CN115581617A - Electric acupuncture therapeutic instrument system capable of intelligently simulating manual twisting, lifting and inserting - Google Patents

Electric acupuncture therapeutic instrument system capable of intelligently simulating manual twisting, lifting and inserting Download PDF

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Publication number
CN115581617A
CN115581617A CN202211290405.4A CN202211290405A CN115581617A CN 115581617 A CN115581617 A CN 115581617A CN 202211290405 A CN202211290405 A CN 202211290405A CN 115581617 A CN115581617 A CN 115581617A
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Prior art keywords
lifting
motor
acupuncture
needle
twisting
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Chinese (zh)
Inventor
冯明红
高广明
郭鹏
邢涛
刘前进
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Hainan Pioneer Medical Technology Co ltd
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Hainan Pioneer Medical Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/372—Arrangements in connection with the implantation of stimulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/08—Devices for applying needles to such points, i.e. for acupuncture ; Acupuncture needles or accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/372—Arrangements in connection with the implantation of stimulators
    • A61N1/375—Constructional arrangements, e.g. casings
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/15—Correlation function computation including computation of convolution operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive

Abstract

The invention discloses an electrical acupuncture therapeutic apparatus system capable of intelligently simulating manual twisting and lifting insertion, which comprises an acupuncture needle, a twisting motor, a lifting and inserting motor, a trigger and a controller, wherein the controller is respectively and electrically connected with the twisting motor, the lifting and inserting motor and the trigger, the twisting motor and the lifting and inserting motor are respectively in transmission connection with the acupuncture needle, the twisting motor drives the acupuncture needle to rotate along the clockwise direction or the anticlockwise direction, and the lifting and inserting motor drives the acupuncture needle to move forwards or backwards. In the intelligent simulation manual twisting and lifting-inserting electric acupuncture therapeutic apparatus system, the controller is triggered by the trigger to control the twisting motor and the lifting-inserting motor to act, so that the acupuncture needle can realize twisting or lifting-inserting action, the mechanization and automation of acupuncture therapy in the acupuncture therapy process can be facilitated, and the workload of medical staff in the acupuncture therapy process can be relieved.

Description

Electric acupuncture therapeutic instrument system capable of intelligently simulating manual twisting, lifting and inserting
Technical Field
The invention relates to the technical field of acupuncture equipment, in particular to an electric acupuncture therapeutic apparatus system capable of intelligently simulating manual twirling and lifting insertion.
Background
Acupuncture and moxibustion is the general term for both acupuncture and moxibustion. Among them, acupuncture is a method of treating diseases by inserting needles (usually filiform needles) into a patient's body at a certain angle under the guidance of the theory of traditional Chinese medicine and stimulating specific parts of the body by using the manipulation of rotating and lifting/inserting needles. The insertion points are called acupoints of the human body, called acupoints for short. According to the statistics of the teaching materials of acupuncture, the human body has 361 acupuncture points of the right meridians.
The medical care personnel use the reciprocating rotation of the metal needle to gradually insert into the acupuncture points of the human body, the process is extremely energy-consuming, tens of needles are often needed to be inserted everywhere in the body, and the common needle insertion methods are the lifting and inserting method and the twisting and rotating method. Specifically, after the needle insertion reaches a certain depth, the abdomen of the middle finger of the right hand is used to support the needle body, the tip of the finger is pressed against the surface of the acupoint, the thumb and index fingers pinch the needle handle, the needle is inserted from the deep to the superficial layer, and then from the superficial layer to the deep layer, and the insertion is repeated. In the actual operation process of the above-mentioned acupuncture, the medical staff needs to bear a large workload.
Therefore, the development of an electric acupuncture therapeutic apparatus system capable of intelligently simulating manual twirling, lifting and inserting so as to reduce the workload of medical workers in the acupuncture treatment process is a technical problem to be solved urgently.
Disclosure of Invention
The invention aims to solve the technical problem of providing an electric acupuncture therapeutic apparatus system for intelligently simulating manual twirling and lifting insertion, which is beneficial to reducing the workload of medical staff in the acupuncture treatment process.
In order to solve the technical problem, the invention discloses an electric acupuncture and moxibustion therapeutic instrument system capable of intelligently simulating manual twisting, lifting and inserting, which comprises an acupuncture needle, a twisting motor, a lifting and inserting motor, a trigger and a controller, wherein the controller is respectively and electrically connected with the twisting motor, the lifting and inserting motor and the trigger,
the twisting motor and the lifting and inserting motor are respectively in transmission connection with the acupuncture needle, the twisting motor drives the acupuncture needle to rotate along the clockwise direction or the anticlockwise direction, the lifting and inserting motor drives the acupuncture needle to move forwards or backwards,
after the electric acupuncture therapeutic apparatus system is powered on, the controller executes the following steps:
the controller acquires a trigger signal sent by the trigger;
the controller identifies a control instruction corresponding to the trigger signal, wherein the control instruction is one of a twisting control instruction, a needle lifting instruction and a needle inserting instruction;
if the control instruction is a twisting control instruction, the controller sends a first electric signal to the twisting motor, so that the acupuncture needle rotates in a mode of periodically alternating clockwise and anticlockwise directions;
if the control instruction is a needle lifting instruction, the controller sends a second electric signal to the lifting and inserting motor to enable the acupuncture needle to move backwards;
if the control instruction is a needle inserting instruction, the controller sends a third electric signal to the needle lifting and inserting motor, so that the acupuncture needle moves forwards.
Therefore, in the intelligent electric acupuncture and moxibustion therapeutic apparatus system for simulating manual twisting and lifting and inserting, the controller is triggered by the trigger to control the twisting motor and the lifting and inserting motor to act, so that the twisting or lifting and inserting action of the acupuncture needle is realized, the mechanization and automation of acupuncture therapy in the acupuncture therapy process are facilitated, and the workload of medical workers in the acupuncture therapy process is relieved.
As an alternative mode, in the invention, the acupuncture needle can be sleeved on the connecting disc in a way of moving back and forth, the connecting disc is arranged on the frame,
the lifting and inserting motor is a linear motor, a stator of the lifting and inserting motor is fixed on the rack, and a rotor of the lifting and inserting motor is connected with the acupuncture needle and drives the acupuncture needle to move forwards or backwards.
In an alternative embodiment, the twisting motor is a rotary motor, a stator of the rotary motor is fixed to the frame, and a rotor of the rotary motor is connected to the connecting plate, so that the acupuncture needle is rotated by driving the connecting plate to rotate.
As an alternative embodiment, in the present invention, a buffer ring made of rubber is provided between the acupuncture needle and the connecting plate.
As an optional implementation manner, in the present invention, the trigger includes one or more of a touch module, a voice module for recognizing target voice information in an application scenario, and a human body detection module for recognizing a human body.
As an alternative embodiment, in the present invention, the controller controls the insertion and extraction motor based on a segmented motion planning control algorithm, such that the process of the insertion and extraction motor driving the acupuncture needle to move backward or forward is divided into a first acceleration section, a second acceleration section, a uniform velocity section, a first deceleration section and a second deceleration section, wherein,
stroke of the first acceleration section
Figure BDA0003901123210000031
The following:
Figure BDA0003901123210000032
in the formula, V max For a predetermined target speed, A max For a predetermined target acceleration, t 1 For the duration of the first acceleration period, q 1 For a predetermined first motion planning coefficient, q 2 For the predetermined second motion planning coefficients,
stroke of the second acceleration section
Figure BDA0003901123210000033
The following were used:
Figure BDA0003901123210000034
in the formula, t 2 For the duration of the second acceleration period, q 3 For the predetermined third motion planning coefficient,
stroke of uniform velocity section
Figure BDA0003901123210000035
The following were used:
Figure BDA0003901123210000036
in the formula, t 3 The duration of the constant speed segment is the duration,
stroke of the first deceleration section
Figure BDA0003901123210000037
The following:
Figure BDA0003901123210000038
in the formula, t 4 For the duration of this first deceleration segment,
stroke of the second deceleration section
Figure BDA0003901123210000039
The following were used:
Figure BDA00039011232100000310
in the formula, t 5 For the duration of the second deceleration section, q 4 For the predetermined fourth motion planning coefficient,
velocity of the first acceleration section
Figure BDA00039011232100000311
The following were used:
Figure BDA00039011232100000312
velocity of the second acceleration section
Figure BDA0003901123210000041
The following were used:
Figure BDA0003901123210000042
speed of uniform velocity section
Figure BDA0003901123210000043
The following were used:
Figure BDA0003901123210000044
speed of the first deceleration section
Figure BDA0003901123210000045
The following were used:
Figure BDA0003901123210000046
speed of the second deceleration section
Figure BDA0003901123210000047
The following were used:
Figure BDA0003901123210000048
drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an electrical acupuncture therapy apparatus system for intelligently simulating manual twirling and lifting insertion according to an embodiment of the present invention;
FIG. 2 is a front view of the intelligent simulated manual twirling and lifting acupuncture therapy apparatus system shown in FIG. 1;
FIG. 3 is a flow chart of steps performed by a controller in accordance with an embodiment of the present invention;
FIG. 4 is a waveform diagram of a first electrical signal during a cycle in accordance with an embodiment of the present invention;
fig. 5 is a graph showing the change in stroke and corresponding speed of the elevator motor.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The terms first, second and the like in the description and in the claims of the present invention are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or apparatus that comprises a list of steps or elements is not limited to those listed but may alternatively include other steps or elements not listed or inherent to such process, method, product, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The invention relates to an electrical acupuncture therapeutic apparatus system for intelligently simulating manual twirling, lifting and inserting, which comprises an acupuncture needle, a twirling motor, a lifting and inserting motor, a trigger and a controller. The controller is respectively electrically connected with the twisting motor, the lifting and inserting motor and the trigger. The trigger can be used for sending a trigger signal to the controller, so that the controller can respond to the trigger signal to control the operation of the twisting motor or the lifting and inserting motor.
The twisting motor and the lifting and inserting motor are respectively connected with the acupuncture needle in a transmission way. The twisting motor can be used for driving the acupuncture needle to rotate along the clockwise direction or the anticlockwise direction so as to realize the twisting action of the acupuncture needle in the acupuncture treatment process. The lifting and inserting motor can be used for driving the acupuncture needle to move forwards or backwards so as to realize the lifting and inserting action of the acupuncture needle in the acupuncture treatment process. Alternatively, as shown in fig. 1 and 2, the acupuncture needle 100 is movably fitted on the coupling plate 200 in a forward and backward direction, and the coupling plate 200 is mounted on the frame 300, so that the acupuncture needle 100 and the coupling plate 200 form a coupling plate assembly. When the acupuncture needle needs to be replaced, the connecting disc can be detached from the rack, and the connecting disc assembly with a new acupuncture needle is replaced, so that convenience in replacing the acupuncture needle is provided. Further optionally, the lifting and inserting motor is a linear motor, a stator of the lifting and inserting motor is fixed on the frame, and a rotor of the lifting and inserting motor is connected with the acupuncture needle to drive the acupuncture needle to move forwards or backwards. The linear motor drives the lifting and inserting action of the acupuncture needle, the transmission component in the middle is removed, the intelligent simulation manual twisting lifting and inserting mechanical structure of the electric acupuncture therapeutic instrument system is facilitated, and therefore the miniaturization and the light weight are facilitated. Still further optionally, the twisting motor is a rotating motor, a stator of the rotating motor is fixed on the frame, and a rotor of the rotating motor is connected with the connecting disc, so that the acupuncture needle rotates by driving the connecting disc. The rotating motor drives the twisting action of the acupuncture needle, a transmission component in the middle is removed, and the intelligent simulation of the compactness of the mechanical structure of the electrical acupuncture therapeutic instrument system for manual twisting and lifting insertion is facilitated, so that the miniaturization and the light weight are facilitated. Still further alternatively, as shown in fig. 1 and 2, a buffer ring 400 made of rubber is provided between the acupuncture needle 100 and the connection plate 200. Under the condition of meeting the twisting or lifting and inserting action of the acupuncture needle, the buffer ring is beneficial to reducing the abrasion between the acupuncture needle and the connecting disc.
After the electric acupuncture therapeutic apparatus system is powered on, as shown in fig. 3, the controller may perform the following steps to control the twirling motor and the lifting and inserting motor:
s101, the controller acquires a trigger signal sent by the trigger.
The trigger signal is typically input from the trigger to the controller in the form of an electrical signal (e.g., high or low). Optionally, the controller may have a control chip therein, and the control chip may select a type according to actual needs (for example, a PIC series, an STM series, or the like may be selected), and specifically, a trigger signal of the flip-flop may be input through an I/O port of the control chip.
The trigger can have different modules according to the application scene requirements or the functional requirements of the electric acupuncture treatment system. Optionally, the trigger may have a touch module (e.g., a keyboard, a button, a touch panel, etc. for inputting a user control instruction) to implement a touch function of the system; alternatively, the trigger may further have a voice module (e.g., a voice recognition chip of NRK10 series) for recognizing target voice information (e.g., voice information corresponding to a control command for controlling a needle rotation or insertion movement in a piece of voice of a user) in an application scenario to implement a language control function of the system; still alternatively, the trigger may further have a human body detection module (e.g., a temperature sensor for detecting the body temperature of a human body, a human body image recognition module with a camera, etc.) for recognizing a human body, so as to implement the human body detection response function of the system.
S102, the controller identifies a control instruction corresponding to the trigger signal.
Wherein, the control command is one of a twist control command, a needle lifting command and a pin inserting command.
And S1031, if the control command is a twisting control command, the controller sends a first electric signal to the twisting motor, so that the acupuncture needle rotates in a mode of periodically alternating clockwise and anticlockwise directions. Alternatively, for the case that the twisting motor is a dc motor and is driven by a full bridge, the first electrical signal may include two signals, i.e., a first electrical signal a and a second electrical signal B. Further alternatively, the waveforms of the first electrical signal a and the first electrical signal B in one period may be as shown in fig. 4, which enables the twisting motor to rotate in the forward and reverse directions in the period T (in the first 1/2T, the twisting motor rotates in the forward direction, and in the second 1/2T, the twisting motor rotates in the reverse direction), so that the acupuncture needle rotates in the periodic clockwise direction and the counterclockwise direction alternately. Still further optionally, the first electrical signal is a PWM signal, and the duty ratio of the PWM signal (i.e. the duty ratios of the first electrical signal a and the second electrical signal B are adjusted) may be adjusted to adjust the rotation speed of the twisting motor, thereby adjusting the rotation speed of the acupuncture needle.
And S1032, if the control command is a needle lifting command, the controller sends a second electric signal to the needle lifting and inserting motor, so that the acupuncture needle moves backwards.
And S1033, if the control instruction is a needle inserting instruction, the controller sends a third electric signal to the needle lifting and inserting motor, so that the acupuncture needle moves forwards.
Optionally, if the lifting and inserting motor is a linear motor, since the driving mode of the linear motor is similar to that of the rotating motor, the lifting and inserting motor drives the electrical signal corresponding to the forward and backward movement of the acupuncture needle, and reference may be made to the description that the twisting motor is a dc motor.
Therefore, in the intelligent electric acupuncture and moxibustion therapeutic apparatus system for simulating manual twisting and lifting and inserting, the controller is triggered by the trigger to control the twisting motor and the lifting and inserting motor to act, so that the twisting or lifting and inserting action of the acupuncture needle is realized, the mechanization and automation of acupuncture therapy in the acupuncture therapy process are facilitated, and the workload of medical workers in the acupuncture therapy process is relieved.
In order to reduce the uncomfortable feeling of the patient during the acupuncture treatment (i.e. during the twisting motion or the lifting and inserting motion of the acupuncture needle), the control process of controlling the twisting motor and the lifting and inserting motor by the controller can be optimized.
In particular, the controller may control the twist motor or the lift-and-insert motor based on a segmented motion planning control algorithm. Here, the segmented motion planning control algorithm is stated by taking a lifting and inserting motor as an example. When the lifting and inserting motor is a linear motor, the rotor moves forwards relative to the stator to drive the acupuncture needle to move forwards, so that the operation of inserting the needle is executed; the mover moves backward relative to the stator to drive the needle backward, thereby performing a needle lifting operation. In the moving process of the rotor of the lifting and inserting motor, the speed change process is acceleration, constant speed and deceleration. In order to reduce the vibration impact of the mover caused by the speed change, and thus to be beneficial to reducing the discomfort of the patient in the acupuncture treatment process, the needle lifting motion process or the needle inserting motion process of the lifting and inserting motor can be divided into a first acceleration section, a second acceleration unit, a constant speed section, a first deceleration section and a second deceleration section, that is, the controller controls the lifting and inserting motor based on a segmented motion planning control algorithm, so that the process that the lifting and inserting motor drives the acupuncture needle to move backwards or forwards is divided into a first acceleration section, a second acceleration section, a constant speed section, a first deceleration section and a second deceleration section, and the lifting and inserting motor is controlled by the first acceleration section, the second acceleration section, the constant speed section, the first deceleration section and the second deceleration section to sequentially realize the first acceleration section, the second acceleration section, the constant speed section, the first deceleration section and the second deceleration section. Wherein, among others,
stroke of the first acceleration section
Figure BDA0003901123210000081
The following were used:
Figure BDA0003901123210000082
in the formula, V max For a predetermined target speed, A max For a predetermined target acceleration, t 1 The duration of the first acceleration period, q 1 To prepareFirst determined motion planning coefficients, q 2 For the predetermined second motion planning coefficients,
stroke of the second acceleration section
Figure BDA0003901123210000083
The following were used:
Figure BDA0003901123210000084
in the formula, t 2 For the duration of the second acceleration period, q 3 For the predetermined third motion planning coefficient,
stroke of uniform velocity section
Figure BDA0003901123210000085
The following were used:
Figure BDA0003901123210000086
in the formula, t 3 The duration of the constant speed segment is the duration,
stroke of the first deceleration section
Figure BDA0003901123210000087
The following were used:
Figure BDA0003901123210000088
in the formula, t 4 For the duration of this first deceleration segment,
stroke of the second deceleration section
Figure BDA0003901123210000089
The following were used:
Figure BDA00039011232100000810
in the formula, t 5 For the duration of the second deceleration section, q 4 For the predetermined fourth motion planning coefficient,
velocity of the first acceleration section
Figure BDA00039011232100000811
The following:
Figure BDA0003901123210000091
velocity of the second acceleration section
Figure BDA0003901123210000092
The following were used:
Figure BDA0003901123210000093
speed of uniform velocity section
Figure BDA0003901123210000094
The following were used:
Figure BDA0003901123210000095
speed of the first deceleration section
Figure BDA0003901123210000096
The following were used:
Figure BDA0003901123210000097
speed of the second deceleration section
Figure BDA0003901123210000098
The following:
Figure BDA0003901123210000099
in order to further optimize the beneficial effect that the vibration impact generated by the mover due to the speed change can be reduced, thereby further being beneficial to reducing the discomfort of the patient in the needle application process of the acupuncture treatment, the duration of each period can meet the following conditions:
Figure BDA00039011232100000910
in the formula, S end The total stroke of the needle lifting or inserting related operation (i.e., the total stroke of the needle moving backward or forward) is completed for the needle lifting and inserting motor.
Optionally, the above-mentioned motion planning coefficients may be adjusted according to the actual situation of the application scenario (e.g., the physical properties of the selected linear motor, including but not limited to the magnitude of the inertia of the mover) to further optimize the beneficial effect of the motion planning coefficients, which can reduce the shock impact of the mover due to the speed variation. Specifically, q is 1 、q 2 And q is 3 Can be (0,1), q 4 May be (1,2).
Further alternatively, the above-mentioned target speed V max Can be adjusted according to the needs of the user. Specifically, the target speed V max The minimum value of (d) may be 0 and the maximum value may be the rated speed of the linear motor; the speed range in the interval is further divided into a plurality of subintervals, and each subinterval corresponds to a preset target speed gear; the user can select the preset target speed gear with better body feeling, the target speed can be predetermined on the one hand, and the optimized use experience can be further facilitated on the other hand. The above-mentioned target acceleration A max The predetermined process may also refer to the above-mentioned target speed V max The predetermined procedure will not be described herein.
The stroke and speed change of the needle lifting and inserting motor in the needle lifting or inserting process can be shown in fig. 5, so that the speed change is smooth and smooth, and the discomfort of a patient in the needle application process of the acupuncture therapy can be relieved.
Finally, it should be noted that: the electric acupuncture therapeutic apparatus system for intelligently simulating manual twisting, lifting and inserting disclosed in the embodiment of the invention is only a preferred embodiment of the invention, and is only used for explaining the technical scheme of the invention, but not limiting the technical scheme; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (6)

1. An electric acupuncture therapeutic instrument system for intelligently simulating manual twisting, lifting and inserting is characterized by comprising an acupuncture needle, a twisting motor, a lifting and inserting motor, a trigger and a controller, wherein the controller is respectively and electrically connected with the twisting motor, the lifting and inserting motor and the trigger,
the twisting motor and the lifting and inserting motor are respectively in transmission connection with the acupuncture needle, the twisting motor drives the acupuncture needle to rotate along the clockwise direction or the anticlockwise direction, the lifting and inserting motor drives the acupuncture needle to move forwards or backwards,
after the electric acupuncture therapeutic apparatus system is powered on, the controller executes the following steps:
the controller acquires a trigger signal sent by the trigger;
the controller identifies a control instruction corresponding to the trigger signal, wherein the control instruction is one of a twisting control instruction, a needle lifting instruction and a needle inserting instruction;
if the control instruction is a twisting control instruction, the controller sends a first electric signal to the twisting motor, so that the acupuncture needle rotates in a way of periodically alternating clockwise and anticlockwise directions;
if the control instruction is a needle lifting instruction, the controller sends a second electric signal to the needle lifting and inserting motor to enable the acupuncture needle to move backwards;
if the control instruction is a needle inserting instruction, the controller sends a third electric signal to the lifting and inserting motor, so that the acupuncture needle moves forwards.
2. The electric acupuncture and moxibustion therapy instrument system for intelligently simulating manual twirling and lifting insertion according to claim 1, wherein the acupuncture needle is sleeved on a connecting disc in a back-and-forth moving manner, the connecting disc is arranged on the frame,
the lifting and inserting motor is a linear motor, a stator of the lifting and inserting motor is fixed on the rack, and a rotor of the lifting and inserting motor is connected with the acupuncture needle to drive the acupuncture needle to move forwards or backwards.
3. The electrical acupuncture and moxibustion therapy apparatus system capable of intelligently simulating manual twirling and lifting insertion according to claim 2, wherein the twirling motor is a rotating motor, a stator of the rotating motor is fixed on the frame, and a rotor of the rotating motor is connected with the connecting disc, so that the acupuncture needle rotates by driving the connecting disc to rotate.
4. The electrical acupuncture therapy apparatus system for intelligent simulation of manual twirling and lifting insertion according to claim 3, wherein a buffer ring made of rubber is arranged between the acupuncture needle and the connecting disc.
5. The system of claim 4, wherein the trigger comprises one or more of a touch module, a voice module for recognizing target voice information in an application scene, and a human body detection module for recognizing a human body.
6. The electrical acupuncture therapy apparatus system capable of intelligently simulating manual twiddling and pulling according to claim 5, wherein the controller controls the pulling and pulling motor based on a segmented motion planning control algorithm, so that the process of the pulling and pulling motor driving the acupuncture needle to move backwards or forwards is divided into a first acceleration section, a second acceleration section, a constant speed section, a first deceleration section and a second deceleration section,
stroke of the first acceleration section
Figure FDA0003901123200000021
The following were used:
Figure FDA0003901123200000022
in the formula, V max For a predetermined target speed, A max For a predetermined target acceleration, t 1 For the duration of the first acceleration period, q 1 For a predetermined first motion planning coefficient, q 2 For the predetermined second motion planning coefficients,
stroke of the second acceleration section
Figure FDA0003901123200000023
The following were used:
Figure FDA0003901123200000024
in the formula, t 2 For the duration of the second acceleration period, q 3 For the predetermined third motion planning coefficient,
travel of uniform velocity segment
Figure FDA0003901123200000025
The following were used:
Figure FDA0003901123200000026
in the formula, t 3 The duration of the constant speed segment is the duration,
stroke of the first deceleration section
Figure FDA0003901123200000027
The following:
Figure FDA0003901123200000028
in the formula, t 4 For the duration of this first deceleration segment,
stroke of the second deceleration section
Figure FDA0003901123200000029
The following were used:
Figure FDA0003901123200000031
in the formula, t 5 For the duration of the second deceleration section, q 4 For the predetermined fourth motion planning coefficient,
velocity of the first acceleration section
Figure FDA0003901123200000032
The following were used:
Figure FDA0003901123200000033
velocity of the second acceleration section
Figure FDA0003901123200000034
The following:
Figure FDA0003901123200000035
speed of uniform velocity section
Figure FDA0003901123200000036
The following:
Figure FDA0003901123200000037
speed of the first deceleration section
Figure FDA0003901123200000038
The following were used:
Figure FDA0003901123200000039
speed of the second deceleration section
Figure FDA00039011232000000310
The following were used:
Figure FDA00039011232000000311
CN202211290405.4A 2022-10-21 2022-10-21 Electric acupuncture therapeutic instrument system capable of intelligently simulating manual twisting, lifting and inserting Pending CN115581617A (en)

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CN1861035A (en) * 2006-04-25 2006-11-15 山东大学 Method for simulating traditional Chinese medical acupuncture manipulation by using controlled electric motor
CN104606045A (en) * 2015-01-20 2015-05-13 天津大学 Acupuncture manipulation high-accuracy digital simulation system
CN107505918A (en) * 2017-08-15 2017-12-22 浙江工业大学 A kind of speed planning method of cutting machine
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