CN114795426B - Flexible electrode implantation device - Google Patents
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- CN114795426B CN114795426B CN202210720997.2A CN202210720997A CN114795426B CN 114795426 B CN114795426 B CN 114795426B CN 202210720997 A CN202210720997 A CN 202210720997A CN 114795426 B CN114795426 B CN 114795426B
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- 238000002513 implantation Methods 0.000 title claims abstract description 98
- 238000001179 sorption measurement Methods 0.000 claims abstract description 131
- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 230000000670 limiting effect Effects 0.000 claims description 34
- 239000007943 implant Substances 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 4
- 238000012800 visualization Methods 0.000 claims 2
- 230000002265 prevention Effects 0.000 claims 1
- 238000010521 absorption reaction Methods 0.000 description 35
- 238000000034 method Methods 0.000 description 16
- 239000011148 porous material Substances 0.000 description 7
- 238000005452 bending Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 210000003625 skull Anatomy 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00969—Surgical instruments, devices or methods, e.g. tourniquets used for transplantation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/06—Accessories for medical measuring apparatus
- A61B2560/063—Devices specially adapted for delivering implantable medical measuring apparatus
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Abstract
The invention provides a flexible electrode implantation device, which belongs to the technical field of medical instruments and comprises an adsorption mechanism, wherein the adsorption mechanism comprises: the device comprises a main board, a power device and at least one positioning component; each positioning component is arranged on the main board; the power device is used for attaching the tail end of each flexible electrode to the corresponding positioning assembly through the generated pneumatic force. According to the flexible electrode implanting device provided by the invention, the tail end of the flexible electrode is attached to the positioning assembly through the aerodynamic force generated by the power device, and the flexible electrode is fixed in an attaching manner, so that the flexible electrode can be prevented from being distorted, deformed and disturbed in position, and the flexible electrode can be reliably fixed.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a flexible electrode implanting device.
Background
The flexible electrode is a core device in the invasive brain-computer interface technology, and in order to achieve good biocompatibility, the flexible electrode is designed to be a structure with a diameter of only tens of micrometers and is made of polymer, so that the flexible electrode is not only slim in size, but also has a low Young's module. Therefore, before the flexible electrode is implanted into the target area of the action object, the flexible electrode needs to be placed or clamped in a certain mode, so that the distortion, the deformation and the position disturbance of the flexible electrode are avoided.
In the prior art, the placement method adopted by the flexible electrode includes two types: the first method is that the flexible electrode is placed on a platform, the surface of the platform plays a role in supporting and limiting the flexible electrode, and only a small part of the tail end of the flexible electrode extends out of the edge of the platform; in the second method, a row of flexible electrodes are manufactured and installed on a positioning device, a certain weak connection is formed between every two adjacent flexible electrodes, the weak connection has a certain limiting effect on the flexible electrodes, and an implantation system sequentially picks up the flexible electrodes, so that the picked flexible electrodes are separated from the weak connection and can move freely.
However, in the above prior art, the first method has limited reliability for fixing the flexible electrode, the flexible electrode may still slide on the surface of the platform, and the requirement for manual placement skill is high. The second method relies on weak connection among a plurality of flexible electrodes, has high requirements on the manufacturing process, cannot be applied to the condition of only a few flexible electrodes, and has certain uncertainty in the process of separating from the weak connection. Therefore, the placement of the flexible electrode is an important issue to be solved in the industry.
Disclosure of Invention
The invention provides a flexible electrode implanting device which is used for solving the defects that the placing method of a flexible electrode in the prior art has limited reliability and higher requirements on placing skills, or has higher requirements on manufacturing processes and uncertainty in detachment.
The invention provides a flexible electrode implantation device, which comprises an adsorption mechanism, wherein the adsorption mechanism comprises: the device comprises a main board, a power device and at least one positioning component; each positioning component is arranged on the main board;
the power device is used for attaching the tail end of each flexible electrode to the corresponding positioning assembly through the generated pneumatic force.
According to the flexible electrode implanting device provided by the invention, the positioning assembly comprises an adsorption rod, and the power device comprises a negative pressure air pump;
a cavity is formed in the adsorption rod, a plurality of adsorption holes are formed in the adsorption rod, and each adsorption hole is communicated with the cavity;
the negative pressure air pump is communicated with the cavity of each adsorption rod and used for attaching the tail end of each flexible electrode to the adsorption hole of the corresponding adsorption rod through generated aerodynamic force.
According to the flexible electrode implanting device provided by the invention, the adsorption rod is provided with a limiting groove, and each adsorption hole is formed in the limiting groove; and one end of the limiting groove is flush with the end face of one end, away from the main board, of the adsorption rod.
According to the flexible electrode implanting device provided by the invention, the length of the limiting groove is greater than or equal to the preset length; the length direction of the limiting groove is the same as that of the adsorption rod;
the preset length is the target length of the tail end of the flexible electrode attached to the adsorption rod.
According to the flexible electrode implanting device provided by the invention, the positioning assembly further comprises a rotator, and the adsorption rod is arranged on the main board through the rotator;
the rotator is used for adjusting the orientation of the tail end opening of the flexible electrode by controlling the rotation of the adsorption rod.
According to the flexible electrode implanting device provided by the invention, the positioning assembly further comprises a connector, and the adsorption rod is connected with the rotator through the connector.
The flexible electrode implanting device further comprises an implanting mechanism, wherein the implanting mechanism comprises an anti-falling assembly and an implanting needle;
the anti-falling assembly is used for supporting the flexible electrode when the implantation needle penetrates into the tail end hole of the flexible electrode and the flexible electrode is separated from the positioning assembly.
According to the flexible electrode implantation device provided by the invention, the power device further comprises conduits respectively connected with the at least one positioning component, and a valve arranged on each conduit, wherein each conduit is communicated with the negative pressure air pump.
According to the flexible electrode implanting device provided by the invention, the connector is provided with the mounting hole, and the guide pipe penetrates through the mounting hole and then is communicated with the cavity of the adsorption rod.
The flexible electrode implanting device provided by the invention further comprises a first moving mechanism, wherein the first moving mechanism is connected with the main board of the adsorption mechanism;
the first motion mechanism is used for controlling the main board to move and/or rotate.
The flexible electrode implanting device provided by the invention further comprises a second movement mechanism and a first observation device connected with the second movement mechanism, wherein the second movement mechanism is connected with the implanting mechanism;
the first observation device is used for acquiring the tail end opening position of each flexible electrode and the corresponding needle point position of the implantation needle and sending the tail end opening position of the flexible electrode and the corresponding needle point position of the implantation needle to the second movement mechanism;
the second movement mechanism is used for adjusting the position of the implantation needle of the implantation mechanism based on the position of the tail end opening hole of the flexible electrode and the position of the needle point of the corresponding implantation needle so as to align the position of the tail end opening hole of the flexible electrode with the position of the needle point of the corresponding implantation needle.
The flexible electrode implanting device provided by the invention further comprises a third movement mechanism and a second observation device connected with the third movement mechanism;
the third motion mechanism is used for adjusting the pose of the second observation device;
the second observation device is used for detecting the tail end opening of each flexible electrode.
According to the flexible electrode implanting device provided by the invention, the tail end of the flexible electrode is attached to the positioning assembly through the aerodynamic force generated by the power device, and the flexible electrode is fixed in an attaching manner, so that the flexible electrode can be prevented from being distorted, deformed and disturbed in position, and the flexible electrode can be reliably fixed.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a flexible electrode implantation device according to the present invention;
FIG. 2 is a second schematic view of the flexible electrode implantation device according to the present invention;
FIG. 3 is a schematic cross-sectional view of a suction rod according to the present invention;
FIG. 4 is a second schematic cross-sectional view of the adsorption rod provided by the present invention;
FIG. 5 is a third schematic structural view of a flexible electrode implantation device provided in the present invention;
FIG. 6 is a fourth schematic view of the structure of the flexible electrode implantation device provided by the present invention;
FIG. 7 is a fifth schematic view of the structure of the flexible electrode implantation device provided by the present invention;
FIG. 8 is a sixth schematic view of the structure of the flexible electrode implantation device provided by the present invention;
FIG. 9 is a seventh schematic structural view of a flexible electrode implantation device provided by the present invention;
FIG. 10 is a schematic structural view of a suction mechanism provided in the present invention;
FIG. 11 is a schematic view showing a detailed structure of a flexible electrode implanting device provided by the present invention;
FIG. 12 is one of the schematic views of the flexible electrode implant device provided in accordance with the present invention;
fig. 13 is a second schematic view illustrating the operation of the flexible electrode implantation device according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The flexible electrode implant device of the present invention is described below with reference to fig. 1 to 13.
Fig. 1 is a schematic structural diagram of a flexible electrode implantation device provided in the present invention, and as shown in fig. 1, the flexible electrode implantation device includes a suction mechanism 11, where the suction mechanism 11 includes: a main board 111, a power device 113 and at least one positioning component 112; each of the positioning assemblies 112 is disposed on the main board 111, and fig. 1 shows 1 positioning assembly 112.
The power device 113 is used for attaching the end of each flexible electrode 21 to the corresponding positioning component 112 by the generated pneumatic force.
Illustratively, the power device 113 generates a pneumatic force, the pneumatic force acts on the end of the flexible electrode 21 to attach the end of the flexible electrode 21 to the positioning component 112, and the power device 113 can generate suction to attach the end of the flexible electrode 21 to the positioning component 112; the power device 113 can also generate air blowing to directly blow the end of the flexible electrode 21 onto the positioning component 112, so as to position the end of the flexible electrode 21.
According to the flexible electrode implanting device provided by the invention, the tail end of the flexible electrode 21 is attached to the positioning component 112 through the aerodynamic force generated by the power device 113, and the flexible electrode 21 is fixed in an attaching manner, so that the distortion, deformation and position disturbance of the flexible electrode 21 can be avoided, and the flexible electrode 21 can be reliably fixed.
Optionally, fig. 2 is a second schematic structural view of the flexible electrode implantation apparatus provided by the present invention, as shown in fig. 2, the power device 113 is not shown in fig. 2, the positioning assembly 112 includes an absorption rod 1121, and the power device 113 includes a negative pressure air pump; fig. 3 is a schematic cross-sectional view of an adsorption rod according to the present invention, and as shown in fig. 3, a cavity 1122 is formed inside the adsorption rod 1121, and a plurality of adsorption holes 1123 are formed on the adsorption rod 1121, and each of the adsorption holes 1123 is communicated with the cavity 1122.
The negative pressure air pump is communicated with the cavity 1122 of each adsorption rod 1121, and is used for attaching the end of each flexible electrode 21 to the adsorption hole 1123 of the corresponding adsorption rod 1121 by the generated pneumatic force.
Wherein, the absorption rod 1121 functions to make a part of the end of the flexible electrode 21 fixed on the surface of the absorption rod 1121 by negative pressure absorption.
Preferably, the absorption rod 1121 is elongated in shape and has a length of 2 cm; further, the absorption rod 1121 may have a cylindrical shape, and the diameter of the absorption rod 1121 is preferably 5 mm, and the absorption rod 1121 may also have a prism shape, and the diameter of a circumscribed circle of the prism is about 5 mm.
Illustratively, after the absorption hole 1123 of the absorption rod 1121 is contacted with the end of the flexible electrode 21, a temporary sealed space is formed inside the absorption rod 1121, and air in the sealed space is pumped away by a negative pressure air pump to generate an internal and external pressure difference, so as to realize absorption and fixation of the flexible electrode 21. Wherein the sealed space refers to the cavity 1122 and the plurality of absorption holes 1123 of the absorption rod 1121, and the plurality of absorption holes 1123 are sealed by the flexible electrode 21.
According to the flexible electrode implanting device provided by the invention, the air in the adsorption rod 1121 is pumped away by the negative pressure air pump, so that the internal and external pressure difference is generated to realize the suction and placement of the flexible electrode 21, and the suction and placement mode is simpler and has good stability.
Optionally, fig. 4 is a second schematic cross-sectional view of the adsorption rod provided by the present invention, as shown in fig. 4, a limiting groove 1124 is provided on the adsorption rod 1121, and each adsorption hole 1123 is provided on the limiting groove 1124; and one end of the limiting groove 1124 is flush with the end surface of the end of the adsorption rod 1121, which is far away from the main plate 111.
The limiting groove 1124 is a long strip-shaped limiting groove, the length direction of the limiting groove 1124 is the same as the length direction of the adsorption rods 1121, the inner openings of the pore channels of all the adsorption holes 1123 on each adsorption rod 1121 are communicated with the cavity 1122 of the adsorption rod 1121, and the outer openings are located in the limiting groove 1124.
Preferably, the depth of the retaining groove 1124 is about 500 microns and the length is 1 cm; the inner walls of the adsorption holes 1123 are cylindrical and have a diameter of about 30 microns, a total of 10 adsorption holes 1123 are arranged on each adsorption rod 1121 at equal intervals in the limiting groove 1124, and the interval between every two adjacent adsorption holes 1123 is about 1 mm.
Illustratively, a limiting groove 1124 is provided on the outer surface of the absorption rod 1121, when the end of the flexible electrode 21 is absorbed on the absorption rod 1121, the limiting groove 1124 provides a placement space for the end of the flexible electrode 21, and the absorbed end of the flexible electrode 21 is located in the limiting groove 1124.
According to the flexible electrode implanting device provided by the invention, the adsorption rod 1121 is provided with the limiting groove 1124, so that the tail end of the adsorbed flexible electrode 21 is positioned in the limiting groove 1124, and the flexible electrode 21 is prevented from bending or sliding.
Further, the limiting groove 1124 on each of the absorbing rods 1121 is narrowed from the outside to the inside, so that the end of the flexible electrode 21 can be better absorbed in the limiting groove 1124.
Further, the length of the limiting groove 1124 is greater than or equal to a preset length; the length direction of the limiting groove 1124 is the same as the length direction of the absorption rod 1121.
The preset length is a target length of the end of the flexible electrode 21 attached to the adsorption rod 1121.
The target length of the end of the flexible electrode 21 attached to the adsorption rod 1121 is short, the total adsorption force on the flexible electrode 21 is insufficient, the flexible electrode 21 is easy to fall off, the target length is long, and the total adsorption force on the flexible electrode 21 is good, but the length of the adsorption rod 1121, the number of the adsorption holes 1123 processed on each adsorption rod 1121, and the power consumption of the negative pressure air pump are all increased, so that the cost is increased, therefore, the target length of the end of the flexible electrode 21 attached to the adsorption rod 1121 is 5 mm to 10 mm, and the length of the limiting groove 1124 is greater than or equal to the target length (preset length). Preferably, the length of the restraining groove 1124 may be designed to be 1 cm.
It should be noted that the total suction force of each suction rod 1121 with respect to the flexible electrode 21 is the sum of the suction forces of all the suction holes 1123 on each suction rod 1121 with respect to the end of the flexible electrode 21.
According to the flexible electrode implanting device provided by the invention, the length of the limiting groove 1124 is limited to be greater than or equal to the preset length, so that the flexible electrode 21 can be effectively adsorbed, and the phenomenon that the flexible electrode 21 falls off due to insufficient adsorption force on the flexible electrode 21 because the limiting groove 1124 is too short and the part of the flexible electrode 21, which is tightly attached to the adsorption rod 1121, is too short is avoided.
Optionally, fig. 5 is a third schematic structural view of the flexible electrode implantation apparatus provided by the present invention, and as shown in fig. 5, the positioning assembly 112 further includes a rotator 1125, and the absorption rod 1121 is disposed on the main board 111 through the rotator 1125.
The rotator 1125 is used to adjust the orientation of the opening at the end of the flexible electrode 21 by controlling the rotation of the absorption rod 1121.
Wherein the distal end of the flexible electrode 21 has an opening for the needle tip of the implantation needle 122 of the implantation mechanism 12 of the implantation device to penetrate.
Illustratively, the absorption rod 1121 is provided on the main board 111 by a rotator 1125, and the rotator 1125 is used to rotate the absorption rod 1121, thereby adjusting the orientation of the opening of the distal end portion of the flexible electrode 21 absorbed by the absorption rod 1121.
Further, the rotator 1125 may be composed of a knob and a bearing, and the rotation adjustment of the absorption rod 1121 may be achieved by manually screwing the knob, or a micro stepping motor and a bearing may be used, and the electric rotation adjustment of the absorption rod 1121 may be achieved by the micro stepping motor.
According to the flexible electrode implanting device provided by the invention, the rotator 1125 rotates the adsorbing rod 1121 to adjust the orientation of the opening at the end of the adsorbed flexible electrode 21, so that the flexible electrode implanting device is aligned with the implanting needle 122 of the implanting mechanism 12, the efficiency of the implanting needle 122 penetrating into the opening at the end of the flexible electrode 21 is improved, and further the implanting efficiency of the flexible electrode 21 is improved.
Optionally, fig. 6 is four of the schematic structural views of the flexible electrode implantation device provided by the present invention, and as shown in fig. 6, the positioning assembly 112 further includes a connector 1126, and the absorption rod 1121 is connected to the rotator 1125 through the connector 1126.
Illustratively, a connector 1126 is provided between the rotator 1125 and the adsorption rod 1121, the connector 1126 is connected to a negative pressure air pump, and when the adsorption rod 1121 is mounted on the connector 1126, the internal cavity 1122 of the adsorption rod 1121 is communicated with the negative pressure air pump.
By definition, the end of the adsorption rod 1121 connected to the connector 1126 is the connection end 1127 of the adsorption rod 1121, the connection end 1127 of the adsorption rod 1121 is mechanically connected to the connector 1126, and preferably, the connection end 1127 of the adsorption rod 1121 is connected to the connector 1126 by means of screw rotation, so that the outer surface of the connection end 1127 of the adsorption rod 1121 is provided with external threads, and correspondingly, the connector 1126 is provided with internal threads.
According to the flexible electrode implantation device provided by the invention, the connector 1126 is arranged between the rotator 1125 and the adsorption rod 1121, so that the adsorption rod 1121 can be rapidly mounted and dismounted conveniently.
Optionally, fig. 7 is a fifth schematic structural view of the flexible electrode implantation device provided by the present invention, and as shown in fig. 7, the flexible electrode implantation device further includes an implantation mechanism 12, where the implantation mechanism 12 includes an anti-detachment assembly 121 and an implantation needle 122.
The anti-dropping component 121 is used for supporting the flexible electrode 21 when the implantation needle 122 penetrates into the terminal hole of the flexible electrode 21 and the flexible electrode 21 is separated from the positioning component 112.
For example, the distal end of the implantation mechanism 12 has the anti-detachment element 121, the anti-detachment element 121 may be a support rod, and the support rod has a bending portion, the bending portion may be triangular, circular arc, U-shaped, or the like, when the implantation needle 122 penetrates the distal end opening of the flexible electrode 21 and the power device 113 is turned off to separate the flexible electrode 21 from the absorption rod 1121, the bending portion of the support rod may support the flexible electrode 21, so that the distal end of the flexible electrode 21 is lapped on the bending portion of the support rod.
It should be noted that the anti-slip-off assembly 121 may have other structures as long as it can ensure that the flexible electrode 21 does not slip off from the implantation needle 122 when the implantation needle 122 penetrates into the distal opening of the flexible electrode 21 and the power device 113 is turned off to separate the flexible electrode 21 from the absorption rod 1121. For example, the anti-slip component 121 may also be a clamping rod, and the clamping rod has a clamping portion, and the clamping portion of the clamping rod is used for clamping the end of the flexible electrode 21, so as to support the flexible electrode 21, and prevent the open hole at the end of the flexible electrode 21 from slipping off from the needle tip of the implantation needle 122.
In the flexible electrode implanting device provided by the present invention, the anti-drop assembly 121 disposed in the implanting mechanism 12 plays a role of supporting the flexible electrode 21, so as to prevent the distal opening of the flexible electrode 21 from slipping off the needle tip of the implanting needle 122 after the flexible electrode 21 is separated from the adsorption rod 1121.
Optionally, the power plant 113 further comprises conduits 1131 respectively connected to the at least one positioning assembly 112, and a valve disposed on each conduit 1131, each conduit 1131 being in communication with the negative pressure air pump.
Illustratively, the power device 113 includes a plurality of conduits 1131, the number of the conduits 1131 is equal to the number of the positioning assemblies 112, and the conduits are in one-to-one correspondence, one end of each of the plurality of conduits 1131 is connected to the cavity 1122 of the suction rod 1121 of the corresponding positioning assembly 112, the other end of each of the plurality of conduits 1131 is communicated with the output of the negative pressure air pump, and a valve is disposed on each of the conduits 1131, and the valve is used for controlling the connectivity between each of the conduits 1131 and the negative pressure air pump. The working process of each valve is as follows: when the valve is opened, the inner cavity of the conduit 1131 and the cavity 1122 of the adsorption rod 1121 are communicated with the output of the negative pressure air pump, and at this time, the adsorption rod 1121 corresponding to the valve can realize the adsorption effect on the flexible electrode 21; when the valve is closed, the communication between the inner cavity of the catheter 1131 and the cavity 1122 of the rod 1121 and the negative pressure air pump is cut off, and at this time, the rod 1121 corresponding to the valve cannot perform the adsorption action on the flexible electrode 21.
According to the flexible electrode implanting device provided by the invention, at least one positioning assembly 112 and the negative pressure air pump are respectively connected through the guide pipes 1131, and a valve is arranged on each guide pipe 1131, so that independent control of each positioning assembly 112 is realized, and further, the corresponding number of positioning assemblies 112 can be conveniently controlled to be in a working state according to the implantation number of the flexible electrodes 21.
Further, the connector 1126 has a mounting hole, and the conduit 1131 passes through the mounting hole and then communicates with the cavity 1122 of the absorption rod 1121.
For example, the connector 1126 is provided with a mounting hole, and the conduit 1131 can pass through the mounting hole of the connector 1126 and then communicate with the cavity 1122 of the absorption rod 1121, so that the conduit 1131 communicates with the cavity 1122 of the absorption rod 1121; the connector 1126 may also be provided with a connecting inner cavity, one end of the connector 1126 connected with the adsorption rod 1121 is provided with a first opening communicated with the connecting inner cavity, the connecting end 1127 of the adsorption rod 1121 is provided with a second opening communicated with the cavity 1122 of the adsorption rod 1121, the conduit 1131 passes through the mounting hole on the connector 1126 and is connected with the connecting inner cavity of the connector 1126, the connecting inner cavity of the connector 1126 is communicated with the cavity 1122 of the adsorption rod 1121 through the first opening and the second opening, so that the connecting inner cavities of the conduit 1131 and the connector 1126 and the cavity 1122 of the adsorption rod 1121 are sequentially communicated, and the conduit 1131 is further communicated with the cavity 1122 of the adsorption rod 1121.
According to the flexible electrode implantation device provided by the invention, the conduit 1131 is arranged on the connector 1126, so that when the adsorption rod 1121 and the connector 1126 are arranged, the communication between the negative pressure air pump and the cavity 1122 of the adsorption rod 1121 can be automatically realized; when the adsorption rod 1121 is detached from the connector 1126, the negative pressure air pump is automatically disconnected from the cavity 1122 of the adsorption rod 1121, and a device for communicating or disconnecting the cavity 1122 of the adsorption rod 1121 with the negative pressure air pump does not need to be separately provided. The absorption rod 1121 is convenient to mount and dismount, and the absorption rod 1121 is convenient to clean, disinfect and replace.
Optionally, fig. 8 is a sixth schematic structural view of the flexible electrode implantation device provided by the present invention, and as shown in fig. 8, the flexible electrode implantation device further includes a first movement mechanism 13, and the first movement mechanism 13 is connected to the main plate 111 of the adsorption mechanism 11.
The first motion mechanism 13 is configured to control the main plate 111 to move and/or rotate.
Illustratively, the main plate 111 of the suction mechanism 11 is connected to the first movement mechanism 13 through the connection member 16, and the first movement mechanism 13 can move and/or rotate the main plate 111 to a certain extent, so that the relative pose of each suction rod 1121 and the implantation position of the implanted object meets the implantation requirement.
Preferably, in the process that the first movement mechanism 13 drives the adsorption mechanism 11 to move and/or rotate, in order to avoid the conduit 1131 from being wound and even damaged due to bending, the conduit 1131 may be inserted through the main plate 111 to fix the conduit 1131; the duct 1131 may also include three sections, which are a first duct, a second duct, and a third duct, respectively, that are sequentially communicated, the second duct is integrally disposed in the main board 111, the first duct is connected to the negative pressure air pump, and the third duct is connected to the connector 1126.
Optionally, the flexible electrode implantation device provided by the present invention further comprises a second movement mechanism and a first observation device connected to the second movement mechanism, wherein the second movement mechanism is connected to the implantation mechanism 12.
The first observation device is used for acquiring the tail end hole opening position of each flexible electrode 21 and the corresponding needle point position of the implantation needle 122, and sending the tail end hole opening position of the flexible electrode 21 and the corresponding needle point position of the implantation needle 122 to the second movement mechanism.
The second motion mechanism is used for adjusting the position of the implantation needle 122 of the implantation mechanism 12 based on the position of the tail end opening of the flexible electrode 21 and the position of the needle point of the corresponding implantation needle 122, so that the position of the tail end opening of the flexible electrode 21 is aligned with the position of the needle point of the corresponding implantation needle 122.
Wherein, a camera provided with a microscope lens is adopted as the first observation device.
Illustratively, the first observing device comprises two microscopic cameras, the two microscopic cameras simultaneously observe the implantation needle 122 and the open pore (small pore) at the tail end of the flexible electrode 21, acquire two images, manually or automatically extract the coordinates of the needle point of the implantation needle 122 and the center of the open pore at the tail end of the flexible electrode 21 from the two images, calculate the position error of the coordinates of the needle point of the implantation needle 122 and the center of the open pore at the tail end of the flexible electrode 21 in the images, then estimate the error of the needle point of the implantation needle 122 and the center of the open pore at the tail end of the flexible electrode 21 in a three-dimensional cartesian space by using a visual servo method, and gradually adjust the position of the implantation needle 122 by using a second motion mechanism so as to align the open pore position at the tail end of the flexible electrode 21 with the needle point position of the corresponding implantation needle 122.
Optionally, fig. 9 is a seventh schematic structural view of the flexible electrode implantation device provided by the present invention, and as shown in fig. 9, the flexible electrode implantation device further includes a third movement mechanism 14 and a second observation device 15 connected to the third movement mechanism 14.
The third motion mechanism 14 is configured to adjust the spatial pose of the second observation device 15.
The second observation device 15 is used for detecting the end opening of each flexible electrode 21.
Illustratively, a camera with a microscope lens is used as the second observing device 15, and the second observing device 15 detects the quality of the opening at the end of the flexible electrode 21, including but not limited to quality indexes such as integrity, regularity and cleanliness.
It should be noted that the first movement mechanism 13 and the third movement mechanism 14 are used for adjusting the spatial poses of the adsorption mechanism 11 and the second observation device 15, respectively, and the first movement mechanism 13 and the third movement mechanism 14 may be used for adjusting the spatial poses manually or electrically; the second motion mechanism adjusts the spatial pose of the implantation mechanism 12, the requirement on the adjustment precision of the second motion mechanism is high, the required precision is in the order of 1 micron, and preferably, the second motion mechanism adopts an electric adjustment mode.
According to the flexible electrode implanting device provided by the invention, before the implanting needle 122 of the implanting mechanism 12 penetrates into the flexible electrode 21, the quality of the opening at the tail end of the flexible electrode 21 is detected through the second observation device 15, so that the problem that the implanting needle 122 and the flexible electrode 21 cannot be assembled due to the quality of the opening of the flexible electrode 21 is avoided, and the implanting efficiency is further influenced; and, through the movement of the second observation device 15 by the third movement mechanism 14, the second observation device 15 is prevented from causing spatial interference to the subsequent implantation process.
Fig. 10 is a schematic structural diagram of the adsorption mechanism provided in the present invention, and as shown in fig. 10, the adsorption mechanism 11 of the flexible electrode implantation device includes a plurality of positioning assemblies 112, where N positioning assemblies 112 are defined, and N flexible electrodes 21 that the flexible electrode implantation device can adsorb should also be N, where N is an integer greater than 1. Fig. 11 is a specific structural diagram of a flexible electrode implantation device provided by the present invention, the working process of the flexible electrode implantation device includes the following steps:
step 10, fixing the adsorption mechanism 11 of the flexible electrode implantation device near the skull implantation position 23, so that the relative poses of each adsorption rod 1121 of the adsorption mechanism 11, the electronic module 22 and the skull implantation point meet the preset specification requirements, as shown in fig. 11.
The electronic module 22 is a device connected with the head end of the flexible electrode 21; the cranial implantation site is the location where the flexible electrode 21 needs to be implanted, i.e. the cranial implantation location 23.
Illustratively, each flexible electrode 21 has a length of 3 cm, each of the absorption rods 1121 is spaced apart from the skull implantation site by about 2 cm, and each of the absorption rods 1121 is spaced apart from the electronic module 22 by about 1 cm in both of the vertical distance and the lateral distance.
Further, the main plate 111 of the suction mechanism 11 is mounted on the end of the first movement mechanism 13, and the first movement mechanism 13 has a position and angle adjustment function, so that the position, pitch angle, and deflection angle of each suction rod 1121 can be adjusted in a small range.
In step 20, the N flexible electrodes 21 are attracted to the attraction poles 1121 of the attraction mechanism 11.
Step 201, taking any one of the flexible electrodes 21 as an example, defining the flexible electrode 21 as the ith flexible electrode, and then the adsorption rod 1121 (positioning component 112) for adsorbing the ith flexible electrode is the ith adsorption rod (ith positioning component), and the valve on the conduit 1131 connected to the cavity 1122 of the ith adsorption rod is the ith valve; the ith valve of the adsorption mechanism 11 is opened to generate a negative pressure in the adsorption hole 1123 of the ith adsorption rod.
202, tightly attaching a part of the tail end of the ith flexible electrode to the limiting groove 1124 of the ith adsorption rod, and tightly sucking a part of the tail end of the ith flexible electrode by the negative pressure output by the adsorption hole 1123.
Preferably, tweezers are used to hold the ith flexible electrode tip, so that a part of the ith flexible electrode tip, which is about 1 cm, is close to the limiting groove 1124 of the ith adsorption rod.
Step 203, checking whether the adsorption of the ith flexible electrode meets the specification or not, wherein the method mainly comprises the following two aspects:
(1) the length of the tail end of the ith flexible electrode extending from the tail end edge of the ith adsorption rod is within a preset specified range. If the protrusion length is too long or too short, the protrusion distance may be adjusted by manual operation, or steps 201 to 202 may be re-performed.
The length of the tip of the ith flexible electrode extending from the tip of the ith adsorption rod is preferably 2 mm-3 mm, which not only facilitates the operation of the ith flexible electrode by the subsequent implantation needle 122, but also ensures that the extending part of the ith flexible electrode does not sag and deform due to gravity.
(2) Whether the adsorption length of the ith flexible electrode and the ith adsorption rod is within a preset specified range or not. If the suction length is too short, the suction length can be adjusted by manual operation, or steps 201-202 can be re-executed.
Wherein, the adsorption length of the ith flexible electrode and the ith adsorption rod is preferably 5 mm-10 mm.
Step 204, repeating steps 201-203 until the N (all) flexible electrodes 21 are respectively adsorbed by the N adsorption rods 1121.
And step 30, checking the orientation and the quality of the tail end openings of the N flexible electrodes 21 by using a second observation device 15.
And 301, adjusting the spatial pose of the second observation device 15 by using the third motion mechanism 14, so that the tail end of the ith flexible electrode enters the visual field of the second observation device 15.
Step 302, manually or automatically rotating the ith rotator (rotator 1125 of the ith positioning assembly) according to the observed image of the orientation of the ith flexible electrode tip aperture, thereby adjusting the angle of the ith adsorption rod such that the orientation of the ith flexible electrode tip aperture coincides or nearly coincides with the preset orientation.
Step 303, the quality of the opening at the end of the ith flexible electrode is checked, manually or automatically, including but not limited to quality indicators such as integrity, regularity and cleanliness.
And step 304, repeating the steps 301 to 303 until the orientations and the qualities of the terminal pinholes of the N flexible electrodes 21 are checked. The second viewing device 15 is then moved by means of the third movement mechanism 14 to avoid spatial interference with the subsequent implantation procedure.
Step 40, the implantation mechanism 12 finishes clamping the flexible electrode 21, and the adsorption rod 1121 releases the flexible electrode 21.
Step 401, the implantation mechanism 12 controls the implantation needle 122 at the end thereof to make the tip of the implantation needle 122 pass through the end aperture of the i-th flexible electrode.
Preferably, the second motion mechanism controls the implantation needle 122 of the implantation mechanism 12 to approach in a trajectory to the vicinity of the ith flexible electrode tip. The method comprises the steps of simultaneously observing an implantation needle 122 and an ith flexible electrode tail end small hole by adopting two microscopic cameras of a first observation device, acquiring two images, manually or automatically extracting coordinates of a point of the implantation needle 122 and the center of the ith flexible electrode tail end small hole from the two images, calculating position errors of the point of the implantation needle 122 and the center of the ith flexible electrode tail end small hole in the images, estimating errors of the point of the implantation needle 122 and the center of the ith flexible electrode tail end small hole in a three-dimensional Cartesian space by using a visual servo method, gradually adjusting the position of the implantation needle 122 by using a second motion mechanism, aligning the position of the point of the implantation needle 122 with the position of the ith flexible electrode tail end small hole, and enabling the point of the implantation needle 122 to penetrate through the ith flexible electrode tail end small hole by using axial motion of the implantation needle 122.
And step 402, closing the ith valve to weaken the adsorption force of the adsorption hole 1123 of the ith adsorption rod and release the ith flexible electrode.
Preferably, the end of the implanting mechanism 12 has a supporting rod, as shown in fig. 12, when the ith valve is closed and the ith flexible electrode is separated from the ith absorbing rod, the bent portion of the supporting rod can play a role of supporting the ith flexible electrode, so as to prevent the small end hole of the ith flexible electrode from sliding off the needle tip of the implanting needle 122. After release, the implant mechanism 12 controls the implant needle 122 to perform the transfer operation and implant control of the ith flexible electrode, as shown in fig. 13.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (11)
1. A flexible electrode implant device comprising an adsorption mechanism, the adsorption mechanism comprising: the device comprises a main board, a power device and at least one positioning component; each positioning component is arranged on the main board;
the positioning assembly comprises an adsorption rod, and the power device comprises a negative pressure air pump;
a cavity is formed in the adsorption rod, a plurality of adsorption holes are formed in the adsorption rod, and each adsorption hole is communicated with the cavity;
the negative pressure air pump is communicated with the cavity of each adsorption rod and used for attaching the tail end of each flexible electrode to the adsorption hole of the corresponding adsorption rod through generated aerodynamic force.
2. The flexible electrode implanting device of claim 1, wherein the adsorption rod is provided with a limiting groove, and each adsorption hole is formed in the limiting groove; and one end of the limiting groove is flush with the end face of one end, away from the main board, of the adsorption rod.
3. The flexible electrode implant device of claim 2, wherein the length of the limiting groove is greater than or equal to a preset length; the length direction of the limiting groove is the same as that of the adsorption rod;
the preset length is the target length of the tail end of the flexible electrode attached to the adsorption rod.
4. The flexible electrode implant device of claim 3, wherein the positioning assembly further comprises a rotator by which the adsorption rod is disposed on the main plate;
the rotator is used for adjusting the orientation of the tail end opening of the flexible electrode by controlling the rotation of the adsorption rod.
5. The flexible electrode implant device of claim 4, wherein the positioning assembly further comprises a connector through which the adsorption rod is connected to the rotator.
6. The flexible electrode implant device of any one of claims 1 to 5, further comprising an implant mechanism, the implant mechanism comprising a detachment prevention assembly and an implant needle;
the anti-falling assembly is used for supporting the flexible electrode when the implantation needle penetrates into the tail end hole of the flexible electrode and the flexible electrode is separated from the positioning assembly.
7. The flexible electrode implant device of claim 5, wherein the motive apparatus further comprises conduits respectively connected to the at least one positioning assembly, and a valve disposed on each conduit, each conduit in communication with the negative pressure air pump.
8. The flexible electrode implant device of claim 7, wherein the connector defines a mounting hole, and the conduit is configured to pass through the mounting hole and communicate with the cavity of the adsorption rod.
9. The flexible electrode implant device of claim 6, further comprising a first motion mechanism coupled to a main plate of the adsorption mechanism;
the first motion mechanism is used for controlling the main board to move.
10. The flexible electrode implant device of claim 9, further comprising a second motion mechanism and a first visualization device coupled to the second motion mechanism, the second motion mechanism coupled to the implant mechanism;
the first observation device is used for acquiring the tail end opening position of each flexible electrode and the corresponding needle point position of the implantation needle and sending the tail end opening position of the flexible electrode and the corresponding needle point position of the implantation needle to the second movement mechanism;
the second movement mechanism is used for adjusting the position of the implantation needle of the implantation mechanism based on the position of the tail end opening hole of the flexible electrode and the position of the needle point of the corresponding implantation needle so as to align the position of the tail end opening hole of the flexible electrode with the position of the needle point of the corresponding implantation needle.
11. The flexible electrode implant device of claim 10, further comprising a third motion mechanism and a second visualization device coupled to the third motion mechanism;
the third motion mechanism is used for adjusting the pose of the second observation device;
the second observation device is used for detecting the tail end opening of each flexible electrode.
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| CN115736935B (en) * | 2022-11-10 | 2023-09-05 | 上海脑虎科技有限公司 | Brain electrode implantation device and brain electrode implantation system |
| CN116898541B (en) * | 2023-06-30 | 2024-03-01 | 中国科学院自动化研究所 | Flexible wire electrode implantation device |
| CN117481764B (en) * | 2023-12-28 | 2024-04-19 | 北京智冉医疗科技有限公司 | Flexible electrode auxiliary implantation device |
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