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Les aiguilles datent de l’âge de pierre.
Des outils de pierre étaient utilisés pour alléger la souffrance en appuyant sur l’endroit douloureux.
Les bienfaits de la chaleur sur le corps humain furent constatés parallèlement, ce qui constitua les débuts de la moxibustion.
Par la suite, le poinçon de pierre laissa la place aux aiguilles d’os et de bambou.
Sous la dynastie Yin et Chang (14ème et 10ème siècle avant JC), le développement de la métallurgie permit l’utilisation d’aiguilles métalliques.
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