An abdominal needle robot needle injection mechanism with limit protection and a working method thereof

Abstract

A needle application mechanism and its working method for an abdominal acupuncture robot with limit protection are disclosed, relating to the field of abdominal acupuncture robot technology. The mechanism includes: a needle application mechanism, a needle handle and acupuncture needle held at the lower part of the needle application mechanism, and a needle placement plate assembly. The needle application mechanism is connected to a robotic arm via a top flange interface. The needle application mechanism includes a housing, a drive assembly disposed inside the housing, an execution assembly connected to the drive assembly, a pneumatic control assembly disposed on the upper side of the execution assembly, and a limit detection component disposed inside the housing. The drive assembly provides axial needle insertion power. The chuck body of the execution assembly has a pneumatic channel inside, and the positive and negative pressure generated by the pneumatic control assembly enables the adsorption and release of the needle. The limit detection component limits the movement of the chuck body.

Description

Technical Field

[0001] This invention relates to the field of abdominal acupuncture robot technology, and more particularly to an abdominal acupuncture robot acupuncture mechanism with limit protection and its working method. Background Technology

[0002] Abdominal acupuncture is an important branch of traditional Chinese medicine acupuncture, which treats diseases by applying needles to specific acupoints on the abdomen. Traditional abdominal acupuncture relies on manual operation by physicians, which suffers from high labor intensity, the accuracy of needle application being affected by the physician's experience, and the difficulty in standardizing the procedure. With the development of robotics technology, abdominal acupuncture robots have emerged, aiming to improve the accuracy, repeatability, and safety of needle application.

[0003] In existing abdominal acupuncture robotic acupuncture mechanisms, the needle gripping and release methods mostly employ mechanical clamping or electromagnetic adsorption. Mechanical clamping can easily damage the needle surface, affecting its lifespan and hygienic properties; electromagnetic adsorption requires complex electromagnetic drive devices, which are costly and susceptible to magnetic field interference. Furthermore, most existing acupuncture mechanisms lack effective needle depth limiting devices, which may lead to improper operation during acupuncture, causing the needle to penetrate too deeply into the skin, resulting in patient injury and posing a safety hazard.

[0004] Therefore, it is necessary to conduct research to address the aforementioned deficiencies in the existing technology and to provide an abdominal acupuncture robot acupuncture mechanism and its working method based on pneumatic needle suction and needle handle limiting protection to solve the deficiencies in the existing technology. Summary of the Invention

[0005] In response to the aforementioned technical problems of existing abdominal acupuncture robot application mechanisms, such as the tendency for needles to be damaged by gripping methods, high costs, susceptibility to interference, and the lack of effective depth limiting devices leading to safety hazards, this invention provides an abdominal acupuncture robot application mechanism with limiting protection and its operating method. This invention achieves non-destructive needle gripping and release through a primary pneumatic needle suction method, and ensures safe and controllable application depth through a needle handle limiting structure, thereby improving the accuracy, repeatability, and safety of abdominal acupuncture application.

[0006] The technical means employed in this invention are as follows:

[0007] A robotic acupuncture treatment mechanism with limit protection includes: an acupuncture treatment mechanism, a needle handle and acupuncture needle held in the lower part of the acupuncture treatment mechanism, and a needle placement plate assembly. The acupuncture treatment mechanism is connected to a robotic arm through a top flange interface. The acupuncture mechanism includes an acupuncture mechanism housing, a drive assembly disposed inside the acupuncture mechanism housing, an execution assembly that is drively connected to the drive assembly, a pneumatic control assembly disposed on the upper side of the execution assembly, and a limit detection component disposed inside the acupuncture mechanism housing. The needle application mechanism housing includes a cylindrical main body and detachable side plates; the drive assembly includes a module body, a module slide slidably disposed on the module body, and a drive motor disposed at one end of the module body; the execution assembly includes a chuck fixing seat, a chuck body, and a limiting threaded pin; the pneumatic control assembly includes a pipe connector; the limiting detection component includes a photoelectric sensor and a signal shield; the needle placement plate assembly includes a needle placement plate upper plate, a needle placement plate lower plate, and a support column; The drive assembly provides axial needle insertion power; the chuck body of the actuation assembly has a pneumatic channel inside, and the positive and negative pressure generated by the pneumatic control assembly realizes the adsorption and release of the needle; the limit detection component is used to limit the movement process of the chuck body.

[0008] Furthermore, the outer shell of the needle application mechanism includes a cylindrical main body and a detachable side plate; the cylindrical main body includes a top flange, a middle cylinder connected to the top flange, and a bottom conical part connected to the bottom of the middle cylinder; four first connecting through holes and one positioning pin hole are evenly opened along the circumference on the end face of the top flange; several threaded fixing holes are opened along the axial direction on the side wall of the middle cylinder; the bottom conical part is tapered and has a needle outlet through hole in its center; the detachable side plate is an arc-shaped plate structure, and its radius of curvature matches the outer radius of the middle cylinder; the detachable side plate is fixed to the side wall of the middle cylinder through the threaded fixing hole to form a closed cavity; the needle application mechanism and the robotic arm are axially locked by screws passing through the first connecting through holes, and radially positioned by inserting a cylindrical positioning pin into the positioning pin hole; the actuating component penetrates the interior of the cylindrical main body, and its end extends to the needle outlet through hole.

[0009] Furthermore, the drive assembly penetrates the interior of the needle application mechanism housing and is used to provide axial needle insertion power. The drive assembly includes a module body, a module slide slidably disposed on the module body, and a drive motor disposed at one end of the module body. The module body is a long strip-shaped base structure with a transmission screw inside. The drive motor drives the transmission screw to rotate, causing the module slide to reciprocate along the axial direction of the module body, thereby driving the execution assembly to perform needle insertion and retraction actions. Eight connecting holes are spaced axially on the side wall of the needle application mechanism housing, of which the six at the bottom are first fixing threaded holes and the two at the top are second fixing threaded holes. The module slide is fitted onto the outside of the module body. Four second connecting threaded holes are provided on one end face facing the execution component, and two connecting nuts are provided on the other end. Two third fixing holes are also provided on its top end face. The module body is fixed to the inside of the cylindrical body by passing hexagonal head screws through the first fixing threaded holes. The module slide is connected to the second fixing threaded holes on the top of the module body by the connecting nuts. The chuck fixing seat is fixed to the end face of the module slide by passing hexagonal head screws through the second connecting threaded holes.

[0010] Furthermore, the execution component includes a chuck fixing seat, a chuck body, and a limiting threaded pin; the chuck fixing seat is a block structure, with four third connecting through holes and two fourth connecting threaded holes distributed in a rectangle on its side end face, and a through central mounting hole is provided in the center of the chuck fixing seat; The chuck body is a long rod-shaped structure with an axially extending pneumatic channel inside. It has a mounting part at the bottom, an air pipe connection hole on the top end face, and two square limiting grooves and two limiting pin mounting holes on its side. The limiting threaded pin includes a threaded portion and a limiting shaft portion. The chuck fixing seat is connected to the module slide by a screw passing through the third connecting through hole. The chuck body is inserted into the central mounting hole and is locked and fixed to the chuck fixing seat by a screw passing through the fourth connecting threaded hole and engaging with the square limiting groove. The limiting threaded pin is screwed into the limiting pin mounting hole and extends into the pneumatic channel to limit the needle handle and prevent the needle from being excessively sucked into the needle application mechanism. The air tube connection hole is connected to the pneumatic control component through an air tube to generate positive and negative pressure to adsorb and release the needle.

[0011] Furthermore, the pneumatic control assembly includes a standard pipe connector; the pipe connector has an air nozzle on its exterior for connecting to an air pipe, and an internal connecting part with external threads; A threaded mounting hole is provided on the side wall of the cylindrical body corresponding to the position of the pipe connector; the pipe connector is screwed into the threaded mounting hole through the external thread and fixed to the side wall of the cylindrical body; the air nozzle is connected to an external vacuum generator through an air pipe; the threaded mounting hole is connected to the pneumatic channel inside the chuck body through an internal air passage; the pneumatic control component is used to generate positive or negative pressure through the external vacuum generator, which is transmitted to the bottom of the chuck body through the air pipe and the pneumatic channel to realize the adsorption, fixation or release of the needle.

[0012] Furthermore, the limiting detection component includes two photoelectric sensors and two signal shields; the photoelectric sensor body has two sensor mounting through holes spaced apart vertically; the signal shield has two waist-shaped mounting holes spaced apart along its length on its horizontal side; the inner wall of the cylindrical body has threaded fixing holes corresponding to the positions of the sensor mounting through holes; the side of the chuck fixing seat has threaded connection holes corresponding to the positions of the waist-shaped mounting holes; the photoelectric sensor is locked and fixed to the inner wall of the cylindrical body by screws passing through the sensor mounting through holes; the signal shield is locked and fixed to the side of the chuck fixing seat by screws passing through the waist-shaped mounting holes; the two photoelectric sensors are respectively disposed at different height positions inside the cylindrical body; the signal shield moves with the chuck fixing seat, and when the signal shield blocks the upper photoelectric sensor, it restricts the upward movement of the execution component; when the signal shield blocks the lower photoelectric sensor, it restricts the downward movement of the execution component.

[0013] Furthermore, the needle placement plate assembly includes a needle placement plate upper plate, a needle placement plate lower plate, and a support column; the four corners of the needle placement plate upper plate are respectively provided with upper connecting through holes, and the surface of the needle placement plate upper plate is also provided with a matrix arrangement of needle storage holes; The lower plate of the needle plate is provided with lower connecting through holes at the four corners, and eight mounting through holes are also provided on the surface of the lower connecting through hole plate. The support column is a cylindrical structure with threaded holes on both its upper and lower end faces; The upper plate of the needle placement plate is fixed to the top of the support column by screwing a screw through the upper connecting through hole into the threaded hole at the upper end of the support column; the lower plate of the needle placement plate is fixed to the bottom of the support column by screwing a screw through the lower connecting through hole into the threaded hole at the lower end of the support column; the needle placement plate assembly is fixed in the needle application working area through the mounting through hole for manually placing standardized needles for the execution component to grasp.

[0014] Furthermore, the needle handle and acupuncture needle held at the lower part of the acupuncture mechanism include a needle handle and a needle body; the needle handle has a cylindrical structure, and the top of the needle handle is provided with a tapered guide portion; the middle part of the needle handle is provided with an axial blind hole for mounting needle bodies of different diameters; The bottom of the needle handle is provided with a limiting boss. One end of the needle body is inserted into the mounting blind hole for fixation. The outer diameter of the needle handle is matched with the pneumatic channel adsorption port of the chuck body for pneumatic adsorption and fixation. The limiting boss is used to make physical contact with the bottom stop surface of the chuck fixing seat or the chuck body at the needle insertion limit position to form a mechanical hard limit and prevent the needle from being inserted too deeply.

[0015] The present invention also provides a method for operating an abdominal acupuncture robot acupuncture mechanism with limit protection, comprising the following steps: S1: Needle application mechanism origin reset: The industrial control computer sends a start needle application command, the drive component drives the chuck assembly to move upward until the signal shield blocks the photoelectric sensor above, the chuck assembly stops moving upward and completes the origin reset; S2: Needle removal by the needle application mechanism: The pneumatic control component generates negative pressure, and the chuck body adsorbs the needle on the needle placement plate assembly; S3: Needle insertion mechanism: The robotic arm moves to the target acupoint, and the drive component drives the chuck assembly to move downward to insert the needle; S4: Needle insertion limit of the needle application mechanism: If the signal shield blocks the photoelectric sensor below during the needle insertion process, the chuck assembly will immediately stop moving downward. S5: Acupuncture needle release and needle application mechanism retraction: After the needle application is completed, the clamp assembly retracts upward, and the pneumatic control component generates positive pressure to release the needle.

[0016] Compared with the prior art, the present invention has the following advantages: This invention utilizes an innovative pneumatic control component design, employing positive and negative pressure generated by a vacuum generator to achieve needle adsorption and release, replacing the traditional mechanical gripper structure. This design, through the cooperation of the pneumatic channel inside the gripper body with the outer diameter of the needle shank, achieves non-destructive needle clamping, effectively avoiding wear on the needle shank caused by mechanical clamping. Simultaneously, it features fast pneumatic response, a simple structure, easy maintenance, and significantly improved needle changing efficiency.

[0017] A dual limit protection mechanism is implemented, significantly improving needle insertion safety. Specifically: on the one hand, electrical limiting is achieved through limit detection components (photoelectric sensor and signal shield). When the signal shield blocks the photoelectric sensor below, it restricts the downward movement of the actuator. On the other hand, a mechanical hard limit is formed by the limit boss at the bottom of the needle handle and the bottom stop surface of the chuck fixing seat or the chuck body. Even if the electronic control system fails, the mechanical hard limit can make physical contact at the needle insertion limit position, blocking the needle from continuing to move downward, fundamentally eliminating the possibility of excessive puncture and achieving inherent safety.

[0018] The acupuncture mechanism features a closed design, comprising a cylindrical main body and detachable side panels, with a needle outlet and dustproof sealing ring at the bottom. This structure encloses internal components such as the drive and actuation components within a sealed cavity, preventing contact with the outside environment and maintaining a clean state over the long term. Simultaneously, the cylindrical main body's tapered bottom, with its corner-free design and stainless steel side panels, can withstand alcohol wiping or ultraviolet disinfection, effectively preventing patient skin debris and blood from entering the mechanism and meeting the hygiene requirements of a medical environment.

[0019] The needle tray assembly adopts a passive storage structure, assembled from an upper and lower plate and a support column, and features a matrix arrangement of needle storage holes. This design supports manual placement of standardized needles, allowing nurses to flexibly replenish needles of different sizes (5mm-30mm) according to treatment needs. This facilitates real-time verification of needle specifications and quantities, reducing the complexity and cost of the fully automated needle supply system while ensuring the standardization and accuracy of needle retrieval coordinates. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the device in an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the needle application mechanism in an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the overall structure of the needle plate assembly, needle handle, and acupuncture needle in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of the needle application mechanism housing in an embodiment of the present invention.

[0025] Figure 5 This is an exploded structural diagram of the internal components of the needle application mechanism in an embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of the structure of the clamp fixing seat in an embodiment of the present invention.

[0027] Figure 7 This is a schematic diagram of the structure of the chuck body and the limiting threaded pin in an embodiment of the present invention.

[0028] Figure 8 This is a schematic diagram of the structure of the photoelectric sensor and the signal shield in an embodiment of the present invention.

[0029] Figure 9 This is a schematic diagram of the needle placement plate assembly in an embodiment of the present invention.

[0030] Figure 10 This is a schematic diagram of the structure of the needle handle and acupuncture needle in an embodiment of the present invention.

[0031] Figure 11 This is a flowchart of the working method in an embodiment of the present invention.

[0032] In the diagram: 1. Needle application mechanism; 100. Needle application mechanism housing; 101. Cylindrical main body; 10101. First connecting through hole; 10102. Positioning pin hole; 10103. First threaded fixing hole; 10104. Needle outlet through hole; 10105. Threaded mounting hole; 10106. Second threaded fixing hole; 102. Removable side plate; 200. Drive assembly; 201. Module body; 20101. First fixing threaded hole; 20102. Second fixing threaded hole 202. Module slide; 20201. Second connecting threaded hole; 20202. Connecting nut; 20203. Third fixing hole; 203. Drive motor; 300. Actuating component; 301. Chuck fixing seat; 30101. Third connecting through hole; 30102. Fourth connecting threaded hole; 30103. Threaded connection hole; 30104. Center mounting hole; 302. Chuck body; 30201. Pneumatic channel; 30202. Mounting part; 3 0203, Air tube connection hole; 30204, Square limiting groove; 30205, Limiting pin mounting hole; 303, Limiting threaded pin; 400, Pneumatic control assembly; 401, Pipe connector; 40101, Air nozzle; 40102, External thread; 500, Limit detection component; 501, Photoelectric sensor; 50101, Sensor mounting through hole; 502, Signal shield; 50201, Waist-shaped mounting hole; 600, Needle plate assembly; 601, Needle plate on... Plate; 60101, Upper connecting through hole; 60102, Needle storage hole; 602, Lower plate of needle placement plate; 60201, Lower connecting through hole; 60202, Mounting through hole; 603, Support column; 60301, Threaded hole; 604, Socket head cap screw; 701, Needle handle; 70101, Tapered guide part; 70102, Mounting blind hole; 70103, Limiting boss; 702, Needle body; 2. Needle handle and acupuncture needle; 4. Top flange interface; 5. Robotic arm. Detailed Implementation

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0035] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0036] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0037] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0038] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0039] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0040] This embodiment proposes an abdominal acupuncture robot acupuncture mechanism based on pneumatic needle suction and needle handle limiting protection, such as... Figure 1-10 As shown, the device includes an acupuncture mechanism 1, a needle handle and acupuncture needle 2 held at the lower part of the acupuncture mechanism 1, and a needle tray assembly 600 disposed in the acupuncture working area. The acupuncture mechanism 1 is connected to a robotic arm 5 through a top flange interface 4. The robotic arm 5 drives the acupuncture mechanism 1 to move in space, and the needle tray assembly 600 is used to store standardized needles for the acupuncture mechanism 1 to grasp.

[0041] like Figures 2-4As shown, the acupuncture mechanism 1 includes an acupuncture mechanism housing 100, a drive assembly 200 disposed inside the acupuncture mechanism housing, an execution assembly 300 connected to the drive assembly, a pneumatic control assembly 400 disposed on the upper side of the execution assembly 300, and a limit detection component 500 disposed inside the acupuncture mechanism housing. The acupuncture mechanism housing 100 includes a cylindrical body 101 and a detachable side plate 102. The cylindrical body 101 includes a top flange portion from top to bottom, a middle cylinder connected to the top flange portion, and a bottom conical portion connected to the bottom of the middle cylinder portion. Four first connecting through holes 10101 and one positioning pin hole 10102 are evenly opened along the circumference on the end face of the top flange portion. The distribution circle diameter of the first connecting through holes 10101 is 50 mm, the hole diameter is 6.50 mm, and it is a countersunk hole with a depth of 4.00 mm. The side wall of the middle cylinder has several first threaded fixing holes 10103 axially formed, including internal threaded holes of M2.5 and M3 specifications. The bottom tapered part is tapered, with a needle outlet through hole 10104 at its center, the diameter of which is 16.00mm. The detachable side plate 102 is an arc-shaped plate structure, the radius of curvature of which matches the outer radius of the middle cylinder. The detachable side plate 102 is fixed to the side wall of the middle cylinder by screwing it into the first threaded fixing holes 10103 with hexagonal head screws, forming a closed cavity. The needle application mechanism is connected to the robotic arm 5 through the first connecting hole 10101 at the top. During connection, axial locking is achieved by passing four M6x16 hexagonal head screws through the first connecting through hole 10101, and radial positioning is achieved by inserting a 6x12 cylindrical locating pin into the locating pin hole 10102.

[0042] like Figure 5 As shown, the drive assembly 200 includes a module body 201, a module slide 202 slidably disposed on the module body 201, and a drive motor 203 disposed at one end of the module body 201. The module body 201 is a long strip-shaped base structure, which is hollow inside and equipped with a transmission screw. Eight connecting holes are spaced apart along the axial direction on its side wall, of which the six located at the bottom are first fixing threaded holes 20101, and the two located at the top are second fixing threaded holes 20102.

[0043] The module slide 202 is fitted onto the outside of the module body 201. Four second connecting threaded holes 20201 are provided on one end face facing the chuck assembly, and two connecting nuts 20202 are provided on the other end. Two third fixing holes 20203 are also provided on its top end face. The module body 201 is fixed to the interior of the cylindrical body 101 by hexagonal head screws passing through the first fixing threaded holes 20101. The module slide 202 is connected to the second fixing threaded holes 20102 on the top of the module body 201 by the two connecting nuts 20202.

[0044] like Figure 6-7 As shown, the actuator 300 includes a chuck fixing base 301 and a chuck body 302. The chuck fixing base 301 is a block structure, with four third connecting through holes 30101 distributed in a rectangular pattern on its side end face. The diameter of the third connecting through holes 30101 is 2.70 mm and it has a countersunk hole with a diameter of 5.5 mm and a depth of 4.5 mm. Two fourth connecting threaded holes 30102 are also provided on its side end face. The fourth connecting threaded holes 30102 are of specification M4, and a through center mounting hole 30104 is provided in the center of each hole. The diameter of the center mounting hole 30104 is 8.00 mm.

[0045] The chuck body 302 is a long rod-shaped structure with a total length of 155mm. It has an axially extending pneumatic channel 30201 inside, a 12.00mm diameter mounting part 30202 at its bottom, an M5 air pipe connection hole 30203 on its top end face, two square limiting grooves 30204 on its side, and two limiting pin mounting holes 30205 on its side as well. The chuck fixing seat 301 is connected to the module slide 202 via four M2.5x20 hexagon socket head cap screws passing through the third connecting through hole 30101. The chuck body 302 is inserted into the central mounting hole 30104 and secured to the chuck fixing seat 301 via two M4x8 hexagon socket head cap screws passing through the fourth connecting threaded hole 30102 and engaging with the square limiting grooves 30204.

[0046] The limiting threaded pin 303 includes an M3 threaded portion and a limiting shaft portion with a diameter of φ2.00mm, with a total length of 4.30mm. The limiting threaded pin 303 is screwed into the limiting pin mounting hole 30205 and extends into the pneumatic channel 30201 to limit the needle handle and prevent the needle from being excessively sucked into the needle application mechanism.

[0047] The tracheal connection port 30203 is connected to the pneumatic control component 400 through the tracheal tube and is used to generate positive and negative pressure to adsorb and release the needle.

[0048] The pneumatic control assembly 400 includes a standard pipe connector 401, model AirTACPL4M5, with an external nozzle 40101 for connecting to an air pipe and an internal connecting part with an external thread 40102. A threaded mounting hole 10105 of M5 specification is provided on the side wall of the cylindrical body 101 corresponding to the position of the pipe connector 401. The pipe connector 401 is screwed into the threaded mounting hole 10105 through the external thread 40102 and fixed to the side wall of the cylindrical body 101. The nozzle 40101 is connected to an external vacuum generator via an air pipe. The threaded mounting hole 10105 communicates with the pneumatic channel 30201 inside the chuck body 302 through an internal air passage.

[0049] like Figure 8 As shown, the limit detection component 500 includes two photoelectric sensors 501 and two signal shields 502. The photoelectric sensors 501, model OMRONEE-SX674-WR, have two sensor mounting through holes 50101 spaced vertically on their main body. The signal shields 502 are L-shaped sheets with a vertical side length of 18.00 mm, a horizontal side length of 20.00 mm, a width of 10.00 mm, and a corner radius of R0.50 at the bend. Two oblong mounting holes 50201 are spaced along the length of the horizontal side of the signal shields 502. The oblong mounting holes 50201 are 9.00 mm long, 3.10 mm wide, and 9.00 mm apart at their centers. A second threaded fixing hole 10106 is provided on the inner wall of the cylindrical main body 101 at the position corresponding to the sensor mounting through holes 50101. A threaded connection hole 30103 is provided on the side of the chuck fixing base 301, corresponding to the position of the waist-shaped mounting hole 50201. The photoelectric sensor 501 is locked and fixed to the inner wall of the cylindrical body 101 through the sensor mounting through hole 50101 by two M3x5 hexagon socket head cap screws. The signal shield 502 is locked and fixed to the side of the chuck fixing base 301 through the waist-shaped mounting hole 50201 by two M3x5 hexagon socket head cap screws. The two photoelectric sensors 501 are respectively set at different height positions inside the cylindrical body 101. The signal shield 502 moves with the chuck fixing base 301. When the signal shield 502 blocks the upper photoelectric sensor 501, it restricts the upward movement of the actuator 300; when the signal shield 502 blocks the lower photoelectric sensor 501, it restricts the downward movement of the actuator 300.

[0050] like Figure 9As shown, the needle placement plate assembly 600 includes a needle placement plate upper plate 601, a needle placement plate lower plate 602, and four support columns 603. The needle placement plate upper plate 601 is a rectangular plate with a thickness of 5.00 mm. It has four upper connecting through holes 60101 at its four corners, each with a diameter of 5.50 mm. A matrix arrangement of needle storage holes 60102 with a diameter of 2.00 mm is also provided on its surface. The needle placement plate lower plate 602 is a rectangular plate with a thickness of 10.00 mm. It has four lower connecting through holes 60201 at its four corners, each with a diameter of 5.50 mm. Eight mounting through holes 60202 are also provided on its surface. The support column 603 is a cylindrical structure with a length of 80.00 mm and a diameter of 12.00 mm. Both its upper and lower ends have M5 threaded holes 60301 with a depth of 15 mm. The needle placement plate assembly 600 also includes eight M5x12 socket head cap screws 604. Four of these screws pass through the upper connecting through hole 60101 and are screwed into the M5 threaded holes 60301 at the upper end of the support column 603, fixing the upper plate 601 of the needle placement plate to the top of the support column 603. The other four screws pass through the lower connecting through hole 60201 and are screwed into the M5 threaded holes 60301 at the lower end of the support column 603, fixing the lower plate 602 of the needle placement plate to the bottom of the support column 603. The needle placement plate assembly 600 is fixed within the needle application working area via the mounting through hole 60202, for manually placing standardized needles for the actuation component 300 to grasp.

[0051] like Figure 10 As shown, the needle handle and acupuncture needle held in the lower part of the acupuncture mechanism include a needle handle 701 and a needle body 702. The needle handle 701 is a cylindrical structure with a total length of 15.50 mm and an outer diameter of φ8.00 mm. The top of the needle handle 701 is provided with a 60.00° tapered guide portion 70101. A blind hole 70102 is provided axially in the middle of the needle handle 701, with a diameter of φ4.00±0.02 mm, for installing needle bodies 702 of different diameters. The bottom of the needle handle 701 is provided with a limiting boss 70103 with a diameter of φ8.00 mm, a height of 2.00 mm, and a bottom cone angle of 40.00°. An annular groove 70104 with a width of 3.00±0.02 mm is also provided on the side of the needle handle 701. One end of the needle body 702 is inserted into and fixed in the mounting blind hole 70102. The length specifications of the needle body 702 include 5mm, 10mm, 15mm, 20mm, 25mm, and 30mm. The outer diameter of the needle shank 701 matches the pneumatic channel suction port of the chuck body 302 for pneumatic suction fixation. The limiting boss 70103 is used to physically contact the bottom stop surface of the chuck fixing seat 301 or the chuck body 302 at the extreme position of needle insertion, forming a mechanical hard limit to prevent the needle from being inserted too deeply.

[0052] Key implementation principles and working methods: like Figure 11 As shown, the present invention also provides a working method for an abdominal acupuncture robot acupuncture mechanism based on pneumatic suction needle and needle handle limiting protection, specifically including the following steps: Step 1: Reset the origin of the needle application mechanism. The industrial control computer sends a start needle application command, and the drive component drives the chuck assembly to move upward until the signal shield 502 blocks the photoelectric sensor 501 above. The chuck assembly stops moving upward, completing the origin reset.

[0053] Step 2: Needle dispensing mechanism. The pneumatic control component 400 generates negative pressure, and the chuck body 302 adsorbs the needle on the needle tray assembly 600.

[0054] Step 3: Needle insertion by the acupuncture mechanism. The robotic arm 5 moves to the target acupoint, and the drive component drives the chuck assembly to move downward to insert the needle.

[0055] Step 4: Needle application mechanism limit. During needle insertion, if the signal shield 502 blocks the photoelectric sensor 501 below, the chuck assembly will immediately stop moving downwards.

[0056] Step 5: Acupuncture needle release and needle application mechanism retracts. After needle application is completed, the clamp assembly retracts upwards, and the pneumatic control component 400 generates positive pressure to release the needle.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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; and these 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 the present invention.

Claims

1. A robotic acupuncture mechanism for abdominal acupuncture with limit protection, characterized in that, include: The acupuncture mechanism (1), the needle handle and acupuncture needle (2) clamped at the lower part of the acupuncture mechanism (1), and the needle plate assembly (600) are connected to the robotic arm (5) through the top flange interface (4). The acupuncture mechanism (1) includes an acupuncture mechanism housing (100), a drive assembly (200) disposed inside the acupuncture mechanism housing (100), an execution assembly (300) that is connected to the drive assembly (200) in a transmission manner, a pneumatic control assembly (400) disposed on the upper side of the execution assembly (300), and a limit detection component (500) disposed inside the acupuncture mechanism housing (100). The needle application mechanism housing (100) includes a cylindrical body (101) and a detachable side plate (102); the drive assembly (200) includes a module body (201), a module slide (202) slidably disposed on the module body, and a drive motor (203) disposed at one end of the module body; the execution assembly (300) includes a chuck fixing seat (301), a chuck body (302), and a limiting threaded pin (303); the pneumatic control assembly (400) includes a pipe connector (401); the limiting detection component (500) includes a photoelectric sensor (501) and a signal shield (502); the needle placement plate assembly (600) includes a needle placement plate upper plate (601), a needle placement plate lower plate (602), and a support column (603); The drive assembly (200) is used to provide axial needle insertion power; the chuck body (302) of the execution assembly (300) is provided with a pneumatic channel inside, and the needle is adsorbed and released by the positive and negative pressure generated by the pneumatic control assembly (400); the limit detection component (500) is used to limit the movement process of the chuck body.

2. The abdominal acupuncture robot acupuncture mechanism with limit protection according to claim 1, characterized in that, The outer shell (100) of the needle application mechanism includes a cylindrical body (101) and a detachable side plate (102); the cylindrical body (101) includes a top flange, a middle cylinder connected to the top flange, and a bottom conical part connected to the bottom of the middle cylinder; four first connecting through holes (10101) and one positioning pin hole (10102) are evenly opened along the circumference on the end face of the top flange; several first threaded fixing holes (10103) are opened along the axial direction on the side wall of the middle cylinder; the bottom conical part is tapered, and a needle outlet through hole (10104) is opened in its center; The detachable side plate (102) is an arc-shaped plate structure, and its radius of curvature matches the outer radius of the middle cylinder. The detachable side plate (102) is fixed to the side wall of the middle cylinder through the first threaded fixing hole (10103) to form a closed cavity. The needle application mechanism and the robotic arm (5) are axially locked by screws passing through the first connecting through hole (10101) and radially positioned by inserting a cylindrical positioning pin into the positioning pin hole (10102). The execution component penetrates the interior of the cylindrical body (101) and its end extends to the needle outlet through hole (10104).

3. The abdominal acupuncture robot acupuncture mechanism with limit protection according to claim 1, characterized in that, The drive assembly (200) penetrates the interior of the needle application mechanism housing (100) and is used to provide axial needle insertion power. The drive assembly (200) includes a module body (201), a module slide (202) slidably disposed on the module body (201), and a drive motor (203) disposed at one end of the module body (201). The module body (201) is a long strip-shaped base structure with a transmission screw inside. The drive motor (203) drives the transmission screw to rotate, causing the module slide (202) to reciprocate along the axial direction of the module body (201), thereby driving the execution assembly to perform needle insertion and retraction actions. Eight connecting holes are spaced axially on the side wall of the needle application mechanism housing (100), of which the six at the bottom are first fixing threaded holes (20101), and the two at the top are second fixing threaded holes (20102). The module slide (202) is sleeved on the outside of the module body (201). Four second connecting threaded holes (20201) are opened on one end face facing the execution component (300), and two connecting nuts (20202) are provided on the other end. Two third fixing holes (20203) are also opened on its top end face. The module body (201) is fixed to the inside of the cylindrical body (101) by passing through the first fixing threaded hole (20101) with an internal hexagonal head screw. The module slide (202) is connected to the second fixing threaded hole (20102) on the top of the module body (201) through the connecting nut (20202). The chuck fixing seat (301) is fixed to the end face of the module slide (202) by passing through the second connecting threaded hole (20201) with an internal hexagonal head screw.

4. The abdominal acupuncture robot acupuncture mechanism with limit protection according to claim 1, characterized in that, The execution component (300) includes a chuck fixing seat (301), a chuck body (302), and a limiting threaded pin (303); the chuck fixing seat (301) is a block structure, and four third connecting through holes (30101) and two fourth connecting threaded holes (30102) are provided in a rectangular pattern on its side end face, and a through central mounting hole (30104) is provided in the center of the chuck fixing seat (301); The clamp body (302) is a long rod-shaped structure with an axially extending pneumatic channel (30201) inside, a mounting part (30202) at the bottom, an air pipe connection hole (30203) on the top end face, and two square limiting grooves (30204) and two limiting pin mounting holes (30205) on its side. The limiting threaded pin (303) includes a threaded part and a limiting shaft part. The chuck fixing seat (301) is connected to the module slide (202) by a screw passing through the third connecting through hole (30101). The chuck body (302) is inserted into the center mounting hole (30104) and is locked and fixed to the chuck fixing seat (301) by a screw passing through the fourth connecting threaded hole (30102) and cooperating with the square limiting groove (30204). The limiting threaded pin (303) is screwed into the limiting pin mounting hole (30205) and extends into the pneumatic channel (30201) to limit the needle handle and prevent the needle from being excessively sucked into the needle application mechanism. The air tube connection hole (30203) is connected to the pneumatic control component (400) through the air tube to generate positive and negative pressure to adsorb and release the needle.

5. The abdominal acupuncture robot acupuncture mechanism with limit protection according to claim 1, characterized in that, The pneumatic control assembly (400) includes a standard pipe fitting (401); the pipe fitting (401) is provided with an air nozzle (40101) for connecting to an air pipe on the outside, and a connecting part with external threads (40102) is provided inside. A threaded mounting hole (10105) is provided on the side wall of the cylindrical body (101) corresponding to the position of the pipe connector (401); the pipe connector (401) is screwed into the threaded mounting hole (10105) through the external thread (40102) and fixed to the side wall of the cylindrical body (101); the air nozzle (40101) is connected to an external vacuum generator through an air pipe; the threaded mounting hole (10105) is connected to the pneumatic channel (30201) inside the chuck body (302) through an internal air passage; the pneumatic control component (400) is used to generate positive or negative pressure through the external vacuum generator, and transmit it to the bottom of the chuck body (302) through the air pipe and the pneumatic channel (30201) to realize the adsorption, fixation or release of the needle.

6. The abdominal acupuncture robot acupuncture mechanism with limit protection according to claim 1, characterized in that, The limit detection component (500) includes two photoelectric sensors (501) and two signal shields (502); the photoelectric sensor (501) has two sensor mounting through holes (50101) spaced apart vertically on its main body; the signal shield (502) has two waist-shaped mounting holes (50201) spaced apart along its length on its horizontal side; a second threaded fixing hole (10106) is provided on the inner wall of the cylindrical main body (101) corresponding to the position of the sensor mounting through holes (50101); a threaded connection hole (30103) is provided on the side of the chuck fixing seat (301) corresponding to the position of the waist-shaped mounting hole (50201); the photoelectric sensor (501) is connected by a screw. The sensor is locked and fixed to the inner wall of the cylindrical body (101) through the sensor mounting through hole (50101); the signal shield (502) is locked and fixed to the side of the clamp fixing seat (301) by screws passing through the waist-shaped mounting hole (50201); the two photoelectric sensors (501) are respectively set at different height positions inside the cylindrical body (101); the signal shield (502) moves with the clamp fixing seat (301), and when the signal shield (502) blocks the photoelectric sensor (501) above, it restricts the execution component (300) from moving upward, and when the signal shield (502) blocks the photoelectric sensor (501) below, it restricts the execution component (300) from moving downward.

7. The abdominal acupuncture robot acupuncture mechanism with limit protection according to claim 1, characterized in that, The needle placement plate assembly (600) includes a needle placement plate upper plate (601), a needle placement plate lower plate (602), and a support column (603); the four corners of the needle placement plate upper plate (601) are respectively provided with upper connecting through holes (60101), and the surface of the needle placement plate upper plate (601) is also provided with a matrix arrangement of needle storage holes (60102). The lower plate (602) of the needle plate is provided with lower connecting through holes (60201) at the four corners, and eight mounting through holes (60202) are also provided on the plate surface of the lower connecting through holes (60201). The support column (603) is a cylindrical structure, and threaded holes (60301) are provided on both its upper and lower end faces. The needle placement plate (601) is fixed to the top of the support column (603) by screwing a screw through the upper connecting through hole (60101) into the threaded hole (60301) at the upper end of the support column (603); the needle placement plate (602) is fixed to the bottom of the support column (603) by screwing a screw through the lower connecting through hole (60201) into the threaded hole (60301) at the lower end of the support column (603); the needle placement plate assembly (600) is fixed in the needle application working area through the mounting through hole (60202) for manually placing standardized needles for the execution component (300) to grasp.

8. The abdominal acupuncture robot acupuncture mechanism with limit protection according to claim 1, characterized in that, The needle handle and acupuncture needle (2) held at the lower part of the acupuncture mechanism (1) include a needle handle (701) and a needle body (702); the needle handle (701) is a cylindrical structure, and the top of the needle handle (701) is provided with a tapered guide part (70101); the middle part of the needle handle (701) is provided with a blind hole (70102) along the axial direction, and the blind hole (70102) is used to install needle bodies (702) of different diameter specifications. The bottom of the needle handle (701) is provided with a limiting boss (70103). One end of the needle body (702) is inserted into the mounting blind hole (70102) for fixation. The outer diameter of the needle handle (701) is matched with the pneumatic channel adsorption port of the chuck body (302) for pneumatic adsorption and fixation. The limiting boss (70103) is used to make physical contact with the bottom stop surface of the chuck fixing seat (301) or the chuck body (302) at the needle insertion limit position to form a mechanical hard limit and prevent the needle from being inserted too deeply.

9. A method for operating an abdominal acupuncture robot acupuncture mechanism with limit protection, implemented based on the abdominal acupuncture robot acupuncture mechanism with limit protection as described in any one of claims 1-8, characterized in that, Includes the following steps: S1: Needle application mechanism origin reset: The industrial control computer sends a start needle application command, the drive component drives the chuck assembly to move upward until the signal shield blocks the photoelectric sensor above, the chuck assembly stops moving upward and completes the origin reset; S2: Needle removal by the needle application mechanism: The pneumatic control component generates negative pressure, and the chuck body adsorbs the needle on the needle placement plate assembly; S3: Needle insertion mechanism: The robotic arm moves to the target acupoint, and the drive component drives the chuck assembly to move downward to insert the needle; S4: Needle insertion limit of the needle application mechanism: If the signal shield blocks the photoelectric sensor below during the needle insertion process, the chuck assembly will immediately stop moving downward. S5: Acupuncture needle release and needle application mechanism retraction: After the needle application is completed, the clamp assembly retracts upward, and the pneumatic control component generates positive pressure to release the needle.

Images