Acupoint surrounding mechanical array and needle tissue interaction response acquisition system and data processing method

Abstract

The specification discloses an acupuncture point mechanical array and needle tissue interaction response collection system and data processing method, the system includes flexible multi-modal mechanical array, needle point positioning structure, synchronous acquisition module, needle body motion acquisition unit and data acquisition and processing module, the flexible multi-modal mechanical array has a central needle window, the outer periphery of which is sequentially provided with an interaction sensing area and a reference sensing area, the interaction sensing area is divided into a plurality of sensing sectors, each sector is provided with a normal pressure sensing unit, a radial strain sensing unit and a circumferential strain sensing unit; mechanical isolation structures are arranged between adjacent sectors and are electrically connected by a serpentine flexible interconnection, the synchronous acquisition module time-aligns array signals and needle body motion data, the data acquisition and processing module compensates for preload, curvature, common mode disturbance and crosstalk according to a baseline before needle insertion and reference sensing area output, reconstructs a local mechanical space-time field and outputs needle tissue interaction response parameters.

Description

Technical Field

[0001] This invention relates to the fields of flexible sensing, acupuncture biomechanical measurement, and multi-source synchronous data acquisition. Specifically, it relates to a flexible multimodal mechanical array attached around the needle insertion point, a low-constraint positioning structure for defining the needle insertion area, a needle body movement periapical mechanical array and needle tissue interaction response acquisition system and data processing method. Background Technology

[0002] During acupuncture, the insertion, lifting, twisting, and stopping of the needle cause friction, adhesion, and traction between the needle and the skin and soft tissue. This results in normal indentation or bulging around the insertion point, radial traction along the insertion point, and shear responses distributed circumferentially. Quantitatively recording these tissue responses helps to generate repeatable needle-tissue interaction biomechanical data. Existing acupuncture parameter acquisition devices mostly focus on needle displacement, velocity, rotation angle, axial force, or torque, making it difficult to directly obtain tissue responses at different locations and in different directions around the needle insertion point. General-purpose flexible pressure arrays can record multi-point normal pressure, but they have difficulty distinguishing between radial traction and circumferential shear, and are easily affected by patch adhesion preload, skin curvature, respiration, pulse, and overall limb movement. Furthermore, a continuous flexible substrate can transmit deformation at one location to adjacent sensing units, thus creating mechanical crosstalk; if a rigid needle guide is directly pressed against the sensing area, it will also transmit the guide load to the array and restrict the natural deformation of the skin in the central area. Without a unified time reference, it is also difficult to establish a correspondence between specific acupuncture actions and local tissue responses. Therefore, there is a need for an acquisition system that can simultaneously acquire normal pressure, radial strain, and circumferential strain while preserving the needle insertion space, and reduce crosstalk and common-mode interference through mechanical isolation, external reference sensing, and multi-source time synchronization. Summary of the Invention

[0003] This specification provides a system for acquiring the interaction response between the acupoint biomechanical array and the needle tissue, as well as a data processing method, to solve the problems of insufficient directional information, mechanical crosstalk between adjacent channels, difficulty in separating the adhesive preload and overall mechanical disturbance, interference of the needle insertion positioning structure with the deformation of the central tissue, and difficulty in accurately aligning the needle motion data with the tissue response in existing devices. According to a first aspect of the embodiments of this specification, a system for acquiring the interaction response between an acupoint biomechanical array and needle tissue is provided, comprising a flexible multimodal biomechanical array, a needle insertion point positioning structure, a synchronous acquisition module, a needle motion acquisition unit, and a data acquisition and processing module, wherein... The flexible multimodal mechanical array has a central needle inlet window, and an interactive sensing area and a reference sensing area are sequentially arranged around the outer periphery of the central needle inlet window; the interactive sensing area is divided into multiple sensing sectors along the circumferential direction, and a mechanical isolation structure is provided between adjacent sensing sectors; each sensing sector includes a normal pressure sensing unit, a radial strain sensing unit arranged along the array radius direction, and a circumferential strain sensing unit arranged along the circumferential tangent direction of the array; the reference sensing area includes reference sensing units arranged at intervals along the circumferential direction. The needle insertion point positioning structure is coaxially arranged with the central needle insertion window and forms an annular clearance gap with the interactive sensing area. The synchronous acquisition module is connected to the flexible multimodal mechanical array, the needle motion acquisition unit, and the data acquisition and processing module, respectively, and is used to provide a unified time reference for the array signal and the needle motion data. The data acquisition and processing module is used to perform preload compensation, curvature compensation, common mode disturbance compensation and channel crosstalk decoupling on the output of the interactive sensing area based on the output of the baseline and reference sensing area before needle insertion, reconstruct the spatiotemporal field of normal pressure, radial strain and circumferential strain around the needle insertion point, and output the needle tissue interactive response parameters. Preferably, the flexible multimodal mechanical array comprises, from the skin side outwards, a skin adhesion layer, a flexible base layer, a flexible wiring layer, a sensing layer, and a protective encapsulation layer; each layer forms a coaxial through opening at the corresponding position of the central needle insertion window; the total thickness of the flexible multimodal mechanical array ranges from 0.08 to 0.60 mm, the equivalent diameter of the central needle insertion window ranges from 0.5 to 5 mm, and the outer radius of the interactive sensing area ranges from 8 to 30 mm. Preferably, the normal pressure sensing unit is a piezoresistive, piezoelectric, or capacitive sensing unit; the radial strain sensing unit and the circumferential strain sensing unit are respectively a serpentine resistor with direction sensitivity, a crack-type conductive structure, a liquid metal channel, or a fiber optic grating, and the normal pressure sensing unit, radial strain sensing unit, and circumferential strain sensing unit in the same sensing sector have a pre-calibrated relative positional relationship. Preferably, the mechanical isolation structure includes a radial isolation seam extending outward from the inner edge of the interactive sensing area and terminating before reaching the reference sensing area, and a low-modulus buffer disposed between adjacent sensing sectors; the flexible wiring layer connects adjacent sensing sectors through a serpentine flexible interconnect spanning the radial isolation seam, and the data acquisition and processing module stores a crosstalk correction matrix obtained by loading sector by sector. Preferably, the reference sensing unit and the corresponding sensing unit in the interactive sensing area use the same sensing material and signal conditioning method; the data acquisition and processing module uses the median or truncated mean of the output of at least three reference sensing units as the common-mode reference quantity, and subtracts the common-mode reference quantity scaled by the channel coupling coefficient from the interactive sensing channel. Preferably, the needle insertion point positioning structure includes a detachable sterile guide ring and a flexible transition ring; the detachable sterile guide ring has a guide hole and a snap-fit ​​portion that is reversibly connected to the flexible transition ring, the flexible transition ring is made of a low-modulus elastic material and is separated from the interactive sensing area by the annular clearance gap. Preferably, the synchronous acquisition module includes a multi-channel signal conditioning circuit, an analog-to-digital converter, a unified clock or hardware triggering circuit, and a communication interface; the sampling frequency range of the array signal is 200-2000 Hz, and the time alignment error between the array signal and the needle motion data is no greater than 5 milliseconds; the data acquisition and processing module includes a baseline, common-mode and crosstalk compensation unit, and a spatiotemporal field reconstruction and parameter output unit. According to a second aspect of the embodiments of this specification, a method for processing data on the interaction response between acupoint biomechanical arrays and needle tissue is provided, comprising: Receives signals from the interactive sensing area, signals from the reference sensing area, and needle motion data; The signals and data are time-aligned according to a unified time reference, and a static baseline is extracted from the time period before the needle enters the tissue. The interactive sensing channel is compensated based on channel sensitivity, static baseline, and common-mode reference value of the reference sensing area; The responses of each sensing sector are decoupled based on the crosstalk correction matrix; The spatiotemporal fields of normal pressure, radial strain, and circumferential strain are reconstructed based on the spatial positions of each sensing unit. The motion data of the needle body is divided into motion segments, and the corresponding needle tissue interaction response parameters are output for each motion segment. Preferably, the steps of time-aligning the signal and data according to a unified time reference and extracting a static baseline from the time period before the needle enters the tissue; compensating the interactive sensing channel based on the channel sensitivity, the static baseline, and the common-mode reference of the reference sensing area; and decoupling the response of each sensing sector according to the crosstalk correction matrix include: For any interactive sensing channel, first subtract the static baseline obtained before the needle enters the tissue from the original output of the interactive sensing channel, then subtract the relative baseline change of the reference sensing area after scaling according to the common mode coupling coefficient of the interactive sensing channel, and normalize according to the sensitivity coefficient of the interactive sensing channel to obtain the compensation channel signal. All compensation channel signals are arranged into a compensation channel vector according to a predetermined channel order, and a least-squares inverse operation with a regularization term is performed based on the crosstalk correction matrix obtained by sector-by-sector loading calibration to obtain the decoupled sensing sector response. The regularization term is used to suppress noise amplification caused by ill-conditioning of the crosstalk correction matrix. Preferably, in the step of dividing the motion data into action segments and outputting the needle tissue interaction response parameters corresponding to each action segment, The needle tissue interaction response parameters include at least one of the following: response centroid, radial energy, circumferential energy, radial-circumferential anisotropy, propagation delay between different sensing sectors, relaxation time constant after the action stops, and correlation coefficient between the needle axial velocity or angular velocity and the local mechanical response; the data processing method only outputs mechanical measurement results and data processing results. This specification provides an embodiment of a system for acquiring the interaction response between acupoint biomechanical arrays and needle tissue, as well as a data processing method. Compared with the prior art, this specification embodiment has at least the following beneficial effects: First, the same sensing sector simultaneously acquires normal pressure, radial strain, and circumferential strain, enabling distinguishable measurement channels for local indentation, radial tension, and circumferential shear. Second, the mechanical isolation structure of the sector, combined with the serpentine flexible interconnect, reduces structural coupling between adjacent areas and provides clear physical partitioning for decoupling the crosstalk matrix. Third, the outer reference sensing area, combined with the static baseline before needle insertion, can separate overall mechanical disturbances and slow drift from the signals of the interactive sensing area. Fourth, the flexible transition ring and annular clearance reduce the direct loading of the needle insertion point positioning structure on the central tissue deformation and sensing sector. Fifth, the needle motion and tissue mechanical response correspond on a unified time axis, allowing the output of propagation delay, relaxation time, and motion-tissue coupling parameters. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments or related technologies of this specification, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a schematic diagram of the structure of a periacupoint biomechanical array and needle tissue interaction response acquisition system provided in one embodiment of this specification; Figure 2 A top view of a flexible multimodal mechanical array provided in one embodiment of this specification; Figure 3 This is a cross-sectional structural diagram of a flexible multimodal mechanical array and needle insertion point positioning structure provided in an embodiment of this specification. Figure 4 This is a partial structural diagram of adjacent sensing sectors, mechanical isolation structures, and serpentine flexible interconnects provided in one embodiment of this specification; Figure 5 This is a schematic diagram of the structure of a synchronous acquisition and data processing module provided in one embodiment of this specification; Figure 6This is a flowchart illustrating a method for processing data on the interaction between acupoint biomechanical array and needle tissue, provided in one embodiment of this specification. Figure reference numerals: 1-Flexible multimodal mechanical array; 2-Needle insertion point positioning structure; 3-Synchronous acquisition module; 4-Acupuncture needle; 5-Flexible lead wire; 6-Data acquisition and processing module; 7-Skin and soft tissue; 11-Central needle insertion window; 12-Interactive sensing area; 13-Reference sensing area; 14-Sensing sector; 15-Alignment mark; 16-Mechanical isolation structure; 17-Serpentine flexible interconnect; 21-Removable sterile guide ring; 22-Flexible transition ring; 31-Needle motion acquisition unit; 61-Baseline, common mode and crosstalk compensation unit; 62-Spatiotemporal field reconstruction and parameter output unit; 101-Skin adhesion layer; 102-Flexible base layer; 103-Flexible wiring layer; 104-Sensing layer; 105-Protective encapsulation layer; 141-Normal pressure sensing unit; 142-Radial strain sensing unit; 143-Circumferential strain sensing unit. Detailed Implementation The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this specification are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. This specification discloses an acupoint perimechanical array and needle tissue interaction response acquisition system and data processing method, which will be described in detail below. Figure 1 This is a schematic diagram of the structure of a periacupoint biomechanical array and needle tissue interaction response acquisition system provided in one embodiment of this specification. Figure 1 As shown, a system for acquiring the interaction response between an acupoint biomechanical array and a needle tissue includes a flexible multimodal biomechanical array 1, a needle insertion point positioning structure 2, a synchronous acquisition module 3, an acupuncture needle 4, a flexible wire 5, a needle motion acquisition unit 31, and a data acquisition and processing module 6. A flexible multimodal mechanical array 1 is attached to the surface of the skin and soft tissue 7. The needle insertion point positioning structure 2 is located in the center of the array. The acupuncture needle 4 enters the tissue through the needle insertion point positioning structure 2 and the central needle insertion window 11. The synchronous acquisition module 3 can be located near the needle handle or in an acquisition box separate from the needle handle. The needle motion acquisition unit 31 can be a visual tracking unit, an inertial measurement unit, a magnetic positioning unit, or a needle handle displacement / rotation angle acquisition unit, used to output at least one of the needle body axial displacement, axial velocity, rotation angle, and angular velocity. The flexible wire 5 connects the array and the synchronous acquisition module 3, and the data acquisition and processing module 6 receives the synchronized array signal and needle motion data. The needle insertion point positioning structure 2 is coaxially arranged with the central needle insertion window and forms an annular clearance gap with the interactive sensing area. The needle insertion point positioning structure includes a detachable sterile guide ring and a flexible transition ring; the detachable sterile guide ring has a guide hole and a snap-fit ​​part that is reversibly connected to the flexible transition ring; the flexible transition ring is made of a low-modulus elastic material and is separated from the interactive sensing area by the annular clearance gap to prevent the load on the guide ring from being directly transmitted to the sensing sector. The synchronous acquisition module 3 is connected to the flexible multimodal mechanical array, the needle motion acquisition unit, and the data acquisition and processing module, respectively, to provide a unified time reference for the array signal and the needle motion data. The synchronous acquisition module includes a multi-channel signal conditioning circuit, an analog-to-digital converter, a unified clock or hardware trigger circuit, and a communication interface; the sampling frequency range of the array signal is 200-2000 Hz, and the time alignment error between the array signal and the needle motion data is no greater than 5 milliseconds. The data acquisition and processing module 6 is used to perform preload compensation, curvature compensation, common-mode disturbance compensation, and channel crosstalk decoupling on the output of the interactive sensing area based on the output of the baseline and reference sensing area before needle insertion. It reconstructs the spatiotemporal fields of normal pressure, radial strain, and circumferential strain around the needle insertion point and outputs needle tissue interactive response parameters. The data acquisition and processing module includes a baseline, common-mode, and crosstalk compensation unit, and a spatiotemporal field reconstruction and parameter output unit. The data acquisition and processing module uses the median or truncated mean of the outputs from at least three reference sensing units as the common-mode reference value and subtracts the common-mode reference value scaled by the channel coupling coefficient from the interactive sensing channel. Figure 2 This is a top view schematic diagram of a flexible multimodal mechanical array provided in one embodiment of this specification. Figure 2As shown, the flexible multimodal mechanical array 1 includes a central needle insertion window 11, an interactive sensing area 12, and a reference sensing area 13. The central needle insertion window 11 is located at the center of the array, the interactive sensing area 12 is arranged around the central needle insertion window 11, and the reference sensing area 13 is located outside the interactive sensing area 12. The interactive sensing area 12 is divided into multiple sensing sectors 14 along the circumference, and mechanical isolation structures are provided between adjacent sensing sectors. Each sensing sector includes a normal pressure sensing unit, a radial strain sensing unit arranged along the array radius direction, and a circumferential strain sensing unit arranged along the circumferential tangent direction of the array. The reference sensing area includes reference sensing units arranged at intervals along the circumference. This embodiment sets up 12 equiangular sensing sectors 14, and a reference sensing area 13 sets up 8 circumferentially spaced reference sensing units. The number of sensing sectors 14 can be 6 to 32. A transition ring without active sensing units is reserved between the reference sensing area 13 and the interactive sensing area 12 to reduce the direct transmission of central local deformation to the reference sensing units. Alignment marks 15 are set on the outer edge of the array to record the circumferential attitude of the array relative to a preset direction. The normal pressure sensing unit is a piezoresistive, piezoelectric, or capacitive sensing unit; the radial strain sensing unit and the circumferential strain sensing unit are respectively a directionally sensitive serpentine resistor, a crack-type conductive structure, a liquid metal channel, or a fiber optic grating, and the normal pressure sensing unit, radial strain sensing unit, and circumferential strain sensing unit in the same sensing sector have a pre-calibrated relative positional relationship. The mechanical isolation structure includes a radial isolation seam extending outward from the inner edge of the interactive sensing area and terminating before reaching the reference sensing area, and a low-modulus buffer disposed between adjacent sensing sectors; the flexible wiring layer connects adjacent sensing sectors through a serpentine flexible interconnect spanning the radial isolation seam, and the data acquisition and processing module stores a crosstalk correction matrix obtained by loading sector by sector. The reference sensing unit and the corresponding sensing unit in the interactive sensing area use the same sensing material and signal conditioning method. Figure 3 This is a cross-sectional schematic diagram of a flexible multimodal mechanical array and needle insertion point positioning structure provided in one embodiment of this specification. Figure 3 As shown, the flexible multimodal mechanical array 1, from the skin side outwards, includes a skin adhesion layer 101, a flexible base layer 102, a flexible wiring layer 103, a sensing layer 104, and a protective encapsulation layer 105. These layers are continuously stacked and form a coaxial through opening at the central needle insertion window 11. The skin adhesion layer 101 can be made of medical pressure-sensitive adhesive or hydrogel; the flexible base layer 102 can be made of polyimide, thermoplastic polyurethane, polyethylene terephthalate, or silicone rubber film; and the protective encapsulation layer 105 uses a biocompatible elastic material. The needle insertion point positioning structure 2 includes a detachable sterile guide ring 21 and a flexible transition ring 22. The guide hole of the guide ring 21 is coaxial with the central needle insertion window 11, and the flexible transition ring 22 is made of a low-modulus elastic material. A 0.5–3 mm annular clearance gap is provided between the flexible transition ring 22 and the interactive sensing area 12. The acupuncture needle 4 is a common acupuncture needle, whose body passes through the guide hole and the central needle insertion window 11. The array and positioning structure does not require additional components at the needle tip. Figure 4 This is a partial structural diagram of adjacent sensing sectors, mechanical isolation structures, and serpentine flexible interconnects provided in one embodiment of this specification. Figure 4 As shown, each sensing sector 14 is provided with a normal pressure sensing unit 141, a radial strain sensing unit 142, and a circumferential strain sensing unit 143. The normal pressure sensing unit 141 can adopt a piezoresistive, capacitive, or piezoelectric structure; the radial strain sensing unit 142 is a directional sensing unit arranged along the radius of the array; and the circumferential strain sensing unit 143 is a directional sensing unit arranged along the tangent of the array circumference. Figure 4 The strain sensing unit is represented by a long strip structure, with its length direction corresponding to the radial direction and the circumferential direction, respectively. The gaps between adjacent sensing sectors 14 constitute a mechanical isolation structure 16. The mechanical isolation structure 16 can be a radial isolation seam penetrating the flexible substrate layer 102, the flexible wiring layer 103, and the sensing layer 104, or it can be filled with a low-modulus buffer material. A serpentine flexible interconnect 17 spans the mechanical isolation structure 16 and connects to the flexible wiring of adjacent sensing sectors 14; the serpentine path provides a length margin, allowing adjacent sectors to undergo minor relative displacement without breaking the wires. In one specific embodiment, the diameter of the central needle inlet window 11 is 2.0 mm, the inner radius of the interactive sensing area 12 is 3 mm and the outer radius is 20 mm, the inner radius of the reference sensing area 13 is 24 mm and the outer radius is 30 mm, and the total array thickness is 0.25 mm. The flexible substrate layer 102 is made of a 50 μm polyimide film, the flexible wiring layer 103 is made of copper foil or printed silver wires, and the protective encapsulation layer 105 is made of transparent silicone rubber. The above dimensions are only examples and can be adjusted according to the detection location and sensing resolution. After manufacturing, the sensitivity of the normal pressure sensing unit 141, radial strain sensing unit 142, and circumferential strain sensing unit 143 is calibrated. A known local load is applied to the j-th sensing sector, and the output of all sensing sectors is recorded to form a crosstalk correction matrix C. The common-mode coupling coefficient of each interactive sensing channel relative to the reference sensing area 13 is obtained through overall bending, overall pressing, and temperature change tests. Figure 5 This is a schematic diagram of the structure of a synchronous acquisition and data processing module provided in one embodiment of this specification. Figure 5 As shown, the flexible multimodal mechanical array 1 and the needle motion acquisition unit 31 output array signals and needle motion data to the synchronous acquisition module 3, respectively. The synchronous acquisition module 3 uses a unified clock or hardware trigger signal for time marking and sends the synchronization data to the data acquisition and processing module 6. The data acquisition and processing module 6 includes a baseline, common mode, and crosstalk compensation unit 61 and a spatiotemporal field reconstruction and parameter output unit 62. Synchronous acquisition module 3 generates a common sampling time using a unified clock, and completes the pairing of array signals and needle motion data according to the hardware trigger sequence number or the most recent timestamp. The time alignment relationship is expressed as follows: (1) In the formula: : The k-th sampling time on the unified time axis; The reference start time of a unified clock; : Sampling sequence number; The sampling frequency of the array signal; : The timestamp of the needle motion data that matches the kth array sampling point; Matching and mapping between array sampling sequence number and needle motion data sequence number; : The maximum time alignment error between the array signal and the needle motion data. Selecting a baseline time window before the needle enters the tissue. The static baseline of the interactive sensing channel and the static baseline of the reference sensing area are calculated according to the following formulas: (2) In the formula: : The static baseline of the i-th interactive sensing channel; : The static baseline of the reference sensing area; : The set of baseline sampling sequence numbers before the needle enters the tissue; Number of sampling points within the baseline time window; The original output of the i-th interactive sensing channel at the k-th sampling time; : Common-mode reference value of the reference sensing area at the k-th sampling time. When M reference sensing units are set in the reference sensing area, the common-mode reference value can be calculated using the median: (3) Alternatively, the truncated mean can be used for calculation: ,0 h< (4) In the formula: : The output of the j-th reference sensing unit at the k-th sampling time; Total number of reference sensing units; : The j-th value output by M reference sensing units at the same sampling time, sorted from smallest to largest; The number of samples removed from both ends of the sorted sequence. For the i-th interactive sensing channel, the channel signal after static baseline, common-mode disturbance, and sensitivity compensation is: (5) In the formula: : The compensation channel signal of the i-th interactive sensing channel at the i-th sampling time; : The common-mode coupling coefficient of the i-th interactive sensing channel relative to the reference sensing area; : Sensitivity coefficient of the i-th interactive sensing channel; Total number of interactive sensing channels; The meanings of the remaining variables are the same as those defined in equations (2) to (4). Construct a column vector from all compensated channel signals: (6) The decoupled sector response is obtained by using the least squares inverse operation with regularization: (7) In the formula: : A column vector consisting of all compensated channel signals at the k-th sampling time; : The column vector of the sensing sector response after decoupling at the k-th sampling time; Crosstalk correction matrix obtained by sector-by-sector loading; : A regularization coefficient greater than zero, used to suppress noise amplification caused by ill-conditioned matrices; :and Identity matrices of the same dimension; Transpose of a matrix or vector; Inverse operation of a matrix. The spatiotemporal field reconstruction and parameter output unit 62 reconstructs the mechanical spatiotemporal fields of different modes according to the coordinates of the sensing unit and the decoupling response: (8) The normalized spatial weights and the distance between sensing points are expressed as follows: (9) (10) In the formula: Polar coordinate position and the first at time t Mechanical fields; : Mechanical modal designation, where p represents normal pressure and r represents radial strain. Indicates circumferential strain; : No. Number of sensor units; : No. The decoupling response of the j-th sensing unit; : No. The normalized spatial weight of the j-th sensing unit for the target position; : Non-negative distance kernel function, which can be Gaussian kernel, inverse distance kernel or radial basis function; Target location and the first The planar distance between the j-th sensing units of class; : No. The polar coordinate position of the j-th sensing unit of the class. Figure 6 This is a flowchart illustrating a method for processing data on the interaction between acupoint biomechanical arrays and needle tissue, provided in one embodiment of this specification. Figure 6 As shown, a method for processing data on the interaction between acupoint biomechanical arrays and needle tissue includes: S1. Receives interactive sensing area signals, reference sensing area signals, and needle motion data; S2. Time-align the signals and data according to a unified time reference, and extract a static baseline from the time period before the needle enters the tissue. S3. Compensate the interactive sensing channel based on the channel sensitivity, static baseline, and common-mode reference value of the reference sensing area; S4. Decouple the responses of each sensing sector based on the crosstalk correction matrix; S5. Reconstruct the spatiotemporal fields of normal pressure, radial strain, and circumferential strain based on the spatial position of each sensing unit; S6. Divide the motion data of the needle body into motion segments and output the needle tissue interaction response parameters corresponding to each motion segment. The data processing method first receives the interactive sensing area signal, the reference sensing area signal, and the needle motion data; establishes a unified time reference and extracts the static baseline from the time period before the needle enters the tissue; then completes sensitivity, preload, and common mode disturbance compensation, and uses the crosstalk matrix to decouple the response of each sensing sector; then reconstructs the normal, radial, and circumferential mechanical spatiotemporal fields, and finally outputs the needle-tissue interactive response parameters. For any action segment Using the absolute value of the decoupled response as the non-negative weight, the centroid of the response is represented as: (11) In the formula: : The centroid position vector of the response at time t; : The position vector of the j-th sensing unit; The non-negative response weight of the j-th sensing unit at time t; : The decoupling response of the j-th sensing unit; The number of sensing units involved in centroid calculation; : To prevent stable terms of positive numbers with a denominator of zero. The radial and circumferential energies within an action segment are expressed as follows: (12) (13) In the formula: Radial strain energy within a motion segment; Circumferential strain energy within a motion segment; Number of radial strain sensing units; Number of circumferential strain sensing units; : The decoupling response of the j-th radial strain sensing unit at time t; : The decoupling response of the j-th circumferential strain sensing unit at time t; The start time of an action sequence; The moment when the action segment ends. The radial-circumferential anisotropy parameters are expressed as follows: (14) In the formula: Radial-circumferential anisotropy parameters; Radial strain energy; Circumferential strain energy; : To prevent stable terms of positive numbers with a denominator of zero. The normalized cross-correlation function between different sensing sectors j and k is expressed as: (15) The propagation delay is expressed as: (16) In the formula: : Sensing sector j and sensing sector k in time shift Normalized cross-correlation coefficients under the given conditions; : The decoupling response of sensing sector j; Sensing sector k after time shift The subsequent decoupling response; : The estimated time delay of the response propagating from sensing sector j to sensing sector k; : The absolute value of the maximum allowed search latency. The moment when the action stops is recorded as The synthesized response after stopping can be fitted according to a single exponential model: (17) In the formula: The composite mechanical response at time t after the action stops; : Moment of action cessation The initial response; Steady-state response after full relaxation; : The moment when the action stops; : The relaxation time constant obtained through least squares fitting. The correlation coefficient between the axial velocity or angular velocity of the needle body and the local mechanical response is expressed as: (18) In the formula: Pearson correlation coefficient between needle motion and local mechanical response; : The axial velocity or angular velocity of the needle body at the kth synchronous sampling moment; : Local mechanical response at the k-th synchronous sampling time; : Sample mean of needle movement within a motion segment; : Sample mean of local mechanical response within a motion segment; The number of synchronous sampling points involved in the relevant calculations within the action segment. At least one of the following parameters can be used as a needle-tissue interaction response parameter: centroid, radial energy, circumferential energy, radial-circumferential anisotropy, sector propagation delay, relaxation time constant, and action-tissue correlation coefficient. The data processing results are mechanical measurement results and intermediate data, and do not directly form disease diagnosis results or treatment plans. Validation can be performed using a tissue phantom with a surface elastic membrane, a soft gel layer, and a fiber-reinforced layer. A linear platform and a rotary platform drive the standard acupuncture needle 4 to perform insertion, lifting, twisting, and stopping actions, respectively. The response ratios of adjacent sectors before and after setting the mechanical isolation structure 16 are compared by applying a local load to a single sensing sector 14; the residual common-mode amplitude values ​​of the reference sensing area 13 before and after compensation are compared by bending the tissue phantom as a whole or periodically pressing it; and the time alignment error between the array signal and the needle motion data is compared using a hardware trigger signal. In a specific embodiment, the steps of time-aligning the signal and data according to a unified time reference and extracting a static baseline from the time period before the needle enters the tissue; compensating the interactive sensing channel based on the channel sensitivity, the static baseline, and the common-mode reference of the reference sensing area; and decoupling the response of each sensing sector based on the crosstalk correction matrix include: For any interactive sensing channel, first subtract the static baseline obtained before the needle enters the tissue from the original output of the interactive sensing channel, then subtract the relative baseline change of the reference sensing area after scaling according to the common mode coupling coefficient of the interactive sensing channel, and normalize according to the sensitivity coefficient of the interactive sensing channel to obtain the compensation channel signal. All compensation channel signals are arranged into a compensation channel vector according to a predetermined channel order, and a least-squares inverse operation with a regularization term is performed based on the crosstalk correction matrix obtained by sector-by-sector loading calibration to obtain the decoupled sensing sector response. The regularization term is used to suppress noise amplification caused by ill-conditioning of the crosstalk correction matrix. In a specific embodiment, in the step of dividing the action segments according to the needle motion data and outputting the needle tissue interaction response parameters corresponding to each action segment, the needle tissue interaction response parameters include at least one of the following: response centroid, radial energy, circumferential energy, radial-circumferential anisotropy, propagation delay between different sensing sectors, relaxation time constant after the action stops, and correlation coefficient between the needle axial velocity or angular velocity and the local mechanical response; the data processing method only outputs mechanical measurement results and data processing results. The reference sensing area 13 can be equipped with only a normal pressure sensing unit, or it can be equipped with the same multimodal sensing unit as the interactive sensing area 12. The flexible multimodal mechanical array 1 can adopt a complete ring, an open ring, a petal shape, or a ring-mesh composite shape. The length, width, and hardness of the buffer material of the mechanical isolation structure 16 can be determined according to the array size and the required spatial resolution. Any scheme that uses equivalent sector multi-directional sensing, external reference sensing, low-constraint needle positioning, synchronous acquisition, and compensation decoupling technology to achieve the purpose of this invention is within the scope of this invention. In summary, the embodiments of this specification provide a system and data processing method for acquiring the interaction response between the acupoint mechanical array and the needle tissue. The system includes a flexible multimodal mechanical array, a needle insertion point positioning structure, a synchronous acquisition module, a needle motion acquisition unit, and a data acquisition and processing module. It can simultaneously acquire normal pressure, radial strain, and circumferential strain while preserving the needle insertion space. It reduces crosstalk and common-mode interference through mechanical isolation, external reference sensing, and multi-source time synchronization. It solves the problems of insufficient directional information, mechanical crosstalk between adjacent channels, difficulty in separating adhesive preload and overall mechanical disturbance in existing devices, interference of the needle insertion positioning structure with the deformation of the central tissue, and difficulty in accurately aligning the needle motion data with the tissue response. Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention. Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules. 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 of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A system for acquiring the interactive response of acupuncture point biomechanical array and needle tissue, characterized in that, It includes a flexible multimodal mechanical array, a needle insertion point positioning structure, a synchronous acquisition module, a needle motion acquisition unit, and a data acquisition and processing module, among which... The flexible multimodal mechanical array has a central needle inlet window, and an interactive sensing area and a reference sensing area are sequentially arranged around the outer periphery of the central needle inlet window; the interactive sensing area is divided into multiple sensing sectors along the circumferential direction, and a mechanical isolation structure is provided between adjacent sensing sectors; each sensing sector includes a normal pressure sensing unit, a radial strain sensing unit arranged along the array radius direction, and a circumferential strain sensing unit arranged along the circumferential tangent direction of the array; the reference sensing area includes reference sensing units arranged at intervals along the circumferential direction. The needle insertion point positioning structure is coaxially arranged with the central needle insertion window and forms an annular clearance gap with the interactive sensing area. The synchronous acquisition module is connected to the flexible multimodal mechanical array, the needle motion acquisition unit, and the data acquisition and processing module, respectively, and is used to provide a unified time reference for the array signal and the needle motion data. The data acquisition and processing module is used to perform preload compensation, curvature compensation, common mode disturbance compensation and channel crosstalk decoupling on the output of the interactive sensing area based on the output of the baseline and reference sensing area before needle insertion, reconstruct the spatiotemporal field of normal pressure, radial strain and circumferential strain around the needle insertion point, and output the needle tissue interactive response parameters.

2. The system according to claim 1, characterized in that, The flexible multimodal mechanical array comprises, from the skin side outwards, a skin adhesion layer, a flexible base layer, a flexible wiring layer, a sensing layer, and a protective encapsulation layer; each layer forms a coaxial through opening at the corresponding position of the central needle insertion window; the total thickness of the flexible multimodal mechanical array ranges from 0.08 to 0.60 mm, the equivalent diameter of the central needle insertion window ranges from 0.5 to 5 mm, and the outer radius of the interactive sensing area ranges from 8 to 30 mm.

3. The system according to claim 1, characterized in that, The normal pressure sensing unit is a piezoresistive, piezoelectric, or capacitive sensing unit; the radial strain sensing unit and the circumferential strain sensing unit are respectively a directionally sensitive serpentine resistor, a crack-type conductive structure, a liquid metal channel, or a fiber optic grating, and the normal pressure sensing unit, radial strain sensing unit, and circumferential strain sensing unit in the same sensing sector have a pre-calibrated relative positional relationship.

4. The system according to claim 1, characterized in that, The mechanical isolation structure includes a radial isolation seam extending outward from the inner edge of the interactive sensing area and terminating before reaching the reference sensing area, and a low-modulus buffer disposed between adjacent sensing sectors; the flexible wiring layer connects adjacent sensing sectors through a serpentine flexible interconnect spanning the radial isolation seam, and the data acquisition and processing module stores a crosstalk correction matrix obtained by loading sector by sector.

5. The system according to claim 1, characterized in that, The reference sensing unit and the corresponding sensing unit in the interactive sensing area use the same sensing material and signal conditioning method; the data acquisition and processing module uses the median or truncated mean of the output of at least three reference sensing units as the common mode reference quantity, and subtracts the common mode reference quantity scaled by the channel coupling coefficient from the interactive sensing channel.

6. The system according to claim 1, characterized in that, The needle insertion point positioning structure includes a detachable sterile guide ring and a flexible transition ring; the detachable sterile guide ring has a guide hole and a snap-fit ​​portion that is reversibly connected to the flexible transition ring; the flexible transition ring is made of a low-modulus elastic material and is separated from the interactive sensing area by the annular clearance gap.

7. The system according to claim 1, characterized in that, The synchronous acquisition module includes a multi-channel signal conditioning circuit, an analog-to-digital converter, a unified clock or hardware triggering circuit, and a communication interface; the sampling frequency range of the array signal is 200-2000 Hz, and the time alignment error between the array signal and the needle motion data is no more than 5 milliseconds; the data acquisition and processing module includes a baseline, common-mode and crosstalk compensation unit, and a spatiotemporal field reconstruction and parameter output unit.

8. A method for processing data on the interaction response between acupoint biomechanical array and needle tissue, executed by the data acquisition and processing module of the system according to any one of claims 1-7, characterized in that, include: Receives signals from the interactive sensing area, signals from the reference sensing area, and needle motion data; The signals and data are time-aligned according to a unified time reference, and a static baseline is extracted from the time period before the needle enters the tissue. The interactive sensing channel is compensated based on channel sensitivity, static baseline, and common-mode reference value of the reference sensing area; The responses of each sensing sector are decoupled based on the crosstalk correction matrix; The spatiotemporal fields of normal pressure, radial strain, and circumferential strain are reconstructed based on the spatial positions of each sensing unit. The motion data of the needle body is divided into motion segments, and the corresponding needle tissue interaction response parameters are output for each motion segment.

9. The method according to claim 8, characterized in that, The aforementioned method involves time-aligning the signals and data according to a unified time reference and extracting a static baseline from the time period before the needle enters the tissue. The interactive sensing channel is compensated based on channel sensitivity, static baseline, and common-mode reference value of the reference sensing area; The steps for decoupling the responses of each sensing sector based on the crosstalk correction matrix include: For any interactive sensing channel, first subtract the static baseline obtained before the needle enters the tissue from the original output of the interactive sensing channel, then subtract the relative baseline change of the reference sensing area after scaling according to the common mode coupling coefficient of the interactive sensing channel, and normalize according to the sensitivity coefficient of the interactive sensing channel to obtain the compensation channel signal. All compensation channel signals are arranged into a compensation channel vector according to a predetermined channel order, and a least-squares inverse operation with a regularization term is performed based on the crosstalk correction matrix obtained by sector-by-sector loading calibration to obtain the decoupled sensing sector response. The regularization term is used to suppress noise amplification caused by ill-conditioning of the crosstalk correction matrix.

10. The method according to claim 8, characterized in that, In the step of dividing the motion data of the needle body into motion segments and outputting the needle tissue interaction response parameters corresponding to each motion segment... The needle tissue interaction response parameters include at least one of the following: response centroid, radial energy, circumferential energy, radial-circumferential anisotropy, propagation delay between different sensing sectors, relaxation time constant after the action stops, and correlation coefficient between the needle axial velocity or angular velocity and the local mechanical response; the data processing method only outputs mechanical measurement results and data processing results.

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