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. 2019 Feb 20;13:110. doi: 10.3389/fnins.2019.00110

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Copyright © 2019 Chang, Kwon, Bang, Kim, Baek, Ryu, Bae, Fan, Lee, Kim, Lee, Yang and Kim.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Twisting acupuncture and construction of a robotic acupuncture needle twister (RANT). (A) Measurement of rotational durations and angles during manual needle twisting. A needle with a red tape on the shaft was inserted into a Styrofoam board and video-recorded. (B) Mean duration of needle rotations. The motions of 30 CW turns, 52 pauses and 28 ACW turns during needle twisting by 3 acupuncturists were analyzed. (C) Mean rotation angle of the needle. The motions of 30 CW turns and 28 ACW turns during needle twisting by 3 acupuncturists were analyzed. (D) A constructed RANT device. The servo motor in the needling instrument was fitted to a flexible arm fixed with a needle holder and controlled by the control software. CW, clockwise direction; ACW, anticlockwise direction.