Electronic acupuncture device based on image recognition technology
By combining image recognition technology with a multi-axis robotic arm, the electronic acupuncture device has achieved automated acupoint recognition and operation, solving the problem of low automation in existing acupuncture equipment and improving the accuracy and efficiency of needle insertion.
Patent Information
- Application Number
- CN202511095179.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-06
- Publication Date
- 2025-11-11
AI Technical Summary
Existing acupuncture equipment has a low degree of automation, relies on the precision of the hand, has low acupoint recognition, and cannot perform acupuncture treatment accurately and quickly.
An electronic acupuncture device based on image recognition technology is used to identify the patient's acupoints through a CCD camera and color sensor. Combined with an image processing unit and controller, it can achieve accurate identification and operation of acupuncture points. It can also perform automated acupuncture with a multi-axis robotic arm and acupuncture clamping components.
It reduces the workload of medical staff, improves the accuracy and efficiency of acupuncture, and realizes intelligent acupuncture operation that fully covers all blind spots in acupuncture treatment.
Smart Images
Figure CN120918941A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of acupuncture technology, and in particular to an electronic acupuncture device based on image recognition technology. Background Technology
[0002] Acupuncture is a commonly used traditional Chinese medicine therapy. It involves stimulating specific acupoints on the body with silver needles to achieve therapeutic effects. During acupuncture, medical personnel must manually control and operate the needles, inserting them into the acupoints and then rotating the needle handles to vibrate and stimulate the acupoints. Currently, there are a few low-automation acupuncture devices on the market that still rely on manual precision, requiring a high level of experience and having low accuracy in identifying acupoints, thus hindering accurate and rapid acupuncture treatment. Summary of the Invention
[0003] This application provides an electronic acupuncture device based on image recognition technology, which can identify the acupuncture points of patients for acupuncture treatment, reduce the workload of medical personnel, and greatly improve the accuracy of needle insertion.
[0004] This application provides an electronic acupuncture device based on image recognition technology. The electronic acupuncture device includes a bed, a position adjustment component, an acupuncture mechanism, and an acupuncture tray assembly. The position adjustment component is disposed on the bed. The acupuncture mechanism is connected to the position adjustment component, which drives the acupuncture mechanism to move and adjust its position relative to the bed. The acupuncture mechanism is used to perform acupuncture on corresponding points of the patient. The acupuncture tray assembly is disposed on one side of the bed and is used to store acupuncture needles for the acupuncture mechanism to pick up and put down. The acupuncture mechanism includes a mounting base, a multi-axis robotic arm, an image recognition component, and an end acupuncture unit. The mounting base is connected to the position adjustment component, the multi-axis robotic arm is disposed on the mounting base, and the end acupuncture unit is connected to the multi-axis robotic arm. The multi-axis robotic arm is used to adjust the position of the end acupuncture unit. The image recognition component is disposed on the multi-axis robotic arm, and the end acupuncture unit is used to perform acupuncture after recognizing acupuncture points according to the image recognition component.
[0005] In this solution, after the patient lies on the bed, the position adjustment component is positioned on the bed. This component drives the acupuncture movement, adjusting the position of the acupuncture mechanism to provide comprehensive coverage of the patient, eliminating blind spots in acupuncture treatment. The image recognition component on the acupuncture mechanism identifies the patient's acupoint information. For example, medical staff can pre-mark acupuncture points on the patient's body. The image recognition component recognizes these marks and, combined with pre-stored acupoint information, determines the corresponding acupuncture points. Thus, with the coordinated action of the position adjustment component and the acupuncture mechanism, the electronic acupuncture device performs acupuncture at the marked points, reducing the workload of medical staff and significantly improving the accuracy of needle insertion.
[0006] In some embodiments, the image recognition component includes a CCD camera, a color sensor, an image processing unit, a memory, and a controller. The image information acquired by the CCD camera and the color sensor is processed by the image processing unit and then transmitted to the controller. The memory is used to store data. The electronic acupuncture device also includes a control console, and the image recognition component, the position adjustment component, and the acupuncture mechanism are all controlled by the control console.
[0007] In the above technical solution, by setting up a CCD camera and a color sensor in the image recognition component, the color sensor can identify the corresponding color marks that medical staff have marked on the patient's acupuncture points in advance, thus identifying the acupuncture point marks. The combination of the CCD camera and the color sensor can further confirm the acupuncture point marks and identify the area near the acupuncture point marks, acquiring images of the vicinity of the acupuncture point marks, and transmitting them to the controller after image processing. The chip in the controller obtains the mark and image information and compares it with the human acupuncture points pre-stored in the electronic acupuncture device to determine the corresponding acupuncture point marks that the patient needs, thereby taking the corresponding needle insertion angle and depth. This results in better acupuncture effects and more precise and intelligent acupuncture.
[0008] In some embodiments, the end acupuncture unit includes a fixed base, a needle twisting drive, a rotating base, a needle insertion drive, and an acupuncture clamping assembly. The fixed base is fixedly connected to a multi-axis robotic arm. The needle twisting drive is disposed between the fixed base and the rotating base and is used to drive the rotating base to rotate about its axis. The needle insertion drive is disposed on the rotating base. The acupuncture clamping assembly is slidably disposed on the rotating base and is used to pick up and put down acupuncture needles. The needle insertion drive is used to drive the acupuncture clamping assembly to move so as to perform acupuncture on acupuncture points.
[0009] In the above technical solution, the fixed base is connected to the second movable frame. Under the driving action of the position adjustment component, the acupuncture mechanism can be initially moved to the position of the patient's acupuncture point. Under the movement of the multi-axis robotic arm, the end acupuncture unit is brought closer to the patient's acupuncture point, and the insertion angle of the acupuncture needle held by the end acupuncture unit is adjusted by the multi-axis robotic arm. Then, through the setting of the needle twisting drive and the needle insertion drive, the needle twisting drive is set between the fixed base and the rotating base. The needle twisting drive can drive the rotating base to rotate, thereby driving the acupuncture needle held by the acupuncture clamping component to rotate, realizing the needle twisting acupuncture operation on the patient's acupoint. Through the setting of the needle insertion drive, the needle insertion drive can control the acupuncture needle held by the acupuncture clamping component to perform the needle insertion operation, allowing the acupuncture needle to be inserted into the corresponding acupoint of the patient.
[0010] In some embodiments, the acupuncture clamping assembly includes a base, a driving assembly, and two outer clamps. The two outer clamps are disposed on both sides of the base along its length. The driving assembly is disposed on the base and is used to move the two outer clamps closer together or further apart. The acupuncture clamping assembly also includes two inner clamps, two sets of guide assemblies, and two springs. The two inner clamps correspond one-to-one with the two outer clamps, and the two inner clamps are respectively disposed on opposite sides of the two outer clamps. A gap exists between the outer clamps and the inner clamps along the length of the base. The guide assemblies and springs are disposed between the corresponding outer and inner clamps. The outer clamps clamp the acupuncture needles through the inner clamps. The guide assemblies include guide cylinders and guide posts. The guide cylinders are mounted on the outer clamps facing the inner clamps. On one side, a guide post is installed on the inner clamping plate facing the outer clamping plate. At least a portion of the guide post is inserted into the guide groove of the guide cylinder and slides with the guide cylinder. The guide cylinder and the guide post are set at an angle relative to the distribution direction of the inner and outer clamping plates and are tilted towards the base. The guide assembly is configured to guide the inner clamping plate to tilt upward towards the base when it holds the acupuncture needle, so as to realize the removal of the acupuncture needle. A spring is disposed between the inner and outer clamping plates. The spring is used to apply an elastic force to the inner clamping plate. The spring causes the inner clamping plate to accumulate elastic force during the process of tilting towards the base while holding the acupuncture needle. The elastic force causes the inner clamping plate to press against the acupuncture needle when it holds the acupuncture needle and drive the acupuncture needle to tilt upward.
[0011] In the above technical solution, the drive component can drive the two outer clamps to move closer to each other and further apart. Furthermore, two inner clamping plates are provided on the inner sides of the two outer clamping plates, with a gap between the outer and inner clamping plates. A guide assembly is provided between the inner and outer clamping plates, which adopts a structure of a guide cylinder and a guide post. The guide cylinder and guide post are set at an angle relative to the distribution direction of the inner and outer clamping plates and are inclined towards the base. The guide cylinder and guide post slide in cooperation. When the drive assembly drives the outer clamping plates to move towards each other, for example, when the acupuncture clamping assembly removes acupuncture needles from the acupuncture tray or from the patient's acupuncture site, as the inner clamping plates contact and gradually clamp the acupuncture needles, due to the gap between the inner and outer clamping plates and the guidance of the guide assembly, the guide post moves towards the base along the direction of the guide cylinder, thereby causing the inner clamping plates to tilt towards the base. This achieves the operation of simultaneously clamping and removing (pulling out) the acupuncture needles. In this way, the drive assembly drives the two outer clamping plates to move towards the base. When the clamps come close together to hold the acupuncture needle, the needle is actually held by two inner clamps. The guide component allows the gap between the inner and outer clamps to gradually decrease as the inner clamps hold the needle, guiding the inner clamps to move towards the base relative to the outer clamps. In other words, the inner clamps move upwards while holding the acupuncture needle, thus enabling simultaneous clamping and removal of the needle. During this clamping and removal process, the springs accumulate elastic force as the inner clamps tilt towards the base. Due to action and reaction forces, the elastic force causes the inner clamps to press firmly against the acupuncture needle and move it upwards, thus completing the simultaneous clamping and removal of the needle. In other words, the acupuncture clamping assembly can remove the needle while clamping it, greatly improving the efficiency of needle handling.
[0012] In some embodiments, the position adjustment assembly includes a first drive assembly, a first movable frame, a second drive assembly, and a second movable frame. There are two sets of first drive assemblies, which are respectively disposed on both sides of the width direction of the bed. The two ends of the first movable frame are respectively connected to the two sets of first drive assemblies. The first drive assembly is used to drive the first movable frame to move along the length direction of the bed. The second drive assembly is disposed on the first movable frame and connected to the second drive assembly. The second drive assembly is used to drive the second movable frame to move along the width direction of the bed. The acupuncture mechanism is connected to the second movable frame.
[0013] In the above technical solution, by setting the first driving component and the second driving component, the first driving component can drive the first moving frame to move relative to the length direction of the bed, while the second driving component is set on the first moving frame and can drive the second moving frame to move along the width direction of the bed. That is, under the action of the first driving component and the second driving component, the position of the acupuncture mechanism in the length and width directions of the bed can be adjusted, so as to achieve all-round coverage of acupuncture points in different parts of the patient.
[0014] In some embodiments, the bed frame has mounting cavities on both sides in the width direction for arranging a first drive assembly. The first drive assembly includes a first lead screw and a first drive member. The first lead screw extends along the length direction of the bed frame and is disposed in the mounting cavity. The first drive member is disposed in the mounting cavity. The drive end of the first drive member is connected to the first lead screw. The other end of the first lead screw is rotatably mounted to the bed frame via a bearing. A first movable frame is located on the upper side of the bed frame. The first movable frame is threadedly connected to the first lead screw. The first drive member is used to drive the first lead screw to rotate, thereby moving the first movable frame along the length direction of the bed frame. The second drive assembly includes a second lead screw, a second guide rail, and a second drive member. The second lead screw and the second guide rail are arranged side by side at intervals on the first movable frame along the width direction of the bed frame. The second drive member is disposed on the first movable frame. The drive end of the second drive member is connected to one end of the second lead screw. The other end of the second lead screw is rotatably mounted to the first movable frame via a bearing. The second movable frame is threadedly connected to the second lead screw and slidably engaged with the second guide rail. The second drive member is used to drive the second lead screw to rotate, thereby moving the second movable frame along the width direction of the bed frame.
[0015] In the above technical solution, by adopting both the first drive component and the second drive component as a lead screw and nut pair mechanism, the lead screw in the lead screw and nut pair mechanism has high movement accuracy and stable transmission when the lead screw is driven, which can better enable the acupuncture mechanism to adjust its position in the width and length directions of the bed, and the structure is simple and easy to implement.
[0016] In some embodiments, the console includes a control system, a display screen, and control buttons. The image recognition component is communicatively connected to the control system, the control buttons are electrically connected to the control system, and the display screen is used to display status information of the electronic acupuncture device.
[0017] In the above technical solution, a control console is set on one side of the bed. The control console provides human-computer interaction functions. Medical staff can input preset instructions into the control system in the control console in advance, or issue instructions through the control buttons to control the various mechanisms and components in the electronic acupuncture device to execute the corresponding instructions. The display can show the status information of the electronic acupuncture device in real time, which is conducive to medical staff to perform human-computer interaction and control operations more conveniently, and has strong controllability.
[0018] In some embodiments, the acupuncture tray assembly includes an acupuncture seat and acupuncture needles. The acupuncture seat is provided with a plurality of positioning grooves extending vertically at intervals, each positioning groove being used for inserting acupuncture needles.
[0019] In the above technical solution, the acupuncture base is equipped with multiple vertically extending positioning slots at intervals. Multiple acupuncture needles can be pre-inserted into the positioning slots on the acupuncture base, resulting in better overall arrangement of the acupuncture needles. Furthermore, the vertical placement of the acupuncture needles makes it easier for the terminal acupuncture unit of the electronic acupuncture device to pick up and put down the acupuncture needles, making the picking up and putting down of the acupuncture needles more convenient and faster.
[0020] In some embodiments, along the extending direction of the positioning groove, the positioning groove has a flared section with a diameter larger than that of other parts of the positioning groove, and the flared section is used to guide the acupuncture needle to be inserted into the positioning groove.
[0021] In the above technical solution, the diameter of the flared section is larger than the diameter of other parts of the positioning groove. This makes the flared section larger, which guides the acupuncture needle and makes it easier to put the acupuncture needle into the positioning groove. It also makes it easier for the acupuncture needle carried by the end acupuncture unit to be inserted into the positioning groove, reducing the difficulty of inserting the acupuncture needle.
[0022] In some embodiments, the acupuncture stand includes a base body, a plurality of support legs, and a sterilization tray. The plurality of support legs are spaced apart at the bottom of the base body. A horizontally arranged support plate is connected between the plurality of support legs. The sterilization tray is disposed on the support plate and located on the lower side of the acupuncture stand. The sterilization tray contains alcohol. A positioning groove is provided through both ends of the acupuncture stand in the thickness direction. When the acupuncture needle is placed in the positioning groove, at least a portion of the lower end of the acupuncture needle extends into the sterilization tray and has a gap with the bottom wall of the sterilization tray. The positioning part is located outside the positioning groove of the acupuncture stand.
[0023] In the above technical solution, the support feet provide support for the base body and suspend the bottom of the base body, which facilitates the setting of the support plate. The disinfection tray is placed on the support plate and contains alcohol. With the positioning groove penetrating both ends of the acupuncture seat in the thickness direction, at least part of the second end of the acupuncture needle is inserted into the disinfection tray. The acupuncture needle can be disinfected by the alcohol in the disinfection tray. The positioning part and the first end of the acupuncture needle are located outside the positioning groove, which facilitates the acupuncture clamping assembly to pick up and put down the acupuncture needle.
[0024] The main benefits of this application are as follows: by using an image recognition component on an acupuncture institution to identify the patient's acupoint information, for example, medical staff can pre-mark the acupuncture points on the patient's acupuncture site. The image recognition component can identify the acupuncture point mark and, combined with the human acupoint information stored in the image recognition component, determine the corresponding acupuncture point. In this way, the electronic acupuncture device controls the position adjustment component and the acupuncture institution to work together to perform corresponding acupuncture operations on the acupuncture points marked on the patient's site, thereby reducing the workload of medical staff and greatly improving the accuracy of needle insertion.
[0025] It should be understood that the foregoing general description and the following detailed description are for illustrative purposes only and do not necessarily limit the scope of this application. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the subject matter of this application. Furthermore, the specification and drawings serve to explain the principles of this application. Attached Figure Description
[0026] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0027] Figure 1 A schematic diagram of the electronic acupuncture device is provided for the embodiments of this application; Figure 2 for Figure 1 A cross-sectional view of the first drive assembly in the middle bed frame; Figure 3 This is a schematic diagram of the structure of the second drive assembly and the end acupuncture unit on the first mobile frame provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the acupuncture clamping assembly provided in the embodiments of this application; Figure 5 for Figure 4 A schematic diagram of the drive assembly with the outer clamping plate exposed in the middle base; Figure 6 This is a schematic diagram showing the state of the acupuncture clamping assembly provided in this embodiment after it has been clamped and the inner clamping plate has been tilted upwards. Figure 7 This is a top view of the acupuncture seat in the acupuncture needle assembly provided in an embodiment of this application; Figure 8 This is a front view of the acupuncture seat provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the disinfection unit provided in the embodiments of this application; Figure 10 for Figure 9 Cross-sectional view of the disinfection unit; Figure 11 This is a schematic diagram of the structure of the sponge pad in the disinfection unit provided in the embodiment of this application.
[0028] Icons: Electronic acupuncture device 100, bed 10, mounting cavity 11, position adjustment assembly 20, first drive assembly 21, first lead screw 211, first drive component 212, first nut seat 213, first moving frame 22, second drive assembly 23, second lead screw 231, second guide rail 232, second drive component 233, second moving frame 24, acupuncture mechanism 30, mounting base 31, multi-axis robotic arm 32, image recognition assembly 33, CCD camera 331, end acupuncture unit 40, fixed base 41, needle twisting drive component 42, rotating base 43, needle insertion drive component 44, acupuncture clamping assembly 45, base 451, drive group Component 452, outer clamping plate 453, inner clamping plate 454, guide assembly 455, guide post 4551, guide cylinder 4552, spring 456, acupuncture tray assembly 50, acupuncture seat 51, positioning groove 511, flared mouth section 5111, base body 512, support foot 513, disinfection tray 514, bearing plate 515, acupuncture needle 52, control console 60, display screen 61, control button 62, disinfection unit 70, disinfection cylinder 71, medicine cartridge body 711, disinfection head 712, liquid storage section 7121, sponge pad 7122, liquid storage chamber 7123, hanging post 7124, hanging hole 7125, push-pull rod 72, adjusting cylinder 73. Detailed Implementation
[0029] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.
[0030] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0031] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0032] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0033] This application provides an electronic acupuncture device based on image recognition technology. Please refer to [link / reference]. Figures 1 to 11 The electronic acupuncture device 100 includes a bed 10, a position adjustment component 20, an acupuncture mechanism 30, and an acupuncture tray assembly 50. The position adjustment component 20 is mounted on the bed 10. The acupuncture mechanism 30 is connected to the position adjustment component 20, which drives the acupuncture mechanism 30 to move, adjusting its position relative to the bed 10. The acupuncture mechanism 30 is used to perform acupuncture on corresponding points on the patient. The acupuncture tray assembly 50 is located on one side of the bed 10 and stores acupuncture needles for the acupuncture mechanism 30 to retrieve. The acupuncture needle 52; wherein, the acupuncture mechanism 30 includes a mounting base 31, a multi-axis robotic arm 32, an image recognition component 33, and an end acupuncture unit 40. The mounting base 31 is connected to the position adjustment component 20. The multi-axis robotic arm 32 is mounted on the mounting base 31. The end acupuncture unit 40 is connected to the multi-axis robotic arm 32. The multi-axis robotic arm 32 is used to adjust the position of the end acupuncture unit 40. The image recognition component 33 is mounted on the multi-axis robotic arm 32. The end acupuncture unit 40 is used to perform acupuncture after recognizing the acupuncture points according to the image recognition component 33.
[0034] The bed frame 10 includes a bed frame and a mattress, with the position adjustment assembly 20 actually mounted on the bed frame. The mattress allows the patient to lie down comfortably.
[0035] In this solution, after the patient lies on the bed 10, the position adjustment component 20 is positioned on the bed 10. The position adjustment component 20 can drive the acupuncture movement and adjust the position of the acupuncture mechanism 30, enabling comprehensive coverage of the patient with a wide coverage area and no blind spots in acupuncture treatment. The patient's acupoint information is identified by the image recognition component on the acupuncture mechanism 30. For example, medical staff can pre-mark the acupuncture points on the patient's body where acupuncture is needed. The image recognition component 33 can identify the acupuncture point mark and, combined with the human acupoint information pre-stored in the image recognition component 33, determine the corresponding acupuncture points. In this way, the electronic acupuncture device controls the position adjustment component 20 and the acupuncture mechanism 30 to work together to perform corresponding acupuncture operations on the marked acupuncture points on the patient's body, thereby reducing the workload of medical staff and greatly improving the accuracy of acupuncture.
[0036] The multi-axis robotic arm 32 can be a six-axis robotic hand, that is, a six-axis robotic arm, which is existing technology and can be directly purchased.
[0037] It should be noted that medical staff can mark the acupuncture points on the patient's body in advance, so that the image recognition component 33 can identify and locate them.
[0038] In some embodiments, the image recognition component 33 includes a CCD camera 331, a color sensor, an image processing unit, a memory, and a controller. The image information acquired by the CCD camera 331 and the color sensor is processed by the image processing unit and then transmitted to the controller. The memory is used to store data. The electronic acupuncture device also includes a console 60. The image recognition component 33, the position adjustment component 20, and the acupuncture mechanism 30 are all controlled by the console 60.
[0039] By incorporating the CCD camera 331 and color sensor in the image recognition component 33, the color sensor can identify the corresponding color markings that medical personnel have pre-marked on the acupuncture points on the patient, thus recognizing the acupuncture point markers. The combination of the CCD camera 331 and the color sensor further confirms the acupuncture point markers and identifies the areas near them, acquiring images of the vicinity and transmitting them to the controller via the image processing unit. The controller's chip acquires the marker and image information and compares it with the acupuncture points pre-stored in the electronic acupuncture device. This determines the corresponding acupuncture point markers needed for the patient, allowing for the appropriate needle insertion angle and depth, resulting in better acupuncture effects and more precise and intelligent acupuncture.
[0040] A color sensor, also known as a color recognition sensor, is an output device that detects the color of an object through photoelectric conversion and compares it with a preset reference value. A color sensor can recognize acupuncture point marks made by medical personnel beforehand at the patient's acupuncture site. For example, medical personnel may use a marker pen to make red or yellow marks on the patient's acupuncture point. These marks can be circular, and the acupuncture point can be the central area enclosed by the circular mark. The memory can pre-store acupuncture point information. The controller can then compare and analyze the acquired acupuncture point information with the pre-stored information to determine the acupuncture point information. This allows the controller to issue corresponding instructions to control the acupuncture mechanism to perform acupuncture operations at the corresponding depth and angle.
[0041] In some embodiments, the end acupuncture unit 40 includes a fixed base 41, a needle twisting drive 42, a rotating base 43, a needle insertion drive 44, and an acupuncture clamping assembly 45. The fixed base 41 is fixedly connected to the multi-axis robotic arm 32. The needle twisting drive 42 is disposed between the fixed base 41 and the rotating base 43 and is used to drive the rotating base 43 to rotate around its axis. The needle insertion drive 44 is disposed on the rotating base 43. The acupuncture clamping assembly 45 is slidably disposed on the rotating base 43 and is used to pick up and put down acupuncture needles 52. The needle insertion drive 44 is used to drive the acupuncture clamping assembly 45 to move so as to perform acupuncture on acupuncture points.
[0042] The fixed base 41 is connected to the second movable frame 24. Driven by the position adjustment component 20, the acupuncture mechanism 30 can be initially moved to the patient's acupuncture point. Under the movement of the multi-axis robotic arm 32, the end acupuncture unit 40 is brought closer to the patient's acupuncture point, and the insertion angle of the acupuncture needle 52 held by the end acupuncture unit 40 is adjusted by the multi-axis robotic arm 32. Then, through the setting of the needle twisting drive 42 and the needle insertion drive 44, the needle twisting drive 42 is set between the fixed base 41 and the rotating base 43. The needle twisting drive 42 can drive the rotating base 43 to rotate, thereby driving the acupuncture needle 52 held by the acupuncture clamping component 45 to rotate, realizing the needle twisting acupuncture operation on the patient's acupoint. Through the setting of the needle insertion drive 44, the needle insertion drive 44 can control the acupuncture needle 52 held by the acupuncture clamping component 45 to perform the needle insertion operation, so that the acupuncture needle 52 is inserted into the corresponding acupoint of the patient.
[0043] The rotating base 43 is provided with a sliding groove, and the acupuncture clamping assembly 45 slides in the sliding groove. The needle twisting drive 42 can be a rotary motor, such as a servo motor. By controlling the speed and direction of the needle twisting drive 42, the acupuncture needle 52 can be driven to rotate back and forth, thereby realizing the needle twisting operation of the acupuncture needle 52. The needle insertion drive 44 can be a linear module, an electric push rod, or a lead screw and nut pair mechanism, etc. For example, in this embodiment, the needle insertion drive 44 is an electric push rod.
[0044] In some embodiments, the acupuncture clamping assembly 45 includes a base 451, a drive assembly 452, and two outer clamping plates 453. The two outer clamping plates 453 are disposed on both sides of the base 451 along its length. The drive assembly 452 is disposed on the base 451 and is used to move the two outer clamping plates 453 closer together or further apart. The acupuncture clamping assembly 45 also includes two inner clamping plates 454, two sets of guide assemblies 455, and two springs 456. The two inner clamping plates 454 and the two outer clamping plates 453 are connected together. 3. A one-to-one correspondence is established, with two inner clamping plates 454 respectively disposed on the opposite side of the two outer clamping plates 453. A gap exists between the outer clamping plates 453 and the inner clamping plates 454 along the length of the base 451. A guide assembly 455 and a spring 456 are disposed between the corresponding outer clamping plates 453 and inner clamping plates 454. The outer clamping plates 453 clamp the acupuncture needles 52 through the inner clamping plates 454. The guide assembly 455 includes a guide cylinder 4552 and a guide post 4551. The guide cylinder 4552 is installed on the outer clamping plate 453 facing the inner clamping plate. On one side of plate 454, guide post 4551 is installed on the side of inner clamping plate 454 facing outer clamping plate 453. At least a portion of guide post 4551 is inserted into the guide groove of guide cylinder 4552 and slides with guide cylinder 4552. Guide cylinder 4552 and guide post 4551 are set at an angle relative to the distribution direction of inner clamping plate 454 and outer clamping plate 453 and are inclined towards base 451. Guide assembly 455 is configured to guide inner clamping plate 454 when it holds acupuncture needle 52. The acupuncture needle 52 is moved upwards at an angle toward the base 451 to remove the needle. A spring 456 is disposed between the inner clamping plate 454 and the outer clamping plate 453. The spring 456 is used to apply an elastic force to the inner clamping plate 454. The spring 456 causes the inner clamping plate 454 to accumulate elastic force during the process of clamping the acupuncture needle 52 and moving it at an angle toward the base 451. The elastic force causes the inner clamping plate 454 to press the acupuncture needle 52 tightly when clamping it, and drives the acupuncture needle 52 to move upwards at an angle.
[0045] Through the configuration of the drive assembly 452, the drive assembly 452 can drive the two outer clamping plates 453 to move closer to each other and further away from each other. Furthermore, by providing two inner clamping plates 454 inside the two outer clamping plates 453, with a gap between the outer clamping plates 453 and the inner clamping plates 454, and a guide assembly 455 is provided between the inner clamping plates 454 and the outer clamping plates 453. The guide assembly 455 adopts a structure of guide cylinder 4552 and guide post 4551. The guide cylinder 4552 and guide post 4551 are set at an angle relative to the distribution direction of the inner clamping plates 454 and the outer clamping plates 453 and are inclined towards the base 451. The guide cylinder 4552 and guide post 4551 are in sliding engagement. When the drive assembly 452 drives the outer clamping plates 453... 3. During the opposing movements, such as when the acupuncture needle 52 is removed from the acupuncture tray via the acupuncture clamping assembly 45, or when a needle 52 that has already been used for acupuncture is removed from the patient's acupuncture site, as the inner clamping plate 454 contacts and gradually clamps the acupuncture needle 52, due to the gap between the inner clamping plate 454 and the outer clamping plate 453, and under the guidance of the guiding assembly 455, the guide post 4551 moves along the direction of the guide cylinder 4552 towards the base 451. This causes the inner clamping plate 454 to tilt towards the base 451, achieving simultaneous clamping and removal (needle withdrawal) of the acupuncture needle 52. In this operation, when the drive assembly 452 drives the two outer clamping plates 453 to move closer together to clamp the acupuncture needle 52, it actually uses the two inner clamping plates 454 to clamp the acupuncture needle 52. The guide assembly is designed so that when the inner clamping plate 454 clamps the acupuncture needle 52, the gap between the inner clamping plate 454 and the outer clamping plate 453 gradually decreases, guiding the inner clamping plate 454 to move relative to the outer clamping plate 453 towards the base 451. That is, the inner clamping plate 454 moves upwards during the clamping of the acupuncture needle 52, thus achieving the simultaneous clamping and removal (removal) operation of the acupuncture needle 52. During operation, the spring 456 is designed to accumulate elastic force as the inner clamping plate 454 clamps the acupuncture needle 52 and moves it tilted towards the base 451. Due to the action and reaction forces, the elastic force causes the inner clamping plate 454 to press tightly against the acupuncture needle 52 when clamping it, and drives the acupuncture needle 52 to tilt upward, thereby completing the operation of clamping and removing the acupuncture needle 52 at the same time. That is, the acupuncture clamping assembly 45 can complete the needle removal operation while clamping the acupuncture needle 52, which greatly improves the efficiency of picking up and putting down the acupuncture needle 52.
[0046] It should be noted that after the acupuncture needle 52 is inserted into the patient's acupoint by the acupuncture clamping assembly 45, during the process of releasing the two inner clamps 454 of the acupuncture clamping assembly 45, the needle insertion drive 44 contracts synchronously, allowing the acupuncture clamping assembly 45 to gradually move away from the patient's skin, thus compensating for the movement of the inner clamps 454 relative to the outer clamps 453 towards the patient's skin. That is, during the process of releasing the inner clamps 454, the needle insertion drive 44 will drive the acupuncture clamping assembly 45 to contract (away from the patient's skin), allowing the inner clamps 454 to release and the spring 456 to return to its original position. Then, the end acupuncture unit 40 will retrieve the acupuncture needle 52 from the acupuncture tray again and continue acupuncture with the acupuncture needle 52 until all the acupuncture needles 52 for that acupoint have been inserted.
[0047] In some embodiments, the position adjustment component 20 includes a first drive component 21, a first movable frame 22, a second drive component 23, and a second movable frame 24. There are two sets of first drive components 21, which are respectively disposed on both sides of the width direction of the bed 10. The two ends of the first movable frame 22 are respectively connected to the two sets of first drive components 21. The first drive components 21 are used to drive the first movable frame 22 to move along the length direction of the bed 10. The second drive component 23 is disposed on the first movable frame 22. The second movable frame 24 is connected to the second drive component 23. The second drive component 23 is used to drive the second movable frame 24 to move along the width direction of the bed 10. The acupuncture mechanism 30 is connected to the second movable frame 24.
[0048] With the first drive component 21 and the second drive component 23, the first drive component 21 can drive the first movable frame 22 to move relative to the length direction of the bed 10, while the second drive component 23 is set on the first movable frame 22 and can drive the second movable frame 24 to move along the width direction of the bed 10. That is, under the action of the first drive component 21 and the second drive component 23, the position of the acupuncture mechanism 30 in the length and width directions of the bed 10 can be adjusted to achieve all-round coverage of acupuncture points on different parts of the patient.
[0049] The first drive assembly 21 and the second drive assembly 23 can be drive mechanisms with the same structure. For example, the first drive assembly 21 and the second drive assembly 23 can be linear drive mechanisms such as lead screw and nut pair mechanism, cylinder, hydraulic cylinder, electric push rod or linear module. The specific types of the first drive assembly 21 and the second drive assembly 23 can be determined according to the actual situation.
[0050] In some embodiments, the bed 10 has mounting cavities 11 on both sides in the width direction for arranging the first drive assembly 21. The first drive assembly 21 includes a first lead screw 211 and a first drive member 212. The first lead screw 211 extends along the length direction of the bed 10 and is disposed in the mounting cavity 11. The first drive member 212 is disposed in the mounting cavity 11. The drive end of the first drive member 212 is connected to the first lead screw 211. The other end of the first lead screw 211 is rotatably mounted to the bed 10 via a bearing. The first movable frame 22 is located on the upper side of the bed 10. The first movable frame 22 is threadedly connected to the first lead screw 211. The first drive member 212 is used to drive the first lead screw 211 to rotate, so as to drive the first movable frame 22 along the bed 10. The second drive assembly 23 includes a second lead screw 231, a second guide rail 232, and a second drive member 233. The second lead screw 231 and the second guide rail 232 are arranged side by side and spaced apart on the first movable frame 22 along the width direction of the bed 10. The second drive member 233 is disposed on the first movable frame 22. The drive end of the second drive member 233 is connected to one end of the second lead screw 231. The other end of the second lead screw 231 is rotatably mounted on the first movable frame 22 through a bearing. The second movable frame 24 is threadedly connected to the second lead screw 231 and slidably engaged with the second guide rail 232. The second drive member 233 is used to drive the second lead screw 231 to rotate, so as to drive the second movable frame 24 to move along the width direction of the bed 10.
[0051] By adopting both the first drive assembly 21 and the second drive assembly 23 as a lead screw and nut pair mechanism, the lead screw in the lead screw and nut pair mechanism has high movement accuracy and stable transmission, which can better adjust the position of the acupuncture mechanism 30 in the width and length directions of the bed 10. Moreover, the structure is simple and easy to implement.
[0052] The first movable frame 22 is threadedly engaged with the first lead screw 211 via the first nut seat 213.
[0053] In some embodiments, the console 60 includes a control system, a display screen 61, and control buttons 62. The image recognition component 33 is communicatively connected to the control system, the control buttons 62 are electrically connected to the control system, and the display screen 61 is used to display the status information of the electronic acupuncture device.
[0054] By setting a control console 60 on one side of the bed 10, the control console 60 can provide human-computer interaction functions. Medical staff can input preset instructions into the control system in the control console 60 in advance, or issue instructions through the control button 62 to control the various mechanisms and components in the electronic acupuncture device to execute the corresponding instructions. The display can show the status information of the electronic acupuncture device in real time, which is conducive to medical staff to perform human-computer interaction and control operations more conveniently, and has strong controllability.
[0055] In some embodiments, the acupuncture tray assembly 50 includes an acupuncture seat 51 and an acupuncture needle 52. The acupuncture seat 51 is provided with a plurality of positioning grooves 511 extending in a vertical direction at intervals, and each positioning groove 511 is used for inserting the acupuncture needle 52.
[0056] With the acupuncture base 51, multiple vertically extending positioning slots 511 are provided at intervals on the acupuncture base 51. Multiple acupuncture needles 52 can be pre-inserted into the positioning slots 511 on the acupuncture base 51. The overall arrangement of the acupuncture needles 52 is better, and the vertical placement of the acupuncture needles 52 makes it easier for the end acupuncture unit 40 of the electronic acupuncture device to pick up and put down the acupuncture needles 52, making it more convenient and faster to pick up and put down the acupuncture needles 52.
[0057] The acupuncture needle 52 includes a needle body and a positioning part. The needle body has a first end and a second end disposed opposite to each other, the second end being the needle tip. The positioning part is disposed on the needle body and located close to the first end, and is used for positioning and engaging with the acupuncture clamping assembly 45 on the electronic acupuncture device. The inner clamping plate 454 has a mating groove on the side facing the acupuncture needle 52, which is larger than the positioning part to allow for clamping errors. Furthermore, the lower end of the mating groove extends downwards to the lower side of the inner clamping plate 454, thus increasing the tolerance for errors.
[0058] In some embodiments, the positioning part is a cubic positioning block, with its center line coaxial with the axis of the needle body. Using a cubic positioning block has several advantages. First, each face of the cubic positioning block is identical, so when the acupuncture clamping assembly 45 uses the inner clamping plate 454 to clamp the acupuncture needle 52, the inner clamping plate 454 does not need to be specifically aligned with a particular face of the positioning block, reducing the difficulty of clamping the acupuncture needle 52. Second, after the cubic positioning block and the acupuncture clamping assembly 45 are positioned and engaged, the acupuncture needle 52 is less likely to rotate relative to the acupuncture clamping assembly 45 due to the limiting effect of the positioning block, allowing for better utilization of the acupuncture needle 52 for needle manipulation on the patient.
[0059] In some embodiments, along the extending direction of the positioning groove 511, the positioning groove 511 has a flared section 5111, the diameter of which is larger than the diameter of other parts of the positioning groove 511. The flared section 5111 is used to guide the acupuncture needle 52 into the positioning groove 511.
[0060] The diameter of the flared section 5111 is larger than the diameter of the other parts of the positioning groove 511. This makes the flared section 5111 larger in diameter, which has a guiding effect on the acupuncture needle 52, making it easier for the acupuncture needle 52 to be placed into the positioning groove 511. It also makes it easier for the acupuncture needle 52 carried by the end acupuncture unit 40 to be inserted into the positioning groove 511, reducing the difficulty of inserting the acupuncture needle 52.
[0061] In some embodiments, the acupuncture seat 51 includes a base body 512, a plurality of support legs 513, and a sterilization tray 514. The plurality of support legs 513 are spaced apart at the bottom of the base body 512. A horizontally arranged support plate 515 is connected between the plurality of support legs 513. The sterilization tray 514 is disposed on the support plate 515 and located on the lower side of the acupuncture seat 51. The sterilization tray 514 contains alcohol. A positioning groove 511 is provided through both ends of the acupuncture seat 51 in the thickness direction. When the acupuncture needle 52 is placed in the positioning groove 511, at least a portion of the lower end of the acupuncture needle 52 extends into the sterilization tray 514 and has a gap with the bottom wall of the sterilization tray 514. The positioning part is located outside the positioning groove 511 of the acupuncture seat 51.
[0062] By providing support for the base body 512 through the support foot 513, the support foot 513 can suspend the bottom of the base body 512, which is conducive to the setting of the support plate 515. The disinfection tray 514 is set on the support plate 515 and contains alcohol. With the positioning groove 511 passing through both ends of the acupuncture seat 51 in the thickness direction, at least part of the second end of the acupuncture needle 52 is inserted into the disinfection tray 514. The acupuncture needle 52 can be disinfected by the alcohol in the disinfection tray 514. The positioning part and the first end of the acupuncture needle 52 are located outside the positioning groove 511, which facilitates the acupuncture clamping assembly 45 to pick up and put down the acupuncture needle 52.
[0063] In some embodiments, the electronic acupuncture device 100 further includes a disinfection unit 70, which is disposed on one side of the bed 10. The disinfection unit 70 includes a disinfection cylinder 71 and a push-pull rod 72. The disinfection cylinder 71 includes a medicine cylinder body 711 and a disinfection head 712. The medicine cylinder body 711 has a cavity for storing disinfectant. The disinfection head 712 is disposed at one axial end of the medicine cylinder body 711 and communicates with the cavity. The push-pull rod 72 is used to squeeze the disinfectant in the medicine cylinder body 711 to the disinfection head 712. The disinfection head 712 includes a liquid storage part 7121 and a sponge pad 7122. The liquid storage part 7121 has a liquid storage chamber 7123 inside. The liquid storage chamber 7123 is communicated with the cavity through a pipe. The sponge pad 7122 is disposed covering the outer surface of the liquid storage part 7121. The outer surface of the liquid storage part 7121 is provided with a plurality of seepage holes communicating with the liquid storage chamber 7123 for wetting the sponge pad 7122.
[0064] The disinfection unit 70 serves as a supporting unit for the electronic acupuncture device. Medical staff can manually use the disinfection unit 70 to disinfect the acupuncture points on the patient. After disinfection, the medical staff touches the corresponding control button 62 on the control console 60 to use the end acupuncture unit 40 for further disinfection. Of course, the disinfection unit 70 can also be installed on a six-axis robotic arm, i.e., a multi-axis robotic arm, to automate the disinfection of the patient.
[0065] Specifically, the cavity inside the cartridge body 711 can store disinfectant. Under the action of the push-pull rod 72, the disinfectant in the cartridge body 711 can be slowly squeezed into the disinfection head 712. After the disinfectant enters the disinfection head 712, it passes through the disinfection head 712, which includes a liquid storage part 7121 and a sponge pad 7122. The liquid storage part 7121 can store a certain amount of disinfectant, so that the disinfectant pre-stored in the disinfection head 712 can be used more times, without the need to frequently squeeze the push-pull rod 72. In addition, the liquid storage part 7121 can also buffer the disinfectant entering the disinfection head 712, so even if the user accidentally squeezes out too much disinfectant, it can temporarily store the disinfectant and prevent it from overflowing. The disinfectant in the reservoir 7121 enters the sponge pad 7122 through the seepage hole. Due to the adsorption and softness of the sponge pad 7122, the disinfection head 712 contacts the patient's acupuncture site through the sponge pad 7122 to perform disinfection. The patient's experience is better and more comfortable because the sponge pad 7122 contacts and disinfects the patient's skin.
[0066] In some embodiments, a plurality of hanging posts 7124 are provided at one end of the liquid storage section 7121 near the end of the cartridge body 711. The hanging posts 7124 protrude from the outer surface of the liquid storage section 7121. A plurality of hanging holes 7125 are provided on one side of the sponge pad 7122 near the end of the cartridge body 711. The sponge pad 7122 is hung on the hanging posts 7124 through the hanging holes 7125. The push-pull rod 72 includes a rod body and a piston. The piston is located in the cavity and is in a sealed sliding fit with the inner wall of the cavity. One end of the rod body is connected to the piston, and the other end of the rod body extends out of the cartridge body 711. By pushing the piston toward the disinfection head 712, the disinfectant in the cartridge body 711 is squeezed into the disinfection head 712. The disinfection head 712 is used to disinfect the patient's acupuncture site.
[0067] Since the sponge pad 7122 needs to be replaced periodically after a certain number of uses, multiple hanging posts 7124 are provided on the liquid storage part 7121, and multiple hanging holes 7125 are provided on the upper end of the sponge pad 7122. The sponge pad 7122 and the liquid storage part 7121 are connected by hanging. The multiple hanging holes 7125 and multiple hanging posts 7124 are engaged and cooperated to ensure the stability of the connection between the sponge pad 7122 and the liquid storage part 7121, and facilitate the quick replacement of the sponge pad 7122. The replacement of the sponge pad 7122 is more convenient and faster.
[0068] In some embodiments, the end of the hanging post 7124 away from the liquid storage part 7121 is provided with an enlarged part of a spherical structure. The hanging hole 7125 includes a first hole and a second hole. The diameter of the first hole is larger than the diameter of the second hole, and the first hole and the second hole are interconnected. The diameter of the second hole is adapted to the size of the hanging post 7124, and the diameter of the first hole is adapted to the size of the enlarged part. The second hole is closer to the cartridge body 711 than the first hole. The sponge pad 7122 passes through the first hole, enters the hanging post 7124 through the enlarged part, and is hung on the hanging post 7124 through the second hole under the action of gravity.
[0069] By combining the first and second holes in the hanging hole 7125—that is, making the hanging hole 7125 gourd-shaped—with the first hole being larger and the second hole smaller, and the second hole being closer to the cartridge body 711 than the first hole, and considering the deformation capability of the sponge pad 7122, when hanging the sponge pad 7122 on the hanging post 7124 on the liquid storage section 7121, the sponge pad 7122 is slightly deformed, allowing the sponge pad 7122 to pass through... After the first hole of the hanging hole 7125 passes through the enlarged portion on the hanging post 7124, the sponge pad 7122 automatically resets and then hangs on the body of the hanging post 7124 through the second hole on the sponge pad 7122, completing the installation of the sponge pad 7122 on the liquid storage part 7121. Since the enlarged portion is larger than the second hole, the enlarged portion on the hanging post 7124 blocks the second hole of the sponge pad 7122, ensuring the sponge pad 7122 is stably hung on the hanging post 7124. When it is necessary to remove and replace the sponge pad 7122, the user holds the upper end of the sponge pad 7122 towards the end closest to the cartridge body 711 and pulls it upwards to align the first hole of the sponge pad 7122 with the hanging post 7124. Then, the user pulls the sponge pad 7122 outwards to separate the first hole from the enlarged portion on the hanging post 7124. The sponge pad 7122 not only has high installation stability but is also easy to replace and install.
[0070] The cartridge body 711 is provided with an adjusting cylinder 73 for pushing the push-pull rod 72 to move. The adjusting cylinder 73 is threadedly engaged with the outer peripheral wall of the cartridge body 711. One end of the push-pull rod 72 is rotatably mounted on the adjusting cylinder 73 through a bearing.
[0071] The main beneficial effects of this application are as follows: the image recognition component 33 on the acupuncture device 30 identifies the patient's acupoint information. For example, medical staff can mark the acupuncture points on the patient's acupuncture site in advance. The image recognition component 33 can identify the acupuncture point mark and, combined with the human acupoint information stored in the image recognition component 33, determine the corresponding acupuncture point. In this way, the electronic acupuncture device 100 controls the position adjustment component 20 and the acupuncture device 30 to cooperate and perform corresponding acupuncture operations on the marked acupuncture points of the patient, thereby reducing the workload of medical staff and greatly improving the accuracy of needle insertion.
[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. An electronic acupuncture device based on image recognition technology, characterized in that, include: Bed frame; A position adjustment component is provided on the bed frame; An acupuncture mechanism is connected to the position adjustment component, which drives the acupuncture mechanism to move to adjust the position of the acupuncture mechanism relative to the bed. The acupuncture mechanism is used to perform acupuncture on corresponding parts of the patient. An acupuncture tray assembly is disposed on one side of the bed, and the acupuncture tray assembly is used to store acupuncture needles for the acupuncture mechanism to retrieve and place. The acupuncture mechanism includes a mounting base, a multi-axis robotic arm, an image recognition component, and an end-effector acupuncture unit. The mounting base is connected to the position adjustment component. The multi-axis robotic arm is mounted on the mounting base, and the end-effector acupuncture unit is connected to the multi-axis robotic arm. The multi-axis robotic arm is used to adjust the position of the end-effector acupuncture unit. The image recognition component is mounted on the multi-axis robotic arm, and the end-effector acupuncture unit is used to perform acupuncture after recognizing acupuncture points based on the image recognition component.
2. The electronic acupuncture device based on image recognition technology according to claim 1, characterized in that, The image recognition component includes a CCD camera, a color sensor, an image processing unit, a memory, and a controller. The image information acquired by the CCD camera and the color sensor is processed by the image processing unit and then transmitted to the controller. The memory is used to store data. The electronic acupuncture device also includes a control console, under which the image recognition component, the position adjustment component, and the acupuncture mechanism are all controlled.
3. The electronic acupuncture device based on image recognition technology according to claim 1, characterized in that, The terminal acupuncture unit includes a fixed base, a needle twisting drive, a rotating base, a needle insertion drive, and an acupuncture clamping assembly. The fixed base is fixedly connected to the multi-axis robotic arm. The needle twisting drive is disposed between the fixed base and the rotating base. The needle twisting drive is used to drive the rotating base to rotate around its axis. The needle insertion drive is disposed on the rotating seat, and the acupuncture clamping assembly is slidably disposed on the rotating seat. The acupuncture clamping assembly is used to pick up and put down acupuncture needles, and the needle insertion drive is used to drive the acupuncture clamping assembly to move so as to perform acupuncture on acupuncture points.
4. The electronic acupuncture device based on image recognition technology according to claim 3, characterized in that, The acupuncture clamping assembly includes a base, a driving assembly, and two outer clamps. The two outer clamps are disposed on both sides of the base along its length. The driving assembly is disposed on the base and is used to move the two outer clamps closer together or further apart. The acupuncture clamping assembly further includes two inner clamping plates, two sets of guide components, and two springs. The two inner clamping plates correspond one-to-one with the two outer clamping plates, and the two inner clamping plates are respectively disposed on the opposite side of the two outer clamping plates. There is a gap between the outer clamping plates and the inner clamping plates along the length direction of the base. The guide components and springs are disposed between the corresponding outer clamping plates and inner clamping plates. The outer clamping plates clamp the acupuncture needles through the inner clamping plates. The guiding assembly includes a guide cylinder and a guide post. The guide cylinder is mounted on the side of the outer clamping plate facing the inner clamping plate, and the guide post is mounted on the side of the inner clamping plate facing the outer clamping plate. At least a portion of the guide post is inserted into the guide groove of the guide cylinder and slides with the guide cylinder. The guide cylinder and the guide post are arranged at an angle relative to the distribution direction of the inner clamping plate and the outer clamping plate and are inclined towards the base. The guiding assembly is configured to guide the inner clamping plate to move upward on the side inclined towards the base when the inner clamping plate holds the acupuncture needle. The spring is disposed between the inner clamping plate and the outer clamping plate. The spring is used to apply an elastic force to the inner clamping plate. The spring causes the inner clamping plate to accumulate elastic force as it clamps the acupuncture needle and moves tilted towards the base. The elastic force causes the inner clamping plate to press tightly against the acupuncture needle when it clamps the acupuncture needle, and drives the acupuncture needle to move tilted upward.
5. The electronic acupuncture device based on image recognition technology according to claim 1, characterized in that, The position adjustment component includes a first drive component, a first moving frame, a second drive component, and a second moving frame. There are two sets of first drive components, which are respectively arranged on both sides of the width direction of the bed. The two ends of the first moving frame are respectively connected to the two sets of first drive components. The first drive component is used to drive the first moving frame to move along the length direction of the bed. The second drive component is disposed on the first movable frame, the second movable frame is connected to the second drive component, the second drive component is used to drive the second movable frame to move along the width direction of the bed, and the acupuncture mechanism is connected to the second movable frame.
6. The electronic acupuncture device based on image recognition technology according to claim 5, characterized in that, The bed has mounting cavities on both sides in the width direction for arranging the first drive assembly. The first drive assembly includes a first lead screw and a first drive member. The first lead screw extends along the length direction of the bed and is disposed in the mounting cavity. The first drive member is disposed in the mounting cavity. The drive end of the first drive member is connected to the first lead screw. The other end of the first lead screw is rotatably mounted to the bed through a bearing. The first movable frame is located on the upper side of the bed and is threadedly connected to the first lead screw. The first drive member is used to drive the first lead screw to rotate, so as to move the first movable frame along the length direction of the bed. The second drive assembly includes a second lead screw, a second guide rail, and a second drive member. The second lead screw and the second guide rail are arranged side by side at intervals along the width direction of the bed on the first movable frame. The second drive member is disposed on the first movable frame. The drive end of the second drive member is connected to one end of the second lead screw, and the other end of the second lead screw is rotatably mounted on the first movable frame through a bearing. The second movable frame is threadedly connected to the second lead screw and slidably engaged with the second guide rail. The second drive member is used to drive the second lead screw to rotate, thereby causing the second movable frame to move along the width direction of the bed.
7. The electronic acupuncture device based on image recognition technology according to claim 2, characterized in that, The console includes a control system, a display screen, and control buttons. The image recognition component is communicatively connected to the control system, the control buttons are electrically connected to the control system, and the display screen is used to display the status information of the electronic acupuncture device.
8. The electronic acupuncture device based on image recognition technology according to claim 1, characterized in that, The acupuncture tray assembly includes an acupuncture seat and acupuncture needles. The acupuncture seat is provided with a plurality of positioning grooves extending vertically at intervals, and each positioning groove is used for inserting the acupuncture needles.
9. The electronic acupuncture device based on image recognition technology according to claim 8, characterized in that, Along the extending direction of the positioning groove, the positioning groove has a flared section with a diameter larger than that of other parts of the positioning groove. The flared section is used to guide the acupuncture needle to be inserted into the positioning groove.
10. The electronic acupuncture device based on image recognition technology according to claim 8, characterized in that, The acupuncture stand includes a base body, multiple support legs, and a disinfection tray. The multiple support legs are spaced apart at the bottom of the base body. A horizontally arranged support plate is connected between the multiple support legs. The disinfection tray is placed on the support plate and located on one side below the acupuncture stand. The disinfection tray contains disinfectant. The positioning groove is provided through both sides of the acupuncture seat in the thickness direction. When the acupuncture needle is placed in the positioning groove, at least a portion of the lower end of the acupuncture needle extends into the sterilization tray and has a gap with the bottom wall of the sterilization tray. The positioning part is located outside the positioning groove of the acupuncture seat.