Portable acupuncture positioning and needle insertion aid
By introducing a needle insertion component and sensor system into a portable acupuncture device, precise needle insertion and convenient storage are achieved, solving the problems of poor needle pushing effect and inconvenience of carrying existing devices.
Patent Information
- Application Number
- CN202610340950.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-19
- Publication Date
- 2026-07-24
Smart Images
Figure CN122440466A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of medical device technology, and in particular to a portable acupuncture positioning and needle insertion aid. Background Technology
[0002] The portable acupuncture positioning and insertion aid is a lightweight and portable auxiliary device designed specifically for clinical acupuncture operations, primary healthcare, and home health care. The aid typically consists of a positioning module, a needle insertion assistance module, a power supply module, and a fixing component. After locating the acupoint, the aid is stably fixed to the skin surface using a silicone fixing patch. The insertion angle is set according to the acupuncture treatment needs using an angle adjustment knob. The acupuncture needle is then inserted into the insertion cannula. Holding the non-slip handle, the acupuncture needle is slowly pushed until it reaches the appropriate position. The aid is widely used in clinical medicine, acupuncture teaching, home health care, and rehabilitation nursing.
[0003] While existing technologies enable the use of acupuncture needles, in practical applications, the effects of needle pushing are not ideal. Typically, the needle pushing device uses a hydraulic telescopic mechanism for drive, making it difficult for the needle to reach the precise position, thus affecting the acupuncture effect. On the other hand, the needle pushing device is difficult to store. Usually, the device and the support are an integrated structure, which requires moving the entire mechanism when carrying it, thus increasing the difficulty of carrying the device.
[0004] Therefore, this invention proposes a portable acupuncture positioning and needle insertion aid. Summary of the Invention
[0005] Therefore, in order to overcome the common problems of poor performance of push needles and difficulty in storing push needle devices, a solution was developed.
[0006] The technical solution of the present invention is as follows: a portable acupuncture positioning and needle insertion aid, comprising a protective box with an open lower end. A needle insertion assembly is disposed at the center of the protective box. The needle insertion assembly includes a storage box, a first hydraulic telescopic device, a lead screw, a moving frame, a servo motor, a magnetorheological damper, a support spring, a fixing frame, a second hydraulic telescopic device, and a rubber clamping plate. The storage box can extend to the outside of the protective box through the lower opening. An execution assembly is disposed at the front end of the protective box. The execution assembly includes a control panel, an infrared ranging sensor, a power supply module, a first angular velocity sensor, a second angular velocity sensor, a laser emitter, and an angle sensor. The power supply module is fixedly disposed at the rear end of the storage box and is electrically connected to the control panel.
[0007] Preferably, both sides of the storage box are provided with lead screws, and the upper and lower ends of the lead screws are rotatably connected to the inner wall of the storage box. A movable frame is sleeved on the outside of the lead screws. Magnetorheological dampers are fixedly installed on both sides of the lower end of the movable frame. A support spring is fixedly installed between the fixed end and the telescopic end of the magnetorheological damper. A fixed frame is fixedly installed at the lower end of the telescopic end of the magnetorheological damper. A second hydraulic telescopic device is fixedly installed on the side of the fixed frame near the inner wall of the storage box, and the telescopic end of the second hydraulic telescopic device extends to the other side of the fixed frame. A rubber clamping plate is fixedly installed on one side of the telescopic end of the second hydraulic telescopic device.
[0008] Preferably, a first hydraulic telescopic device is fixed at the center of the upper end of the storage box, and the fixed end of the first hydraulic telescopic device is fixedly connected to the upper end of the protective box. Servo motors are fixedly installed on both sides of the upper end of the storage box, and the output shaft of the servo motor extends into the interior of the storage box and is fixedly connected to the lead screw.
[0009] Preferably, infrared ranging sensors are fixedly installed at both the front and rear ends of the lower end of the protective box, angle sensors are fixedly installed on both sides of the lower end of the storage box, and the detection axis of the angle sensor extends into the interior of the storage box and is rotatably connected to the lead screw. A first angular velocity sensor is fixedly installed at the center position of the upper end of the moving frame, a laser emitter is fixedly installed at the center position of the lower end of the moving frame, and a second angular velocity sensor is fixedly installed on the side of the fixed frame above the second hydraulic telescopic device.
[0010] Preferably, the control panel is electrically connected to the infrared ranging sensor, the power supply module, the first angular velocity sensor, the second angular velocity sensor, the laser emitter, the angle sensor, the first hydraulic telescopic device, the servo motor, the magnetorheological damper, and the second hydraulic telescopic device.
[0011] Preferably, a rubber pad is fixedly installed at the lower end of the protective box outside the infrared ranging sensor. Limiting grooves are provided inside the front and rear ends of the protective box at both ends of the slide groove, and the limiting grooves are through-type structures. Scale lines are provided on the outside of the protective box on the side of the opening of the limiting groove. Indicator plates are fixedly installed at the front and rear ends of both sides of the storage box. The indicator plates extend to the outside of the protective box through the limiting grooves, and the indicator plates slide and limit the limiting grooves. The positions of the indicator plates and the scale lines correspond.
[0012] Preferably, the interior of both sides of the protective box is provided with a sliding groove, and the sliding groove is a through structure. A support is provided at the bottom of the protective box, and the upper end of the support extends into the interior of the sliding groove. The support and the sliding groove are slidably engaged. The interior of the support and the interior of the protective box located on one side of the sliding groove are provided with through holes at the top and bottom, and the through holes on the support correspond to the through holes on the protective box.
[0013] Preferably, a pull rod is provided on one side of the bracket at the opening of the through hole. One end of the pull rod extends into the interior of the protective box through the through hole, and the pull rod slides in conjunction with the through hole. A return spring is sleeved on the outside of the other end of the pull rod, and the two ends of the return spring are fixedly connected to the pull rod and the bracket, respectively.
[0014] Preferably, the upper part of the protective box is provided with a storage slot, the storage slot is provided with a handle, and the handle is rotatably connected to the inner wall of the storage slot through a connecting structure. A torsion spring is fixedly provided between the handle and the inner wall of the storage slot, and the torsion spring is sleeved on the outside of the connecting structure.
[0015] A method for using a portable acupuncture positioning and needle insertion aid, the method comprising: Step 1: Locate the acupoint using a laser emitter, fix the protective box to the skin surface, detect the distance between the needle tip and the skin using an infrared ranging sensor, set the target needle insertion depth, determine the distance the first hydraulic telescopic device pushes the storage box using the indicator plate and scale lines, and calculate the target movement distance of the moving frame. Step 2: Calculate the target rotation angle of the servo motor based on the lead screw, and send a rotation command to the servo motor; Step 3: Start the servo motor to drive the lead screw to rotate, which in turn drives the moving frame to move downward. The actual rotation angle of the lead screw is detected in real time by the angle sensor. When the actual rotation angle matches the target rotation angle, the servo motor is turned off to complete the quantitative needle insertion. Step 4: Detect the vibration angular velocity of the moving frame using the first angular velocity sensor, and calculate the vibration error based on the preset vibration threshold of the moving frame, as shown in the function below: in, for Vibration error at any given moment; The angular velocity of the moving frame is the vibration velocity. The vibration threshold of the mobile frame; The basic magnetic field strength; The proportional gain is controlled by the magnetic field. The basic magnetic field strength is obtained, and the damping coefficient is changed by adjusting the current in the magnetorheological damper coil. Step 5: Detect the vibration angular velocity of the fixed frame using the second angular velocity sensor. If the vibration angular velocity of the fixed frame is greater than the preset vibration angular velocity threshold, calculate the strength of the enhanced magnetic field and perform secondary damping adjustment on the magnetorheological damper, as shown in the function below: in, To enhance the magnetic field strength; This is the secondary damping enhancement coefficient; Vibration angular velocity of the fixed frame; The basic magnetic field strength.
[0016] The beneficial effects of this invention are: 1. When using this portable acupuncture positioning and needle insertion aid, the acupuncture needle can be moved by the first hydraulic telescopic device and the lead screw. When pushing the needle, the needle body is fixed between two rubber clamping plates. The distance between the needle tip and the patient's limb is measured by the infrared distance sensor, and the downward movement distance of the moving frame is input into the control panel. At this time, the storage box is moved to the appropriate position by the first hydraulic telescopic device. During this process, the medical staff observes the scale line corresponding to the indicator plate to make the storage box move to the appropriate position. Then, the servo motor is turned on by the control panel. The servo motor drives the lead screw to rotate and drive the moving frame and the needle body to move downward together until the needle body is inserted into the patient's body, thereby improving the accuracy of needle insertion. 2. When using this portable acupuncture positioning and needle insertion aid, the protective case can be stored through the pull rod and through hole. When the protective case needs to be stored, the storage case has been moved into the protective case by the first hydraulic telescopic device. At this time, the medical staff pulls the pull rod, which moves the pull rod towards the through hole inside the support until one end of the pull rod disengages from the through hole on the protective case and enters the through hole inside the support. During this process, the return spring is in a stretched state. Then, the medical staff moves the protective case downward until it moves to the appropriate position. Then, the medical staff releases the pull rod, which resets the return spring and moves the pull rod until one end of the pull rod re-enters the through hole on the protective case. At this time, the operator can then carry the protective case by the handle, thereby improving the portability of the protective case. 3. When using this portable acupuncture positioning and needle insertion aid, the actuator enables more precise movement of the acupuncture needle. Before needle insertion, the laser emitter is activated via the control panel, emitting a laser beam. The laser guides the protective box to the appropriate position. During needle insertion, the angle sensor measures the moving distance of the moving frame. Once the moving frame reaches the preset distance, the servo motor is turned off. Simultaneously, the first angular velocity sensor detects the vibration experienced by the needle during movement. The control panel adjusts the damping of the magnetorheological damper to counteract the vibration. A second angular velocity sensor detects whether the vibration is transmitted to the fixed frame. If the second angular velocity sensor detects vibration, the control panel again adjusts the damping of the magnetorheological damper, thereby further improving the accuracy of needle insertion. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in this 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 this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0018] Figure 1 The diagram shown is a perspective view of the overall structure of the present invention; Figure 2 The image shown is a front view of the internal structure of the protective box of the present invention; Figure 3 The diagram shown is a perspective view of the protective box structure of the present invention; Figure 4 The image shown is a side view of the internal structure of the protective box of the present invention; Figure 5 The image shown is a front view of the internal structure of the storage box of the present invention; Figure 6 The image shown is a perspective view of the needle insertion assembly of the present invention; Figure 7 The present invention is shown Figure 2 Enlarged view of a portion of region A in the middle.
[0019] Explanation of reference numerals in the attached drawings: 1. Protective box; 2. Storage slot; 3. Handle; 4. Torsion spring; 5. Slide groove; 6. Through hole; 7. Bracket; 8. Pull rod; 9. Return spring; 10. Needle insertion assembly; 1001. Storage box; 1002. First hydraulic telescopic device; 1003. Lead screw; 1004. Moving frame; 1005. Servo motor; 1006. Magnetorheological damper; 1007. Support spring; 1008. Fixing frame; 1009. Second hydraulic telescopic device; 1010. Rubber clamping plate; 11. Rubber pad; 13. Indicator plate; 14. Scale line; 15. Limiting slot; 16. Actuation assembly; 1601. Control panel; 1602. Infrared ranging sensor; 1603. Power supply module; 1604. First angular velocity sensor; 1605. Second angular velocity sensor; 1606. Laser emitter; 1607. Angle sensor. Detailed Implementation
[0020] 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, 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.
[0021] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this specification are for illustrative purposes only and do not represent the only possible implementation.
[0022] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.
[0023] Please see Figures 1-7 This invention provides a technical solution: a portable acupuncture positioning and needle insertion aid, including a protective case 1, the lower end of which is open. A needle insertion assembly 10 is located at the center of the interior of the protective case 1. The needle insertion assembly 10 includes a storage box 1001, a first hydraulic telescopic device 1002, a lead screw 1003, a moving frame 1004, a servo motor 1005, a magnetorheological damper 1006, a support spring 1007, a fixing frame 1008, a second hydraulic telescopic device 1009, and a rubber clamping plate 1010. The storage box 1001 can extend to the outside of the protective box 1 through the lower opening of the protective box 1. The front end of the protective box 1 is provided with an execution component 16, which includes a control panel 1601, an infrared ranging sensor 1602, a power supply module 1603, a first angular velocity sensor 1604, a second angular velocity sensor 1605, a laser emitter 1606, and an angle sensor 1607. The power supply module 1603 is fixedly provided at the rear end inside the storage box 1001, and the power supply module 1603 is electrically connected to the control panel 1601. Here, the power supply module 1603 is charged through an interface structure. The charging process for the power supply module 1603 via this interface structure is based on existing designs and has not been modified; therefore, it will not be described in detail here. The infrared ranging sensor 1602 is a Sharp GP2Y0A21YK0F. The first angular velocity sensor 1604 and the second angular velocity sensor 1605 both use Invesco MPU6050. The angle sensor 1607 uses an Omron E6B2-CWZ6C. The laser emitter 1606 uses a Leadcore LX-D650P. The main control chip inside the control panel 1601 is an STMicroelectronics STM32F103C8T6, which is used in conjunction with the Taojingchi T1-2.4 inch HMI serial screen. The servo motor 1005 is a Tacheng 28BYJ-48. The first hydraulic telescopic device 1002 and the second hydraulic telescopic device 1009 both use Xinzheng XZ-TGD01. The miniature electric hydraulic actuator uses the Changzhou Keda MRD-M10 miniature magnetorheological damper in model 1006, and the power supply module in model 1603 uses a Panasonic 18650 lithium battery pack.
[0024] Both sides of the storage box 1001 are provided with lead screws 1003, and the upper and lower ends of the lead screws 1003 are rotatably connected to the inner wall of the storage box 1001. A movable frame 1004 is sleeved on the outside of the lead screws 1003. Magnetorheological dampers 1006 are fixedly installed on both sides of the lower end of the movable frame 1004. A support spring 1007 is fixedly installed between the fixed end and the telescopic end of the magnetorheological damper 1006. A fixed frame 1008 is fixedly installed at the lower end of the telescopic end of the magnetorheological damper 1006. A second hydraulic telescopic device 1009 is fixedly installed on the side of the fixed frame 1008 near the inner wall of the storage box 1001, and the telescopic end of the second hydraulic telescopic device 1009 extends to the other side of the fixed frame 1008. A rubber clamping plate 1010 is fixedly installed on one side of the telescopic end of the second hydraulic telescopic device 1009. Here, the magnetorheological damper 1006 keeps the needle body stable during movement.
[0025] The first hydraulic telescopic device 1002 is fixed at the center of the upper end of the storage box 1001, and the fixed end of the first hydraulic telescopic device 1002 is fixedly connected to the upper end of the protective box 1. Servo motors 1005 are fixedly installed on both sides of the upper end of the storage box 1001, and the output shaft of the servo motor 1005 extends into the interior of the storage box 1001 and is fixedly connected to the lead screw 1003. Here, the storage box 1001 is initially moved by the first hydraulic telescopic device 1002, thereby improving the efficiency of the position adjustment of the storage box 1001.
[0026] Infrared ranging sensors 1602 are fixedly installed at both the front and rear ends of the lower end of the protective box 1. Angle sensors 1607 are fixedly installed on both sides of the lower end of the storage box 1001. The detection shaft of the angle sensor 1607 extends into the interior of the storage box 1001 and is rotatably connected to the lead screw 1003. A first angular velocity sensor 1604 is fixedly installed at the center of the upper end of the moving frame 1004. A laser emitter 1606 is fixedly installed at the center of the lower end of the moving frame 1004. A second angular velocity sensor 1605 is fixedly installed on the side of the fixed frame 1008 above the second hydraulic telescopic device 1009. Here, the distance between the needle and the patient's skin is measured using an infrared ranging sensor 1602.
[0027] The control panel 1601 is electrically connected to the infrared ranging sensor 1602, the power supply module 1603, the first angular velocity sensor 1604, the second angular velocity sensor 1605, the laser emitter 1606, the angle sensor 1607, the first hydraulic telescopic device 1002, the servo motor 1005, the magnetorheological damper 1006, and the second hydraulic telescopic device 1009.
[0028] A rubber pad 11 is fixedly installed at the lower end of the protective box 1 outside the infrared ranging sensor 1602. The protective box 1 is provided with limit grooves 15 at the front and rear ends of the slide groove 5. The limit grooves 15 are through-type structures. The protective box 1 is provided with scale lines 14 on the outside of the opening side of the limit groove 15. The front and rear ends of both sides of the storage box 1001 are fixedly provided with indicator plates 13. The indicator plates 13 extend to the outside of the protective box 1 through the limit grooves 15. The indicator plates 13 slide and limit the limit grooves 15. The positions of the indicator plates 13 and the scale lines 14 correspond. Here, the indicator panel 13 and scale lines 14 are used to help medical staff understand the moving distance of the storage box 1001.
[0029] The interior of both sides of the protective box 1 is provided with a sliding groove 5, and the sliding groove 5 is a through structure. A support 7 is provided at the bottom of the protective box 1. The upper end of the support 7 extends into the interior of the sliding groove 5, and the support 7 slides with the sliding groove 5. The interior of the support 7 and the interior of the protective box 1 located on the side of the sliding groove 5 are provided with through holes 6 at the top and bottom, and the through holes 6 on the support 7 correspond to the through holes 6 on the protective box 1. Here, the bracket 7 and the protective box 1 are fixed by the snap-fit between the through hole 6 and the pull rod 8.
[0030] A pull rod 8 is provided on one side of the bracket 7 at the opening of the through hole 6. One end of the pull rod 8 extends into the interior of the protective box 1 through the through hole 6, and the pull rod 8 slides with the through hole 6. A return spring 9 is sleeved on the outside of the other end of the pull rod 8, and the two ends of the return spring 9 are fixedly connected to the pull rod 8 and the bracket 7 respectively. Here, the return spring 9 drives the pull rod 8 to move.
[0031] The upper part of the protective box 1 is provided with a storage slot 2. The storage slot 2 is provided with a handle 3. The handle 3 is rotatably connected to the inner wall of the storage slot 2 through a connecting structure. A torsion spring 4 is fixedly provided between the handle 3 and the inner wall of the storage slot 2, and the torsion spring 4 is sleeved on the outside of the connecting structure. Here, the handle 3 is reset by the torsion spring 4, and the torsion spring 4 is in a compressed state when the protective box 1 is moved.
[0032] In the embodiment: First, the control panel 1601 acquires the distance between the needle tip and the skin on the infrared ranging sensor 1602. According to the distance between the needle and the skin Target depth of needle insertion For example, in the application scenario of inserting the needle into the Zusanli acupoint, the target insertion depth is usually set to... The moving distance of the mobile frame 1004 is calculated using the following function: in, The moving distance of the mobile frame 1004; Taking the insertion of a needle into the Zusanli acupoint as an example, the distance between the needle tip and the skin on the infrared ranging sensor 1602 is... Substituting into the formula, the moving distance of the mobile frame 1004 is calculated: Secondly, the displacement conversion function of the lead screw 1003 and the motor speed function are constructed and combined, and substituted into them to obtain the target angle function. The target rotation angle of the servo motor 1005 is then calculated. The function is as follows: in, for The linear velocity of the moving frame at any given moment is 1004. For the lead of the lead screw 1003, for example, the typical lead of the lead screw 1003. ; Turn at the target corner; The moving distance of the mobile frame 1004; The moving distance of the mobile frame 1004 For example, substituting into the formula, we can calculate the target turning angle: Control panel 1601 acquires the actual rotation angle from angle sensor 1607. Construct a judgment function, as follows: Among them, when the actual turning angle equal to the target angle When this happens, the control panel 1601 shuts down the servo motor 1005. For example, when the moving frame 1004 moves downwards by 30 mm, the actual rotation angle on the angle sensor 1607 is... The target value was not reached, so the servo motor 1005 continued to run. When the moving frame 1004 moved downwards to 53mm, the actual rotation angle on the angle sensor 1607 was recorded. At this point, servo motor 1005 is turned off; Finally, the control panel 1601 collects the vibration angular velocity of the moving frame 1004 on the first angular velocity sensor 1604. The second angular velocity sensor 1605 has a mounting bracket 1008 that vibrates angular velocity. For example, the vibration angular velocity of the moving frame 1004 The vibration angular velocity of the fixed frame 1008 ; Construct a magnetorheological damping model, as shown below: in, The magnetorheological damping coefficient; The base damping coefficient under zero magnetic field conditions, for example, the base damping coefficient. ; For example, the proportionality coefficient. ; for The magnetic field strength inside the magnetorheological damper 1006 at any given time is adjusted by controlling the coil current; For example, the equivalent mass of a vibration system. ; The equivalent stiffness of the vibration system, for example, the equivalent stiffness of the vibration system. ; This refers to vibration displacement; Let be the first derivative of the vibration displacement, and let represent the velocity of the vibration system. Let be the second derivative of the vibration displacement, and let represent the acceleration of the vibration system. Vibration threshold of the mobile frame 1004 Vibration angular velocity threshold of the fixed frame 1008 Calculate the magnetic field strength, for example, the vibration threshold of the moving frame 1004. Vibration angular velocity threshold of the fixed frame 1008 The function is as follows: in, for Vibration error at any given moment; The vibration angular velocity of the movable frame 1004; The vibration threshold of the movable frame 1004; The basic magnetic field strength; For magnetic field controlled proportional gain, for example, magnetic field controlled proportional gain ; Vibration threshold of the movable frame 1004 Vibration angular velocity of the moving frame 1004 For example, substituting into the formula, we can calculate the vibration error: Then, substitute the calculated vibration error into the formula to calculate the foundation magnetic field strength: Then, the calculated basic magnetic field strength is substituted into the formula to calculate the magnetorheological damping coefficient: This indicates that the control panel 1601 outputs a corresponding current, causing the magnetorheological damper 1006 to generate... The basic magnetic field, with its damping coefficient increased to The vibration angular velocity of the 1004 moving frame is from Down to lower than ; like The magnetorheological damper 1006 is adjusted a second time based on the fundamental magnetic field strength, using the following function: in, To enhance the magnetic field strength; This refers to the secondary damping enhancement coefficient, for example, the secondary damping enhancement coefficient. ; The vibration angular velocity threshold of the fixed frame 1008 Vibration angular velocity of the fixed frame 1008 For example, This triggers a secondary adjustment; Then, substitute the calculated basic magnetic field strength into the formula to calculate the enhanced magnetic field strength: Then, the calculated strengthening magnetic field strength is substituted into the formula to calculate the magnetorheological damping coefficient: This indicates that the control panel 1601 outputs a corresponding current, causing the magnetorheological damper 1006 to generate... The basic magnetic field, with its damping coefficient increased to The vibration angular velocity of the 1004 moving frame is from Down to lower than The vibration was completely canceled out, and the needle remained stable without any deviation.
[0033] Working principle: See Figure 5 and Figure 6 As shown, before needle insertion, the laser emitter 1606 is turned on via the control panel 1601, causing the laser emitter 1606 to emit a laser, and the protective box 1 is moved to a suitable position by the laser indicator. See Figure 2 , Figures 4-6 As shown, when the needle is pushed, the needle body is fixed between two rubber clamping plates 1010. The distance between the needle tip and the patient's limb is measured by the infrared distance sensor 1602, and the downward movement distance of the moving frame 1004 is input into the control panel 1601. At this time, the first hydraulic telescopic device 1002 is activated through the control panel 1601 to move the storage box 1001 to a suitable position. During this process, the medical staff observes the scale line 14 corresponding to the indicator plate 13, and then activates the servo motor 1005 through the control panel 1601. The servo motor 1005 drives the lead screw 1003 to rotate and drive the moving frame 1004 and the needle body to move downward together until the needle body is inserted into the patient's body. See Figure 2 , Figures 4-6 As shown, during the needle insertion process, the moving distance of the moving frame 1004 is measured by the angle sensor 1607 until the moving frame 1004 moves to the preset distance and then the servo motor 1005 is turned off. At the same time, the first angular velocity sensor 1604 detects the vibration of the needle during the movement and changes the damping of the magnetorheological damper 1006 through the control panel 1601 to counteract the vibration of the needle during the movement. The second angular velocity sensor 1605 detects whether the vibration is transmitted to the fixed frame 1008. If the second angular velocity sensor 1605 detects the vibration, the damping of the magnetorheological damper 1006 is changed again through the control panel 1601. See Figure 1 , Figure 2 and Figure 7As shown, when the protective box 1 needs to be stored, the storage box 1001 has been moved into the protective box 1 by the first hydraulic telescopic device 1002. At this time, the medical staff pulls the lever 8, so that the lever 8 moves towards the through hole 6 inside the bracket 7 until one end of the lever 8 disengages from the through hole 6 on the protective box 1 and enters the through hole 6 inside the bracket 7. During this process, the return spring 9 is in a stretched state. Then, the medical staff moves the protective box 1 downward until the protective box 1 moves to the appropriate position. Then, the medical staff releases the lever 8, so that the return spring 9 resets and drives the lever 8 to move until one end of the lever 8 re-enters the through hole 6 on the protective box 1. At this time, the operator moves the protective box 1 through the handle 3.
[0034] It should be noted that the control panel 1601, infrared ranging sensor 1602, power supply module 1603, first angular velocity sensor 1604, second angular velocity sensor 1605, laser emitter 1606, angle sensor 1607, first hydraulic telescopic device 1002, servo motor 1005, magnetorheological damper 1006, and second hydraulic telescopic device 1009 can be powered using existing operating techniques. Whether powered by the power supply components or by an external wire, both are conventional operating techniques and will not be described in detail here.
[0035] The above is the entire working process of the device, and all contents not described in detail in this specification are existing technologies known to those skilled in the art.
[0036] 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. A portable acupuncture positioning and needle insertion aid, comprising a protective case (1), wherein the lower end of the protective case (1) is an open structure, characterized in that: A needle insertion assembly (10) is provided at the center of the interior of the protective box (1). The needle insertion assembly (10) includes a storage box (1001), a first hydraulic telescopic device (1002), a lead screw (1003), a moving frame (1004), a servo motor (1005), a magnetorheological damper (1006), a support spring (1007), a fixing frame (1008), a second hydraulic telescopic device (1009), and a rubber clamping plate (1010). The storage box (1001) can extend into the protective box (1) through the lower opening of the protective box (1). The protective box (1) is equipped with an execution component (16) at its front end. The execution component (16) includes a control panel (1601), an infrared ranging sensor (1602), a power supply module (1603), a first angular velocity sensor (1604), a second angular velocity sensor (1605), a laser emitter (1606), and an angle sensor (1607). The power supply module (1603) is fixedly installed at the rear end inside the storage box (1001), and the power supply module (1603) is electrically connected to the control panel (1601).
2. The portable acupuncture positioning and needle insertion aid according to claim 1, characterized in that: Both sides of the inside of the storage box (1001) are provided with lead screws (1003), and the upper and lower ends of the lead screws (1003) are rotatably connected to the inner wall of the storage box (1001). A movable frame (1004) is sleeved on the outside of the lead screws (1003). Magnetorheological dampers (1006) are fixedly installed on both sides of the lower end of the movable frame (1004). A support spring (1007) is fixedly installed between the fixed end and the telescopic end of the magnetorheological damper (1006). A fixed frame (1008) is fixedly installed at the lower end of the telescopic end of the magnetorheological damper (1006). A second hydraulic telescopic device (1009) is fixedly installed on the side of the fixed frame (1008) near the inner wall of the storage box (1001), and the telescopic end of the second hydraulic telescopic device (1009) extends to the other side of the fixed frame (1008). A rubber clamping plate (1010) is fixedly installed on one side of the telescopic end of the second hydraulic telescopic device (1009).
3. The portable acupuncture positioning and needle insertion aid according to claim 1, characterized in that: The first hydraulic telescopic device (1002) is fixed at the center of the upper end of the storage box (1001), and the fixed end of the first hydraulic telescopic device (1002) is fixedly connected to the upper end of the protective box (1). Servo motors (1005) are fixedly installed on both sides of the upper end of the storage box (1001), and the output shaft of the servo motor (1005) extends into the interior of the storage box (1001) and is fixedly connected to the lead screw (1003).
4. The portable acupuncture positioning and needle insertion aid according to claim 1, characterized in that: Infrared ranging sensors (1602) are fixedly installed at both the front and rear ends of the lower end of the protective box (1). Angle sensors (1607) are fixedly installed on both sides of the lower end of the storage box (1001). The detection shaft of the angle sensor (1607) extends into the interior of the storage box (1001) and is rotatably connected to the lead screw (1003). A first angular velocity sensor (1604) is fixedly installed at the center of the upper end of the moving frame (1004). A laser emitter (1606) is fixedly installed at the center of the lower end of the moving frame (1004). A second angular velocity sensor (1605) is fixedly installed on the side of the fixed frame (1008) above the second hydraulic telescopic device (1009).
5. A portable acupuncture positioning and needle insertion aid according to claim 1, characterized in that: The control panel (1601) is electrically connected to the infrared ranging sensor (1602), the power supply module (1603), the first angular velocity sensor (1604), the second angular velocity sensor (1605), the laser emitter (1606), the angle sensor (1607), the first hydraulic telescopic device (1002), the servo motor (1005), the magnetorheological damper (1006), and the second hydraulic telescopic device (1009).
6. The portable acupuncture positioning and needle insertion aid according to claim 1, characterized in that: The protective box (1) is fixedly provided with a rubber pad (11) at the lower end of the infrared ranging sensor (1602) outside. The protective box (1) is provided with a limiting groove (15) at the front and rear ends of the sliding groove (5), and the limiting groove (15) is a through structure. The protective box (1) is provided with a scale line (14) on the outside of the opening side of the limiting groove (15). The front and rear ends of both sides of the storage box (1001) are fixedly provided with an indicator plate (13). The indicator plate (13) extends to the outside of the protective box (1) through the limiting groove (15), and the indicator plate (13) slides and is limited by the limiting groove (15). The position of the indicator plate (13) corresponds to that of the scale line (14).
7. A portable acupuncture positioning and needle insertion aid according to claim 1, characterized in that: The protective box (1) has sliding grooves (5) on both sides of its interior, and the sliding grooves (5) are through structures. A bracket (7) is provided below the protective box (1). The upper end of the bracket (7) extends into the interior of the sliding groove (5), and the bracket (7) slides with the sliding groove (5). The interior of the bracket (7) and the interior of the protective box (1) located on the side of the sliding groove (5) are provided with through holes (6) on both the upper and lower sides, and the through holes (6) on the bracket (7) correspond to the through holes (6) on the protective box (1).
8. A portable acupuncture positioning and needle insertion aid according to claim 7, characterized in that: The bracket (7) is provided with a pull rod (8) on one side of the opening of the through hole (6). One end of the pull rod (8) extends into the interior of the protective box (1) through the through hole (6) and the pull rod (8) slides with the through hole (6). A return spring (9) is sleeved on the outside of the other end of the pull rod (8) and the two ends of the return spring (9) are fixedly connected to the pull rod (8) and the bracket (7) respectively.
9. A portable acupuncture positioning and needle insertion aid according to claim 1, characterized in that: The upper end of the protective box (1) is provided with a storage slot (2), and the storage slot (2) is provided with a handle (3). The handle (3) is rotatably connected to the inner wall of the storage slot (2) through a connecting structure. A torsion spring (4) is fixedly provided between the handle (3) and the inner wall of the storage slot (2), and the torsion spring (4) is sleeved on the outside of the connecting structure.
10. A method of using a portable acupuncture positioning and needle insertion aid, characterized in that, Using a portable acupuncture positioning and insertion aid as described in any one of claims 1-9, the method includes: Step 1: The acupoint is located by laser emitter (1606), the protective box (1) is fixed on the skin surface, the distance between the needle tip and the skin is detected by infrared distance sensor (1602), the target needle insertion depth is set at the same time, and the distance of the first hydraulic telescopic device (1002) pushing the storage box (1001) is determined by combining the indicator plate (13) and the scale line (14), and the target moving distance of the moving frame (1004) is calculated. Step 2: Calculate the target rotation angle of the servo motor (1005) based on the lead of the lead screw (1003), and send a rotation command to the servo motor (1005); Step 3: Start the servo motor (1005) to drive the lead screw (1003) to rotate, drive the moving frame (1004) to move downward, and use the angle sensor (1607) to detect the actual rotation angle of the lead screw (1003) in real time. When the actual rotation angle matches the target rotation angle, turn off the servo motor (1005) to complete the quantitative needle insertion. Step 4: Detect the vibration angular velocity of the moving frame (1004) using the first angular velocity sensor (1604), and calculate the vibration error based on the preset vibration threshold of the moving frame (1004), as shown in the function below: in, for Vibration error at any given moment; The vibration angular velocity of the moving frame (1004); The vibration threshold of the movable frame (1004); The basic magnetic field strength; The proportional gain is controlled by the magnetic field. The basic magnetic field strength is obtained, and the damping coefficient is changed by adjusting the coil current of the magnetorheological damper (1006). Step 5: Detect the vibration angular velocity of the fixed frame (1008) using the second angular velocity sensor (1605). If the vibration angular velocity of the fixed frame (1008) is greater than the preset vibration angular velocity threshold of the fixed frame (1008), calculate the enhanced magnetic field strength and perform secondary damping adjustment on the magnetorheological damper (1006). The function is shown below: in, To enhance the magnetic field strength; This is the secondary damping enhancement coefficient; Vibration angular velocity of the fixed frame (1008); The basic magnetic field strength.