CN110215618B

CN110215618B - Based on PID control laser acupuncture therapeutic instrument

Info

Publication number: CN110215618B
Application number: CN201910454722.7A
Authority: CN
Inventors: 镇艳; 镇春; 邓晓焱; 易伟民
Original assignee: Sun Yat Sen Memorial Hospital Sun Yat Sen University
Current assignee: Sun Yat Sen Memorial Hospital Sun Yat Sen University
Priority date: 2019-05-28
Filing date: 2019-05-28
Publication date: 2021-07-13
Anticipated expiration: 2039-05-28
Also published as: CN110215618A

Abstract

The invention relates to the technical field of acupuncture and moxibustion physiotherapy, in particular to a laser acupuncture and moxibustion therapy instrument based on PID control, aiming at overcoming the defect that the use is not flexible and convenient in the prior art, and comprising a base for supporting the whole laser acupuncture and moxibustion therapy instrument; the acupuncture unit is arranged on the base and is arranged with the base in a sliding way; the driving unit provides motion power for the acupuncture unit; the sensing control unit is in signal connection with the acupuncture unit and comprises a distance sensor, an image collector and a central controller, and the central controller analyzes information acquired by the distance sensor and the image collector.

Description

Based on PID control laser acupuncture therapeutic instrument

Technical Field

The invention relates to the technical field of acupuncture and moxibustion physiotherapy, in particular to a laser acupuncture and moxibustion therapeutic apparatus based on PID control.

Background

Acupuncture is a specific Chinese means for treating diseases, and is a treatment method of treating diseases from the outside to the inside, and the diseases are treated through the actions of meridians and acupoints and certain manipulations. Currently, acupuncture has gained almost worldwide acceptance. Acupuncture has been reported to be effective in treating over three hundred diseases, of which over one hundred are reported to be effective.

The research and development of modern acupuncture therapeutic instruments have gradually gone on the way of development and combination of modern science and technology, and particularly on the basis of the traditional Chinese medicine theory, the intelligent instrument with perfect performance and powerful functions, which is developed by combining various technologies such as computers, microelectronics, lasers and the like, is an important combination of the traditional Chinese medicine acupuncture theory and practice and the scientific technology of modern instruments, and the laser acupuncture therapy is widely applied to various departments such as internal medicine, surgery, gynecology, pediatrics, neurology, dermatology, stomatology, ear, nose, throat and the like due to the advantages of no pain, no infection, no obvious contraindication acupuncture points, safety, no needle sickness, controllable dosage, simple and convenient operation and the like.

However, the current laser acupuncture apparatus has disadvantages and shortcomings: the simple irradiation method of certain wavelength laser acupuncture, such as He-Ne laser acupuncture instrument, adopts continuous direct irradiation, which is the simplest working mode, the treatment is the simplest but the treatment method and acupuncture manipulation are single, the flexibility is poor, and the traditional Chinese medicine acupuncture theory of great depth can not be realized. Therefore, in response to the market demand, there is a need to develop a flexible and convenient acupuncture therapy apparatus based on laser acupuncture.

Disclosure of Invention

Therefore, the technical problem to be solved by the present invention is to overcome the defect of the prior art that the use is not flexible and convenient enough, and thereby a laser acupuncture therapeutic apparatus based on PID control is provided.

The technical purpose of the invention is realized by the following technical scheme:

a laser acupuncture therapeutic instrument based on PID control includes:

the base is used for supporting the whole laser acupuncture therapeutic apparatus;

the acupuncture unit is arranged on the base and is arranged with the base in a sliding way;

the driving unit provides motion power for the acupuncture unit;

and the sensing control unit is in signal connection with the acupuncture unit and comprises a distance sensor, an image collector and a central controller, and the central controller analyzes information acquired by the distance sensor and the image collector.

Further, the acupuncture unit includes:

the acupuncture needle head is a shell with a hollow interior;

a light source disposed in the acupuncture needle head, the light source being a laser having a plurality of predetermined wavelengths;

and the condensing lens is positioned on the emergent light path of the light source and can condense the laser beams.

Furthermore, an optical filter is arranged between the light source and the condensing lens, and a radiator is arranged outside the acupuncture needle head.

Furthermore, be provided with the confession on the base the acupuncture needle head slide horizontal bracing piece and with horizontal bracing piece welded fastening's vertical support post, the support column welded fastening be in the four corners of base, be provided with the reference column of reciprocal anchorage between the support column.

Furthermore, a sliding groove is formed in the transverse supporting rod along the length of the transverse supporting rod, and a clamping block is arranged in the sliding groove.

Furthermore, it has the holding tank to extend in the sliding tray, the screens piece inlays to be established in the holding tank, the holding tank with still be provided with the spring between the screens piece, the screens piece is arranged in the part in the holding tank outside is provided with the inclined plane of symmetry.

Furthermore, the driving unit comprises a first driving motor and a second driving motor, the driving unit is arranged on the positioning column, and the first driving motor and the second driving motor are symmetrically arranged.

Furthermore, the output shaft of the first driving motor is fixedly connected with a certain acupuncture needle head, and the output shaft of the second driving motor is fixedly connected with a certain acupuncture needle head.

Furthermore, the distance sensor is fixedly arranged at one end, far away from the radiator, of the acupuncture needle head, the image collectors are symmetrically arranged on the acupuncture needle head, and the image collectors are used for collecting body images of a user.

The technical scheme of the invention has the following advantages:

1. according to the laser acupuncture and moxibustion therapeutic apparatus based on PID control, provided by the invention, through improvement of the acupuncture and moxibustion apparatus, the acupuncture and moxibustion laser acupuncture and moxibustion therapeutic apparatus can select characteristic treatment wavelength and irradiation power, during treatment, laser is contacted with skin on the surface of a user through an acupuncture needle, meanwhile, a focusing lens is additionally arranged to increase the treatment effect, noninvasive acupuncture and moxibustion is realized, the treatment is convenient, the laser wave band is rich, and the laser acupuncture and moxibustion therapeutic apparatus is wider in application range, higher in flexibility and lower in cost compared with the traditional acupuncture and other laser acupuncture and moxibustion.

2. According to the laser acupuncture therapeutic apparatus based on PID control, the sensing control unit enables the operation process of the laser acupuncture system to be simpler and more convenient, the operation is easy, the image collector and the distance sensor can be used for obtaining the acupuncture point coordinate information of a user and the like, the accurate positioning is carried out through the distance from the distance sensor, the acupuncture point error is reduced, meanwhile, the image collector can also carry out analysis feedback on the skin of the patient near the acupuncture point, so that targeted acupuncture treatment and adjustment are carried out through the central control system, and the situations of scalding and the like are reduced and avoided.

3. According to the laser acupuncture and moxibustion therapeutic apparatus based on PID control, the sliding track of the acupuncture and moxibustion unit is limited due to the existence of the sliding groove, the position of the acupuncture and moxibustion needle head is limited by the clamping block, and the shaking during treatment is reduced, so that the stress response of a user in the treatment process is reduced, and the treatment efficiency of the acupuncture and moxibustion apparatus can be improved due to the simple fixing structure.

4. According to the laser acupuncture therapeutic apparatus based on PID control, the double-drive motor is adopted for driving, so that the effect of simultaneously treating a plurality of acupuncture needle heads of an acupuncture unit can be realized, the coverage of acupuncture points of a user is wide, and the acupuncture treatment efficiency is improved.

5. According to the laser acupuncture therapeutic apparatus based on PID control provided by the invention, the central controller adopts a digital PID control algorithm to realize control of the traditional Chinese medicine acupuncture algorithm, and a singlechip is used for carrying out PID control operation to form a control quantity, so that the laser power is controlled.

6. The laser acupuncture and moxibustion therapeutic apparatus based on PID control provided by the invention not only has the common functions of the laser acupuncture and moxibustion apparatus, but also has the characteristics of adjustable time and power, controllable laser irradiation safety dose and the like, can replace the traditional acupuncture and moxibustion, and has many incomparable advantages of the traditional acupuncture and moxibustion.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic overall structure diagram of a laser acupuncture therapy apparatus based on PID control according to an embodiment of the present invention;

FIG. 2 is a partial schematic view of a transverse support bar according to an embodiment of the present invention;

fig. 3 is a sectional view of an acupuncture unit provided in an embodiment of the present invention;

fig. 4 is a schematic block diagram of a laser acupuncture therapy apparatus based on PID control according to an embodiment of the present invention.

Description of reference numerals:

1. a base; 11. a transverse support bar; 111. a sliding groove; 112. accommodating grooves; 113. a spring; 114. a bit block; 12. a support pillar; 13. a positioning column; 2. an acupuncture unit; 21. an acupuncture needle head; 211. a heat sink; 22. a light source; 23. a condenser lens; 231. an optical filter; 3. a drive unit; 31. a first drive motor; 32. a second drive motor; 4. a sensing control unit; 41. a distance sensor; 42. an image collector; 43. a central controller.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

A laser acupuncture therapeutic apparatus based on PID control is disclosed, as shown in figure 1, comprising a base 1, an acupuncture unit 2 and a driving unit 3, wherein the base 1 is provided with a transverse supporting rod 11 for sliding an acupuncture needle 21 and a vertical supporting column 12 welded and fixed with the transverse supporting rod 11, the supporting columns 12 are welded and fixed at four corners of the base 1, and positioning columns 13 fixed with each other are arranged among the supporting columns 12.

As shown in fig. 2, a sliding groove 111 is formed on the transverse support bar 11 along the length thereof, a retaining block 114 is arranged in the sliding groove 111, an accommodating groove 112 extends in the sliding groove, the retaining block 114 is embedded in the accommodating groove 112, a spring 113 is further arranged between the accommodating groove 112 and the retaining block 114, symmetrical inclined planes are arranged on the part of the retaining block 114, which is arranged outside the accommodating groove 112, the sliding track of the acupuncture unit 2 is limited by the sliding groove 111, the position of the acupuncture needle head 21 is limited by the retaining block 114, and meanwhile, the sliding of the acupuncture needle head 21 in the sliding groove is not influenced by the spring 113, so that the shaking during the treatment is reduced, the stress response of a user during the treatment is reduced, and the treatment efficiency of the acupuncture apparatus can be improved by a simple fixing structure.

As shown in fig. 3, the acupuncture unit 2 includes an acupuncture needle 21, a light source 22 and a condensing lens 23, the light source 22 is fixedly disposed inside the acupuncture needle 21 as a laser having a plurality of predetermined wavelengths; condenser lens 23 is located the emergent light path of light source 22 and can assemble laser beam, still fixed light filter 231 that is provided with between light source 22 and condenser lens 23, acupuncture needle 21 outer lane is encircleed and is provided with radiator 211, acupuncture laser acupuncture therapeutic instrument can select characteristics treatment wavelength and irradiation power, during the treatment, the laser passes through acupuncture needle 21 and the surperficial skin contact of user, add focusing lens simultaneously and increase treatment, realize non-invasive acupuncture, the treatment is convenient and the laser wave band is abundant, wider than traditional acupuncture and other laser acupuncture application range, the flexibility is higher, the cost is lower.

As shown in fig. 3, the distance sensor 41 is fixedly disposed at one end of the acupuncture needle 21 far from the heat sink 211, the image collector 42 is symmetrically disposed on the acupuncture needle 21, the image collector 42 is used for collecting body images of a user, the sensing control unit 4 makes the operation process of the laser acupuncture system simpler and more convenient, and is easy to operate, the image collector 42 and the distance sensor 41 can be used for acquiring acupuncture point coordinate information and the like of the user, and the accurate positioning can be performed through the distance of the distance sensor 41, so that acupuncture point errors are reduced, and meanwhile, the image collector 42 can also analyze and feed back the skin of a patient near the acupuncture point, so that targeted acupuncture treatment and adjustment can be performed through the central control system, and scalding and other situations are reduced and avoided.

As shown in fig. 1 and 4, the sensing control unit 4 is in signal connection with the acupuncture unit 2, and includes a distance sensor 41, an image collector 42 and a central controller 43, the central controller 43 analyzes information acquired by the distance sensor 41 and the image collector 42, the driving unit 3 includes a first driving motor 31 and a second driving motor 32, the driving unit 3 is disposed on the positioning column 13, the first driving motor 31 and the second driving motor 32 are symmetrically disposed, and the use of the dual-driving motor for driving can achieve the effect of simultaneously performing treatment on a plurality of acupuncture needles 21 of the acupuncture unit 2, thereby covering a wide range of acupuncture points of a user, and improving the efficiency of acupuncture treatment.

As shown in fig. 4, the central controller 43 adopts a digital PID control algorithm to control the traditional chinese medicine acupuncture algorithm, and uses a single chip microcomputer to perform PID control operation to form a control quantity to control the laser power, and the PID control has the advantages of simple algorithm, high reliability, and the like, and meanwhile, adopts PID closed-loop control to ensure the stability of current, so that the anti-interference capability of the system is greatly enhanced, voltage signals collected and analyzed by the image collector 42 and the distance sensor 41 are transmitted to the single chip microcomputer to perform data conversion, and PID control operation is performed on the converted digital signals to form a control quantity, so that the emission wavelength of the light source 22 is adjusted, and the acupuncture amplitude and the acupuncture speed are controlled.

This theory of operation based on PID control laser acupuncture therapeutic instrument: the therapeutic apparatus is placed above the part to be treated of the treated user, the image collector 42 acquires the skin surface condition information, the acupuncture point of the treated user is determined, the acupuncture point of the treated user is positioned through the example sensor, the laser acupuncture is carried out on the determined and positioned acupuncture point of the treated user through the driving device, and meanwhile, the image collector 42 can analyze and feed back the skin of the patient near the acupuncture point, so that the targeted acupuncture treatment and adjustment can be carried out through the central control system.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. The utility model provides a based on PID control laser acupuncture therapeutic instrument which characterized in that includes:

the base (1) is used for supporting the whole laser acupuncture therapeutic apparatus;

the acupuncture unit (2) is installed on the base (1), and the acupuncture unit (2) and the base (1) are arranged in a sliding mode;

the driving unit (3) is used for providing motion power for the acupuncture unit (2);

the sensing control unit (4) is in signal connection with the acupuncture unit (2) and comprises a distance sensor (41), an image collector (42) and a central controller (43), and the central controller (43) analyzes information acquired by the distance sensor (41) and the image collector (42);

the acupuncture unit (2) includes: an acupuncture needle head (21), wherein the acupuncture needle head (21) is a hollow shell;

a light source (22), the light source (22) being disposed in the acupuncture needle head (21) and being a laser having a plurality of predetermined wavelengths;

a condenser lens (23) that is positioned on an exit light path of the light source (22) and can condense the laser beam;

a light filter (231) is arranged between the light source (22) and the condenser lens (23), and a radiator (211) is arranged outside the acupuncture needle head (21);

the base (1) is provided with transverse supporting rods (11) for the acupuncture needle head (21) to slide and vertical supporting columns (12) welded and fixed with the transverse supporting rods (11), the supporting columns (12) are welded and fixed at four corners of the base (1), and positioning columns (13) fixed with each other are arranged among the supporting columns (12);

a sliding groove (111) is formed in the transverse supporting rod (11) along the length of the transverse supporting rod, and a clamping block (114) is arranged in the sliding groove (111);

the sliding groove is extended with an accommodating groove (112), the clamping block (114) is embedded in the accommodating groove (112), a spring (113) is further arranged between the accommodating groove (112) and the clamping block (114), and symmetrical inclined planes are arranged on the part, outside the accommodating groove (112), of the clamping block (114).

2. The PID control-based laser acupuncture therapy apparatus according to claim 1, wherein the driving unit (3) comprises a first driving motor (31) and a second driving motor (32), the driving unit (3) is disposed on the positioning column (13), and the first driving motor (31) and the second driving motor (32) are symmetrically disposed.

3. The PID-controlled laser acupuncture and moxibustion therapy instrument according to claim 2, wherein the output shaft of the first driving motor (31) is fixedly connected with a certain acupuncture needle (21), and the output shaft of the second driving motor (32) is fixedly connected with a certain acupuncture needle (21).

4. The laser acupuncture and moxibustion therapy instrument based on PID control of claim 3, characterized in that the distance sensor (41) is fixedly arranged at one end of the acupuncture needle head (21) far away from the heat sink (211), the image collector (42) is symmetrically arranged on the acupuncture needle head (21), and the image collector (42) is used for collecting the body image of the user.