CN113058156B

CN113058156B - Artificial cochlea implanting device

Info

Publication number: CN113058156B
Application number: CN202010456785.9A
Authority: CN
Inventors: 王洪波; 侯超; 常晶媛; 王富豪; 张学泽
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-12-07
Anticipated expiration: 2040-05-26
Also published as: CN113058156A

Abstract

The invention relates to an implantation device of a cochlear implant, which comprises a base, a shell, a vertical adjusting mechanism, a tension detecting mechanism and a clamp, wherein the bottom of the front end of the shell is hinged with the base, the vertical adjusting mechanism is respectively arranged on the shell, the tension detecting mechanism is connected with the vertical adjusting mechanism, and the clamp is arranged on the side surface of the shell and used for clamping a conduit. Compared with the prior art, the invention has the advantages of reducing the damage to the internal structure of the cochlea, improving the operation efficiency, realizing the real-time measurement and control of the implantation force in the implantation process of the stimulating electrode, and the like.

Description

Artificial cochlea implanting device

Technical Field

The invention relates to the technical field of artificial cochlea implantation, in particular to an implantation device of an artificial cochlea.

Background

The artificial cochlea is a conventional method for treating deafness, wherein an external speech processor converts sound into an electric signal in a certain coding form, and a stimulation electrode implanted in the body directly excites auditory nerves to recover, improve and reconstruct the auditory function of the deaf person, the stimulation electrode is the most important functional component of the artificial cochlea device and needs to be implanted into a spiral cochlea inner cavity of a patient. In order to obtain a better cochlear implant effect, a cochlear implant electrode implantation technology is continuously developed, and a cochlear implant electrode implantation device based on human-computer interaction appears, but the cochlear implant electrode implantation device existing in the current market has a complex structure, and cannot simultaneously realize real-time measurement and analysis of the implantation force in the stimulation electrode implantation process.

Disclosure of Invention

The present invention is directed to overcoming the above-mentioned drawbacks of the prior art and providing a cochlear implant device.

The purpose of the invention can be realized by the following technical scheme:

the device comprises a base, a shell, a vertical adjusting mechanism, a tension detecting mechanism and a clamp, wherein the shell is hinged with the base at the bottom of the front end of the shell, the vertical adjusting mechanism is respectively arranged on the shell, the tension detecting mechanism is connected with the vertical adjusting mechanism, and the clamp is arranged on the side surface of the shell and used for clamping a conduit.

The vertical adjusting mechanism comprises a clamping wheel assembly, a first motor, a first driving belt wheel, a first driven belt wheel and a lead screw, wherein the first motor, the first driving belt wheel, the first driven belt wheel and the lead screw are sequentially driven, the lead screw is vertically fixed in the shell and is provided with a lead screw nut, and the lead screw nut is respectively connected with the tension detecting mechanism and the clamping wheel assembly through a first connecting rod.

The clamping wheel assembly comprises an upper clamping wheel unit and a lower clamping wheel unit, the upper clamping wheel unit is used for clamping the cochlear implant electrode and comprises a second driven belt wheel, the second driven belt wheel is connected with the front end of the first connecting rod through a driven rotating shaft, the lower clamping wheel unit comprises a second motor and a second driving belt wheel which are fixed on the side face of the shell, and the second driven belt wheel and the second driving belt wheel clamp the cochlear implant electrode.

The vertical adjusting mechanism further comprises a vertical guide assembly, the vertical guide assembly is composed of a guide rail vertically arranged in the shell and a sliding block arranged on the guide rail, and the sliding block is fixedly connected with the rear end of the first connecting rod.

The tension detection mechanism comprises a second connecting rod support and a tension sensor which are fixed on the inner bottom surface of the shell, and a second connecting rod, the middle part of the second connecting rod support is rotatably connected with the second connecting rod support through a rotating shaft, the second connecting rod is of a opposite-type or V-type structure, the second connecting rod is connected with the tension sensor through a spring, and the front end of the second connecting rod is rotatably connected with a driven rotating shaft.

The left end of the first connecting rod is connected with the driven rotating shaft in an interference fit mode, and the fit surface in the interference fit mode is a cylindrical surface.

And a pressure sensor for detecting the propelling resistance of the output end of the cochlear implant electrode is arranged at the hinged part of the lower bottom surface of the shell and the base.

The clamp comprises a first guide pipe pressing block and a second guide pipe pressing block which are hinged with each other, and semicircular pits for clamping the guide pipes are formed in the first guide pipe pressing block and the second guide pipe pressing block.

The pipe be assembled by two mutual joint of C type sub-pipe, one of them C type sub-pipe is equipped with the sand grip along the axial at axial joint face department, another C type sub-pipe is equipped with along the axial at axial joint face department with sand grip complex recess.

The side surface of the shell is provided with a first side plate and a second side plate which are fixedly arranged at an obtuse angle, and the second side plate is provided with a magnetic block for placing the cochlear implant decoding device.

Compared with the prior art, the invention has the following advantages:

the invention is based on CT image before operation and vision positioning technology of robot, controls the transmission of electrode by man-machine interaction, reduces the damage to the internal structure of patient cochlea, improves the operation efficiency, and realizes the real-time measurement and analysis of the implantation force in the process of stimulating electrode implantation.

Drawings

Fig. 1 is an internal structural view of an embodiment of the present invention.

Fig. 2 is a view showing the installation of the cochlear implant according to the embodiment of the present invention.

Fig. 3 is a perspective view of an embodiment of the present invention.

Fig. 4 is a partial structural view of the embodiment of the present invention.

FIG. 5 is a view of the structure of a C-shaped catheter in accordance with an embodiment of the present invention.

Fig. 6 is a first link connection diagram according to an embodiment of the present invention.

The notation in the figure is:

1. the base, 2, the casing, 201, first curb plate, 202, the second curb plate, 3, pressure sensor, 4, first motor, 5, first driving pulley, 6, first driven pulley, 7, the lead screw, 8, lead screw nut, 9, first connecting rod, 10, the slider, 11, the guide rail, 12, passive pivot, 13, the second connecting rod, 14, the second driven pulley, 15, the force sensor, 16, the second connecting rod support, 17, the second motor, 18, the second driving pulley, 19, anchor clamps, 191, first pipe briquetting, 192, the second pipe briquetting, 20, the pipe, 21, the magnetic path, 22, the fitting surface, 23, the C type sub-pipe, 231, the sand grip, 232, the recess.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

Examples

As shown in figures 1-3, the invention provides an implanting device of a cochlear implant, which comprises a base (1), a shell (2) with the lower front end hinged with the base (1) through a rotating shaft, a pressure sensor (3) arranged between the base (1) and the shell (2), a first motor (4) arranged on the shell (2), a first driving pulley (5) coaxially connected with the first motor (4), a first driven pulley (6) in transmission connection with the first driving pulley (5) through a belt, a lead screw (7) coaxially arranged with an output shaft of the first driven pulley (6), a lead screw nut (8) sleeved on the lead screw (7), a first connecting rod (9) fixedly arranged on the lead screw nut (8), a sliding block (10) fixed at one end of the first connecting rod (9), a guide rail (11) fixed on a side plate of the shell (2) and matched with the sliding block (10), and a guide rail (11), A driven rotating shaft (12) fixed at the other end of the first connecting rod (9), a second connecting rod (13) with one end rotatably connected with one end of the driven rotating shaft (12), and a second driven belt wheel (14) coaxially connected with the other end of the driven rotating shaft (12); the second driven pulley (14) is positioned outside the shell (2); the second connecting rod (13) is of a opposite type or a V type, the bottom end of the second connecting rod (13) is rotatably installed on a second connecting rod support (16), the other end of the second connecting rod (13) is connected to a tension sensor (15) through a spring, and the tension sensor (15) is fixedly installed on a bottom plate of the shell (2); a second connecting rod bracket (16) is fixedly arranged on the bottom plate of the shell (2), and the second connecting rod (13) is rotatably connected to the second connecting rod bracket (16); a second motor (17) is installed on the inner side of the side plate of the shell (2), and the output shaft of the second motor (17) is coaxially connected with a second driving belt wheel (18); the second driving belt wheel (18) is located on the outer side of a side plate of the shell (2), a clamp (19) is fixedly mounted on the outer side of the side plate of the shell (2), a guide pipe (20) is fixedly mounted in the middle of the clamp (19), the driven rotating shaft (12) is connected with the first connecting rod (9) in an interference fit mode, and a fitting surface (22) of the interference fit is a cylindrical surface.

As shown in fig. 4, the clamp (19) comprises a first guide pipe pressing block (191) fixedly installed at the outer side of the side plate of the shell (2) and a second guide pipe pressing block (192) hinged on the first guide pipe pressing block (191); the guide pipe (20) is arranged between the first guide pipe pressing block (191) and the second guide pipe pressing block (192), semicircular concave pits are oppositely formed in the first guide pipe pressing block (191) and the second guide pipe pressing block (192), and the guide pipe (20) penetrates out of a hole formed by the two concave pits.

The duct 20 is formed by mutually clamping and assembling two C-shaped sub-ducts 23, wherein one axial extension surface of the C-shaped sub-duct 23 is provided with a convex strip 231, and the other axial extension surface is provided with a groove 232. In the process of implanting the electrode, the electrode is placed, the raised strips 231 and the grooves 232 on the two C-shaped sub-catheters 23 are clamped into the catheter 20, the larger inner diameter end of the C-shaped sub-catheter 20 serves as an input end to be connected with the electrode, the smaller inner diameter end serves as an output end, and the electrode penetrates through the catheter 20 and enters the human body.

The shell 2 in this example plays a role in fixing the cochlear implant and preventing dust, the base 1 is rotatably connected to the outer side of the shell 2 through a shaft, the pressure sensor 3 is installed between the base 1 and the shell 2, when the electrode output end is subjected to resistance, the pressure sensor 3 detects and outputs a pressure signal to detect the pushing resistance in the electrode implantation process, as shown in fig. 6, the driven rotating shaft 12 and the first connecting rod 9 are connected through interference fit, and the fitting surface 22 of the interference fit is a cylindrical surface. One end of the first connecting rod 9 is fixed on the sliding block 10 through thread fit, one end of the first connecting rod is a U-shaped opening, and is connected with the driven rotating shaft 12 through the cylindrical surface which is a matching surface 22 in an interference fit mode, wherein a hole is formed in the middle of the first connecting rod 9, and the first connecting rod is fixedly sleeved on the lead screw nut 8 through thread fit.

In this example, the side plate of the casing 2 comprises a first side plate 201 and a second side plate 202 fixedly mounted with the first side plate 201, the first side plate 201 and the second side plate 202 form an angle larger than 90 degrees to adapt to the shape of the cochlear implant, a magnetic block 21 for attracting the cochlear implant by magnetic force is mounted on the outer side of the second side plate 202, when the cochlear implant is implanted, the cochlear implant is attracted on the magnetic block 21 on the outer side of the side plate of the casing 2, the first motor 4 rotates to drive the first driving pulley 5 to rotate, the first driving pulley 5 drives the first driven pulley 6 to move by a belt, so as to drive the lead screw 7 which is coaxially and fixedly connected to rotate, so as to realize the up-and-down movement of the lead screw nut 8, the first connecting rod 9 fixed on the nut drives the driven rotating shaft 12 to move up and down, and then drives the second driven pulley 14 which is coaxially connected with the driven rotating shaft 12 to move up and down, because the second driven pulley 14 and the second driving pulley 18 are pre-tightened when being clamped, therefore, the clamping and the up-and-down movement of the electrode in the conduit 20 can be realized, namely, the longitudinal movement of the electrode in a human body is realized, the longitudinal translation of the slide block 10 can drive the first connecting rod 9 to rotate and cause the change of the elongation of the spring, so that the stress of the tension sensor 15 is changed, the detection of the clamping force applied to the electrode is realized, when the second motor 17 rotates, the second driving belt pulley 18 coaxially connected with the output shaft of the second motor 17 is driven to rotate, the surfaces of the second driving belt pulley 18 and the second driven belt pulley 14 are rough, the transverse movement of the electrode in the clamping state is realized, the stress of the pressure sensor 3 is changed when the output end of the electrode is subjected to resistance, and the detection of the resistance of the output end of the electrode is realized.

As shown in fig. 1 to 6, the implanting device is used in cooperation with a robot, is installed at the tail end of a mechanical arm, performs surgical planning through preoperative CT image three-dimensional reconstruction, determines an implanting position through binocular vision optical positioning in the surgery, fixes a cochlear implant on the implanting device in advance, drives the implanting device to reach the pre-planned position through the robot, manually opens the implanting after being confirmed by a doctor, automatically pushes a cochlear implant electrode to the cochlear implant, sequentially takes out two C-shaped sub-catheters 23 by the doctor through forceps after the cochlear implant reaches the pre-planned position, takes down a decoding device of the cochlear implant electrode from an electrode mounting magnetic block 21 of an implanting mechanism, puts the decoding device into a pre-ground operation hole, and completes the automatic implanting of the whole cochlear implant.

It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.

Claims

1. An implantation device of a cochlear implant is characterized by comprising a base (1), a shell (2) with the bottom of the front end hinged with the base (1), a vertical adjusting mechanism respectively arranged on the shell (2), a tension detecting mechanism connected with the vertical adjusting mechanism, and a clamp (19) arranged on the side surface of the shell (2) and used for clamping a catheter (20), wherein the vertical adjusting mechanism comprises a clamping wheel assembly, a first motor (4), a first driving belt wheel (5), a first driven belt wheel (6) and a lead screw (7) which are sequentially driven, the lead screw (7) is vertically fixed in the shell (2) and is provided with a lead screw nut (8), the lead screw nut (8) is respectively connected with the tension detecting mechanism and the clamping wheel assembly through a first connecting rod (9), the clamping wheel assembly comprises an upper clamping wheel unit and a lower clamping wheel unit which are used for clamping an electrode of the cochlear implant, the upper clamping wheel unit comprises a second driven belt wheel (14), the second driven belt wheel (14) is connected with the front end of the first connecting rod (9) through a driven rotating shaft (12), the lower clamping wheel unit comprises a second motor (17) and a second driving belt wheel (18) which are fixed on the side surface of the shell (2), the second driven belt wheel (14) and the second driving belt wheel (18) clamp the cochlear implant electrode, the vertical adjusting mechanism further comprises a vertical guiding assembly, the vertical guiding assembly comprises a guide rail (11) which is vertically arranged in the shell (2) and a sliding block (10) which is arranged on the guide rail (11), the sliding block (10) is fixedly connected with the rear end of the first connecting rod (9), and the tension detecting mechanism comprises a second connecting rod support (16) and a tension sensor (15) which are fixed on the inner bottom surface of the shell (2), The middle part is connected with a second connecting rod (13) through a rotating shaft in a rotating mode through a second connecting rod support (16), the second connecting rod (13) is of a number type or V-shaped structure, the second connecting rod (13) is connected with a tension sensor (15) through a spring, and the front end of the second connecting rod is connected with a driven rotating shaft (12) in a rotating mode.

2. The cochlear implant device according to claim 1, wherein the left end of the first link (9) is connected to the passive shaft (12) by interference fit, and the interference fit surface (22) is a cylindrical surface.

3. The cochlear implant of claim 1, wherein the lower bottom surface of the housing (2) is provided with a pressure sensor (3) for detecting the pushing resistance of the cochlear implant electrode output at the hinge point with the base (1).

4. The cochlear implant device according to claim 1, wherein the clamp (19) comprises a first conduit pressing block (191) and a second conduit pressing block (192) hinged to each other, and the first conduit pressing block (191) and the second conduit pressing block (192) are formed with semicircular recesses for clamping the conduit (20).

5. The cochlear implant of claim 4, wherein the guiding tube (20) is assembled by interlocking two C-shaped sub-guiding tubes (23), one of which has a protrusion (231) at the axial joint surface along the axial direction, and the other of which has a groove (232) at the axial joint surface along the axial direction for engaging with the protrusion (231).

6. The cochlear implant of claim 1, wherein the housing (2) has a first side plate (201) and a second side plate (202) fixed at an obtuse angle to each other on the sides, and the second side plate (202) has a magnet block (21) for placing the cochlear implant decoding device.