Automatic acupuncture robot

An electroacupuncture device for causing a needle to be inserted into an acupoint, said device comprising:

• a) a Magnetic resonance imaging (MRI);
• b) a Robotic arm movable in one or more dimension, comprising:
• i. a tip portion comprising an acupuncture needle having a distal end and a proximal end, and
• ii. a gripper mechanism coupled to the robotic arm, wherein the robotic arm is movable to position the needle smoothly in and out of the acupoint with respect to a target area;
• said gripper mechanism comprising:
• a set of gripper finger wherein the needle is gripped by the set of gripper finger and released, and a Gripper Long Pin;
• said Gripper long pin comprising a threaded distal end to connect with a solenoid pin to drive the set of gripper fingers;
• said solenoid operably coupled to the gripper mechanism to drive the gripper long pin along a linear trajectory;
• wherein the gripper mechanism holds the needle from the distal end and the proximal end in close proximity of the acupoint to guide the direction of the needle as close as possible to the acupoint and release the needle quickly, automatically, and smoothly, without moving or pushing on the needle;
• c) a linear and rotational mechanism operably coupled to the tip portion comprising:
• a linear motor configured to cause the gripper long pin to move along an axis and a rotational structure configured to cause the gripper long pin to rotate about an axis, and wherein the needle exits when the set of gripper fingers are open, and the spinning translating needle causes the needle to spiral in, rather than deflecting on a side so that the needle ends out closer to the acupoint and break the static friction between the acupoint and the target thereby reducing forces and further possibly reducing insertion forces, and
• d) a control system to control the functionalities of the device,
• whereby the device performs most of human acupuncture techniques with more efficiency and reduce human errors.