CN116270213A - Expert-imitation intelligent acupuncture instrument based on real-time monitoring and control - Google Patents

Abstract

The invention provides an expert-simulated intelligent acupuncture instrument based on real-time monitoring and control, which comprises a first functional module, a second functional module, a third functional module and an intelligent acupuncture instrument shell; the first functional module is an acupuncture clamping unit, the second functional module is an acupuncture twisting unit comprising twisting needles and a force feedback mechanism, and the third functional module is an acupuncture Shi Zhen unit comprising a feeding needle applying mechanism; the axes of the first functional module, the second functional module and the third functional module are coincident with the axis of the needle outlet hole, the first functional module radially clamps the acupuncture needle, and the third functional module is connected with the intelligent acupuncture instrument shell through a motor fixing screw. The invention adopts an automatic control technology to realize accurate and controllable needle inserting speed, needle inserting force and contact angle in the acupuncture process, realizes the lifting, inserting and rotating manipulation in the acupuncture treatment, and realizes the acupuncture treatment effect imitating expert manipulation and remote non-contact automatic treatment; meanwhile, the device can be combined with other movable platforms to realize automatic and remote treatment.

Description

An intelligent acupuncture instrument imitating expert manipulation based on real-time monitoring and control

technical field

The invention relates to the technical field of traditional Chinese medicine and medical acupuncture and moxibustion devices, in particular to an intelligent acupuncture and moxibustion instrument based on real-time monitoring and control.

Background technique

Acupuncture and moxibustion therapy is an important part of traditional Chinese medicine and has been widely used clinically. It is one of the advantageous industries in which our country has the right to speak in the international medical field. Acupuncture and moxibustion originated in China. Acupuncture method sprouted in the new era. When people have some ailments or discomfort, they will unconsciously massage, hammer and pat with their hands, and press the painful and uncomfortable parts with sharp stone tools all the time, so that the original Symptoms are alleviated or disappeared. With the continuous development and progress of society, needles have gradually developed into bronze needles, iron needles, gold needles, silver needles, and until now stainless steel needles, which have been developed for at least thousands of years. With the continuous advancement of science and technology, medical auxiliary technology and medical auxiliary equipment integrating medicine, biology, mechanics, mechatronics, materials science, computer science, computer cybernetics, and machine learning have become a new type of multidisciplinary research. It has become one of the fastest-growing hot research fields in the world today. However, at present, there are many problems in acupuncture clinical practice, scientific research and teaching, such as the difficulty in standardizing acupuncture techniques, the difficulty in quantifying the strength and speed of acupuncture, the uncertainty in the amount of acupuncture stimulation, and the poor repeatability of acupuncture. Traditional acupuncture is often performed by acupuncture experts based on their own knowledge and experience, combined with personal habits. It relies heavily on the experience of experts and feedback from patients, and lacks quantitative characterization and evaluation methods, which makes acupuncture and other traditional medical treatment methods insufficient. Standardization and intelligence make it difficult to achieve quantitative inheritance and large-scale promotion. In order to achieve effective treatment, acupuncture manipulation should take into account the coupling effects of various factors such as needle strength, needle angle, needle depth, and patient feedback. Existing acupuncture instruments cannot guarantee needle strength, needle depth, The needle application angle and needle application process are controllable. With the rapid development of modern sensing and control technology, the development and important role of intelligent monitoring and control technology is reflected in various industries such as medical care, industry, and agriculture. Healthy life and smart medical care have become the future development trend. Therefore, according to the characteristics of expert acupuncture and moxibustion therapy, how to design a new type of intelligent acupuncture and moxibustion instrument that can realize acupuncture process monitoring and acupuncture process control and can imitate expert techniques is to further guide the acupuncture process of training physicians and ordinary users, and realize the familyization of acupuncture and moxibustion instruments , Popularization, the key to inheriting and improving acupuncture and moxibustion therapy.

Contents of the invention

The purpose of the present invention is to design an intelligent acupuncture instrument with integrated treatment process state monitoring and process controllable imitation expert technique, aiming at the limitations of ordinary acupuncture instruments. The intelligent acupuncture instrument can be used by professional doctors and acupuncturists at the same time: During the professional treatment process of doctors, the digital acupuncture instrument records the depth and force of needle insertion during the treatment process through displacement and pressure sensors, builds an expert knowledge base, and forms expert techniques; , Real-time monitoring of the current acupoints and usage status, correcting and guiding the acupuncture techniques of ordinary acupuncturists, and realizing remote guidance and professional treatment process reproduction.

An intelligent acupuncture instrument based on real-time monitoring and control of imitating expert techniques of the present invention adopts a modular design concept and includes three functional modules: a first functional module, a second functional module and a third functional module; wherein, the first functional module The module is an acupuncture clamping unit, the second functional module is an acupuncture twisting unit, including a twisting needle and a force feedback mechanism, and the third functional module is an acupuncture needle application unit, including a feeding needle application mechanism.

The overall structure of an intelligent acupuncture instrument based on real-time monitoring and control imitating expert techniques is pen-shaped. The outlet part of the head is the needle outlet, and the tail is the connection end that can be connected to a mobile platform such as a robotic arm. There is only a small round hole at the exit end of the needle, the diameter of which is slightly larger than the diameter of the needle handle of the acupuncture needle, which can prevent the acupuncture needle from being bent and deformed by pressure during the needle application process, thereby ensuring the needle application angle. The connection end is a circular T platform, which is connected to the end of the mobile platform such as the mechanical arm through four bolts.

Among them, the first functional module is the acupuncture clamping unit, including: a first stepping motor, a gear, three compound racks and three clamps. The gear is installed at the end of the motor shaft of the first stepping motor, and the gear cooperates with the compound rack, and the compound rack cooperates with the inclined groove on the side of the fixture through the inclined groove on the side. The forward and reverse rotation of the motor drives the gear to rotate, and the gear drives the compound rack to reciprocate linearly and circularly, and drives the clamp to move radially through the chute to realize the clamping function of the needle handle.

Wherein, the second functional module is the acupuncture and moxibustion needle twisting unit, which includes: a pressure sensor and a second stepping motor. The pressure sensor is installed at the connection position with the first functional module, and when the acupuncture needle held by the acupuncture instrument contacts the patient's skin, it detects the magnitude of the contact force. The second stepping motor is connected with the pressure sensor fixing device, and the forward and reverse rotation of the second stepping motor drives the forward and reverse rotation of the first functional module to realize the needle twisting process in the acupuncture process.

Among them, the third functional module is the acupuncture unit, which includes: a third stepping motor, a set of ball screw pairs and a displacement sensor. The third stepping motor is connected with the lead screw, and the third stepping motor drives the lead screw to rotate forward and reversely to realize the circular reciprocating motion of the linear motion unit. The main body of the displacement sensor is connected with the shell of the intelligent acupuncture instrument, and the telescopic rod joint of the displacement sensor is connected with the linear motion unit.

The beneficial effects of the present invention are: (1) It can be applied to acupuncture therapy in traditional medical treatment. During the treatment process of professional physicians, pressure sensors and displacement sensors are used to collect and record in real time through intelligent acupuncture instruments based on real-time monitoring technology Professional physicians build an expert knowledge base for the treatment methods such as acupuncture strength, needle application depth and twisting needles for different diseases, so as to realize the quantitative recording of expert methods and the reproduction of later treatment methods; (2) use automatic control technology to realize Accurate and controllable needle insertion speed, needle insertion force and turning angle, realize lifting, inserting and turning manipulation in acupuncture treatment, achieve acupuncture treatment effect imitating expert manipulation and remote non-contact automatic treatment; (3) Adopt integrated structure Designed with a small pen-shaped structure, the acupuncture clamping unit and needle insertion unit are compact in structure and flexible in control, which can realize portable monitoring and control, and help to combine with other movable platforms to realize automation and remote treatment.

Description of drawings

Fig. 1 is a schematic diagram of the appearance and structure of the intelligent acupuncture instrument of the present invention.

Fig. 2 is a schematic diagram of the internal structure of the intelligent acupuncture instrument of the present invention.

Fig. 3a is a schematic structural view of the acupuncture clamping unit of the first functional module of the intelligent acupuncture instrument of the present invention.

Fig. 3b is a schematic diagram of the arrangement of parts of the acupuncture clamping unit of the first functional module of the intelligent acupuncture instrument of the present invention.

Fig. 4a is a schematic diagram of the structure of the chute end of the key component 7 in the acupuncture clamping unit of the first functional module of the intelligent acupuncture instrument of the present invention.

Fig. 4b is a schematic diagram of the guide rail end structure of the key component 7 in the acupuncture clamping unit of the first functional module of the intelligent acupuncture instrument of the present invention

Fig. 5 is a structural schematic diagram of the key parts 8 in the acupuncture clamping unit of the first functional module of the intelligent acupuncture instrument of the present invention.

Fig. 6 is a schematic structural diagram of the acupuncture twisting unit of the second functional module of the intelligent acupuncture instrument of the present invention.

Fig. 7a is a schematic structural view of the acupuncture unit of the third functional module of the intelligent acupuncture instrument of the present invention.

Fig. 7b is a cross-sectional view of the acupuncture-applying unit of the third functional module of the intelligent acupuncture instrument of the present invention.

The symbols in the figure are explained as follows:

1: Shell of intelligent acupuncture instrument; 1-1: Needle hole; 1-2～1-5: Thread connection hole; 2: Acupuncture needle;

3-1～3-6: Motor fixing screws; 4: Displacement sensor contact fixing nuts;

5: Displacement sensor body fixing nut; 6: Shell; 7-1～7-3: Fixture; 7-4: Fixture guide rail;

7-5: Fixture chute guide rail; 7-6: Fixture holding groove; 7-7: Fixture boss; 8-1～8-3: Compound rack;

8-4: Composite rack boss; 8-5: Composite rack guide; 9: Gear; 10: The first stepping motor;

11: pressure sensor fixed shell; 12: linear motion unit; 12-1: guide rail of linear motion unit;

13: second stepper motor; 14: pressure sensor; 15: connector; 16: displacement sensor;

17: the third stepping motor; 18: ball; 19: lead screw.

Detailed ways

The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in FIG. 1 , the overall shell 1 of the intelligent acupuncture instrument based on real-time monitoring and control in the present invention is shaped like a pen. The tapered end has a built-in needle exit hole 1-1 with a diameter slightly larger than the diameter of the needle handle of the acupuncture needle, so as to avoid the large deformation of the acupuncture needle during the needle application process and the change of the needle application angle. The flat end can be connected to the end of the robotic arm through four threaded holes, replacing professional doctors to realize the functions of automatic acupoint finding and needle application.

As shown in Figure 2, the overall structure of an intelligent acupuncture instrument based on real-time monitoring and control imitating expert techniques is divided into an intelligent acupuncture instrument shell 1, a first functional module I acupuncture clamping unit, a second functional module II acupuncture twist The needle unit and the third function module III are four parts of the acupuncture unit for acupuncture and moxibustion. The axes of the first functional module, the second functional module and the third functional module coincide with the axis of the needle exit hole 1-1, the first functional module can radially clamp the acupuncture needle 2, and the third functional module fixes the screws 3-3, 3-6 are connected with the housing 1 of the intelligent acupuncture instrument.

As shown in Figures 3a and 3b, in the intelligent acupuncture instrument based on real-time monitoring and control of the present invention, the first functional module includes motor fixing screws 3-1, 3-4, housing 6, and clamp 7-1 ～7-3, composite rack 8-1～8-3, gear 9 and first stepping motor 10. The first stepping motor 10 is connected with the casing 6 through the motor fixing screws 3-1, 3-4, the motor shaft of the first stepping motor 10 is connected with the gear 9, and the gear 9 is connected with the composite rack 8-1～8- 3 equidistant fit.

As shown in Figure 4a, Figure 4b and Figure 5, the composite racks 8-1~8-3 cooperate with the fixtures 7-1~7-3 through the clamp boss 7-7 and the composite rack boss 8-4, which can The composite rack 8-1～8-3 and the clamp 7-1～7-3 can move relative to the clamp boss 7-7, and the clamp chute guide rail 7-5 cooperates with the composite rack guide rail 8-5 to avoid compounding The rack 8-1～8-3 is separated from the fixture 7-1～7-3 in the axial direction, and the fixture 7-1～7-3 cooperates with the shell 6 through the fixture guide rail 7-4, which can ensure that the fixture 7-1～7 -3 radial movement and axial fixation. The first stepping motor 10 drives the gear 9 to rotate counterclockwise, the gear 9 drives the compound rack 8-1～8-3 to move counterclockwise, and the compound rack 8-1～8-3 drives the clamp 7-1～7-3 Move inward so that the clamps 7-1～7-3 clamp the end of the needle handle of the acupuncture needle to realize the needle clamping function; otherwise, the first stepping motor 10 drives the gear 9 to rotate clockwise, and the gear 9 drives the compound rack 8-1 ～8-3 moves clockwise, and the compound rack 8-1～8-3 drives the clamps 7-1～7-3 to move radially outward, so that the clamps 7-1～7-3 release the end of the needle handle of the acupuncture needle to realize the release. needle function.

As shown in Figure 6, in a kind of imitation expert's technique intelligent acupuncture instrument based on real-time monitoring and control of the present invention, the second function module includes motor fixing screws 3-2, 3-5, pressure sensor fixing shell 11, the second step Into the motor 13, the pressure sensor 14 and the connector 15. The second stepper motor 13 is connected with the linear motion unit 12 by motor fixing screws 3-2, 3-5, the motor shaft of the second stepper motor 13 is connected with the pressure sensor fixed shell 11, and the pressure sensor 14 is installed in the pressure sensor fixed shell Inside 11, the pressure sensor fixed housing 11 is connected to the housing 6 through a connecting piece 15, which can realize pressure monitoring during needle application. The fixed shell 11 of the pressure sensor, the pressure sensor 14, the connector 15 and the first functional module are relatively fixed, and the second stepper motor 13 drives the first functional module through forward and reverse rotation to realize the needle twisting function during the needle application process.

As shown in Figure 7a and Figure 7b, in an intelligent acupuncture instrument based on real-time monitoring and control of the present invention, the third functional module includes a displacement sensor contact fixing nut 4, a displacement sensor body fixing nut 5, a linear motion Unit 12 , displacement sensor 16 , third stepping motor 17 , ball 18 and lead screw 19 . The third stepping motor 17 is connected with the housing 1 by the motor fixing screws 3-3, 3-6, the displacement sensor 16 is connected with the intelligent acupuncture instrument housing 1 by the displacement sensor body fixing nut 5, and is connected with the straight line by the displacement sensor contact fixing nut 4. The motion unit 12 is connected. The guide rail 12-1 of the linear motion unit cooperates with the shell 1 of the intelligent acupuncture instrument, which can avoid the large deviation of the displacement control caused by the rotation of the linear motion unit during exercise. The linear motion unit 12, the ball 18 and the lead screw 19 form a ball screw pair, and the third stepper motor 17 drives the lead screw 19 to rotate through forward and reverse rotation, so that the linear motion unit 12 drives the first functional module and the second functional module to realize reciprocation For linear motion, the depth and speed of needle application can be controlled by controlling the rotation angle and speed of the third stepping motor 17 .

Example

Taking the five acupoints below the knee joint as an example, use bolts to connect the intelligent acupuncture instrument to the end of the mobile platform such as the mechanical arm through the threaded connection holes 1-2~1-5, and through the movement of the mobile platform, the intelligent acupuncture instrument is tapered. The needle hole 1-1 at the end moves to the acupuncture needle handle, and the robotic arm drives the intelligent acupuncture instrument to move further, so that the acupuncture needle handle enters the active chamber of the intelligent acupuncture instrument, and the end of the acupuncture needle handle is 20mm away from the first functional module. The third stepper motor 17 drives the lead screw 19 to rotate through the forward rotation, so that the linear motion unit 12 drives the first functional module and the second functional module to move out of the pinhole, and the third stepper motor 17 is controlled to rotate forward for 5 circles (1800 °), cooperate with the linear motion unit 12 with a pitch of 5mm to advance the first functional module by 25mm, so that the needle handle of the acupuncture needle enters the center of the fixture. The first stepping motor 10 drives the gear 9 to rotate counterclockwise, the gear 9 drives the compound rack 8-1～8-3 to move counterclockwise, and the compound rack 8-1～8-3 drives the clamp 7-1～7-3 Move inward so that the clamps 7-1 to 7-3 clamp the end of the needle handle of the acupuncture needle to realize needle clamping. The third stepper motor 17 drives the lead screw 19 to rotate through reverse rotation, so that the linear motion unit 12 drives the first functional module and the second functional module to realize linear motion, and controls the third stepper motor 17 to rotate 5 times (1800°) , to restore each functional module to its original relative position. The mobile platform cooperates with the binocular vision sensor to move the intelligent acupuncture instrument after the needle is clamped to the position 5mm above the five acupoints below the knee joint, and controls the third stepping motor 17 to rotate forward to drive the first functional module, the second functional module and The acupuncture needle moves to the skin, the acupuncture needle touches the skin, the pressure value of the pressure sensor rises, the third stepper motor 17 continues to rotate forward to make the acupuncture needle penetrate the skin, the pressure value changes suddenly, and the value S ₁ of the displacement sensor at this time is recorded. The third stepper motor 17 continues to rotate forward, and the acupuncture needles go deep into the skin. At the same time, the second stepper motor drives the first functional module and the acupuncture needles to rotate in the range of 0-180° forward and backward without interruption, so as to realize the expert's movement during the acupuncture process. Twisting needle technique. During the needle insertion process, the displacement value of the displacement sensor is collected in real time. When the value increases by the preset needle insertion depth H relative to _S1 , the third stepping motor stops forward rotation. Then, the first stepping motor 10 drives the gear 9 to rotate clockwise, the gear 9 drives the compound rack 8-1～8-3 to move clockwise, and the compound rack 8-1～8-3 drives the clamps 7-1～7- 3. Move radially outward, so that the clamps 7-1 to 7-3 release the end of the needle handle of the acupuncture needle to realize needle release. Finally, the third stepper motor 17 drives the lead screw 19 to rotate through reverse rotation, so that the linear motion unit 12 drives the first functional module and the second functional module to return to the initial state, and the mechanical arm drives the intelligent acupuncture instrument to reset. So far, one acupuncture operation is completed.

During the acupuncture process, the pressure sensor, the displacement sensor and each stepping motor are all controlled by a microcomputer. Needle insertion speed, needle insertion force and needle pushing technique are quantified by professional physicians, and converted into stepping motor speed, angle and torque after calculation. And through the collection of real-time pressure and displacement data, after corresponding data processing, the data such as the rotational speed, angle and torque, pressure and displacement output by the motor are uploaded to the host computer software through the wireless transmission module, and the needle insertion speed during the acupuncture process is recorded , needle force, thrust angle and needle depth and other data. For the same acupuncture point, a large amount of acupuncture process data will be collected, and the optimal acupuncture process will be selected through specific evaluation indicators, recorded and uploaded to the cloud, which can be downloaded and used by individuals and physicians. Because the smart scraping device is small in size and has threaded holes at the tail, it can be easily installed on different mobile platforms. Physicians can control the smart acupuncture device remotely by downloading acupuncture data from the cloud, so as to realize remote acupuncture for patients.

Claims (10)

1. An intelligent acupuncture instrument based on real-time monitoring and control imitating expert manipulation, characterized in that: it includes a first functional module, a second functional module, a third functional module and an intelligent acupuncture instrument shell; wherein the first functional module is acupuncture The clamping unit, the second functional module is an acupuncture twisting unit, including twisting needles and a force feedback mechanism, and the third functional module is an acupuncture needle application unit, including a feeding needle application mechanism; the first functional module, the second functional module The axis of the third functional module coincides with the axis of the needle hole, the first functional module radially clamps the acupuncture needles, and the third functional module is connected to the shell of the intelligent acupuncture instrument through the motor fixing screw. 2. A kind of intelligent acupuncture instrument based on real-time monitoring and control according to claim 1, characterized in that: the first functional module is the acupuncture clamping unit, comprising: a first stepping motor, a gear, Three compound racks and three fixtures; the gear is installed at the end of the motor shaft of the first stepper motor, the gear is matched with the compound rack, and the compound rack is matched with the chute on the side of the fixture through the side chute; the motor is reversing The gear is driven to rotate, and the gear drives the composite rack to move linearly and reciprocatingly, and the clamp is driven to move radially through the chute to realize the clamping function of the needle handle. 3. A kind of intelligent acupuncture instrument based on real-time monitoring and control according to claim 1, characterized in that: the second functional module is the acupuncture twisting unit, comprising: a pressure sensor, a second stepping motor ; The pressure sensor is installed at the connection position with the first functional module, and when the acupuncture needle held by the acupuncture instrument contacts the skin of the patient, it detects the magnitude of the contact force; the second stepping motor is connected with the pressure sensor fixing device, and the second stepping motor The forward and reverse rotation of the motor drives the first functional module to rotate forward and reverse, realizing the function of twisting needles during the acupuncture process. 4. A kind of intelligent acupuncture instrument based on real-time monitoring and control according to claim 1, characterized in that: the third functional module is the acupuncture needle application unit, comprising: a third stepping motor, a group of balls The lead screw pair and a displacement sensor; the third stepping motor is connected to the lead screw, and the third stepping motor drives the lead screw to rotate in forward and reverse directions to realize the circular motion of the linear motion unit; the main body of the displacement sensor is connected to the shell of the intelligent acupuncture instrument, and the displacement The sensor telescoping rod joint is connected with the linear motion unit. 5. A kind of intelligent acupuncture instrument based on real-time monitoring and control according to claim 1 or 2, characterized in that: the first functional module also includes a motor fixing screw, a shell, a clamp, a compound rack, a gear and The first stepping motor; the first stepping motor is connected with the shell through the motor fixing screw, the motor shaft of the first stepping motor is connected with the gear, and the gear is equidistantly matched with the composite rack through teeth. 6. An intelligent acupuncture instrument based on real-time monitoring and control according to claim 5, characterized in that: the compound rack cooperates with the fixture through the boss of the fixture and the boss of the compound rack to realize the combination of the compound rack and the The fixture moves relative to the fixture boss, and the fixture chute guide rail cooperates with the compound rack guide rail to prevent the compound rack from being separated from the fixture in the axial direction. The fixture cooperates with the shell through the fixture guide rail to ensure the radial movement and axial fixation of the fixture; the first The stepping motor drives the gear to rotate counterclockwise, the gear drives the composite rack to move counterclockwise, and the composite rack drives the clamp to move radially inward, so that the clamp clamps the end of the acupuncture needle handle to realize the needle clamping function; otherwise, the first stepping motor Drive the gear to rotate clockwise, the gear drives the composite rack to move clockwise, and the composite rack drives the clamp to move radially outward, so that the clamp releases the end of the acupuncture needle handle to realize the needle release function. 7. The intelligent acupuncture instrument based on real-time monitoring and control according to claim 1 or 3, characterized in that: the second functional module also includes a motor fixing screw, a pressure sensor fixing shell, a second stepping motor , pressure sensor and connector; the second stepper motor is connected with the linear motion unit through the motor fixing screw, the motor shaft of the second stepper motor is connected with the fixed shell of the pressure sensor, the pressure sensor is installed in the fixed shell of the pressure sensor, and the pressure sensor is fixed The shell is connected with the shell through the connecting piece to realize the pressure monitoring during the needle application; the pressure sensor fixes the shell, the pressure sensor, the connecting piece and the first functional module are relatively fixed, and the second stepper motor drives the first functional module through forward and reverse rotation to realize Twisting needle function during needle application. 8. The intelligent acupuncture instrument based on real-time monitoring and control according to claim 1 or 4, characterized in that: the third functional module also includes a displacement sensor contact fixing nut, a displacement sensor body fixing nut, a straight line Motion unit, displacement sensor, third stepper motor, ball and lead screw; the third stepper motor is connected to the shell of the intelligent acupuncture instrument through the motor fixing screw, and the displacement sensor is connected to the shell of the intelligent acupuncture instrument through the fixing nut of the displacement sensor body. The sensor contact fixing nut is connected with the linear motion unit; the guide rail of the linear motion unit cooperates with the shell of the intelligent acupuncture instrument to avoid the large deviation of the displacement control caused by the rotation of the linear motion unit during exercise; the linear motion unit, the ball and the screw form a ball screw pair , the third stepping motor drives the lead screw to rotate through forward and reverse rotation, so that the linear motion unit drives the first functional module and the second functional module to realize reciprocating linear motion, and realizes the depth and speed of needle application by controlling the rotation angle and speed of the third stepping motor The speed is controllable. 9. An intelligent acupuncture instrument based on real-time monitoring and control according to claim 1, characterized in that: the overall structure of the intelligent acupuncture instrument is pen-shaped; the outlet part of the head is the needle outlet end, and the tail is a The connecting end of the mobile platform such as the mechanical arm; the needle exit end has only a small round hole channel, the diameter is slightly larger than the diameter of the needle handle of the acupuncture needle, so as to avoid the acupuncture needle being bent and deformed by the pressure during the acupuncture process, thereby ensuring the needle application angle; connection The end is a circular T platform, which is connected to the end of the mobile platform such as the mechanical arm through four bolts. 10. An implementation method of an intelligent acupuncture instrument based on real-time monitoring and control based on real-time monitoring and control according to claim 1, characterized in that: the intelligent acupuncture instrument is connected to the end of the mobile platform of the mechanical arm through a threaded connection hole with a bolt, Through the movement of the mobile platform, the needle hole is moved to the needle handle of the acupuncture needle, and the mechanical arm drives the intelligent acupuncture instrument to move further, so that the acupuncture needle handle enters the active chamber of the intelligent acupuncture instrument, and the third stepping motor is driven by forward rotation. The screw rotates to make the linear motion unit drive the first functional module and the second functional module to move out of the needle hole. By controlling the rotation of the third stepping motor and cooperating with the linear motion unit, the first functional module advances and the needle handle of the acupuncture needle Enter the center of the clamp; the first stepping motor drives the gear to rotate counterclockwise, the gear drives the composite rack to move counterclockwise, and the composite rack drives the clamp to move radially inward, so that the clamp clamps the end of the needle handle of the acupuncture needle to achieve needle clamping; the third The stepper motor drives the lead screw to rotate through reverse rotation, so that the linear motion unit drives the first functional module and the second functional module to realize linear motion, and controls the reverse rotation of the third stepper motor; the mobile platform cooperates with the binocular vision sensor to clamp the needle Finally, the intelligent acupuncture instrument moves to the treatment site. By controlling the third stepping motor to rotate forward, it drives the first functional module, the second functional module and the acupuncture needles to move towards the skin. The acupuncture needles contact the skin, and the pressure value of the pressure sensor rises. The three stepping motors continue to rotate forward to make the acupuncture needle penetrate the skin, and the pressure value changes suddenly, and record the value _S1 of the displacement sensor at this time; the third stepping motor continues to rotate forward, and the acupuncture needle penetrates into the skin. The motor drives the first functional module and the acupuncture needles to rotate continuously within the range of 0-180° in both positive and negative directions to realize the needle-twisting technique during the acupuncture process; the displacement value of the displacement sensor is collected in real time during the needle insertion process, when the value is compared to the S ₁ When the preset needle insertion depth H is increased, the third stepping motor stops forward rotation; then, the first stepping motor drives the gear to rotate clockwise, the gear drives the compound rack to move clockwise, and the compound rack drives the clamp diameter Move outward, so that the clamp releases the end of the needle handle of the acupuncture needle to realize needle release; finally, the third stepping motor drives the lead screw to rotate through reverse rotation, so that the linear motion unit drives the first functional module and the second functional module to return to the initial state, The robotic arm drives the intelligent acupuncture instrument to reset; so far, one acupuncture operation is completed.

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