隨著養生觀念的盛行，民眾對於中醫的接受度上升，針灸療法的臨床應用日益增加。為了減少人為疏失，因應遠距醫療的趨勢，現行針灸裝置因固定深度而難以達到醫療效果的情形，本研究嘗試設計出一台自動針灸輔具以解決這些現況。本裝置非常輕巧，結合3D列印技術總重不到500gw，亦可達遠距醫療便攜之訴求。將力量感測器FSR402 (Interlink Electronics, Camarillo, America)與5.1kΩ電阻串聯形成分壓電路，並使用開發板Linklt (聯發科技，MediaTek，新竹，台灣)量測電壓推導出受力變化。其在自動下針時，設定當力量變化超過15gw時，停止下針，同時設計計數器作為深度計算，當深度超過20mm仍未偵測到超過15gw的力量變化時，會進入安全模式將針具支架上升。為了測試輔具之性能，以洋菜4.8%w/v-吉利丁2%w/v-洋菜5.2%w/v配製三層真皮-皮下組織-肌肉模擬組織進行20次下刺實驗，實驗中有18次針尖都成功停在皮下組織與肌肉分層處，此自動針灸輔具確實有正確的偵測力量變化並進行相應操作，達到預期之成果。未來可以調整硬體機構設計讓其操作更加精準便利。

With the prevalence of the concept of health preservation, the public’s acceptance of traditional Chinese medicine has increased, and the clinical therapy using acupuncture is increasing. To prevent human error, respond to the trend of telemedicine, and overcome the limited medical efficacy of the current acupuncture device with fixed needle insertion depth, an automatic acupuncture assistive device was designed. With the appliance of 3D printing, the design only weighed less than 500gw which was compliant with the requirements of remote medical portability. Connecting the force sensor FSR402 (Interlink Electronics, Camarillo, America) and a 5.1kΩ resistor in series to form a voltage divider circuit, and using the development board Linklt (MediaTek, Hsinchu, Taiwan) to measure the voltage would derive the rate of force change. While inserting the needle, the device was automatically stopped for a rate of force change greater than 15gw. At the same time, a counter was designed to estimate the depth. When the depth exceeded 20mm without detecting a rate of force change greater than 15gw, the automatic acupuncture assistive device entered the safe mode and rose the needle holder. To test the performance of the assistive device, acupuncture experiments were carried out 20 times with a three-layer Dermis-Subcutaneous Tissue-Muscle simulated tissue prepared with agar 4.8%w/v-gelatin 2%w/v-agar 5.2%w/v. In the experiments, the needle tip was successfully stopped at the subcutaneous tissue and muscle layer 18 times. This automatic acupuncture assistive device could correctly detect the rate of force change to perform corresponding operations for achieving the expected results. In the future, the automatic acupuncture assistive device can be innovated using improved mechanical design of hardware to make its operation more precise and more user-friendly.

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