Acupuncture needle inserting auxiliary device

Abstract

The invention relates to the technical field of medical instruments, and discloses an acupuncture needle inserting auxiliary device which comprises a handheld shell suitable for being held by one hand, and the upper portion of the shell penetrates through and is in sliding connection with a multi-stage touch feedback needle handle used for receiving thrust of an operator. A needle body propelling mechanism used for clamping and driving the acupuncture needle to move axially is arranged on the lower portion in the shell, an annular blunt pressure face used for making contact with the skin of a patient is arranged at the bottom end of the shell, and the multi-level touch feedback needle handle and the needle body propelling mechanism are in transmission connection through a differential force transmission mechanism. Through the differential force transmission mechanism, the objective perception ability of an operator for the'subcutaneous sensation 'is greatly enhanced, dynamic difference comparison is performed on tissue reaction torque borne by the needle tip and damping torque of the damping module, and the multi-level touch feedback needle handle is combined for application. Therefore, an operator can objectively'touch 'layered structures of different tissues such as subcutaneous fascia, muscles and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a needle insertion assisting device for acupuncture. BACKGROUND

[0002] As an important part of traditional medicine, the efficacy of acupuncture depends largely on the precise needle manipulation and the sensitive perception of "needle sensation" by the operator. "Needle sensation" refers to the series of subtle and continuous mechanical feedbacks that the operator's fingertips feel when the needle tip penetrates through different tissue layers such as skin, fat, fascia, and muscle. This purely experience-based tactile perception is the core basis for judging the depth and level of needling, whether "Qi" is obtained, and avoiding dangerous anatomical structures.

[0003] However, this highly subjective perception ability needs to be gradually established through long-term and large-scale clinical practice. The formation process is long and difficult to accurately convey through language or text, which directly leads to a longer training period for acupuncture physicians and significant differences in operation methods and efficacy among different physicians. For beginners, due to the lack of effective recognition ability of "needle sensation", it is easy to cause medical risks due to depth judgment errors or improper force when needling deep acupoints or dangerous acupoints near important organs, nerves, and blood vessels.

[0004] To overcome the above-mentioned defects, some auxiliary means have appeared in the prior art. Some schemes try to introduce electronic sensors and actuators to measure pressure or displacement and visualize the data to provide a reference for the operator. However, such electronic devices not only significantly change the direct operation feel of traditional acupuncture, but also bring a series of new problems such as the need for additional power supply, complex disinfection and sterilization process, and reliability of electronic components. The feedback form is often not intuitive. Some other schemes provide purely mechanical depth limiting structures. These structures can prevent excessive deep needling to some extent, but they usually provide a rigid "hard stop" without warning and buffering, cannot feedback the changes in tissue layers experienced by the needle tip before reaching the limiting point to the operator, and deprive experienced physicians of the final control right for fine tuning at critical moments, lacking flexibility in application.

[0005] Therefore, there is still a lack of a solution that can objectively and distinguishably present the microscopic mechanical world under the needle in a purely mechanical way, and provide a flexible and adaptive safety boundary. SUMMARY

[0006] The technical problem to be solved by the present invention is to provide an acupuncture treatment needle insertion auxiliary device that can objectively and perceptibly present the microscopic mechanical interaction between the needle tip and human tissue during acupuncture, and integrate a flexible safety protection mechanism, so as to overcome the defects of the prior art that the acupuncture feel depends on subjective experience and the safety of high-risk acupoint operation is insufficient.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an acupuncture needle insertion auxiliary device, comprising a handheld shell suitable for single-handed gripping, a multi-stage tactile feedback needle handle for receiving the operator's thrust through and slidably connected to the upper part of the shell, a needle propulsion mechanism for clamping and driving the acupuncture needle to perform axial movement within the lower part of the shell, and an annular blunt pressure surface for contacting the patient's skin at the bottom end of the shell. The multi-stage tactile feedback needle handle and the needle propulsion mechanism are connected by a differential force transmission mechanism, which is also coupled to a damping module and a damping adaptive adjustment mechanism. The needle insertion thrust applied by the operator through the multi-stage tactile feedback needle handle is distributed via the differential force transmission mechanism. Part of the force is used to drive the needle propulsion mechanism, while the other part dynamically acts on the damping system composed of the damping module and the damping adaptive adjustment mechanism according to the tissue resistance encountered by the needle tip, ultimately feeding back the mechanical signal to the operator's fingers in tactile form.

[0008] The core innovation of this invention lies in the application of a differential force transmission mechanism. This mechanism, as a purely mechanical torque distribution system, cleverly solves the coupling relationship between force feedback and needle propulsion. During operation, when the needle tip punctures low-density tissue with minimal tissue resistance, the operator's needle insertion force is primarily distributed through this mechanism to drive the needle propulsion mechanism, ensuring smooth needle advancement. When the needle tip encounters high-density tissues such as fascia, the tissue resistance increases, and the reaction torque on the needle propulsion mechanism increases accordingly. Based on the differential balance principle, the differential force transmission mechanism automatically diverts a larger portion of the needle insertion force to the damping module. In this way, the operator can clearly perceive the damping force originating from the damping module through the needle handle, thus transforming the invisible changes in tissue resistance into a perceptible, amplified macroscopic tactile signal, achieving an objective representation of the "needle sensation."

[0009] Preferably, the multi-stage haptic feedback needle handle includes a first coaxial sleeve, a second coaxial sleeve is sleeved and slidably connected to the outer wall of the first coaxial sleeve, and the bottom end of the first coaxial sleeve is connected to the middle part of the second coaxial sleeve through a first elastic body. The second coaxial sleeve passes through and is slidably connected to the upper part of the outer shell, and the bottom end of the second coaxial sleeve is connected to the inner wall of the outer shell through a second elastic body. The stiffness coefficient of the second elastic body is greater than that of the first elastic body, and a rigid push rod is fixedly connected to the bottom end of the second coaxial sleeve. The multi-stage haptic feedback needle handle aims to convert the continuously changing feedback force output by the differential force transmission mechanism into discrete, staged haptic events.

[0010] Specifically, the force distributed to the damping module by the differential force transmission mechanism is fed back to the multi-stage tactile feedback needle handle. Based on the magnitude of the force, the two elastomers are compressed sequentially, causing the two coaxial sleeves to undergo phased relative displacement, providing the operator with layered tactile feedback. For example, when penetrating different layers such as skin and fascia, the operator's fingers can perceive clear, "gear-like" phases, greatly improving the discernibility of the feedback signal.

[0011] Preferably, the differential force transmission mechanism includes a differential, the outer wall of which is rotatably connected to the inside of the housing. The input end of the differential is fixedly connected to a main drive gear, and the tooth end of the main drive gear is meshed with a rack. The top end of the rack is fixedly connected to the bottom end of a rigid push rod. The differential has two output ends, namely output end one and output end two. Output end one is used to drive the needle body propulsion mechanism, and output end two is used to drive the damping module and the damping adaptive adjustment mechanism.

[0012] Preferably, the needle propulsion mechanism includes a lead screw, which is fixedly connected to the output end. A nut slider is sleeved and threadedly connected to the threaded end of the lead screw. The outer wall of the nut slider passes through and is slidably connected to the lower part of the outer shell. A needle clamping assembly is fixedly connected to the bottom end of the nut slider.

[0013] Preferably, the needle clamping assembly includes a base, the top wall of which is fixedly connected to the bottom end of the nut slider. Two clamping blocks are symmetrically arranged and fixedly connected to the bottom wall of the base, and each of the two clamping blocks has a limit block on its opposite surface. One clamping block is fixedly connected to its corresponding limit block, and the other clamping block is slidably connected to its corresponding limit block. The clamping block is also provided with a self-locking push switch. By pressing the self-locking push switch, the corresponding limit block is driven to move, so that the two limit blocks switch between two states of contact and separation. When the two limit blocks are in the contact state, the needle between them is clamped and fixed.

[0014] Preferably, the damping module includes a miniature sealing cylinder, the outer wall of which is fixedly connected to the inner wall of the outer shell. The reciprocating moving end of the miniature sealing cylinder is connected to the output end via a crank-connecting rod assembly. As the output end rotates, the reciprocating moving end of the miniature sealing cylinder is driven to move via the crank-connecting rod assembly. The damping module also includes an adjustment knob for adjusting the basic damping force of the damping module. Through this adjustment knob, the operator can preset a safety threshold based on the anatomical characteristics of different acupoints or the specific condition of the patient. When the needle insertion depth approaches the danger zone, the enormous resistance generated by the dense tissue touched by the needle tip will divert most of the thrust to the damping module, forming a significant flexible resistance wall and providing a clear safety warning to the operator.

[0015] Preferably, the damping adaptive adjustment mechanism employs a micro eddy current damper. The permanent magnet rotor end and output end of the micro eddy current damper are coaxial and fixedly connected. The stator end of the micro eddy current damper is fixedly connected to the inner wall of the outer casing. When the permanent magnet rotor end rotates with the output end, eddy currents are simultaneously induced in the stator end. The magnetic field generated by these eddy currents acts in the opposite direction on the permanent magnet rotor end, forming a braking torque proportional to the rotational speed, thus creating a dynamic damping gain related to the needle insertion speed. The introduction of the damping adaptive adjustment mechanism adds an active safety protection dimension to the device. When the operator's needle insertion speed is too fast, the mechanism automatically and non-linearly increases the damping force, physically suppressing dangerous rapid and deep puncture actions, thereby dynamically linking safety with the operator's behavioral intentions.

[0016] Preferably, the annular blunt pressure surface is a flat circular ring structure with a central hole coaxial with the needle body. The diameter of the central hole is larger than the outer diameter of the needle body. The bottom surface of the annular blunt pressure surface is a smooth mirror surface with chamfered edges. The bottom surface of the annular blunt pressure surface also has multiple blunt protrusions, which are evenly distributed around the central hole. The annular blunt pressure surface can apply broad-spectrum blunt pressure to the skin around the acupoint before needle insertion, thereby helping to inhibit the transmission of sharp pain signals.

[0017] This invention provides an acupuncture needle insertion auxiliary device. It has the following beneficial effects: 1. This invention significantly enhances the operator's objective perception of the "needle sensation" by introducing a miniaturized differential force transmission mechanism. This mechanism does not simply amplify the resistance experienced by the needle tip, but rather dynamically and differentially compares the tissue reaction torque experienced by the needle tip with the damping torque of the damping module. This design "translates" and transforms the extremely subtle mechanical changes generated when the needle tip punctures different tissue layers into macroscopic changes in "viscous sensation" that can be clearly distinguished by the operator's fingers. Combined with the application of a multi-level tactile feedback needle handle, this continuous viscous sensation is further discretized into staged tactile events, allowing the operator to objectively "touch" the layered structures of different tissues such as subcutaneous fascia and muscles.

[0018] 2. This invention constructs a flexible and customizable safety boundary through the design of a damping module. Unlike the "hard stop" of traditional rigid limiting devices, the "damping wall" of this invention provides the operator with a significantly increased, but not absolute, resistance when a preset depth is reached. This effectively warns and prevents unintentional excessive penetration while preserving the ultimate control of experienced physicians in specific treatment situations, allowing them to "actively apply force and slowly pass through" after careful judgment. This design resolves the fundamental contradiction between ensuring safety and depriving physicians of their precise control in traditional safety limiting devices.

[0019] 3. This invention achieves an active safety protection mechanism by integrating a damping adaptive adjustment mechanism related to the needle insertion speed. When the permanent magnet rotor rotates with the output end, eddy currents are simultaneously induced in the stator. The magnetic field generated by these eddy currents acts in the opposite direction on the permanent magnet rotor, forming a braking torque proportional to the rotational speed, thus creating a dynamic damping gain related to the needle insertion speed. This physically suppresses dangerous sudden puncture movements that might be caused by operator slippage, tension, or lack of experience. This inherent characteristic of "the faster the speed, the greater the resistance" elevates safety protection from a pre-set static setting to a dynamic, real-time response during the process, enabling the prediction and intervention of unsafe operator intentions.

[0020] 4. This invention transforms the "needle sensation," which relies heavily on subjective experience and long-term training in traditional acupuncture, into an objective and repeatable mechanical tactile feedback language, thereby significantly shortening the training cycle for acupuncturists. Beginners can use this device to more quickly develop an understanding of the biomechanical properties of different tissue layers in the human body, combining abstract theoretical knowledge with explicit tactile feedback. This not only lowers the learning threshold but also provides an effective quantitative tool for the standardized teaching and research of acupuncture techniques.

[0021] 5. This invention employs a ring-shaped blunt pressure surface to replace the complex active analgesia scheme, and achieves force feedback and safety limiting through a purely mechanical structure. This passive design not only fundamentally eliminates the electromagnetic interference or malfunction risks that may exist with electronic devices, but also greatly simplifies the structure of the device, making it easier to undergo rigorous medical sterilization. Its inherent reliability, low manufacturing cost, and convenient maintenance process lay a solid foundation for the widespread clinical application of this technology in various medical institutions. Attached Figure Description

[0022] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 This is a schematic diagram of the structure of the multi-level tactile feedback needle handle in this invention; Figure 4 This is a schematic diagram of the differential force transmission mechanism in this invention; Figure 5 This is a schematic diagram of the needle propulsion mechanism in this invention.

[0023] Among them, 10 is the outer shell; 20 is the multi-level tactile feedback needle handle; 201 is the first coaxial sleeve; 202 is the second coaxial sleeve; 203 is the first elastic body; 204 is the second elastic body; 205 is the rigid push rod; 30 is the differential force transmission mechanism; 301 is the differential; 3011 is the output end one; 3012 is the output end two; 302 is the main drive gear; 303 is the rack; 40 is the damping module; 401 is the miniature sealed cylinder; 402 is the crank connecting rod assembly; 50 is the damping adaptive adjustment mechanism; 60 is the needle body propulsion mechanism; 601 is the lead screw; 602 is the nut slider; 603 is the needle body clamping assembly; and 70 is the annular blunt pressure surface. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see the appendix Figure 1 -Appendix Figure 5This invention provides an acupuncture needle insertion auxiliary device, including a handheld housing 10 suitable for single-handed holding. The housing 10 encapsulates and protects the internal precision mechanical components and provides the operator with a stable and ergonomic grip interface. A multi-stage tactile feedback needle handle 20 for receiving the operator's thrust is inserted and slidably connected to the upper part of the outer shell 10. A needle body propulsion mechanism 60 for clamping and driving the acupuncture needle to move axially is provided in the lower part of the outer shell 10. An annular blunt pressure surface 70 for contacting the patient's skin is provided at the bottom of the outer shell 10. The multi-stage tactile feedback needle handle 20 and the needle body propulsion mechanism 60 are connected by a differential force transmission mechanism 30. The differential force transmission mechanism 30 is also coupled with a damping module 40 and a damping adaptive adjustment mechanism 50. The needle insertion thrust applied by the operator through the multi-stage tactile feedback needle handle 20 is distributed through the differential force transmission mechanism 30. Part of it is used to drive the needle body propulsion mechanism 60, and the other part is dynamically applied to the damping system composed of the damping module 40 and the damping adaptive adjustment mechanism 50 according to the tissue resistance encountered by the needle tip. Finally, the mechanical signal is fed back to the operator's fingers in the form of touch.

[0026] The multi-stage haptic feedback needle handle 20 includes a first coaxial sleeve 201, a second coaxial sleeve 202 which is sleeved and slidably connected to the outer wall of the first coaxial sleeve 201, and the bottom end of the first coaxial sleeve 201 is connected to the middle of the second coaxial sleeve 202 via a first elastic body 203. The second coaxial sleeve 202 is inserted through and slidably connected to the upper part of the outer shell 10, and the bottom end of the second coaxial sleeve 202 is connected to the inner wall of the outer shell 10 via a second elastic body 204. The stiffness coefficient of the second elastic body 204 is greater than that of the first elastic body 203. A rigid push rod 205 is fixedly connected to the bottom end of the second coaxial sleeve 202. When the feedback force increases, the first elastic body 203 with lower stiffness is compressed first, followed by the second elastic body 204 with higher stiffness, thereby forming a staged and clearly perceptible haptic feedback on the operator's fingers.

[0027] The differential force transmission mechanism 30 includes a differential 301, the outer wall of which is rotatably connected to the inside of the housing 10. The input end of the differential 301 is fixedly connected to a main drive gear 302, and the tooth end of the main drive gear 302 is meshed with a rack 303. The top end of the rack 303 is fixedly connected to the bottom end of the rigid push rod 205. The differential 301 has two output ends, namely output end one 3011 and output end two 3012. Output end one 3011 is used to drive the needle body propulsion mechanism 60, and output end two 3012 is used to drive the damping module 40 and the damping adaptive adjustment mechanism 50.

[0028] The needle propulsion mechanism 60 includes a lead screw 601, which is fixedly connected to the output end 3011. A nut slider 602 is threadedly connected to the threaded end of the lead screw 601. The outer wall of the nut slider 602 passes through and is slidably connected to the lower part of the outer casing 10. A needle clamping assembly 603 is fixedly connected to the bottom end of the nut slider 602. The lead screw 601 rotates with the output end 3011, driving the nut slider 602 to move precisely linearly along the central axis of the device, thereby achieving smooth advancement or retraction of the needle.

[0029] The needle clamping assembly 603 includes a base, the top wall of which is fixedly connected to the bottom end of the nut slider 602. Two clamping blocks are symmetrically arranged and fixedly connected to the bottom wall of the base, and each of the two clamping blocks has a limit block on its opposite surface. One clamping block is fixedly connected to its corresponding limit block, and the other clamping block is slidably connected to its corresponding limit block. The clamping block is also provided with a self-locking push switch. By pressing the self-locking push switch, the corresponding limit block is driven to move, so that the two limit blocks switch between two states of contact and separation. When the two limit blocks are in the contact state, the needle between them is clamped and fixed.

[0030] The self-locking push-button switch contains a mechanical locking and releasing ratchet or cam mechanism. When the operator presses the switch, it drives a sliding limit block towards a fixed limit block until the gap between them is less than the needle diameter, thus firmly clamping the needle between them. Because the self-locking push-button switch has a self-locking function, once the clamping state is achieved, the operator can release their finger. The two limit blocks will continue to maintain pressure on the needle, ensuring that the needle will not slide or rotate axially throughout the insertion process. When it is necessary to replace or remove the acupuncture needle, the operator presses the self-locking push-button switch again. The internal mechanism unlocks, and the sliding limit block retracts to its initial position under the action of the return spring, restoring sufficient gap between the two limit blocks, thus releasing the needle.

[0031] The damping module 40 includes a miniature sealing cylinder 401. The outer wall of the miniature sealing cylinder 401 is fixedly connected to the inner wall of the outer shell 10. The reciprocating moving end of the miniature sealing cylinder 401 is connected to the output end 3012 through the crank-connecting rod assembly 402. When the output end rotates, the reciprocating moving end of the miniature sealing cylinder 401 is driven to move through the crank-connecting rod assembly 402.

[0032] The damping adaptive adjustment mechanism 50 adopts a micro eddy current damper. The permanent magnet rotor end of the micro eddy current damper is coaxial with and fixedly connected to the output end 3012. The outer wall of the stator end of the micro eddy current damper is fixedly connected to the inner wall of the outer shell 10. When the permanent magnet rotor end rotates with the output end 3012, eddy currents are induced in the stator end. The magnetic field generated by the eddy current acts in the opposite direction on the permanent magnet rotor end, forming a braking torque proportional to the rotational speed, so as to form a dynamic damping gain related to the needle insertion speed.

[0033] The annular blunt pressure surface 70 is a flat circular ring structure with a central hole coaxial with the needle body. The diameter of the central hole is larger than the outer diameter of the needle body. The bottom surface of the annular blunt pressure surface 70 is a smooth mirror surface with chamfered edges. The bottom surface of the annular blunt pressure surface 70 is also provided with multiple blunt protrusions, which are evenly arranged around the central hole.

[0034] The annular blunt pressure surface 70 is consistent with the blunt protrusions, and the entire surface has been highly polished and extremely smoothed, with absolutely no sharp edges or corners, to ensure that it is completely undamaged and gentle to the touch when in contact with the skin. Both are made of medical-grade stainless steel, PEEK and other biocompatible materials that are easy to sterilize.

[0035] The primary function of the annular blunt pressure surface 70 is to provide a stable, non-slip physical support for the entire device. When the operator places the device on the acupoint, this flat annular surface forms a stable contact surface with the skin, like the base of a tripod, effectively preventing the device from slipping or tilting when applying pressure. The central hole naturally aligns the needle tip precisely with the center point of the acupoint, providing physical guidance for subsequent precise needle insertion. Before needle insertion, the operator applies slight downward pressure to press the annular blunt pressure surface 70 firmly against the skin. This action has a crucial analgesic effect physiologically. According to the "gating theory" of pain, the broader pressure signal from the blunt pressure surface preferentially travels rapidly to the central nervous system via larger nerve fibers, while the sharp pain signal generated by the needle piercing the skin travels via finer nerve fibers. The former's rapid, wide-range signal effectively "inhibits" or "closes" the "gate" of pain signal transmission, thereby significantly reducing the pain perceived by both the operator and the patient, and improving treatment comfort. When the annular blunt pressure surface 70 is pressed firmly against the skin surface, it establishes a stable and defined "zero depth" reference plane for the needle tip. All needle displacements recorded or executed by the needle advancement mechanism 60 inside the device are relative to this "zero depth" plane. This means that regardless of the overall gripping pressure applied by the operator, as long as the blunt pressure surface remains in contact with the skin, the absolute depth of the needle tip penetration below the skin is precisely controllable. It eliminates depth measurement errors caused by skin indentation due to pressure, ensuring the objectivity and consistency of acupuncture depth.

[0036] Simultaneously, when the operator presses the device against the acupoint, the blunt protrusions preferentially and locally act on the skin around the needle insertion point. Due to its raised shape, it causes the skin at the center of the needle insertion point to slightly indent inward, while simultaneously stretching and tightening the skin evenly in the surrounding area. The tightened skin becomes smoother and tougher, reducing resistance when the needle tip penetrates, making it easier for the needle tip to cleanly and neatly penetrate the epidermis, avoiding skin accumulation or movement under the needle tip. This helps reduce the "dragging sensation" of the needle tip, thereby reducing patient pain. The tightened and fixed skin is less likely to move with the advancement of the needle tip, ensuring that the acupuncture needle can enter vertically along the predetermined axis, reducing deviations caused by skin movement, and further improving the accuracy of needle insertion. The local pressure applied by the blunt protrusions produces a concentrated and strong non-invasive tactile stimulation. Similar to the wide-range pressure of the annular blunt pressure surface 70, but the blunt protrusions provide more focused pressure. Moderate local pressure can temporarily alter local microcirculation and the sensitivity of nerve endings. When a blunt acupoint is applied to an acupoint before needle insertion, it can induce a certain degree of adaptive response in the local nerve endings to the pressure stimulus. This adaptation means that when the needle tip actually penetrates, the nerve's sensitivity to new, sharper stimuli may decrease slightly, further reducing pain. In traditional acupuncture, massaging acupoints before needle insertion is also common, and the principle is similar.

[0037] In a complete needle insertion operation, the axial thrust applied by the operator first acts on the multi-stage tactile feedback needle holder 20. This thrust is fully transmitted to the main drive gear 302 of the differential force transmission mechanism 30, and is distributed by the mechanism to two output ends, which attempt to drive the needle body advance mechanism 60, the damping module 40, and the damping adaptive adjustment mechanism, respectively.

[0038] During the initial needle insertion phase, when the needle tip penetrates the skin surface and loose subcutaneous fat tissue, the reaction torque experienced by the needle propulsion mechanism 60 is extremely small. According to the principle of differential balance, the majority of the operator's thrust is allocated to driving the needle propulsion mechanism 60, ensuring the acupuncture needle advances smoothly. During this process, the torque allocated to the damping module 40 is negligible, and the damping module 40 provides virtually no damping effect. The force fed back to the multi-level tactile feedback needle handle 20 can only compress its internal first elastic body 203, which has the lowest stiffness. The operator thus perceives a slight initial tactile sensation, objectively indicating that the needle has successfully pierced the skin.

[0039] When the needle tip reaches dense connective tissues such as fascia and muscle layers, the tissue reaction torque experienced by the needle propulsion mechanism 60 increases significantly. To maintain torque balance, the differential force transmission mechanism 30 automatically and non-linearly diverts a larger portion of the driving torque to the damping module 40, forcing the piston inside the miniature sealed cylinder 401 to move and overcome the viscous resistance of the high-viscosity silicone oil. The operator will clearly perceive that the propulsion resistance of the multi-stage tactile feedback needle handle 20 suddenly becomes "viscous," as if pushing in a semi-solid colloid. At the same time, this significantly amplified feedback force further compresses the more rigid elastic body inside the multi-stage tactile feedback needle handle 20, causing a perceptible displacement of the second coaxial sleeve 202, allowing the operator to obtain a clear, phased "layered breakthrough sensation" on their fingers.

[0040] During this process, if the operator unintentionally applies excessively rapid thrust, causing a sudden increase in the rotational speed of output terminal 3012, the micro eddy current damper of the damping adaptive adjustment mechanism 50 will respond immediately. This causes the damping force to be superimposed on the operator's preset base with a dynamic increment positively correlated with the needle insertion speed. The operator will feel an unusually "heavy" pushing resistance, thus physically inhibiting rapid and dangerous needle insertion movements, forming an active safety protection mechanism.

[0041] When the needle depth approaches the danger zone preset by the operator via an external adjustment knob, the periosteum or connective tissue surrounding dense neurovascular bundles that the needle tip may touch will generate significant puncture resistance. At this point, most of the thrust is diverted to the damping module 40, which is already in a high-base-damping state, and the operator will feel a significantly enhanced, non-linear, flexible resistance wall. In this extreme state, all sleeves and elastomers of the multi-stage tactile feedback needle handle 20 are fully compacted, transmitting a firm, final tactile signal to the operator that further advancement is not easily possible, clearly indicating that the preset safety boundary has been reached.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An acupuncture needle insertion auxiliary device, comprising a handheld outer shell (10) suitable for single-handed holding, characterized in that, A multi-stage tactile feedback needle handle (20) for receiving the operator's thrust is threaded through and slidably connected to the upper part of the outer shell (10). A needle body propulsion mechanism (60) for clamping and driving the acupuncture needle to move axially is provided in the lower part of the inner part of the outer shell (10). An annular blunt pressure surface (70) for contacting the patient's skin is provided at the bottom end of the outer shell (10). The multi-stage tactile feedback needle handle (20) and the needle body propulsion mechanism (60) are connected by a differential force transmission mechanism (30). The mechanism (30) is also coupled with the damping module (40) and the damping adaptive adjustment mechanism (50). The needle insertion force applied by the operator through the multi-level tactile feedback needle handle (20) is distributed through the differential force transmission mechanism (30). Part of it is used to drive the needle body advancement mechanism (60), and the other part is dynamically applied to the damping system composed of the damping module (40) and the damping adaptive adjustment mechanism (50) according to the tissue resistance encountered by the needle tip. Finally, the mechanical signal is fed back to the operator's fingers in the form of touch.

2. The acupuncture needle insertion auxiliary device according to claim 1, characterized in that, The multi-level tactile feedback needle handle (20) includes a first coaxial sleeve (201), a second coaxial sleeve (202) is sleeved and slidably connected to the outer wall of the first coaxial sleeve (201), and the bottom end of the first coaxial sleeve (201) is connected to the middle part of the second coaxial sleeve (202) through a first elastic body (203). The second coaxial sleeve (202) is inserted and slidably connected to the upper part of the outer shell (10), and the bottom of the second coaxial sleeve (202) is connected to the inner wall of the outer shell (10) through a second elastic body (204). The stiffness coefficient of the second elastic body (204) is greater than the stiffness coefficient of the first elastic body (203). A rigid push rod (205) is fixedly connected to the bottom end of the second coaxial sleeve (202).

3. The acupuncture needle insertion auxiliary device according to claim 2, characterized in that, The differential force transmission mechanism (30) includes a differential (301), the outer wall of which is rotatably connected to the inside of the housing (10). The input end of the differential (301) is fixedly connected to a main drive gear (302), and the tooth end of the main drive gear (302) is meshed with a rack (303). The top end of the rack (303) is fixedly connected to the bottom end of a rigid push rod (205). The differential (301) has two output ends, namely output end one (3011) and output end two (3012). The output end one (3011) is used to drive the needle body propulsion mechanism (60), and the output end two (3012) is used to drive the damping module (40) and the damping adaptive adjustment mechanism (50).

4. The acupuncture needle insertion auxiliary device according to claim 3, characterized in that, The needle propulsion mechanism (60) includes a lead screw (601), which is fixedly connected to an output end (3011). The threaded end of the lead screw (601) is fitted with and threadedly connected to a nut slider (602). The outer wall of the nut slider (602) passes through and is slidably connected to the lower part of the outer shell (10). The bottom end of the nut slider (602) is fixedly connected to a needle clamping assembly (603).

5. An acupuncture needle insertion auxiliary device according to claim 4, characterized in that, The needle clamping assembly (603) includes a base, the top wall of which is fixedly connected to the bottom end of the nut slider (602). Two clamping blocks are symmetrically arranged and fixedly connected to the bottom wall of the base, and each of the two clamping blocks has a limit block on its opposite surface. One clamping block is fixedly connected to its corresponding limit block, and the other clamping block is slidably connected to its corresponding limit block. The clamping block is also provided with a self-locking push switch. By pressing the self-locking push switch, the corresponding limit block is driven to move, so that the two limit blocks switch between two states of contact and separation. When the two limit blocks are in the contact state, the needle between them is clamped and fixed.

6. The acupuncture needle insertion auxiliary device according to claim 3, characterized in that, The damping module (40) includes a miniature sealing cylinder (401). The outer wall of the miniature sealing cylinder (401) is fixedly connected to the inner wall of the outer shell (10). The reciprocating moving end of the miniature sealing cylinder (401) is connected to the output end (3012) through the crank connecting rod assembly (402). When this output end rotates, the reciprocating moving end of the miniature sealing cylinder (401) is driven to move through the crank connecting rod assembly (402).

7. An acupuncture needle insertion auxiliary device according to claim 3, characterized in that, The damping adaptive adjustment mechanism (50) adopts a micro eddy current damper. The permanent magnet rotor end of the micro eddy current damper is coaxial with and fixedly connected to the output end two (3012). The stator end outer wall of the micro eddy current damper is fixedly connected to the inner wall of the outer shell (10). When the permanent magnet rotor end rotates with the output end two (3012), eddy currents are induced in the stator end. The magnetic field generated by the eddy current acts in the opposite direction on the permanent magnet rotor end, forming a braking torque proportional to the rotation speed, so as to form a dynamic damping gain related to the needle insertion speed.

8. The acupuncture needle insertion auxiliary device according to claim 1, characterized in that, The annular blunt pressure surface (70) is a flat circular ring structure with a central hole coaxial with the needle body. The diameter of the central hole is larger than the outer diameter of the needle body. The bottom surface of the annular blunt pressure surface (70) is a smooth mirror surface with chamfered edges. The bottom surface of the annular blunt pressure surface (70) is also provided with multiple blunt protrusions, which are evenly arranged around the central hole.

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