting motor is fixed with the mounting plate.

[0020] Wherein, the rotary plate is symmetrically provided with a limiting slot, the limiting slot is provided with two groups, the limiting slot is arc-shaped structure, the mounting plate is fixed with positioning block, and the positioning block is slid in two groups of the limiting slot respectively.

[0021] The utility model provides a kind of auxiliary needle insertion device for traditional Chinese medicine acupuncture, the fine adjustment mechanism includes:

[0022] Second linear motor, the second linear motor is fixed on the rotary plate;

[0023] Third linear motor, the third linear motor is installed on the sliding block of the second linear motor, and is vertically arranged with the second linear motor;

[0024] Wherein, the sliding block of the third linear motor is installed with fixed plate, the fixed plate is installed with fixed sleeve, and the telescopic arm is fixed on the fixed plate through the fixed sleeve.

[0025] The utility model provides a kind of auxiliary needle insertion device for traditional Chinese medicine acupuncture, the clamping mechanism includes:

[0026] A micro three-jaw chuck is fixed at the end of the telescopic arm.

[0027] A magnetic clamp block is provided with three groups of magnetic clamp blocks, which are respectively fixed on the three groups of clamping jaws of the micro three-jaw chuck.

[0028] A positioning ring is provided with a positioning protrusion fixed on the inner wall, and a positioning groove is formed on the outer wall of the acupuncture needle.

[0029] The visual scanning module comprises:

[0030] A visual scanning camera is installed at the bottom of the mounting frame and used for scanning and identifying the acupuncture point.

[0031] The force sensing system comprises a force sensor, which is installed on the micro three-jaw chuck.

[0032] A use method of the auxiliary needle insertion device for traditional Chinese acupuncture comprises the following steps:

[0033] Step one: device preparation and initialization, place the bottom plate on a stable operation surface to ensure that the support frame stably supports the entire device; connect the planar displacement mechanism, the fine adjustment mechanism, the clamping mechanism, the visual scanning module, the force sensing system, and the terminal system to ensure that the circuit connection of each component is normal; start the terminal system, perform system initialization, check whether each mechanism can normally respond to the terminal instruction, and confirm that the detection function of the visual scanning module and the force sensing system is normal.

[0034] Step two: acupoint scanning and positioning, control the visual scanning module to start through the terminal system, and scan the part of the patient that needs to be acupunctured; the visual scanning module transmits the scanned image information to the terminal system, the terminal system analyzes and processes the image information, identifies and determines the accurate needle insertion acupoint, and marks and displays it in the system interface.

[0035] Step three: coarse adjustment of the clamping mechanism position, the terminal system controls the planar displacement mechanism according to the marked needle insertion acupoint position; the lifting assembly drives the mounting frame and related components to perform lifting movement, adjusts the height of the clamping mechanism, and makes it in the appropriate needle insertion height range; at the same time, the linear moving assembly moves linearly on the lifting assembly, drives the fine adjustment mechanism and the clamping mechanism to move as a whole, and makes the clamping mechanism roughly align with the horizontal position of the needle insertion acupoint.

[0036] Step four, fine adjustment of the clamping mechanism position, after the rough adjustment of the planar displacement mechanism, the terminal system controls the rotation adjustment assembly to work, and the fine adjustment mechanism is operated for fine adjustment; the hollow motor at the end of the telescopic arm and the position of the clamping mechanism are accurately adjusted through the movement of the rotation adjustment assembly driving the fine adjustment mechanism, so that the tip of the acupuncture needle clamped on the clamping mechanism is accurately aligned with the acupuncture point marked by the needle insertion hole;

[0037] Step five, acupuncture needle clamping and parameter setting, the acupuncture needle is installed on the clamping mechanism to ensure that the clamping mechanism firmly clamps the acupuncture needle to prevent the acupuncture needle from falling off or deviating during the needle insertion process; the terminal system sets the needle insertion related parameters; at the same time, the heating temperature of the heating element is set according to the treatment requirement;

[0038] Step six, needle insertion operation, the terminal system controls the hollow motor to start, and the hollow motor drives the clamping mechanism to drive the acupuncture needle to perform the needle insertion action; in the process of needle insertion, the force sensing system detects the feedback force in the process of needle insertion in real time, and transmits the force data to the terminal system; the terminal system adjusts the rotating speed of the hollow motor in real time according to the data fed back by the force sensing system, so as to control the needle insertion speed and the needle insertion depth, and ensure the safety and stability of the needle insertion process;

[0039] Step seven, needle insertion completion and reset, when the acupuncture treatment reaches the preset time or the needle insertion depth meets the requirement, the clamping mechanism slowly pulls out the acupuncture needle from the patient's body; then, the terminal system controls the planar displacement mechanism and the fine adjustment mechanism to reset to the initial position, waiting for the next operation or closing the system.

[0040] The present application discloses the following technical effects:

[0041] The present application realizes large range position adjustment through the planar displacement mechanism, fine adjustment through the fine adjustment mechanism, and accurate identification of the acupuncture point through the visual scanning module, so that high-precision positioning of the acupuncture needle in the three-dimensional space can be realized, the error of manual positioning is effectively reduced, and the present application is especially suitable for needle insertion of complex or hidden acupuncture points.

[0042] The rotation adjustment assembly cooperates with the telescopic arm to flexibly adjust the needle insertion angle and depth, meets the angle requirements of different acupuncture points and different acupuncture techniques, and improves the adaptability of the device to various acupuncture scenes.

[0043] The clamping mechanism can stably clamp the acupuncture needle to avoid falling off or deviation of the needle body during the needle insertion process; the force sensing system can detect the needle insertion force in real time, so that tissue damage caused by excessive force or insufficient force affecting the treatment effect can be prevented, and the safety of needle insertion is improved.

[0044] The heating element on the clamping mechanism can preheat the acupuncture needle to simulate the effect of warm acupuncture, enhance the treatment effect of the acupuncture point through warm stimulation, expand the treatment function of the device, and help improve the acupuncture effect.

[0045] The terminal system of the application integrates visual scanning, force sensing and other module information, realizes overall control of the device, reduces the subjectivity and fatigue of manual operation, improves the standardization and convenience of needle insertion, and is more conducive to the standardization of acupuncture technology. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0047] Figure 1 It is a structural schematic view of the auxiliary needle insertion device for traditional Chinese medicine acupuncture.

[0048] Figure 2 It is Figure 1 An enlarged view of A in the middle;

[0049] Figure 3 It is a structural schematic view of the clamping mechanism.

[0050] 1, base plate; 2, support frame; 3, mounting bracket; 4, telescopic arm; 5, hollow motor; 6, electric cylinder; 7, guide rod; 8, first linear motor; 9, mounting plate; 10, rotating plate; 11, limiting groove; 12, second linear motor; 13, third linear motor; 14, fixed plate; 15, fixed sleeve; 16, micro three-jaw chuck; 17, magnetic clamp block; 18, positioning ring. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of the present application.

[0052] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0053] With reference to Figures 1-3 The present application provides an auxiliary needle insertion device for traditional Chinese medicine acupuncture, comprising:

[0054] The base plate 1 is fixedly connected with the support frame 2 on the top surface;

[0055] The plane displacement mechanism comprises a lifting assembly and a linear movement assembly, the lifting assembly is installed on the support frame 2, the lifting assembly is provided with the mounting frame 3, and the linear movement assembly is installed on the lifting assembly;

[0056] The fine adjustment mechanism is installed on the linear movement assembly through the rotary adjustment assembly, the fine adjustment mechanism is provided with the telescopic arm 4, and the end of the telescopic arm 4 is provided with the hollow motor 5;

[0057] The clamping mechanism is installed on the hollow motor 5, and the clamping mechanism is used for clamping acupuncture needles and is provided with a heating element;

[0058] The visual scanning module is installed on the support frame 2;

[0059] The force sensing system is installed on the clamping mechanism and is used for detecting feedback force in the acupuncture process;

[0060] The terminal system is used for overall regulation and control of the device.

[0061] The lifting assembly comprises:

[0062] The electric cylinder 6 is fixed at the top center of the support frame 2, a through hole is formed in the top of the support frame 2, and the output end of the electric cylinder 6 penetrates through the through hole and is fixedly connected with the mounting frame 3;

[0063] The guide rod 7 is provided with two groups, the two groups of guide rods 7 are symmetrically and slidably connected to the support frame 2, and the bottom of the guide rod 7 is fixed to the top of the mounting frame 3.

[0064] In the lifting assembly, the electric cylinder 6 serves as a power source, the output end of the electric cylinder 6 drives the mounting frame 3 to move vertically through the through hole in the top of the support frame 2; the two groups of symmetrically arranged guide rods 7 are in sliding cooperation with the support frame 2 and move synchronously with the mounting frame 3, thereby playing a guiding and stabilizing role, ensuring that the mounting frame 3 and subsequent connecting components remain stable during the lifting process and avoiding deviation.

[0065] The linear movement assembly comprises:

[0066] The first linear motor 8 is horizontally fixed to the bottom of the mounting frame 3, and the first linear motor 8 is vertically arranged between the guide rod 7.

[0067] The first linear motor 8 of the linear movement assembly is horizontally fixed to the bottom of the mounting frame 3, and the sliding block can move linearly along the motor track; since the first linear motor 8 is vertically arranged between the guide rod 7, the rotary adjustment assembly and subsequent components can be driven to move in the horizontal plane in a direction perpendicular to the guide rod 7, thereby realizing coarse adjustment of the position in the direction.

[0068] Further optimization scheme, the rotation adjusting assembly comprises:

[0069] The mounting plate 9 is fixed on the sliding block of the first linear motor 8;

[0070] The rotating plate 10 is rotatably connected to the mounting plate 9, and the angle adjusting motor is installed on the rotating plate 10, and the output shaft of the angle adjusting motor is fixed to the mounting plate 9;

[0071] The rotating plate 10 is rotatably connected to the mounting plate 9, and the angle adjusting motor is installed on the rotating plate 10, and the output shaft of the angle adjusting motor is fixed to the mounting plate 9;

[0072] In the rotation adjusting assembly, the mounting plate 9 is fixed to the sliding block of the first linear motor 8, thereby providing basic support for rotation adjustment; the angle adjusting motor is installed on the rotating plate 10, and the output shaft of the angle adjusting motor is fixed to the mounting plate 9, so that the rotating plate 10 is driven to rotate relative to the mounting plate 9 when the motor works; the arc-shaped limiting groove 11 on the rotating plate 10 is in sliding fit with the positioning block on the mounting plate 9, thereby limiting the rotation angle of the rotating plate 10 and ensuring the stability of the rotation process, so that the acupuncture angle is adjusted.

[0073] Further optimization scheme, the fine adjustment mechanism comprises:

[0074] The second linear motor 12 is fixed on the rotating plate 10;

[0075] The third linear motor 13 is installed on the sliding block of the second linear motor 12 and is arranged perpendicularly to the second linear motor 12;

[0076] The sliding block of the third linear motor 13 is provided with the fixed plate 14, the fixed sleeve 15 is installed on the fixed plate 14, and the telescopic arm 4 is fixed to the fixed plate 14 through the fixed sleeve 15.

[0077] In the fine adjustment mechanism, the second linear motor 12 is fixed on the rotating plate 10, and the sliding block of the second linear motor 12 can drive the third linear motor 13 to move in one direction; the third linear motor 13 is arranged perpendicularly to the second linear motor 12, and the sliding block of the third linear motor 13 drives the telescopic arm 4 to move in the vertical direction through the fixed plate 14; the two work together to realize the accurate fine adjustment of the telescopic arm 4 in two perpendicular directions, thereby further improving the positioning accuracy of the acupuncture needle.

[0078] Further optimization scheme, the clamping mechanism comprises:

[0079] The micro three-jaw chuck 16 is fixed to the end of the telescopic arm 4;

[0080] Magnetic clamping blocks 17 are provided with three groups, and the three groups of magnetic clamping blocks 17 are fixed on the three groups of clamping claws of the micro three-jaw chuck 16 respectively.

[0081] A positioning ring 18 is fixed with a positioning protrusion on the inner wall, and a positioning groove is formed on the outer wall of the acupuncture needle, and the positioning protrusion and the positioning groove are limited to cooperate.

[0082] In the clamping mechanism, the micro three-jaw chuck 16 drives the three groups of magnetic clamping blocks 17 to clamp or loosen the acupuncture needle through the synchronous opening and closing of the clamping claws, and the magnetic clamping blocks 17 enhance the clamping stability of the acupuncture needle through magnetic force; the positioning protrusion on the inner wall of the positioning ring 18 and the positioning groove on the outer wall of the acupuncture needle limit cooperation, ensuring the axial positioning accuracy of the acupuncture needle during clamping, and avoiding the occurrence of deflection during needle insertion.

[0083] Further optimization scheme, the visual scanning module includes:

[0084] A visual scanning camera is installed at the bottom of the mounting bracket 3 and is used for scanning and identifying acupuncture points.

[0085] Further optimization scheme, the force sensing system includes a force sensor, and the force sensor is installed on the micro three-jaw chuck 16.

[0086] The visual scanning camera of the visual scanning module collects the image of the part of the patient to be needled, and transmits the image information to the terminal system. The terminal system analyzes and determines the accurate acupuncture point position through image recognition technology, and provides a target position reference for the positioning adjustment of the device.

[0087] The force sensor of the force sensing system is installed on the micro three-jaw chuck 16, and the feedback force such as tissue resistance received by the acupuncture needle is detected in real time during needle insertion. The force signal is converted into an electrical signal and transmitted to the terminal system. The terminal system judges the needle insertion depth and tissue state according to the force data, so as to facilitate the control of the needle insertion operation and avoid excessive force to cause discomfort to the patient.

[0088] A use method of an auxiliary needle insertion device for traditional Chinese medicine acupuncture, comprising the following steps:

[0089] Step 1, device preparation and initialization, place the bottom plate 1 on a stable operation surface, ensure that the support frame 2 stably supports the entire device; connect the planar displacement mechanism, the fine adjustment mechanism, the clamping mechanism, the visual scanning module, the force sensing system and the terminal system, ensure that the circuit connection of each part is normal; start the terminal system, perform system initialization, check whether each mechanism can normally respond to the terminal instruction, and confirm that the detection function of the visual scanning module and the force sensing system is normal;

[0090] Step two, acupoint scanning and positioning, the terminal system controls the visual scanning module to start, and the part needing acupuncture of the patient is scanned; the visual scanning module transmits the scanned image information to the terminal system, and the terminal system analyzes and processes the image information, identifies and determines the accurate acupuncture point, and marks and displays it in the system interface;

[0091] Step three, rough adjustment of the clamping mechanism position, the terminal system controls the planar displacement mechanism according to the marked acupuncture point position; the lifting assembly drives the mounting bracket 3 and related components to move up and down, adjusts the height of the clamping mechanism, and makes it in the appropriate acupuncture height range; at the same time, the linear moving assembly moves linearly on the lifting assembly, drives the fine adjustment mechanism and the clamping mechanism to move as a whole, and makes the clamping mechanism roughly align with the horizontal position of the acupuncture point;

[0092] Step four, fine adjustment of the clamping mechanism position, after the planar displacement mechanism completes the rough adjustment, the terminal system controls the rotary adjustment assembly to work, and the fine adjustment mechanism is operated for fine adjustment; the rotary adjustment assembly drives the fine adjustment mechanism to move, and then accurately adjusts the position of the hollow motor 5 at the end of the telescopic arm 4 and the clamping mechanism, so as to ensure that the acupuncture needle clamped on the clamping mechanism is accurately aligned with the marked acupuncture point;

[0093] Step five, acupuncture needle clamping and parameter setting, the acupuncture needle is installed on the clamping mechanism to ensure that the clamping mechanism firmly clamps the acupuncture needle and prevents the acupuncture needle from falling off or deviating during acupuncture; the terminal system sets the acupuncture related parameters; at the same time, according to the treatment requirement, the heating temperature of the heating element is set;

[0094] Step six, acupuncture operation, the terminal system controls the hollow motor 5 to start, and the hollow motor 5 drives the clamping mechanism to drive the acupuncture needle to perform the acupuncture action; during the acupuncture process, the force sensing system detects the feedback force in the acupuncture process in real time, and transmits the force data to the terminal system; the terminal system adjusts the rotating speed of the hollow motor 5 in real time according to the data fed back by the force sensing system, so as to control the acupuncture speed and depth, and ensure the safety and stability of the acupuncture process;

[0095] Step seven, acupuncture completion and reset, when the acupuncture treatment reaches the preset time or the acupuncture depth meets the requirement, the clamping mechanism slowly pulls out the acupuncture needle from the patient's body; then, the terminal system controls the planar displacement mechanism and the fine adjustment mechanism to reset and return to the initial position, waiting for the next operation or closing the system.

[0096] In the description of the present application, it needs to be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0097] The above embodiments only describe the preferred modes of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A needle-insertion auxiliary device for traditional Chinese medicine acupuncture, characterized in that: include: A bottom plate (1), the top surface of the bottom plate (1) being fixedly connected to a support frame (2); A planar displacement mechanism, the planar displacement mechanism comprising a lifting assembly and a linear motion assembly, the lifting assembly being mounted on the support frame (2), a mounting frame (3) being mounted on the lifting assembly, and the linear motion assembly being mounted on the lifting assembly; A fine adjustment mechanism, the fine adjustment mechanism being mounted on the linear motion assembly via a rotary adjustment assembly, a telescopic arm (4) being mounted on the fine adjustment mechanism, and a hollow motor (5) being mounted at the end of the telescopic arm (4); A clamping mechanism, the clamping mechanism being mounted on the hollow motor (5), the clamping mechanism being used to clamp acupuncture needles, and the clamping mechanism being equipped with a heating element; A visual scanning module, the visual scanning module being mounted on the support frame (2); A force sensing system, the force sensing system being mounted on the clamping mechanism and used to detect feedback force during acupuncture; The terminal system is used for the overall control device.

2. The auxiliary needle insertion device for traditional Chinese medicine acupuncture according to claim 1, characterized in that: The lifting assembly comprises: An electric cylinder (6), the electric cylinder (6) being fixed at the center position of the top of the support frame (2), the top of the support frame (2) being provided with a through hole, the output end of the electric cylinder (6) passing through the through hole and being fixedly connected to the mounting frame (3); Guide rods (7), wherein two groups of guide rods (7) are provided, and the two groups of guide rods (7) are symmetrically slidably connected to the support frame (2), and the bottom of the guide rods (7) is fixed to the top of the mounting frame (3).

3. The auxiliary needle insertion device for traditional Chinese medicine acupuncture according to claim 2, characterized in that: The linear motion component comprises: A first linear motor (8) is horizontally fixed to the bottom of the mounting frame (3), and is vertically arranged between the first linear motor (8) and the guide rod (7).

4. The auxiliary needle insertion device for traditional Chinese medicine acupuncture according to claim 3, characterized in that: The rotation adjustment assembly includes: a mounting plate (9), wherein the mounting plate (9) is fixed on a slider of the first linear motor (8); a rotating plate (10), the rotating plate (10) being rotatably connected to the mounting plate (9), an angle adjustment motor being mounted on the rotating plate (10), and an output shaft of the angle adjustment motor being fixed to the mounting plate (9); The rotating plate (10) is symmetrically provided with limiting grooves (11), and two groups of limiting grooves (11) are provided. The limiting grooves (11) are of arc-shaped structures. Positioning blocks are fixed on the mounting plate (9), and the positioning blocks slide in the two groups of limiting grooves (11) respectively.

5. The auxiliary needle insertion device for traditional Chinese medicine acupuncture according to claim 4, characterized in that: The fine-adjustment mechanism comprises: a second linear motor (12), the second linear motor (12) being fixed on the rotating plate (10); a third linear motor (13), the third linear motor (13) being mounted on a slider of the second linear motor (12) and arranged perpendicularly to the second linear motor (12); A fixing plate (14) is installed on the slider of the third linear motor (13), a fixing sleeve (15) is installed on the fixing plate (14), and the telescopic arm (4) is fixed on the fixing plate (14) through the fixing sleeve (15).

6. The auxiliary needle insertion device for traditional Chinese medicine acupuncture according to claim 1, characterized in that: The clamping mechanism comprises: A micro three-jaw chuck (16), wherein the micro three-jaw chuck (16) is fixed to the end of the telescopic arm (4); Magnetic clamping blocks (17), wherein three groups of the magnetic clamping blocks (17) are provided, and the three groups of the magnetic clamping blocks (17) are respectively fixed on the three groups of jaws of the micro three-jaw chuck (16); A positioning ring (18) is provided with a positioning protrusion fixed on the inner wall of the positioning ring (18), and a positioning groove is provided on the outer wall of the acupuncture needle, wherein the positioning protrusion is limitedly matched with the positioning groove.

7. The auxiliary needle insertion device for traditional Chinese medicine acupuncture according to claim 1, characterized in that: The visual scanning module includes: A visual scanning camera is mounted on the bottom of the mounting frame (3) and is used for scanning and identifying acupuncture points.

8. The auxiliary needle insertion device for traditional Chinese medicine acupuncture according to claim 6, characterized in that: The force sensing system includes a force sensor, and the force sensor is mounted on the micro three-jaw chuck (16).

9. A method for using a needle-insertion auxiliary device for traditional Chinese medicine acupuncture, based on the needle-insertion auxiliary device for traditional Chinese medicine acupuncture according to any one of claims 1 to 8, characterized in that: The steps include: Step 1: Device preparation and initialization: Place the base plate (1) on a stable operating surface, ensuring that the support frame (2) firmly supports the entire device; connect the plane displacement mechanism, fine adjustment mechanism, clamping mechanism, visual scanning module, force sensing system and terminal system, ensuring that the circuit connections of each component are normal; start the terminal system, perform system initialization, check whether each mechanism can respond normally to the terminal command, and confirm that the detection functions of the visual scanning module and force sensing system are normal; Step 2: Acupoint scanning and positioning: The terminal system controls the visual scanning module to start and scan the part of the patient where acupuncture is required. The visual scanning module transmits the scanned image information to the terminal system, which analyzes and processes the image information, identifies and determines the correct acupuncture point, and marks and displays it in the system interface. Step 3: The position of the clamping mechanism is roughly adjusted. The terminal system controls the operation of the plane displacement mechanism according to the marked acupuncture point position. The lifting assembly drives the mounting frame (3) and related components to move up and down, and adjusts the height of the clamping mechanism so that it is within a suitable needle insertion height range. At the same time, the linear moving assembly moves linearly on the lifting assembly, driving the fine adjustment mechanism and the clamping mechanism to move as a whole, so that the clamping mechanism is roughly aligned with the horizontal position of the acupuncture point. Step 4: fine-adjust the position of the clamping mechanism. After the planar displacement mechanism completes the coarse adjustment, the terminal system controls the rotation adjustment component to operate the fine adjustment mechanism for fine adjustment. The rotation adjustment component drives the fine adjustment mechanism to move, thereby accurately adjusting the position of the hollow motor (5) at the end of the telescopic arm (4) and the clamping mechanism, ensuring that the needle tip of the acupuncture needle clamped on the clamping mechanism is accurately aligned with the marked acupuncture point. Step 5: Acupuncture needle clamping and parameter setting: Install the acupuncture needle on the clamping mechanism, ensuring that the clamping mechanism firmly clamps the acupuncture needle to prevent it from falling off or shifting during the insertion process; set the needle insertion related parameters through the terminal system; at the same time, set the heating temperature of the heater according to the treatment needs; Step 6: Needle insertion operation. The terminal system controls the hollow motor (5) to start, and the hollow motor (5) drives the clamping mechanism to drive the acupuncture needle to perform the needle insertion action. During the needle insertion process, the force sensing system detects the feedback force during the acupuncture process in real time and transmits the force data to the terminal system. The terminal system adjusts the speed of the hollow motor (5) in real time according to the data fed back by the force sensing system, thereby controlling the needle insertion speed and depth, ensuring a safe and stable needle insertion process. Step seven, needle insertion is completed and reset. When the acupuncture treatment reaches the preset time or the needle insertion depth meets the requirements, the clamping mechanism slowly pulls the acupuncture needle out of the patient's body; then, the terminal system controls the plane displacement mechanism and the fine-adjustment mechanism to reset, return to the initial position, and wait for the next operation or shut down the system.

Images