CN114950858B - Dispensing device and flexible electrode implantation system - Google Patents
Dispensing device and flexible electrode implantation system Download PDFInfo
- Publication number
- CN114950858B CN114950858B CN202210576194.4A CN202210576194A CN114950858B CN 114950858 B CN114950858 B CN 114950858B CN 202210576194 A CN202210576194 A CN 202210576194A CN 114950858 B CN114950858 B CN 114950858B
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- Prior art keywords
- flexible electrode
- dispensing
- implant
- assembly
- implantation
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Links
- 238000002513 implantation Methods 0.000 title claims abstract description 100
- 239000007943 implant Substances 0.000 claims abstract description 122
- 239000003292 glue Substances 0.000 claims abstract description 45
- 238000000034 method Methods 0.000 claims description 39
- 239000000463 material Substances 0.000 claims description 10
- 230000001070 adhesive effect Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 10
- 230000000712 assembly Effects 0.000 description 9
- 238000000429 assembly Methods 0.000 description 9
- 238000000605 extraction Methods 0.000 description 4
- 238000009958 sewing Methods 0.000 description 4
- 239000002202 Polyethylene glycol Substances 0.000 description 3
- 239000000017 hydrogel Substances 0.000 description 3
- 229920001223 polyethylene glycol Polymers 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000002209 hydrophobic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
Abstract
The invention provides a dispensing device and an implantation system of a flexible electrode, which relate to the technical field of flexible electrodes, wherein the dispensing device comprises: the support assembly comprises a first limiting assembly and a second limiting assembly which are arranged at intervals in parallel; the first limiting assembly comprises a first limiting piece and a first guide rail which are connected; the second limiting assembly comprises a dispensing assembly; the workbench is positioned below the first limiting piece and the dispensing component; when the end of the implant on the first limiting component and the end of the flexible electrode on the workbench are contacted on the workbench under the condition that the first limiting component moves from the first initial position of the first guide rail to the first target position along the first direction, the glue solution is released by the glue dispensing component so as to bond the contacted end of the implant and the contacted end of the flexible electrode. The dispensing device and the implantation system of the flexible electrode are used for improving the implantation efficiency of the flexible electrode.
Description
Technical Field
The invention relates to the technical field of flexible electrodes, in particular to a dispensing device and an implantation system of a flexible electrode.
Background
Flexible electrodes, through which biological signals of a subject are acquired, can now be implanted in the subject.
In the related art, a flexible electrode is implanted into a subject using an electrode implantation system, wherein the electrode implantation system includes an image acquisition part that acquires guide information such as a small hole at an end of the flexible electrode and a machine vision of an end of an implantation needle, and controls the end of the implantation needle to pass through the small hole at the end of the flexible electrode based on the guide information, so that the flexible electrode is connected with the implantation needle, and controls the implantation needle to move, so that the flexible electrode is implanted into the subject.
The above-mentioned control implantation needle terminal passes the aperture at flexible electrode terminal based on guiding information, makes the in-process that flexible electrode terminal and implantation needle terminal connect, usually accomplishes in the implantation in-process on line for flexible electrode's implantation efficiency is lower.
Disclosure of Invention
The invention provides a dispensing device and an implantation system of a flexible electrode, which are used for solving the defect of lower implantation efficiency of the flexible electrode in the prior art and realizing the improvement of the implantation efficiency of the flexible electrode.
The invention provides a dispensing device, comprising:
the support assembly comprises a first limiting assembly and a second limiting assembly which are arranged at intervals in parallel; the first limiting assembly comprises a first limiting piece and a first guide rail which are connected; a first stop for placement of an implant; the second limiting assembly comprises a dispensing assembly; the dispensing assembly is used for releasing glue solution;
the workbench is positioned below the first limiting piece and the dispensing component and is used for placing the flexible electrode and an electronic module connected with the head end of the flexible electrode;
when the end of the implant on the first limiting component and the end of the flexible electrode on the workbench are contacted on the workbench under the condition that the first limiting component moves from the first initial position of the first guide rail to the first target position along the first direction, the glue solution is released by the glue dispensing component so as to bond the contacted end of the implant and the contacted end of the flexible electrode.
According to the dispensing device provided by the invention, the first limiting piece comprises: at least one limit groove;
the head end of the implant is placed in the limit groove.
According to the dispensing device provided by the invention, the included angle between the central axis of the implant on the first limiting piece and the reference plane is equal to the preset angle, and the reference plane has a specific included angle with the first direction.
According to the dispensing device provided by the invention, the contact length between the tail end of the implant on the first limiting piece and the tail end of the flexible electrode on the workbench is not smaller than the first preset length.
According to the dispensing device provided by the invention, the second limiting assembly further comprises: a second guide rail; the dispensing assembly is connected with the second guide rail;
under the condition that the dispensing assembly moves from the second initial position of the second guide rail to the second target position along the first direction, and/or in the process that the dispensing assembly moves from the third initial position of the second guide rail to the third target position along the second direction, the dispensing assembly releases the glue solution; the first direction and the second direction are different.
According to the dispensing device provided by the invention, the surface material of the workbench and the glue solution have the characteristic of non-adhesion.
According to the dispensing device provided by the invention, the workbench comprises: a placing table and a dispensing table; the object placing table and the dispensing table are arranged at intervals;
the object placing table is used for placing an electronic module connected with the head end of the flexible electrode;
and the dispensing table is positioned right below the dispensing assembly and used for placing the tail end of the flexible electrode.
According to the dispensing device provided by the invention, the dispensing table comprises: at least one dispensing groove; and the head end of the implant is placed in the limit groove.
According to the dispensing device provided by the invention, the depth of the dispensing groove is equal to the preset depth, the length of the dispensing groove is equal to the second preset length, and the cross section of the dispensing groove is in a preset shape.
According to the dispensing device provided by the invention, the dispensing device further comprises: a controller; the controller is connected with the dispensing component;
and the controller is used for controlling the dispensing assembly to release the glue solution under the condition that the tail end of the implant on the first limiting assembly and the tail end of the flexible electrode on the workbench are contacted on the workbench.
According to the dispensing device provided by the invention, the controller is also respectively connected with the first limiting component and the second limiting component;
the controller is used for controlling the first limiting piece to move from a first initial position of the first guide rail to a first target position along a first direction; and the control device is used for controlling the dispensing assembly to move from a second initial position of the second guide rail to a second target position along the first direction and/or controlling the dispensing assembly to move from a third initial position of the second guide rail to a third target position along the second direction.
The invention also provides an implantation system of the flexible electrode, which comprises an implantation device and the dispensing device in any one of the above; an implantation device for implanting the connected flexible electrode and implant to a target implantation site and, after a preset period of time, removing the implant from the target implantation site to implant the flexible electrode to the target implantation site; the flexible electrode and the implant are connected through the dispensing device.
According to the dispensing device and the implantation system of the flexible electrode, when the first limiting piece moves from the first initial position of the first guide rail to the first target position along the first direction, and the tail end of the implant on the first limiting component and the tail end of the flexible electrode on the workbench are contacted on the workbench, the dispensing component releases glue to bond the contacted tail end of the implant and the tail end of the flexible electrode, so that the tail end of the flexible electrode and the tail end of the implant can be bonded before an implantation process, the problem that the tail end of the implant passes through a small hole at the tail end of the flexible electrode in a sewing machine mode based on guiding information in the implantation process is avoided, and the implantation efficiency of the flexible electrode is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a dispensing device according to the present invention;
FIG. 2 is a schematic structural view of a first limiting member according to the present invention;
FIG. 3 is a second schematic structural view of the first limiting member according to the present invention;
FIG. 4 is a second schematic diagram of the dispensing device according to the present invention;
FIG. 5 is a third schematic diagram of the dispensing device according to the present invention;
FIG. 6 is a schematic diagram of a dispensing device according to the present invention;
FIG. 7 is a schematic diagram of a dispensing device according to the present invention;
FIG. 8 is a schematic view of an implant device according to the present invention;
FIG. 9 is a second schematic view of an implant device according to the present invention;
fig. 10 is a schematic view showing the structure of the implantation process end according to the present invention.
Detailed Description
For the purpose of making 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 apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the related art, the process of controlling the end of the implant to pass through the small hole of the end of the flexible electrode based on the guiding information, so that the end of the flexible electrode and the end of the implant are connected, usually in-line during the implantation process, so that the implantation efficiency of the flexible electrode is lower.
In the present invention, in order to improve the implantation efficiency of the flexible electrode, the inventor thinks that a dispensing device is designed, by which the end of the flexible electrode and the end of the implant are adhered before the implantation process, the control of the end of the implant through the small hole of the end of the flexible electrode based on the guiding information during the implantation process is avoided, thereby improving the implantation efficiency of the flexible electrode.
The dispensing device provided by the invention is described below with reference to specific embodiments.
Fig. 1 is a schematic structural diagram of a dispensing device according to the present invention. As shown in fig. 1, the dispensing device includes: a support assembly 1 and a table 2.
The support assembly 1 comprises a first spacing assembly 11 and a second spacing assembly 12 arranged in parallel and spaced apart relation.
The first limiting assembly 11 includes a first limiting member 111 and a first guide rail 112 connected. The first stopper 111 and the first rail 112 may be vertically connected. The first stopper 111 is movable on the first rail 112.
The first stop 111 is used for placement of the implant 3. The implant 3 may be, for example, an implantation needle. The number of implants 3 may be N, which may be an integer greater than or equal to 1.
The second limiting assembly 12 includes a dispensing assembly 121.
The dispensing assembly 121 is used for releasing glue. The glue solution is a glue solution with good biocompatibility and water solubility, for example, the glue solution can be polyethylene glycol hydrogel.
Alternatively, the dispensing assembly 121 includes N dispensing syringes, each of which may be used to release glue. Alternatively, the dispensing needle cannula can be separated from the dispensing assembly 121. Specifically, in the case of being able to separate the dispensing needle tube from the dispensing assembly 121, the dispensing needle tube may be hung, clamped or clamped on the dispensing assembly 121.
The workbench 2 is located below the first limiting part 111 and the dispensing assembly 121 and is arranged on the side face of the supporting assembly 1. The workbench 2 is used for placing the flexible electrode 5 and the electronic module 4 connected with the head end of the flexible electrode 5.
In some embodiments, the surface material of the table 2 has non-adhesive properties with the glue.
The surface material may be a specific material, for example, in the case where the glue solution is a polyethylene glycol hydrogel, the surface material may be a hydrophobic material, and the surface material does not have an adhesive property with the polyethylene glycol hydrogel.
In some embodiments, the specific material may be designed as a coating or film that covers the surface of the table 2.
In the present invention, since the surface material of the table 2 has non-adhesive property with the glue, in the case of the distal end of the implant 3 and the distal end of the flexible electrode 5 which are in adhesive contact with each other on the table 2 by the glue, it is possible to make the distal end of the implant 3 and the distal end of the flexible electrode 5 have a good adhesive effect.
The flexible electrode 5 is used for collecting biological signals and transmitting the biological signals to the electronic module 4, and the electronic module 4 is used for displaying the biological signals on the electronic device. Alternatively, the electronic device may be, for example, a display screen, a computer, or the like.
The electronic module 4 may be connected to N flexible electrodes 5. In the present invention, the electronic module 4 is illustrated by way of example in which 4 flexible electrodes 5 can be connected.
The operation of the dispensing device is described below with reference to fig. 1.
In the case where the first stopper 111 is moved in the first direction from the first initial position of the first guide rail 112 to the first target position, the tip of the implant 3 on the first stopper assembly 111 and the tip of the flexible electrode 5 on the table 2 are in contact on the table 2; in the case where the distal end of the implant 3 on the first spacing member 111 and the distal end of the flexible electrode 5 on the table 2 are in contact on the table 2, the dispensing member 121 releases the glue solution, which falls to the distal end of the contacted implant 3 and the distal end of the flexible electrode 5 to bond the distal end of the contacted implant 3 and the distal end of the flexible electrode 5.
Optionally, the first direction is a vertical direction. And under the condition that the first direction is the vertical direction, the height of the first initial position is larger than that of the first target position.
Alternatively, the following 3 manners (manners 11, 12, and 13) may be adopted to achieve the movement of the first stopper 111 in the first direction from the first initial position of the first rail 112 to the first target position.
Mode 11, the dispensing device may further include: a controller; the controller is connected with the first limiting component 11; the controller is used for controlling the first limiting piece 111 to move from a first initial position of the first guide rail 112 to a first target position along a first direction.
In some embodiments, the controller is further configured to control the first stop 111 to move in the first direction from the first target position to the first initial position of the first rail 112.
In mode 12, the user toggles the first stop 111 in the first direction from the first initial position of the first rail 112 to the first target position.
Mode 13, the first limiting assembly 11 comprises a switch; the user presses or toggles the switch member to control the first limiting member 111 to move from the first initial position of the first guide rail 112 to the first target position along the first direction.
In the invention, the first limiting member 111 moves from the first initial position of the first guide rail 112 to the first target position along the first direction, the tail end of the implant 3 on the first limiting component 111 and the tail end of the flexible electrode 5 on the workbench 2 are contacted on the workbench 2, at this time, the glue solution is released by the glue dispensing component 121, falls onto the contacted tail end of the implant 3 and the tail end of the flexible electrode 5, so as to bond the contacted tail end of the implant 3 and the tail end of the flexible electrode 5, and the tail end of the flexible electrode 5 and the tail end of the implant 3 can be bonded before the implantation process, so that the tail end of the implant 3 is prevented from passing through the small hole of the tail end of the flexible electrode based on the guiding information in a sewing machine type mode in the implantation process, and the implantation efficiency of the flexible electrode 5 is improved.
In addition, unlike the prior art, in the case that the number of the flexible electrodes 5 is N in the prior art, the N flexible electrodes are required to be connected with the corresponding implant 3 by adopting the "sewing machine type" for N times in the implantation process, which increases the overall time consumption of the implantation process, and the difficulty of connecting the N flexible electrodes with the corresponding implant 3 by adopting the "sewing machine type" is greater, and there is a risk of operation failure, which results in lower execution efficiency and implantation success rate of the implantation process.
In the present invention, in the case that the number of the flexible electrodes 5 is N, N implants 3 may be placed on the first limiting component 111, and in the case that the first limiting component 111 moves from the first initial position of the first guide rail 112 to the first target position along the first direction, the ends of the N implants 3 on the first limiting component 111 and the ends of the N flexible electrodes 5 on the workbench 2 are contacted on the workbench 2, at this time, the glue dispensing component 121 releases the glue solution, and the bonding of the ends of the N contacted implants 3 and the ends of the flexible electrodes 5 is completed once, so that the bonding of the ends of the N flexible electrodes 5 and the ends of the N implants 3 is achieved before the implantation process, which reduces the overall time consumption of the implantation process, has simple operation and higher operation success rate, and can improve the execution efficiency and the implantation success rate of the implantation process.
Fig. 2 is a schematic structural view of a first limiting member according to the present invention. As shown in fig. 2, the first stopper 111 includes: at least one limit groove 1111. A head end of an implant 3 is placed in a limit groove 1111.
In the present invention, the head end of the implant 3 is thicker.
The head end of the implant 3 is adapted to be in close contact with the limit groove 1111. The user may fix the head end of the implant 3 in the limit groove 1111 in a compression manner.
Fig. 3 is a second schematic structural view of the first limiting member provided by the present invention. As shown in fig. 3, the first stopper 111 includes at least one stopper hole 1112. A head end of an implant 3 is placed in a stop hole 1112.
In the present invention, the head end of the implant 3 is thicker, and thus can be caught inside the stopper hole 1112.
In fig. 2-3, the first limiting member 111 includes at least one limiting groove 1111 or at least one limiting hole 1112, which may enable the head end of the implant 3 to rest on the first limiting member 111, prevent the implant 3 from moving, and ensure that the end of the implant 3 on the first limiting member 111 and the end of the flexible electrode 5 on the table 2 are in contact on the table 2 in case the first limiting member 111 moves in the first direction from the first initial position of the first guide rail 112 to the first target position.
In some embodiments, the angle between the central axis of the implant 3 on the first stop 111 and the reference plane is equal to a preset angle.
Optionally, the preset angle may be 5 degrees, 10 degrees, and the specific value of the preset angle may be designed according to the requirement.
The reference plane has a specific angle with the first direction. For example, the specific included angle may be 90 degrees.
In the invention, the included angle between the central axis of the implant 3 on the first limiting component 111 and the reference plane is equal to a preset angle, so that the tail end of the implant 3 on the first limiting component 111 and the tail end of the flexible electrode 5 on the workbench 2 can be ensured to be contacted on the workbench 2.
In some embodiments, the contact length of the end of the implant 3 on the first stop 111 with the end of the flexible electrode 5 on the table 2 is not less than a preset length.
Optionally, the preset length may be 4 mm, 5 mm, etc., and the specific value of the preset length may be designed according to the requirement.
In some embodiments, the predetermined angle may correspond to a predetermined length. In particular, since a certain deformation usually occurs after the implant 3 is in contact with the flexible electrode, the preset length may be, for example, 5 mm in case the preset angle is 10 degrees.
Fig. 4 is a second schematic structural diagram of the dispensing device provided by the present invention. On the basis of fig. 1, as shown in fig. 4, in the case where the first stopper 111 is moved in the first direction from the first initial position to the second initial position of the first rail 112, the tip of the implant 3 on the first stopper 111 is in contact with the tip of the flexible electrode 5 on the table 2.
Fig. 5 is a third schematic structural view of the dispensing device provided by the present invention. On the basis of fig. 4, the second limiting assembly 12 further comprises: and a second guide rail 122.
The dispensing assembly 121 is connected to the second rail 122. For example, the dispensing assembly 121 and the second rail 122 may be vertically connected.
In the case where the dispensing assembly 121 is moved from the second initial position of the second guide rail 122 to the second target position in the first direction, and/or in the course of the dispensing assembly 121 being moved from the third initial position of the second guide rail 122 to the third target position in the second direction, the dispensing assembly 121 releases the glue solution.
Wherein the first direction and the second direction are different. For example, the first direction and the second direction are perpendicular. Specifically, in the case where the first direction is the vertical direction, the second direction is the horizontal direction.
Alternatively, in the case where the second direction is the horizontal direction, the distance between the third initial position and the third target position may be equal to the above-described preset length.
In the invention, the dispensing assembly 121 moves from the second initial position of the second guide rail 122 to the second target position along the first direction, so that the distance between the dispensing assembly 121 and the workbench 2 is relatively short, and the problem that the glue released by the dispensing assembly 121 cannot accurately fall to the tail end of the implant 3 on the contacted first limiting assembly 111 and the tail end of the flexible electrode 5 on the workbench 2 due to external force can be avoided.
Further, in the process that the dispensing assembly 121 moves from the third initial position of the second guide rail 122 to the third target position along the second direction, the dispensing assembly 121 releases the glue solution, so that the dispensing range can be increased, and the glue solution can be fully adhered to the end of the implant 3 on the first limiting assembly 111 and the end of the flexible electrode 5 on the workbench 2.
On the basis of any one of the above embodiments, the table 2 may include: a placement table 21 and a dispensing table 22. The table 2 will be described with reference to fig. 6.
Fig. 6 is a schematic structural diagram of the dispensing device provided by the present invention. As shown in fig. 6, the table 2 includes: a placement table 21 and a dispensing table 22. The object placing table 21 and the dispensing table 22 are arranged at intervals. The object placing table 21 and the dispensing table 22 are arranged in parallel, and the heights of the object placing table 21 and the dispensing table 22 are different.
The placement table 21 is used for placing the electronic module 4 connected to the head end of the flexible electrode 5.
The dispensing station 2 is located directly below the dispensing assembly 121. The dispensing station 2 is used for placing the end of the flexible electrode 5.
In some embodiments, the dispensing station 22 includes: at least one dispensing recess 221. An end of a flexible electrode 5 is placed in a dispensing groove.
In some embodiments, the depth of the dispensing groove is equal to a preset depth, the length of the dispensing groove is equal to a second preset length, and the cross-sectional shape of the dispensing groove is a preset shape.
Alternatively, the preset depth may be 100 microns, 110 microns, etc.
Alternatively, the second preset length may be 8 milliseconds, 10 millimeters, etc.
Alternatively, the second preset length may be greater than or equal to the first preset length.
Alternatively, the preset shape may be a semicircle or the like.
In the invention, the preset depth, the second preset length and the preset shape can be designed according to actual requirements.
In the present invention, the dispensing station 22 includes at least one dispensing groove 221, and in the case that the end of the implant on the first limiting component and the end of the flexible electrode 5 on the working table 2 are in contact on the working table 2, the end of the implant and the end of the flexible electrode 5 are located in the dispensing groove 221, so that the glue released by the dispensing component 121 can sufficiently bond the contacted end of the implant 3 and the end of the flexible electrode 5 in the dispensing groove 221.
In some embodiments, the dispensing device may further include: and a controller. The controller is connected with the dispensing assembly 121.
The controller is used for controlling the dispensing assembly 121 to release the glue when the end of the implant 3 on the first limiting assembly 11 and the end of the flexible electrode 5 on the table 2 (or in the dispensing groove 221 of the dispensing table 22) are in contact on the table 2 (or in the dispensing groove 221 of the dispensing table 22).
In some embodiments, the controller uses a time-pressure control method to control the dispensing needle tube 121 on the dispensing assembly to release a specific volume of glue solution. It should be noted that, the time-pressure control method is to apply a fixed pressure for a certain period of time, so that the dispensing needle tube releases a specific volume of glue solution.
In some embodiments, the controller may employ a time-pressure control method to individually control each dispensing needle tube on the dispensing assembly 121 to release a specific volume of glue.
In some embodiments, the controller may also be coupled to the second spacing assembly 12; the controller is configured to control the dispensing assembly 121 to move in the first direction from the second initial position of the second rail 122 to the second target position, and/or to control the dispensing assembly 121 to move in the second direction from the third initial position of the second rail 122 to the third target position.
Further, the controller is further configured to control the dispensing assembly 121 to move from the second target position to the second initial position of the second rail 122 along the first direction, and/or control the dispensing assembly 121 to move from the third target position to the third initial position of the second rail 122 along the second direction.
On the basis of the above embodiment, a schematic structural diagram of the dispensing device after dispensing is completed will be described with reference to the embodiment of fig. 7.
Fig. 7 is a schematic structural diagram of the dispensing device provided by the present invention. As shown in fig. 7, after dispensing is completed, the dispensing assembly 121 is moved in the first direction from the second target position to the second initial position of the second guide rail 122.
In some embodiments, after dispensing assembly 121 releases the glue solution, it may be left to stand for a first preset period of time or dried for a second preset period of time to allow the glue solution to solidify, bonding the ends of the contacted implant and the ends of the flexible electrode.
The invention also provides an implantation system of the flexible electrode, which comprises the implantation device and the dispensing device in any one of the above.
The implantation device is used for implanting the connected flexible electrode and the implantation piece to a target implantation position, and taking out the implantation piece from the target implantation position after a preset time period so as to enable the flexible electrode to be implanted into the target implantation position; the flexible electrode and the implant are connected through the dispensing device.
The implant device is described below in connection with fig. 8-9.
Fig. 8 is a schematic structural view of an implanting device according to the present invention. As shown in fig. 8, the implant device includes: a stent 6 is implanted. The implant holder 6 is used for placing the implant 3 connected to the flexible electrode 5.
Before the implantation process starts, the user can move the electronic module 4, the flexible electrode 5 and the implant 3 connected in sequence into the implantation device and place the implant 3 connected to the flexible electrode 5 on the implantation stand 6. When the implant 3 is on the implant carrier 6, the head end of the implant 3 hangs from the implant carrier 6, with the tail of the implant 3 facing downward and away from the implant carrier 6.
Alternatively, the implant 3 may be moved laterally in case the head end of the implant 3 is lifted upwards, such that the implant 3 is disengaged from the implant carrier 6.
Fig. 9 is a second schematic structural view of the implanting device according to the present invention. On the basis of fig. 8, as shown in fig. 9, the implant device further includes: a movement assembly 7.
The motion assembly 7 is used for acquiring the connected flexible electrode 5 and the implant 5 from the implantation support 6 and implanting the connected flexible electrode 5 and the implant 3 to a target implantation position of a target object (e.g. skull) according to a preset motion profile. Specifically, the number of flexible electrodes 5 is the same as the number of target implantation sites.
Alternatively, the motion assembly 7 may take the attached flexible electrode 5 and implant 3 from the implant holder 6 by magnetic attraction, automatic clamping, or semi-automatic clamping.
Optionally, the number of moving assemblies 7 is at least one. Fig. 9 is an exemplary illustration of the number 2 of moving assemblies 7.
In the case where the number of the moving members 7 is one and the number of the connected flexible electrodes 5 and the implants 3 is plural, the moving members 7 perform operations according to the following implantation method:
the ith connected flexible electrode and the ith implant (including the ith flexible electrode and the ith implant) are obtained from the implantation support 6, and are implanted to the ith target implantation position of the target object according to the ith preset motion track, wherein the ith preset motion track is a motion track corresponding to the ith target implantation position, and i is an integer between 1 and N.
After implantation of the ith connected flexible electrode and implant to the ith target implantation site, the motion assembly 7 operates as follows:
and under the condition that the waiting time of the ith connected flexible electrode and the implant to the ith target implantation position is equal to the preset time, taking out the ith implant from the ith target implantation position according to the ith preset motion track so as to enable the ith flexible electrode to be implanted to the ith target implantation position.
In the present invention, the predetermined length of time is used to allow the fluid at the target implantation site to sufficiently dissolve the glue solution so that the attached flexible electrode and implant are separated.
Further, after the movement assembly 7 removes the ith implant 3 from the ith target implant site, the movement assembly 7 may also release the ith implant 3 to a specific location. For example, the specific position is the original position where the i-th implant 3 is located on the implant holder 6, but may be other positions, and the specific position is not limited herein.
It should be noted that, in the case where the number of the moving members 7 is one and the number of the connected flexible electrodes 5 and the implants 3 is N, the moving members 7 need to repeatedly perform the implantation method and the needle extraction method N times.
In some embodiments, the motion assembly 7 may be controlled to repeat the implantation method and the needle extraction method N times according to a preset schedule. For example, the preset plan may include an implantation start time at which the implantation method is performed each time and a needle extraction start time of the needle extraction method. The preset programming will be described below with reference to table 1, taking N equal to 3 as an example.
TABLE 1
Optionally, the duration between A1 and B1, the duration between A2 and B2, and the duration between A3 and B3 are respectively greater than or equal to a preset duration.
Alternatively, the number of the moving assemblies 7 may be N.
In the case where the number of the movement assemblies 7 is N, the N movement assemblies 7 may perform the above-described implantation method and the needle taking method in parallel, or perform the above-described implantation method and the needle taking method in series. Wherein parallel execution means that the N motion components 7 are executed simultaneously and serial execution means that the N motion components 7 are executed sequentially.
Optionally, the implantation device may further comprise: a motion controller. The motion controller is connected with the motion assembly 7. The motion controller is used for controlling the motion assembly 7 to move according to a preset motion track.
In the present invention, in the case where the number of the motion components 7 is N, the motion controller may control the plurality of motion components 7 to be executed in parallel, may control any at least two of the plurality of motion components 7 to be executed in parallel, and may also control the plurality of motion components 7 to be executed in series.
In the present invention, under the condition of controlling the parallel execution of N moving assemblies 7 or controlling the parallel execution of any at least two of the N moving assemblies 7, the implantation start time and the needle taking start time of the plurality of moving assemblies 7 can be planned based on the rule that each moving assembly 7 does not meet at the same time in the process of moving according to the corresponding movement track, so that the plurality of moving assemblies 7 can move according to the respective corresponding implantation start time and needle taking start time, thereby shortening the time required by the implantation process and improving the implantation efficiency of the flexible electrode.
In the implantation system of the flexible electrode, provided by the invention, the glue dispensing device utilizes the glue solution which is soluble in water and has biocompatibility to connect the tail end of the flexible electrode with the tail end of the implant, so that the problems of low efficiency and low success rate caused by the perforation of the implant with high operation difficulty in the prior art are avoided. In addition, before the implantation process, the end of the flexible electrode and the end of the implant can be connected in advance, and the user is allowed to check the connection result, so that the time of the implantation process is not occupied, the introduction of unreliable connection in the implantation process is avoided, and the implantation success rate of the flexible electrode is improved.
Fig. 10 is a schematic view showing the structure of the implantation process end according to the present invention. Fig. 10 illustrates an example in which the number of target implantation positions is equal to 4. After the implantation process is completed, the flexible electrode is implanted to the target implantation site.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
In addition, in the present invention, unless explicitly stated and limited otherwise, the terms "connected," "coupled," and the like should be construed broadly, and may be mechanically coupled or electrically coupled, for example; either directly or indirectly, through intermediaries, or both, unless otherwise specifically defined, the meaning of the terms in this disclosure is to be understood by those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (11)
1. An implantation system for a flexible electrode, comprising: an implantation device and a dispensing device;
the implantation device is used for implanting the connected flexible electrode and the implantation piece to a target implantation position, and after a preset period of time, the implantation piece is taken out from the target implantation position so that the flexible electrode is implanted to the target implantation position; the flexible electrode and the implant are connected through the dispensing device;
the dispensing device comprises:
the support assembly comprises a first limiting assembly and a second limiting assembly which are arranged at intervals in parallel; the first limiting assembly comprises a first limiting piece and a first guide rail which are connected; the first limiting piece is used for placing an implant; the second limiting assembly comprises a dispensing assembly; the dispensing assembly is used for releasing glue solution;
the workbench is positioned below the first limiting piece and the dispensing assembly and is used for placing the flexible electrode and an electronic module connected with the head end of the flexible electrode;
when the first limiting member moves from the first initial position of the first guide rail to the first target position along the first direction, and the tail end of the implant on the first limiting member and the tail end of the flexible electrode on the workbench are contacted on the workbench, the glue solution is released by the glue dispensing assembly so as to bond the contacted tail end of the implant and the tail end of the flexible electrode.
2. The flexible electrode implant system of claim 1, wherein the first stop comprises: at least one limit groove;
and the head end of the implant is placed in the limit groove.
3. The flexible electrode implant system of claim 2, wherein an angle between a central axis of the implant on the first stop and a reference plane having a specific angle with the first direction is equal to a preset angle.
4. A flexible electrode implant system according to any one of claims 1 to 3, wherein the contact length of the end of the implant on the first stop member with the end of the flexible electrode on the table is not less than a first predetermined length.
5. The flexible electrode implant system of any one of claims 1 to 3, wherein the second stop assembly further comprises: a second guide rail; the dispensing assembly is connected with the second guide rail;
the glue solution is released by the glue dispensing assembly in the process that the glue dispensing assembly moves from the second initial position of the second guide rail to the second target position along the first direction and/or from the third initial position of the second guide rail to the third target position along the second direction; the first direction and the second direction are different.
6. A flexible electrode implant system according to any of claims 1 to 3, wherein the surface material of the table has non-adhesive properties with the glue.
7. A flexible electrode implant system according to any one of claims 1 to 3, wherein the stage comprises: a placing table and a dispensing table; the object placing table and the dispensing table are arranged at intervals;
the object placing table is used for placing an electronic module connected with the head end of the flexible electrode;
the dispensing table is positioned right below the dispensing assembly and used for placing the tail end of the flexible electrode.
8. The flexible electrode implant system of claim 7, wherein the dispensing station comprises: at least one dispensing groove;
and the tail end of the flexible electrode is placed in the dispensing groove.
9. The flexible electrode implant system of claim 8, wherein the depth of the dispensing groove is equal to a predetermined depth, the length of the dispensing groove is equal to a second predetermined length, and the cross-sectional shape of the dispensing groove is a predetermined shape.
10. The flexible electrode implant system of claim 5, further comprising: a controller; the controller is connected with the dispensing component;
the controller is used for controlling the dispensing component to release the glue solution under the condition that the tail end of the implant on the first limiting component and the tail end of the flexible electrode on the workbench are contacted on the workbench.
11. The flexible electrode implant system of claim 10, wherein the controller is further coupled to a first stop assembly and the second stop assembly, respectively;
the controller is used for controlling the first limiting piece to move from the first initial position of the first guide rail to the first target position along the first direction; for controlling the movement of the dispensing assembly in the first direction from the second initial position of the second rail to the second target position and/or for controlling the movement of the dispensing assembly in the second direction from the third initial position of the second rail to the third target position.
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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 |
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| CN114193773A (en) * | 2021-12-17 | 2022-03-18 | 全兴汽车配件（福州）有限公司 | Automobile upright post leather-sticking device and working method thereof |
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| EP3172453B1 (en) * | 2014-07-25 | 2021-04-28 | Teledyne Digital Imaging, Inc. | Bonding method with curing by reflected actinic rays |
| US20200368524A1 (en) * | 2019-05-22 | 2020-11-26 | Actuated Medical, Inc. | Electrode Placement System for Penetrating Neural Implants |
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| CN112999511A (en) * | 2021-03-10 | 2021-06-22 | 中国科学院半导体研究所 | Flexible electrode lead-in device |
| CN114193773A (en) * | 2021-12-17 | 2022-03-18 | 全兴汽车配件（福州）有限公司 | Automobile upright post leather-sticking device and working method thereof |
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