Abstract As a traditional Chinese medicine therapy, acupuncture has been widely used as an adjuvant therapy worldwide due to its safety, effectiveness, and broad indications. With the breakthrough artificial intelligence technology, its integration with acupuncture and moxibustion has been deepened, especially in intelligent acupuncture robot research and development. In the design of an intelligent acupuncture robot, a reasonable end actuator (needle insertion mechanism) is the key to realizing the whole process of acupuncture operation. This paper focuses on the design and analysis of the needle insertion mechanism of the acupuncture robot: based on the actual working conditions, the design requirements are clarified, and the scheme is formulated; the mechanism is modularized into three functional units: lifting and inserting, clamping and automatic needle changing. The module size is unified through three-dimensional modeling, and the hardware selection is completed. Finally, module integration is realized through part design, a complete system is constructed, and its workflow is clarified.
An et al. (Fri,) studied this question.
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